Abstract: A storage and retrieval system including a vertical array of storage levels, each storage level having, picking aisles, storage locations, disposed within the picking aisles, and at least one transfer deck providing access to the picking aisles, a multilevel vertical conveyor system configured to transport the uncontained case units to and from the vertical array of storage levels, each storage level being configured to receive uncontained case units from the multilevel vertical conveyor system, at least one autonomous transport located on each storage level for transporting the uncontained case units between respective storage locations and the multilevel vertical conveyor system, and a controller configured to create a primary access path through the transfer decks and picking aisles to a predetermined one of the storage locations and at least one secondary access path to the predetermined one of the storage locations when the primary path is impassable.

Abstract: A robotic picking apparatus, system and method of use thereof. A system comprising: a plurality of robotic picking apparatuses configured to pick an item from a container and place the item in a different place, wherein each robotic picking apparatus is configured to operate in one of at least three operational modes: an autonomous mode, a human-assisted mode, and a remote-controlled mode, wherein in the autonomous mode, the robotic picking apparatus operates without human input, wherein in the human-assisted mode, an operation plan is determined using human input and the operation plan is executed automatically without additional input from a human, wherein in the remote-controlled mode, movements of the robotic picking apparatus are controlled directly by a remote human user. Human users located at one or more remote sites provide the human input.

Abstract: An autonomous transport vehicle including a transfer arm including at least one finger and a movable finger support member, at least one sensor configured to detect movement of the at least one finger, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be movable with a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger, and a controller in communication with the at least one sensor, the controller being configured to determine a position of the at least one finger along the second direction based on a proximity of the registration member relative to the detection member.

Abstract: A mobile object system dispatches a vehicle capable of moving autonomously to a destination at which a user is located. The system includes a controller comprising at least one processor configured to receive a request for use of a vehicle provided with first equipment, and send to the vehicle a first command to travel to a first destination designating a place where at least a part of the first equipment is present as a first stopover place. The vehicle in the mobile object system travels, in accordance with the first command to travel, from the first stopover place to the first destination after loading of at least a part of the first equipment onto the vehicle at the first stopover place is completed to complete the first equipment.

Abstract: A track in a transport system includes a standby section associated with a certain processing apparatus to allow a transport vehicle to wait. When determining a transport request to transport a FOUP to a load port of the certain processing apparatus exists, the controller allocates, to the transport vehicle, a first transport command to transport the FOUP to the standby section. When reaching the standby section, the transport vehicle waits while holding the FOUP. Subsequently, when determining that the FOUP is transportable to the load port of the certain processing apparatus, the controller allocates, to the transport vehicle, a second transport command to transport the FOUP to the load port of the certain processing apparatus.

Abstract: An automated storage and retrieval system includes an autonomous rover and a multilevel rack structure. The multilevel rack structure includes columns connected by rail beams transversely spanning between the columns. The rail beams define storage and transport levels and provide riding surfaces for the autonomous rover. The rail beams include integral fatigue resistant rover location apertures.

Abstract: The application provides a multi-storey warehouse. The warehouse includes a warehouse building, a plurality of floor levels, an inclined ramp arrangement, one or more automated storage and retrieval systems, and a handling device. The floor levels and the automated storage and retrieval system are located within the warehouse building. The inclined ramp arrangement connects the floor levels with a ground level. The automated storage and retrieval system comprises two adjacent rows of multi-storey pallet racks which are separated by an aisle. A first end of the automated storage and retrieval system is provided adjacent to a lateral side of the floor levels. The handling device is located in the area of the aisle, wherein the handling device serves a plurality of pick/place locations which are provided at the floor levels as well as a plurality of storage locations which are provided in the multi-storey pallet racks.

Abstract: In a transport system, a local track is disposed so as to be below an overhead travelling vehicle track in parallel or substantially in parallel therewith, and furthermore above a loading port of a processing device from upstream of the loading port to downstream of the loading port. A local vehicle including a hoist travels along the local track. Below the local track, a first buffer is disposed upstream of the loading port of the processing device, and a second buffer is disposed downstream of the loading port of the processing device, and the overhead travelling vehicle and the local vehicle can both perform delivery and receipt of the article with the first buffer and the second buffer.

