1. A method of retrieving objects from a multi-depth object storage device, the method comprising:

retrieving, via a shuttle car, at least a first object from a first depth of a storage location and a second object from a second depth of the storage location, wherein the first depth is less than the second depth such that the first object positioned at the first depth interferes with the retrieval of the second object positioned at the second depth;

manipulating the first object and the second object such that the first object is positioned to be disposed in the storage position while the second object remains disposed on the shuttle; and

disposing the first object in the storage position while the second object remains on the shuttle.

2. The method of claim 1, wherein the shuttle car defines an object load bed, wherein the object load bed is configured to hold the first and second objects when removed from the storage location.

3. The method of claim 2, wherein the shuttle vehicle includes at least first and second shuttle vehicle load arms configured along sides of the object load bed, wherein each of the shuttle vehicle load arms defines one or more fingers configured to engage a given object during operation.

4. The method of claim 2, wherein the shuttle vehicle includes at least a first shuttle vehicle load arm and a second shuttle vehicle load arm, wherein the first shuttle vehicle load arm is configured along the sides of the load bed and the second shuttle vehicle load arm is configured to be located at a substantial center of the object load bed, wherein each of the shuttle vehicle load arms defines one or more fingers configured to engage the given object during operation.

5. The method of claim 2, wherein the object-carrying bed defines a first chamber and a second chamber, wherein the first chamber and the second chamber are each configured to support at least one object therein.

6. The method of claim 3, wherein the object-carrying bed includes a lift mechanism to move the given object in a first direction during operation, wherein the manipulating the first object and the second object includes moving the second object in the first direction via the lift mechanism such that the first object can be disposed in the storage position, wherein the first direction is defined in a vertical or horizontal direction.

7. A shuttle configured for retrieving objects from a multi-depth object storage device, the shuttle comprising an object load bed configured to hold at least a first object and a second object when retrieved from a storage location, and a plurality of load arms, each load arm having at least one finger, the shuttle configured to:

removing at least the first object from a first depth of the storage location and the second object from a second depth, wherein the first depth is less than the second depth such that the first object positioned at the first depth interferes with the removal of the second object positioned at the second depth;

manipulating the first object and the second object such that the first object is positioned to be disposed in the storage position while the second object remains disposed on the shuttle; and

disposing the first object in the storage position while the second object remains on the shuttle.

8. The shuttle of claim 7, wherein the shuttle includes at least first and second shuttle load arms configured along the sides of the object load bed, wherein each of the shuttle load arms defines one or more fingers configured to engage the given object during operation.

9. The shuttle of claim 7, further comprising at least a first shuttle load arm and a second shuttle load arm, wherein the first shuttle load arm is configured along the side of the load bed and the second shuttle load arm is configured to be located at a substantial center of the object load bed, wherein each of the shuttle load arms defines one or more fingers configured to engage the given object during operation.

10. The shuttle of claim 9, wherein the object load bed includes a lift mechanism to move the given object in a first direction during operation, wherein the manipulating the first object and the second object includes moving the second object in the first direction via the lift mechanism such that the first object is disposable in the storage position, wherein the first direction is defined in a vertical or horizontal direction.

Background

Automated shuttles that move along integrated tracks within storage racks are configured to retrieve objects stored at discrete storage locations within those storage racks. To maximize the amount of storage space available within the footprint defined by the storage racks and the automated shuttle system, the overall size of the shuttle is typically similar to the size of a single object (e.g., an estimated maximum object) to be stored and retrieved within the overall system, while the storage racks are provided with multiple depth storage locations so that objects can be stored one after another. However, due to the configuration of the automated shuttle, the retrieval of objects from a second depth within the storage rack (e.g., behind at least one other object at the first depth) requires the automated shuttle to move the objects from the first depth into an open, retained storage position before the objects at the second depth in the storage position can be retrieved. Many of these recognized problems have been addressed by the methods and apparatus of the present disclosure through efforts, originality, and innovation.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed aspects. This summary is not an extensive overview and is intended to neither identify key or critical elements nor delineate the scope of such aspects. Its purpose is to present some concepts of the described features in a simplified form as a prelude to the more detailed description that is presented later.

