A computer-controlled warehousing stacker bin address memory system using clock signals, and comprising a keyboard or the like for introducing binary bin address data into the system and for issuing command signals and enable signals to a control circuit comprising a priority encoder and a preset read only memory. One set of shift registers, with digital display, is enabled to receive input address data. Thereafter, command and enable functions cause data from the display registers to be issued through a set of execute shift registers to a data transmitter which controls operation of the stacker crane and, where preservation of an address is needed, as when the tote pan is being delivered to the picking station, to place said data in a predetermined one of a plurality of sets of storage shift registers, from which the data is likewise, thereafter, transmitted to the E registers to cause the stacker crane to return the tote pan to storage upon command.
The method is characterized by identifying each form stack (8) with regard to the identity received during manufacture thereof, the information received regarding the identity of the form stack (8), comparing the information received regarding the identity of the form stack (8) with stored information regarding the identities of one or more form stacks (8) sorted in the storage system (11), sorting form stacks (8) with a certain identity in such compartments in the storage system (11) containing a form stack or form stacks (8) with the same identity if, during the identity comparison, it is determined that there is/are one or more form stacks (8) with the same identity in a certain compartment in the storage system (11), sorting form stacks (8) with a certain identity in a free compartment in the storage system (11) if, during the identity comparison, it is determined that there is/are not one or more form stacks (8) with the same identity in the storage system, and removing stored identity information when a form stack or form stacks (8) with this stored identity information is/are removed from the storage system (11).
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. A high-low positioning device selectively lowers and raises a carriage including a retrieval apparatus such as a fork assembly within the bin. A method is provided to utilize the automatic storage and retrieval system including rough and fine positioning of a vehicle relative to a storage bin and high-low positioning within the bin.
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. A high-low positioning device selectively lowers and raises a carriage including a retrieval apparatus such as a fork assembly within the bin. A method is provided to utilize the automatic storage and retrieval system including rough and fine positioning of a vehicle relative to a storage bin and high-low positioning within the bin.