Abstract: An overhead traveling vehicle includes a hoist and a first sensor that monitors obstacles below, and a local carriage includes a hoist and travels along the track. A buffer is suspended from the track by vertical supports that extend vertically downward, and no members of the buffer are provided directly over load ports. A second sensor, which monitors an obstacle in a vicinity of the load ports and in a passageway-side area on a side opposite to a processing device, is provided on the track and transmits an obstacle detection signal to the overhead traveling vehicle and the local carriage. Upon receiving the obstacle detection signal from the second sensor, the overhead traveling vehicle and the local carriage stop the hoists, and the overhead traveling vehicle does not monitor obstacles in the passageway-side area using the first sensor.

Abstract: A warehouse storage and retrieval system including an array of multilevel storage racks having at least one transfer deck, picking isles and storage areas disposed along picking isles, the storage areas being configured to hold differing loads, and a controller including a management module configured to variably size the storage areas of the array of multilevel storage rack modules and assign each of the variably sized storage areas to a corresponding one of the differing loads, wherein the storage and retrieval system is arranged to transport the differing loads for placement in the variably sized storage areas assigned by the controller.

Abstract: A product flow regulator for temporary storage of products includes a frame, a conveying mechanism, and product carrier gondolas, which are conveyed with products from a product inlet area to a product outlet area and back empty. The frame includes a stationary guide track, along which the product carrier gondolas circulate self-controlled. The gondolas includes a drive mechanism and electrical control devices, which enable individual independent circulation.

Abstract: A warehouse storage and retrieval system including an array of multilevel storage racks having at least one transfer deck, picking isles and storage areas disposed along picking isles, the storage areas being configured to hold differing loads, and a controller including a management module configured to variably size the storage areas of the array of multilevel storage rack modules and assign each of the variably sized storage areas to a corresponding one of the differing loads, wherein the storage and retrieval system is arranged to transport the differing loads for placement in the variably sized storage areas assigned by the controller.

Abstract: System for storing products, comprising a number of racks extending parallel to each other, wherein each rack is provided with storage positions for products located next to and above each other, a guide system comprising longitudinal guides extending in aisles between adjacent racks, and horizontal transverse guides extending transversely to the longitudinal guides as well as junctions at positions where at least one longitudinal guide and at least one transverse guide connect, carriages capable of autonomously travelling over the longitudinal guides, transverse guides and junctions for placing products in and/or taking products out the storage positions, and a central control unit arranged for digitally locking of longitudinal guides identified with an identification means and for controlling the autonomous carriages solely over the unlocked longitudinal guides.

Abstract: An autonomous transport vehicle including a transfer arm including at least one finger and a movable finger support member, at least one sensor configured to detect movement of the at least one finger, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be movable with a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger, and a controller in communication with the at least one sensor, the controller being configured to determine a position of the at least one finger along the second direction based on a proximity of the registration member relative to the detection member.

Abstract: The objective of the invention is to create an overhead robot system that reduces the movements of the system's gripper when it is desired to pick up an individual object from the middle of a stack of objects. The number of movements is reduced as the gripper can be driven to above the desired stack of objects and does not need to be subsequently moved to another location above the warehouse area in order to pick up and move a single object. The invention comprises a separate arrangement for moving a single picked-up object to the edge of the warehouse area. The gripper can move more quickly to the next object to be picked up.

Abstract: An article storage facility includes a storage rack configured to store a semiconductor wafer and a reticle, and a storage and retrieval transport apparatus. The storage rack includes a first accommodation unit configured to store a wafer container for containing the semiconductor wafer, and a second accommodation unit configured to store a reticle container for containing the reticle. The storage and retrieval transport apparatus includes a holding unit configured to hold a top flange formed at an upper portion of the wafer container to support the wafer container in a hanging state. A flange portion configured to allow the storage and retrieval transport apparatus to hold the reticle container using the holding unit to support the reticle container in a hanging state is formed at an upper portion of the reticle container.

Abstract: A warehouse storage and retrieval system including an array of multilevel storage racks having at least one transfer deck, picking isles and storage areas disposed along picking isles, the storage areas being configured to hold differing loads, and a controller including a management module configured to variably size the storage areas of the array of multilevel storage rack modules and assign each of the variably sized storage areas to a corresponding one of the differing loads, wherein the storage and retrieval system is arranged to transport the differing loads for placement in the variably sized storage areas assigned by the controller.

Abstract: A transport system includes a first track that passes above loading ports of the processing devices, and an overhead travelling vehicle that travels along the first track and includes a hoist. A second track is below the first track, passes above the loading ports, and is disposed in parallel or substantially in parallel with the first track. A buffer is provided below the second track at a position higher than the loading ports, and is arranged such that the articles can pass in a vertical direction over the loading ports. The buffer is disposed such that the articles can pass through the height position of the buffer in a vertical direction over the loading ports. A local vehicle travels along the second track and includes a hoist to perform delivery and receipt of the articles between the buffer and the loading ports.