In an exemplary embodiment, a method for retrieving objects from a multi-depth object storage device is provided. The method includes removing at least a first object from a first depth of the storage location and a second object from a second depth of the storage location via the shuttle car. The first depth is less than the second depth such that a first object positioned at the first depth interferes with the retrieval of a second object positioned at the second depth. The method also includes manipulating the first object and the second object such that the first object is positioned to be disposed in the storage position while the second object remains disposed on the shuttle. The method also includes disposing the first object in the storage position while the second object remains on the shuttle.

In some embodiments, the shuttle car defines an object load bed. In such embodiments, the object-carrying bed is configured to hold the first object and the second object when removed from the storage location. In some embodiments, the shuttle includes at least a first shuttle load arm and a second shuttle load arm configured along a side of the object load bed. In such embodiments, each of the shuttle load arms defines one or more fingers configured to engage a given object during operation. In some embodiments, the object-carrying bed defines a first chamber and a second chamber. In such embodiments, the first chamber and the second chamber are each configured to support at least one object therein.

In some embodiments, the shuttle car defines a third load arm positioned at least substantially centrally with respect to a width of the object load bed. In some embodiments, the third arm is centrally located and configured to work with the first load arm and the second load arm. In some embodiments, the shuttle vehicle defines a third load arm positioned at least substantially centrally with respect to the width of the object load bed and a fourth load arm positioned adjacent to the third load arm positioned at least substantially centrally with respect to the width of the object load bed. In such embodiments, the third load arm includes one or more arm fingers configured to engage an object in the first chamber, and the fourth load arm includes one or more arm fingers configured to engage an object in the second chamber. In some embodiments, the third arm finger may be configured to work with (e.g., cooperatively engage with) at least one of the first load arm finger and/or the second arm finger. In such embodiments, the third arm finger may be configured to selectively engage an object between the third arm and the first arm, and/or the third arm finger may be configured to selectively engage an object between the third arm and the fourth arm. In some embodiments, the third arm finger is retractable and extendable toward at least one of the first arm or the second arm (e.g., into one or both chambers of the shuttle). For example, the third arm finger can extend on either side of the third arm. In some embodiments, each individual third arm finger may only be able to extend toward one of the first or second arms. For example, the third arm may have one or more fingers dedicated to working with the first arm (e.g., extending toward the first arm) and one or more fingers dedicated to working with the second arm (e.g., extending toward the second arm). In some embodiments, the third arm may be configured with a separate finger configured to work with one of the first arm finger or the second arm finger. In some embodiments, the third load arm may be configured to work in conjunction with the first load arm, and the fourth load arm may be configured to work in conjunction with the second load arm.

In some embodiments, the third load arm and/or the fourth load arm separates the first compartment and the second compartment, and removing the first object and the second object from the storage location comprises: removing the first object via the at least one integrated finger of the first load arm and one of the one or more integrated fingers of the third load arm such that the first object is disposed in the first chamber of the object-loading bed; moving the shuttle such that the second chamber is aligned with the storage position; and withdrawing the second object via the at least one integrated finger of the second load arm and one of the one or more integrated fingers of the third load arm such that the second object is disposed in the second chamber of the object-carrying bed.

In some embodiments, manipulating the first object and the second object includes moving the second object into the second chamber with the first object disposed in the first chamber. In such embodiments, the first compartment is aligned with the storage position such that the first object can be disposed in the storage position. In some embodiments, the method further comprises moving the second object into the first chamber in a situation in which the first object has been disposed in the storage position. In some embodiments, the first chamber is configured to simultaneously support at least two objects and the second chamber is configured to simultaneously support at least two objects such that the load bed is configured to simultaneously support at least four objects.

In some embodiments, the object-carrying bed includes a lift mechanism to move the given object in a first direction during operation. In such embodiments, manipulating the first and second objects includes moving the second object in a first direction via the lift mechanism such that the first object can be disposed in the storage position, wherein the first direction is defined in a vertical or horizontal direction. In some embodiments, manipulating the first object and the second object includes rotating the object-carrying bed of the shuttle at least about 180 degrees such that the first object can be disposed in the storage position while the second object remains on the shuttle. In some embodiments, manipulating the first object and the second object further comprises rotating the first object on the object-carrying bed (e.g., about 180 degrees relative to the initial orientation). In some embodiments, the method further comprises rotating the object-carrying bed at least about 180 degrees after placing the first object in the storage position.

