A charging system for autonomous transport vehicles including at least one charging contact disposed on each pick floor level of a storage and retrieval system, each of the at least one charging contact being located at a transfer station, at least one power supply configured to supply power to the at least one charging contact, and a controller in communication with the transfer station and being configured to communicate information relating to a transfer of items between the transfer station and a predetermined one of the autonomous transport vehicles and to apply power from the power supply to the at least one charging contact for charging the predetermined autonomous transport vehicle corresponding to the transfer and located at the transfer station, wherein the controller is configured to supply power to the charging contacts simultaneously with the predetermined autonomous transport vehicle exchanging items related to the transfer at the transfer station.

A cloth spreading apparatus has a spread the remainder of a piece of cloth to smooth out every wrinkle, without requiring a dedicated assistant worker, including: a conveyor belt receiving an upper side portion of a piece of cloth having been spread in a right-left direction, pulls the upper side portion rearward, sequentially pulls up the remainder from a middle to a lower side portion, and ejects the entire cloth rearward. Also, a wrinkle smoothing unit that smooths out wrinkles in the remainder while the conveyor belt pulls up the remainder. The wrinkle smoothing unit has a pair of wrinkle smoothing clamps that clamp right and left side portions of the remainder being pulled up by the conveyor belt, and wrinkle smoothing clamp moving mechanisms that move the clamps upward and apart from each other in the right-left direction while the cloth is pulled up by the conveyor belt.

A cloth spreading apparatus has a spread the remainder of a piece of cloth to smooth out every wrinkle, without requiring a dedicated assistant worker, including: a conveyor belt receiving an upper side portion of a piece of cloth having been spread in a right-left direction, pulls the upper side portion rearward, sequentially pulls up the remainder from a middle to a lower side portion, and ejects the entire cloth rearward. Also, a wrinkle smoothing unit that smooths out wrinkles in the remainder while the conveyor belt pulls up the remainder. The wrinkle smoothing unit has a pair of wrinkle smoothing clamps that clamp right and left side portions of the remainder being pulled up by the conveyor belt, and wrinkle smoothing clamp moving mechanisms that move the clamps upward and apart from each other in the right-left direction while the cloth is pulled up by the conveyor belt.

Laundry pieces are to be gripped at various locations in laundries. This is labor-intensive. For this purpose, efforts are being made toward automating the gripping of laundry pieces. A camera has previously been used for this purpose. The automatic gripping of laundry pieces is implemented by way of a plurality of cameras, in that a plurality of cameras simultaneously record image data of respective laundry pieces to be gripped. On account thereof, the cameras always provide exploitable image data of the relevant laundry piece even when one camera is momentarily obscured, for example, or is defective or the viewing direction of a camera is not directed toward the face of the laundry piece. Image data of the laundry piece can always be generated by virtue of the plurality of cameras, said image data enabling a handling installation to automatically grip the laundry piece in a reliable manner.

Laundry pieces are to be gripped at various locations in laundries. This is labor-intensive. For this purpose, efforts are being made toward automating the gripping of laundry pieces. A camera has previously been used for this purpose. The automatic gripping of laundry pieces is implemented by way of a plurality of cameras, in that a plurality of cameras simultaneously record image data of respective laundry pieces to be gripped. On account thereof, the cameras always provide exploitable image data of the relevant laundry piece even when one camera is momentarily obscured, for example, or is defective or the viewing direction of a camera is not directed toward the face of the laundry piece. Image data of the laundry piece can always be generated by virtue of the plurality of cameras, said image data enabling a handling installation to automatically grip the laundry piece in a reliable manner.

A veneer cutting and sorting apparatus is disclosed. The apparatus includes a revolvable knife blade having a cutting edge and a revolvable knife edge receiver having a cutting edge receiving surface. The knife blade cuts a veneer sheet as peeled from a peeler block by a veneer lathe at a previously detected boundary between defective veneer portion and product veneer sheet on the cutting edge receiving surface then revolving at the same peripheral speed as the cutting edge of the knife blade. Cut-off defective portion is allowed to drop off by its own weight.

A veneer cutting and sorting apparatus is disclosed. The apparatus includes a revolvable knife blade having a cutting edge and a revolvable knife edge receiver having a cutting edge receiving surface. The knife blade cuts a veneer sheet as peeled from a peeler block by a veneer lathe at a previously detected boundary between defective veneer portion and product veneer sheet on the cutting edge receiving surface then revolving at the same peripheral speed as the cutting edge of the knife blade. Cut-off defective portion is allowed to drop off by its own weight.

Embodiments herein describe a chute for temporarily buffering packages when, for example, a container disposed at the end of the chute has been removed. The chute includes a flap that activates to hold packages in an accumulation area when the container is removed. In one embodiment, the flap is disposed at an end of the chute at a decline so that during normal operation packages slide off the flap into the container. An actuator can rotate the flap from a decline position into a vertical position such that the flap serves as a stop to prevent packages from sliding off the chute when containers are being swapped out. Once a new container is disposed at the end of the chute, the actuator can rotate the flap back to the decline position so that any accumulated packages are then ejected into the container.

Embodiments herein describe a chute for temporarily buffering packages when, for example, a container disposed at the end of the chute has been removed. The chute includes a flap that activates to hold packages in an accumulation area when the container is removed. In one embodiment, the flap is disposed at an end of the chute at a decline so that during normal operation packages slide off the flap into the container. An actuator can rotate the flap from a decline position into a vertical position such that the flap serves as a stop to prevent packages from sliding off the chute when containers are being swapped out. Once a new container is disposed at the end of the chute, the actuator can rotate the flap back to the decline position so that any accumulated packages are then ejected into the container.

Stations for deployment, recharging and/or maintenance of a plurality of unmanned aerial vehicles (UAVs) are disclosed herein. Such deployment stations can be implemented in a container that includes a robotic arm and a conveyor system. The robotic arm can secure a UAV hovering outside the station, move the UAV inside the station, and transfer the UAV to the conveyor. The conveyor can couple to and move multiple UAVs. Further, charging systems may be integrated in such deployment stations to charge UAVs when coupled to and moving along the conveyer. Further, process pieces may be utilized to simplify mechanical and electrical interfacing between a UAV, the robotic arm, the conveyor, the charging system and/or other systems at the UAV station.