Abstract: Embodiments of the invention include systems and methods for providing gripper recovery using a magazine drop-out feature. Embodiments operate in context of a data storage library having a number of media cartridges physically located within slots of one or more magazines. A robotic hand assembly uses a gripper mechanism to retrieve and ferry the cartridges between the magazines and one or more media drives. In some instances, the gripper mechanism is unable to disengage from the cartridge or to disengage the cartridge from its magazine slot. Embodiments detect this condition and direct the robotic hand assembly to drop out of engagement with the cartridge through the drop-out region of the magazine slot, allowing the gripper mechanism to recover.

Abstract: Methods and apparatus for selecting and combining packages in an outbound container by employing autonomous transfer and transport vehicles which move on a network of roadways to carry a plurality of individual cases each containing the same kind of product from a loading station and to a destination station where individual packages are combined in the outbound container. The travel of each vehicle through the roadway network is computer controlled, and each vehicle includes means for automatically loading and unloading packages from predetermined locations on the network.

Abstract: A method and an apparatus for transferring a substantially flat and substantially circular objects, such as wafers, from a pick-up position to a delivery position, the apparatus comprising, a manipulator, at least one source for emitting a source signal, at least one sensor for sensing said source signal and for providing a sensor signal, a computing device arranged for processing at least one sensor signal to obtain data on the position of said object, the manipulator being arranged for simultaneously transferring a first and a second object along a path in a substantially parallel orientation, spaced apart from each other, and substantially co-axially whereby the central axis of each object may be displaced radially, a said source and a said sensor are connected by a virtual line, whereby the virtual line includes an angle with the central axes of the first and second objects.

Abstract: A system and method for minimizing electromagnetic radiation emissions from a data cartridge handling library employs intermittent operation of the video camera to ascertain correct bin locations and verify automated access between bin locations. This intermittent operation is utilized when an error is suspected or upon a predetermined routine to verify manipulation accuracy.

Abstract: An accessor moveably disposed within a data storage and retrieval system which includes at least one electromagnetic radiation emitter and at least one electromagnetic radiation detector, where each emitter/detector combination have a facing relationship. A data storage and retrieval system which includes one or more of Applicants' accessors moveably disposed therein. A method using Applicants' accessor to assist the inventory of Applicants' data storage and retrieval system. A method to prevent collisions between Applicants' accessor and one or more portable data storage cartridges improperly stored within Applicants' data storage and retrieval system. A method using Applicants' accessor to monitor the insertion and/or retrieval of a portable data storage cartridge from a storage slot, a data storage device, an import/export station, and the like.

Abstract: An automated storage library structure, a structure of at least one robot operating within the automated storage library, and a method of connecting the robot to test equipment to facilitate testing. The robot is operative to move about the automated storage library on a guide structure. The test equipment is disposed in a diagnostics center associated with the automated storage library. Communication between the robot and the diagnostics center is provided through a main connector, disposed adjacent to the guide structure at a predetermined position and electrically connected to the diagnostics center, and a test connector mounted on the robot's chassis and electrically connected to the robot's electronics. A second robot may be used to support testing of a sick robot.

Abstract: The present invention provides an automatic warehouse that enables an operator to work in an area located above his or her height as required. An automatic warehouse 1 comprises a pair of racks 3, 3 each provided with a large number of shelves 2 arranged in a vertical and lateral directions, and a transfer device 4 that moves between the pair of racks 3, 3. Work plates 7 can be arranged between the pair of racks 3, 3. Each of the work plates 7 comprises support members 8, 18 and 28 that bridge across the racks 3, 3 and plate materials 9 that can be freely attached to and removed from the support members 8, 18 and 28. The support members 8, 19 can be attached to and removed from corresponding body materials (struts 11, connection materials 12, or masts 13) constituting a frame of the automatic warehouse 1. The constituent members (plate materials 9 and support members 8, 18) of the work plate 7 can be housed inside the automatic warehouse 1 and outside a route for the transfer device 4.