In another exemplary embodiment, a shuttle car configured for retrieving objects from a multi-depth object storage device is provided. The shuttle includes an object load bed configured to hold at least a first object and a second object when removed from a storage position, and a plurality of load arms, each load arm having at least one finger. The shuttle is configured to retrieve at least a first object from a first depth of the storage location and a second object from a second depth, wherein the first depth is less than the second depth such that a first object positioned at the first depth interferes with the retrieval of a second object positioned at the second depth. The shuttle is also configured to manipulate the first object and the second object such that the first object is positioned to be disposed in the storage position while the second object remains disposed on the shuttle. The shuttle is further configured to dispose the first object in the storage position while the second object remains on the shuttle.

In some embodiments, the shuttle includes at least a first shuttle load arm and a second shuttle load arm configured along a side of the object load bed. In such embodiments, each of the shuttle load arms defines one or more fingers configured to engage a given object during operation. In some embodiments, the object-carrying bed defines a first chamber and a second chamber. In such embodiments, the first chamber and the second chamber are each configured to support at least one object therein. In some embodiments, the shuttle car further comprises a third load arm positioned at least substantially centrally with respect to the width of the object load bed.

In some embodiments, the shuttle vehicle defines a third load arm positioned at least substantially centrally with respect to the width of the object load bed and a fourth load arm positioned adjacent to the third load arm positioned at least substantially centrally with respect to the width of the object load bed. In such embodiments, the third load arm includes one or more arm fingers configured to engage an object in the first chamber, and the fourth load arm includes one or more arm fingers configured to engage an object in the second chamber. In some embodiments, the third load arm separates the first compartment and the second compartment, and removing the first object and the second object from the storage position further comprises: removing the first object via the at least one integrated finger of the first load arm and one of the one or more integrated fingers of the third load arm such that the first object is disposed in the first chamber of the object-loading bed; moving the shuttle such that the second chamber is aligned with the storage position; and withdrawing the second object via the at least one integrated finger of the second load arm and one of the one or more integrated fingers of the third load arm such that the second object is disposed in the second chamber of the object-carrying bed.

In some embodiments, manipulating the first object and the second object includes moving the second object into the second chamber with the first object disposed in the first chamber. In such embodiments, the first compartment is aligned with the storage position such that the first object can be disposed in the storage position. In some embodiments, the first chamber is configured to simultaneously support at least two objects and the second chamber is configured to simultaneously support at least two objects, and wherein the load bed is configured to simultaneously support at least four objects.

In some embodiments, the shuttle car is further configured to move the second object into the first chamber in a situation in which the first object has been disposed in the storage position. In some embodiments, the object-carrying bed includes a lift mechanism to move the given object in a first direction during operation. In such embodiments, manipulating the first and second objects includes moving the second object in a first direction via the lift mechanism such that the first object can be disposed in the storage position, wherein the first direction is defined in a vertical or horizontal direction.

In some embodiments, manipulating the first object and the second object includes rotating the object-carrying bed of the shuttle about 180 degrees such that the first object can be disposed in the storage position with the second object remaining on the shuttle. In some embodiments, manipulating the first object and the second object further comprises rotating the first object on the object-carrying bed. In some embodiments, the shuttle car is further configured to rotate the object-carrying bed at least about 180 degrees after placing the first object in the storage position.

To the accomplishment of the foregoing and related ends, the one or more aspects comprise the features hereinafter fully described and particularly pointed out in the claims. The following description and the annexed drawings set forth in detail certain illustrative aspects and are indicative of but a few of the various ways in which the principles of these aspects may be employed. Other advantages and novel features will become apparent from the following detailed description when considered in conjunction with the drawings and the disclosed aspects are intended to include all such aspects and their equivalents.

