A racking for storing articles having guiding tracks and a rail vehicle, which may be moved on the guiding tracks for storing and retrieving the articles, wherein the guiding tracks merge in an intersection area. Within the guiding tracks there are formed current bars and at the rail vehicle there are formed current receivers engaging with the current bars and supplying the rail vehicle in the guiding tracks with energy. The intersection area is free of current bars. The rail vehicle has an intersection sensor, which is configured to detect whether the rail vehicle is within the intersection area. The vehicle control is configured to switch the rail vehicle, on the basis of the signals of the intersection sensor and the voltage in the guiding tracks, into different operation modes.

A conveyance control device executes: a control step of detecting entering to a merging point adjacent area set on adjacent to each merging point on the conveyance route; a detection step of detecting whether there is an obstacle around the carrying cart; a communication step of performing, when the entering to each merging point adjacent area is detected, local wireless communications with another carrying cart by using a common frequency band and a common identification code set to values different among merging points; and a merging point passing control step of starting the communication step when the other carrying cart is detected in the merging point adjacent area in the detection step, and causing passing of a merging point in accordance with a priority set to each entering passage to the merging point, after a handshake with the other carrying cart is successfully performed in the communication step,

A multitasking crane includes a travelling device, load tables that are lifted and lowered independently of each other and disposed in two columns arranged in a travelling direction and at least one transfer device that is provided on each of the load tables and is configured to deliver the merchandise trays. The transfer device of the load table for picking is actuated to pick at least one of the merchandise trays that has been specified, and at the same time, at least one of the merchandise trays that is previously placed on the transfer device of the load table for storage is moved to empty one of the storage shelves of the automated warehouse and stored.

The present disclosure relates to a method for retrieving medication packages from a pharmacy order-picking device. In modern pharmacy order-picking devices, medication packages are stored for space optimization, which can cause a number of heavy packages to be stored on one shelf, causing the shelf to bend, which may prevent retrieval. In the method according to the disclosure, an operating device (20) is displaced in a displacement position to a predetermined shelf position, at least one medication package (30) on a shelf (11) belonging to the shelf position is moved with a gripping device (22) in the direction of a support (21) and it is then checked whether the at least one medication package (30) has moved fully onto the support (21). If the check has a negative outcome, an edge (11″, 11′″) of the shelf (11) on which the at least one medication package is stored is detected with a sensor (23) of the operating device (20) and said operating device (20) is displaced to a corresponding shelf position, the gripping device (22) having been brought into the displacement position before displacement.

A method and apparatus are provided for sorting or retrieving items to/from a plurality of destinations areas. The items are loaded onto one of a plurality of independently controlled delivery vehicles. The delivery vehicles follow a track that guides the delivery vehicles to/from the destination areas, which are positioned along the track. Once at the appropriate destination area, an item is transferred between the delivery vehicle and the destination area.

In an automated warehouse, if a controller receives an instruction to retreat a first carrier and if the first carrier is holding an article or if an article is housed in a housing shelf corresponding to an isolation region that is a retreat destination, the controller causes the first carrier to carry the article to a housing shelf to and from which a second carrier is able to transfer an article, then causes the first carrier to retreat, and then drives the second carrier within a range of a track except for the isolation region. When it is detected that one of first doors corresponding to the isolation region has been opened, the controller continues driving the second carrier.

The invention relates to a method for the fully automatic and/or semiautomatic setup or calibration of a pick and/or place position having at least one storage and retrieval vehicle and/or at least one trolley, a control/regulation device, at least one detection system, in particular an optical detection system, and at least one position feature, the method comprising the following steps: manual and/or automatic storage of the positions of the position features; automatic traveling to the stored positions by means of the storage and retrieval vehicle and/or of the trolley: detecting an actual value of the position of the position feature by means of the detection system, in particular an optical detection system; and calculating a difference between the stored position and the actual value, optionally carrying out a correction, and optionally storing a correction value of the position of the position feature.

A control system includes: a sway detection unit configured to detect a reference swaying amount that is a swaying amount of a mast at a detection height, which is set to be greater than or equal to a height of a lowermost part of a transfer apparatus when a lift is located at an upper limit of a lifting range; a lifting height acquiring unit configured to acquire lifting height information that indicates a lifting height, which is a height of the lift, at a plurality of points in time; and a transfer control unit configured to control the transfer apparatus. The transfer control unit converts the reference swaying amount detected by the sway detection unit into a lifting height swaying amount that is a swaying amount of the mast at the lifting height indicated by the lifting height information.

Bin retrieval robots configured to pick or put-away bins within a logistics facility and to transport one or more picked bins. Methods and systems for autonomous picking or put-away of bins within a logistics facility that include the bin retrieval robot(s) are also disclosed. The systems include a remote server and at least one bin retrieval robot, wherein the remote server is configured to communicate with the bin retrieval robot(s) to send and receive picking data, and the bin retrieval robot(s) are configured to autonomously navigate and position within the logistics facility.

The high-position robot includes a pallet fork; an image collector and a distance sensor are arranged on the pallet fork; the image collector is configured to collect positioning information provided on a target stock container and obtain image data representing a positional relationship between the pallet fork and a projection image of the positioning information on a specified plane; and the distance sensor is configured to measure a distance between the pallet fork and a target stock container and obtain distance data. After a pallet fork lifts a storage container to be placed up to a same height as a target layer of a target stock container, adjusting and controlling a positional relationship between the pallet fork and a projection image of positioning information on a specified plane; and adjusting and controlling a distance between the pallet fork and the target stock container according to distance data.