Abstract: A system and a method are provided for preventing damage to wafers arranged in a wafer cassette. In particular, an apparatus is provided to protect wafers arranged in a wafer cassette during insertion of a wafer into the cassette. In one embodiment, the apparatus may be a separate entity from the wafer cassette. In this manner, the apparatus may be situated about the cassette such that the wafers arranged in the cassette are protected during insertion of a wafer. In another embodiment, the wafer cassette itself may be adapted to partially cover and protect the wafers arranged in the cassette during insertion of a wafer. Consequently, a method is provided using either embodiment of the apparatus. In particular, the method may include inserting a wafer into a wafer cassette by shielding one or more slots of the cassette, exposing a designated slot of the cassette, and inserting a wafer into the designated slot.

Abstract: A storage lift has two columns, and a hoisting shaft for a conveyor unit (2) movable up and down between the two columns. A light grille (5) is arranged in the storage lift on the end of the conveyor unit (2) facing a charging and discharging opening (1). The light grille provides measurement of the height of the goods on the storage lift, and also acts as a safety element. Safety aprons (6, 7) are mounted on the top edge of the charging and discharging opening (1) and on the lower front edge of the conveyor unit (2) for compensating for shifting delays during braking of the conveyor unit (2).

Abstract: A controlled material transport system (MTS) for carrying materials to and from workstations, test equipment, and processing and assembly tools in a common facility. The present invention includes a rigid robot vehicle mountable to a passive track system, which can be routed to service all processing tools on the factory floor. The robot vehicle includes a hoist assembly and gripper assembly, which together perform such functions as picking up magazines, placing magazines, and loading magazines into the processing tools. The hoist assembly is capable of functioning in an operational envelope, which includes any target location within a 3-axis Cartesian coordinate system, to the extent of the range of motion of the hoist assembly. The hoist assembly also provides rigid and controlled z-axis travel, while being compact when retracted. The gripper assembly facilitates loading of the magazines, especially chute style magazines, which are commonly found on many existing processing tools.

Abstract: An autonomous remote controlled vehicle for use in the automation of an existing refrigerated flow through storage facility food processing application. The remote vehicle is specifically designed to operate within a network of centrally controlled remote vehicles that are adapted to receive selectable items from production and temporarily store them for later retrieval. The system is adapted to minimize travel time for the remote vehicle and optimize cycle time. The system is specifically adapted to handle cardboard shipping boxes containing meat products.

Abstract: An automated storage library for the storage and retrieval of cartridges and an associated method includes a frame having cartridge storage cells for storing cartridges and at least one cartridge player for playing a cartridge. At least two robotic mechanisms are each movable within the frame to mount a cartridge from a cartridge storage cell into the cartridge player and to dismount a cartridge from the cartridge player into a cartridge storage cell. A controller controls the robotic mechanisms to move in a first direction around the frame along a closed loop such that one of the robotic mechanisms dismounts a cartridge from the cartridge player into a cartridge storage cell while another one of the robotic mechanism mounts another cartridge from another cartridge storage cell into the cartridge player.

Abstract: A system and method of adaptively engaging cartridges stored in an automated cartridge library are provided. Upon receiving a request to extend a reach mechanism of a robot arm to engage a cartridge stored in a selected cell, a library controller initiates a move profile to extend the reach mechanism from a starting position toward the cartridge. The move profile comprises a set of commanded positions and corresponding commanded velocities. A motor controller in communication with the library controller compares a sensed position of the reach mechanism, provided by a position feedback sensor associated with a reach motor, with the commanded position to determine a position error. The motor controller maintains the move profile until the position error exceeds an error threshold, indicating engagement of the cartridge by the reach mechanism.

Abstract: A tape storage library apparatus includes a gripper for handling tape cartridges and an integrated camera, proximity sensor, and reach safe sensor operable with a common light source for performing multiple tape cartridge sensing functions. The camera reads the labels of tape cartridges stored in slots of a storage library. The proximity sensor senses the presence and absence of tape cartridges in the slots. The proximity sensor also distinguishes between labeled and unlabeled tape cartridges stored in the slots. The reach safe sensor senses the presence of obstructions in the path of movement of the gripper. The proximity sensor further calibrates the position of the gripper in the storage library. A processor operable with the reach safe sensor calibrates the optical source to ensure proper tape cartridge sensing functions.

Abstract: A self-diagnostic method is provided capable of testing condition of various components for a forklift truck selectively, displaying the result test codes collectively on a display after completing the test, and initiating a quick test mode during a run mode by simply manipulating an accelerator pedal and a direction lever of the forklift truck.