Drawings

The features, nature, and advantages of the present disclosure will become more apparent from the detailed description set forth below when taken in conjunction with the drawings in which like reference characters identify correspondingly throughout and wherein:

FIG. 1A illustrates a perspective view of a materials handling system including an automated storage and retrieval system (AS/RS) utilizing a dual carriage lift device in accordance with one or more embodiments;

FIG. 1B illustrates a perspective view of a storage rack for AS/RSs, according to certain embodiments;

fig. 1C shows a perspective view of a shuttle according to some embodiments;

fig. 2A-2B show a top view (fig. 2A) and a side view (fig. 2B), respectively, of an exemplary embodiment shuttle design;

FIG. 2C is a top view of an exemplary embodiment shuttle design having four load arms;

fig. 2D illustrates another top view of a shuttle vehicle having four load arms loaded with four objects, such as the shuttle vehicle design shown in fig. 2C, according to certain embodiments;

fig. 2E is a flow chart of a retrieval operation of a shuttle vehicle, such as the shuttle vehicle shown in fig. 2A-2C, according to an exemplary embodiment;

fig. 2F is a flow chart of a setup operation of a shuttle vehicle, such as the shuttle vehicle shown in fig. 2A-2C, according to an exemplary embodiment;

fig. 3A-3D illustrate movement of an object on a shuttle according to an exemplary embodiment;

3E-3G illustrate movement of an object on a shuttle according to an exemplary embodiment;

fig. 3H is a flow chart of a take-out operation of a shuttle vehicle, such as the shuttle vehicle shown in fig. 3E-3G or fig. 4A-4C, according to an exemplary embodiment;

fig. 3I is a flow chart of a setup operation of a shuttle vehicle, such as the shuttle vehicles shown in fig. 3E-3G or fig. 4A-4C, according to an exemplary embodiment;

4A-4E illustrate movement of an object on a shuttle according to another exemplary embodiment;

fig. 5A-5E illustrate movement of an object on a shuttle according to yet another exemplary embodiment;

fig. 5F is a side view of an exemplary shuttle car used in the operations of fig. 5A-5E, according to an exemplary embodiment;

fig. 5G is a flow chart of a retrieval operation of a shuttle vehicle, such as the shuttle vehicle shown in fig. 5A-5F, according to an exemplary embodiment; and is

Fig. 5H is a flow chart of a setup operation of a shuttle vehicle, such as the shuttle vehicles shown in fig. 5A-5F, according to an exemplary embodiment.

Detailed Description

Various aspects will now be described with reference to the drawings. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more aspects. It may be evident, however, that the various aspects may be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to facilitate describing these aspects.

FIG. 1A shows a materials handling system 100 including an automated storage and retrieval system (AS/RS) 102. The storage shelves 104 of the AS/RS 102 may be defined AS a series of vertically arranged shelves, each of which is supported by a support frame (e.g., a column and beam mount AS described with reference to FIG. 1B). The support frame may include vertical support members that separate the various levels within the storage rack 104 and horizontal support members that support individual shelves. Each shelf may define and/or include one or more compartments, each of which may encompass a plurality of storage locations configured for storing at least one object therein (e.g., storing containers, products, reels, and/or other configurations of objects). The AS/RS may define one or more aisles 107 defined between two adjacent storage racks, with one or more shuttle cars 114 defined in these aisles to remove and/or place objects in storage locations within the storage racks. As shown, the object may be moved between different levels via the lift 110 and/or to and from the pick-up and drop-off station 118. In an exemplary embodiment, the objects may be received by the system from the infeed conveyor 106 at the pick-up and drop-off station 118 via a product delivery system 120 and a lifting interface 122. In various embodiments, the objects may be removed from the AS/RS via the pick and drop station 118 for transfer to the product delivery system 120, then to the lifting interface 122, and finally to the outbound conveyor 108.

Each storage location may be defined as a physical space on the shelf where objects are stored. In various embodiments, the storage location may define a storage depth capable of holding one or more objects (e.g., multiple objects at various depths), as described herein. The various shelves may have various configurations with storage locations having different sizes and/or depths based on a given configuration (e.g., size and shape of a given object). In various embodiments, the compartments may be defined between vertical support members of the storage rack such that multiple storage locations may be defined within a given compartment.

As described herein, one or more horizontal support members within each level may include or define at least a portion of a movement track of a shuttle as described herein. In various embodiments, the storage rack 104 may be a column and beam frame configured with four vertical support members 150 (e.g., upright columns) at the corners of a rectangle, with horizontal support members 155 (e.g., load beams) connecting the vertical columns. Fig. 1B shows an exemplary shelf defined by four vertical support members 150 with horizontal support members 155 extending between and connecting the vertical support members. In various embodiments, such as for carton-based systems, various surfaces are used to span the distance between horizontal support members to form a shelf. In some embodiments, a solid shelf may be used in cases where a steel fire block is placed on a layer to form a sprinkler configuration. Other examples of support surfaces for carton or handbag based systems include webbing, cross top panels, and the like. For example, in the case where a wire mesh is used, the top wire (contact surface) may extend parallel to the direction of load carrier action, so that the load has a minimal chance of getting caught or hanging when handled with the load carrier. In various embodiments, the width of a standard shelf may be based on the dimensions of a typical storage format. For example, a standard shelf width may be about 8 feet.

In various embodiments, as shown in fig. 1A, objects are provided to the storage racks 104 for storage via the infeed conveyor 106. In various embodiments, the storage racks 104 may define multiple levels connected via a vertical lift 110 configured to move objects between the infeed conveyor 106 and the outfeed conveyor 108 to the appropriate level of the storage racks 104. The vertical lift device 110 has a vertical support structure positioned adjacent to the storage rack 104 to pick up and place objects at a selected level within the storage rack 104. The vertical lift 110 may be secured to the storage rack and transport objects between conveyors defined on different levels. Each level of the storage racks 104 may be divided into storage locations (e.g., storage locations 116) configured to receive one or more objects 112. In various embodiments, the object can be any type of container used in the AS/RS, such AS a carton, box, handbag, layered handbag, tray, pallet, and the like.

In various embodiments, for a given tier, each storage location may be defined between cross members. In various embodiments, one or more storage locations may define a storage location opening configured to receive an object therein. Alternatively, each storage location may be defined as a section of a given storage rack that is as wide as the object to be received. The one or more storage locations may define a storage location depth configured to receive at least one object. In cases where the storage location defines a sufficient depth for multiple objects, the objects may be disposed in the storage location, such as at different depths (e.g., the last object placed in the storage location may block removal of any other objects in the storage location from the storage location).

To remove and/or place objects in the various storage locations of the storage rack 104, the material handling system 100 may use a shuttle 114 configured to retrieve one or more objects from the storage rack 104. An exemplary shuttle is shown in fig. 1C. In various embodiments, shuttle 114 may be any type of one-layer shuttle (OLS) vehicle commonly used in AS/RS, such AS a shuttle, a sled, a robot, and the like. In various embodiments, shuttle 114 may be a self-contained unit that receives power (e.g., 48VDC) from bus bars located within shuttle rails that may be mounted to the storage rack. In various embodiments, the power rails (e.g., providing 48VDC power to the rails) may be powered by a DC power strip. In various implementations, a single DC power strip may power multiple shuttle cars (e.g., up to six shuttle cars). In various embodiments, shuttle 114 may receive control system commands over a Wireless Local Area Network (WLAN). In various embodiments, at least one shuttle 114 may be disposed along each level of the storage rack 104. As such, shuttle 114 may be configured to move in a horizontal direction along the storage rack via the shuttle rails. For example, the shuttle may have one or more wheels 170, as shown in fig. 1C, to move along the shuttle track via a motor. In various embodiments, one or more shuttle cars 114 may be configured to move between various levels of the AS/RS via one of the vertical lift devices 110. In various embodiments, shuttle rails may be attached to the storage racks. However, it should be understood that any of a variety of movement mechanisms may be utilized to move the shuttle (e.g., belt drive system, magnetic movement mechanism, chain drive system, etc.). Further, it should be understood that the movement mechanism may be defined within the shuttle (e.g., a motor positioned on the shuttle) or within the storage rack (e.g., a motor within the storage rack). The shuttle car may be configured with sensors configured to move to an intended storage location and/or engage with an object in a given storage location. For example, shuttle 114 may be equipped with proximity sensors to determine the position of the shuttle in a horizontal direction or to determine the depth of a given object within a storage location. In various embodiments, shuttle 114 may also be equipped with sensors and onboard equipment, such as a Wi-Fi antenna for communicating with a Warehouse Control System (WCS), overload protection, one or more power supplies (e.g., 24 volt power supply and/or 48 volt power supply), digital input and output modules, and the like. As discussed in more detail below, shuttle 114 may include one or more load arms configured to extend into a storage position. In some embodiments, the shuttle car may have first and second load arms defined along opposing sidewalls of the shuttle car. The side walls may be configured to resist movement of the object during movement of the shuttle. In various embodiments, one or more of the integrated arm fingers may be used to hold an object during a loading and/or unloading process. The shuttle car may define an object load bed 206 (e.g., shown at least in fig. 2A) defined between two opposing sidewalls. The object-carrying bed defines a floor configured to support the object during movement, as shown in FIG. 1B. Each load arm may have one or more retractable fingers configured to engage and move an object onto or off of the shuttle car. In some embodiments, the shuttle 114 may be disposed between the two storage racks 104 such that the shuttle may retrieve one or more objects in any storage location of the two storage racks 104 along a given floor (e.g., the load arm of the shuttle may extend toward either of the two storage racks 104). For example, two adjacent storage racks may be sufficiently separated to allow a shuttle car to move therebetween. In retrieving the objects, the shuttle car 114 is configured to transport the objects to another storage location or to a conveyor that transports the objects to one of the vertical lifts (e.g., an inbound or outbound rack). Accordingly, the shuttle car may move the desired object to one of the vertical lift devices 110, which may move the object to the outfeed conveyor 108. The vertical lift 110 is movable to enable movement of the objects between different levels of the storage rack.