Abstract: An automatic parking apparatus includes an automatic parking mechanism and a parking space identifying device. An upper plate of the automatic parking mechanism lifts up the chassis of a car. A control device on a baseplate of the mechanism keeps the mechanism moving along a straight line based on the input parking data and the data obtained by transceivers, a linear module, and the parking space identifying device. At the same time, available parking spaces may be detected so that cars may be placed correctly. The parking data are recorded, which makes it convenient to fetch the cars later on.

Abstract: A carriage is provided for a storage-retrieval system including a shelf assembly. The carriage includes a base member, at least one carrier region above the base member for supporting an object to be transferred, at least one pair of shifting units flanking the carrier region. The shifting units are reciprocally movable into and away from the shelf assembly. Engaging members are mounted on the shifting units. Each of the engaging members arranged to pivot about a vertical axis and movable between a closed position for contacting the object and an open position for avoiding the contacting with the object.

Abstract: A storage and retrieval machine comprises a base, a carriage, and a control system. The control system is used to control the movement of the carriage in the vertical direction and/or the movement of the base in the horizontal direction. The control system includes at least one encoder and at least one optical distance meter. The encoder provides relative position information during a middle portion of the SRM trajectory, i.e., during the implementation of a feedback control scheme. The optical distance meter provides absolute position information to the control system at an endpoint of the SRM trajectory, i.e., to verify that the SRM has in fact reached its destination. If the control system controls both the movement of the carriage and the movement of the base, then two encoders and two optical distance meters are used.

Abstract: An apparatus for transferring a substantially circular article from a first unloading position to a second loading position compensates for misalignment of the article on a support arm. During movement of the support arm the periphery of the circular article is detected, and a correction of the movement of the support arm is generated.

Abstract: A method and associated apparatus within a storage library subsystem for simply adapting the motion of a robotic mechanism for moving media cartridges to allow for mechanical misalignments. When retracting a cartridge from a slot in the library subsystem, the present invention monitors a sensor in the gripper hand to verify that the cartridge is not being pulled from the gripper due to "snagging" caused by mechanical misalignment of the had with the slot. When a snag is sensed, the methods and apparatus of the present invention stop the motion, initiate robotic actions to regroup the cartridge securely, and retry the retraction with adjustments to the robotic movements and positions to avoid the snag. When inserting a cartridge into a slot in the library subsystem, the present invention monitors the progress of the servo motor controlling the robot to determine whether the motion is blocked due to mechanical misalignment of the robotic mechanism with the slot.

Abstract: The illumination system of the present invention is used with an object handling system to selectively illuminate a predefined target area in a manner that creates a dark area outside of the target area. This illumination system is used in conjunction with an object handling system that contains a plurality of object storage locations located in an array format, such that object storage locations are adjacent to each other both vertically and horizontally. In order to precisely illuminate a selected object storage location and not the adjacent object storage locations, the illumination system of the present invention angularly orients a pair of illumination devices with reference to the object storage locations in order to create shadows outside of a selected object storage location while illuminating the selected object storage location.

Abstract: There are defined a lift space (E) and multi-storied housing spaces (X,Y) provided on at least one side out of the left side, right side, front, side, and rear side of the lift space (E). A three dimensional housing apparatus comprises a liftable fork unit composed of a pair of liftable forks (5a,5b) movable up and down in the lift space (E), and a plurality of traversable housing forks (20) each reciprocatingly movable between a corresponding housing space (X,Y) and the lift space (E). An object (C) to be housed can speedily and safely be warehoused in and delivered from a respective housing space (X,Y) by the liftable fork unit (5a,5b) and respective traversable housing fork (20).

Abstract: A handling apparatus, used for handling a carrier of semiconductor wafers, comprises a first mechanism for transferring a carrier between a loader/unloader table and a storage compartment, and a second mechanism, for moving the first mechanism in both vertical and horizontal directions. The first mechanism includes an arm, a loading portion for loading the carrier, and an arm-rocking mechanism. The second mechanism moves the first mechanism to the loader/unloader table, picks up the carrier, and then moves the first mechanism to the storage compartment, where the arm is rocked, so as to discharge the object from the loading portion.

Abstract: Apparatus for storing articles including walls defining a bin enclosure having an opening for transporting articles therethrough, a support for supporting articles in an article storage region in the enclosure, and a source of pressurized particle-free air to the region to provide a higher pressure in the article storage region than outside of the enclosure. Also disclosed are an energy beam vision system that is carried by a transport system and interfaces with the walls and a controller that controls the transport mechanism in order to properly align the relative positions of the transport mechanism and the enclosure.