FIG. 1B illustrates an exemplary storage rack 104 configuration in which each storage location is capable of holding at least two objects 112A, 112B. In such embodiments, the first object 112A defines a first depth that is shorter than a second depth defined by the second object 112B defining the same storage position. Thus, the second object 112B cannot be removed from the storage location via the shuttle without the shuttle first removing the first object 112A. Conventional shuttle vehicles are configured such that the first object must be handled or moved with the second object 112B to another "retained" storage location on the storage rack 104 (e.g., a different storage location within a compartment or a different storage location in a different compartment). As such, the storage racks 104 require additional movement of the shuttle and/or additional storage space on the rack. Various embodiments of the present disclosure as described herein allow the first object 112A to move back to the same storage location 116 in the same compartment while the second object 112B remains on the shuttle.

In various embodiments, the shuttle 114 described herein may define an object load bed 206 configured to hold at least first and second objects when removed from a storage location. In various embodiments, shuttle 114 may define first 200 and second 202 load arms defined on opposite sides of object load bed 206. Fig. 2A and 2B illustrate an exemplary embodiment shuttle car that defines a width that is at least as wide as the width of two objects (e.g., such that two objects may sit side-by-side on the shuttle car). In some embodiments, the load bed 206 may have a depth that is at least twice the depth of the object. In various embodiments, the shuttle 114 may include a third load arm 204 disposed between the first load arm 200 and the second load arm 202 on an object load bed 206. In various embodiments, the third load arm 204 may be configured to engage objects in both the first chamber 208 and the second chamber 210 (e.g., via the retractable load arm finger 216A (first chamber 208) and the retractable load arm finger 216B (second chamber 210)). In various embodiments, the first chamber 208 may be defined between the first load arm 200 and the third load arm 204. In various embodiments, a second chamber 210 may be defined between the third load arm 204 and the second load arm 202. In various embodiments, each of first chamber 208 and second chamber 210 may be wide enough to dispose object 110 therein. In various embodiments, the load arms 200-204 may be extendable such that they enter a given storage location and retrieve a given object via one or more integrated fingers.

In some embodiments, the third arm finger may be configured to work with (e.g., cooperatively engage with) at least one of the first load arm finger and/or the second arm finger. In such embodiments, the third arm finger may be configured to selectively engage an object between the third arm and the first arm, and/or the third arm finger may be configured to selectively engage an object between the third arm and the fourth arm. In some embodiments, the third arm finger is retractable and extendable toward at least one of the first arm or the second arm (e.g., into one or both chambers of the shuttle). For example, the third arm finger can extend on either side of the third arm. In some embodiments, each individual third arm finger may only be able to extend toward one of the first or second arms. For example, the third arm may have one or more integrated fingers dedicated to working with the first arm (e.g., extending toward the first arm) and one or more integrated fingers dedicated to working with the second arm (e.g., extending toward the second arm). In some embodiments, the third arm may be configured with a separate finger configured to work with one of the first arm finger or the second arm finger. In an exemplary embodiment, the first load arm 200 may have one or more first load arm fingers 212 and the third load arm 204 may have one or more third load arm fingers 216A that may extend into the first chamber and be configured to engage with an object to move a given object from a storage position of the storage rack into the first chamber 208 of the object load bed 206 of the shuttle. Additionally, the second load arm 202 may have a second load arm finger 214 and the third load arm may have a third load arm finger 216B that may extend into the second chamber and be configured to engage with an object to move the given object from the storage position of the storage rack 104 into the second chamber 210 of the shuttle's object load bed 206. In some embodiments, a fourth load arm 207 may be provided adjacent to the third arm 204, as shown in fig. 2C, such that the third arm may only have a retractable integrated finger that interacts with the first chamber, while the fourth arm may have a retractable integrated finger that interacts with the second chamber.