Abstract: A loading elevator for a multi-platen press is provided with a pusher which simultaneously transfers a number of transport plates loaded with stampings to the press. After press operations are completed, the plates are unloaded by an extractor to an unloading elevator. The pushing and the unloading of the plates are automatic, with sensors provided to halt the loading and unloading in the event of excessive resistance to the movement of any one of the plates. A plurality of sensors are provided in the pusher and in the extractor, one sensor there for each of the plates. Each sensor is connected to halt the operation on recognition by the sensor that an express resistance exists and if desired to provide a signal that the halting has taken place.

Abstract: A system using free ranging automatic guided vehicles (AGVs) for loading and unloading material from a number of trailers is provided. The system employs a plurality of sensors for monitoring both pedestrian, operator driven vehicles and other AGV traffic, and for ensuring that the trailers are parked in position and ready for loading and unloading. The system further includes signals for controlling traffic and a plurality of trailer mounted targets for AGV navigation. During an operation cycle full containers are unloaded from a first trailer and empty containers are loaded on a second trailer.

Abstract: As automated loading/unloading system is shown, which uses a lift truck 10 for loading and unloading cargos and adpated to travel between a container 90 and a coneyor 50, a rotatably disposed turntable 60 for rotation about a vertical axis, the turntable being rotated when the lift truck 10 is on top thereof so as to turn the lift truck to face the container 90 or conveyor 50. A transport passage 80 installed between the turntable 60 and container 90 to permit the lift truck 10 to reach the container 90. An external power unit 100 is employed for controlling the lift truck and the turntable 60. Guide rails 70 and 81 are provided to extend along the turntable 60 and the transport passage 80 along one edge. The lift truck 10 is designed so as to urge its body to one side in its movement so that the movement of the lift truck is guided by the rails 70 and 81 and the inside wall of the container on the same side of the rails.

Abstract: An apparatus and method for controllably moving the carriage assembly of a automated load handling vehicle vertically and horizontally. The carriage assembly includes load detecting sensors which detect the opening in the load during movement of the carriage assembly. Once the opening is located, a controller positions the carriage assembly at vertical and horizontal target positions, and moves the carriage assembly into the opening.

Abstract: A load push-pull slipsheet handler is disclosed having automatic features adapting it particularly for use with driverless, automatically-guided vehicles. These features include proximity sensors which sense the distance between the slipsheet handler and a vertically-oriented external surface so as to deposit a load in a predetermined relationship to the surface either on the floor or atop another load. Load contact sensors also are provided for enabling the device to gauge the distance to a load to be picked up so as to control the approach thereto. Further sensors sense the transversely-opposite extremities of a load prior to engagement, and transversely center the push-pull assembly relative to the load. Other features include a system associated with the slipsheet clamp for sensing the presence or absence of a slipsheet tab prior to clamping, and means for permanently deforming the tab to facilitate subsequent regrasping after the load has been deposited.

Abstract: An automatically-guided, driverless vehicle for handling loads has a selectively openable and closeable load clamp. The clamp is equipped with various sensors for automatically sensing the load and other objects and surfaces surrounding the load, and controlling the movement of the clamp along a load-engaging direction, the vertical reciprocation of the clamp, and the opening and the closing of the clamp in response thereto.

Abstract: An automatic storage and retrieval system including a storage bin, having a mechanism for positioning a vehicle at the storage bin including a rough positioning mechanism with an encoder having a rotatable member which rotates through an arc less than a complete revolution in response to movement of the vehicle and generates a signal with a different value at each of various member positions which correspond to respective vehicle rough position zones. A control device receives the signal and selectively causes the vehicle to move to a rough position zone at the storage bin. A fine positioning mechanism repositions the vehicle within a particular position zone after rough positioning and utilizes a light source and photoelectric sensor mounted on the vehicle for detecting a target mounted in a fixed relation with respect to the storage bin. The control mechanism receives an electrical signal generated by the photoelectric sensor and causes the vehicle to stop at the fine position location at the storage bin.

Abstract: A load position sensing device for load carriers, such as the fork lift of a fork lift truck, wherein the load carrier includes vertical support means and horizontal load-carrying means extending forwardly therefrom, comprising a plate mounted pivotally onto the vertical support means of said load carrier and movable toward and away from the vertical support means in the direction in which the horizontal load-carrying means extends, spring means biasing the plate away from the vertical support means, position sensing means to detect when the load is within a proper range or too close to the vertical support means, and indicator means to communicate the position sensed to an operator of the load carrier whereby potential damage to loads of frangible goods is minimized.