In various embodiments, as shown in fig. 2D, the shuttle car according to fig. 2A-2C can increase capacity compared to modern shuttle cars. In various embodiments, as shown, the shuttle car is capable of holding a total of four objects (e.g., two objects in each of the compartments). In various embodiments, the shuttle is capable of holding four objects where three or four arms are provided (e.g., where the width of the shuttle is sufficient to hold multiple objects). In various embodiments, multiple objects may be moved and/or stored in different storage locations based on the storage needs of the system. In various embodiments, the shuttle car of an exemplary embodiment using the same design can accommodate additional objects (e.g., the shuttle car can extend to accommodate three objects in each compartment).

Fig. 2E is a flow diagram of a retrieval operation of a shuttle vehicle, such as the shuttle vehicles shown in fig. 2A-2C, according to various embodiments. While the operations described herein may be discussed with reference to removing objects from one storage location, various operations may also be used to dispose objects at various depths in a storage location (e.g., in the case where a first object and a second object are disposed in a storage location, the load bed may be manipulated so that the second object may be placed in the storage location before the first object, such as described with reference to fig. 2E). For example, where both the first object 112A and the second object 112B are inbound (e.g., from an inbound conveyor) and it is desired that the second object 112B be at a second depth that is greater than the first depth of the first object 112A, the first object 112A may be moved (e.g., using the various operations discussed herein) to allow the second object 112B to be disposed in a storage position before the first object 112A is disposed in the same storage position. Various embodiments of the present disclosure can increase object capacity compared to current shuttle designs. For example, the shuttle cars of fig. 2A-2C and 3A-3D may each have a capacity for up to four objects during a given situation (e.g., each compartment of fig. 2A may have two objects).

Referring now to blocks 250 and 260 of fig. 2E, a method of retrieving the second object 112B may include: aligning a first chamber of a shuttle car with a storage position containing a first object at a first depth and a second object at a second depth, wherein the second depth is greater than the first depth; and then removing the first object from the storage location into the first compartment. As described above, the first load arm 200 and/or the third load arm 204 may have integrated fingers (e.g., fingers 212, 216A) that are configured to be retractable and engage the first object 112A to move the first object from the storage position into the first chamber 208.

Referring now to blocks 270 and 280 of fig. 2E, the method of removing the second object 112B may include moving the shuttle car to align the second chamber with a storage position containing the second object, and then removing the second object 112B from the storage position into the second chamber 210.

Referring now to block 290 of fig. 2E, the method of retrieving the second object 112B may include replacing the first object in the storage position from which the first object 112A was retrieved after aligning the first compartment with the storage position. In some embodiments, the first object 112A may be placed back into the storage position for bringing to the outfeed conveyor 108 before the second object 112B is brought to the nearby elevator 110. In various embodiments, once removed to the second object 112B (e.g., block 280), the shuttle car may be moved such that the first chamber of the shuttle car is aligned with the storage position (e.g., as in the operations of blocks 250 and 260).

Fig. 2F is a flow diagram of a setup operation of a shuttle vehicle, such as the shuttle vehicles shown in fig. 2A-2C, according to various embodiments. Various embodiments may be configured to increase object capacity over current shuttle designs. For example, the shuttle cars of fig. 2A-2C and 3A-3D may each have a capacity to support up to four objects during a given situation (e.g., each room of fig. 2A may have two objects). Additionally, various embodiments of the shuttle described herein may be used to reposition one or more objects while also handling additional objects that do not require repositioning.

Referring now to blocks 255 and 265 of fig. 2F, a method of disposing the first object 112A at a first depth and the second object 112B at a second depth includes aligning the second compartment 210 of the shuttle with a storage position and then disposing the second object from the second compartment in the storage position. In various embodiments, the load arms (e.g., the second load arm 202 and either the third load arm 204 or the fourth load arm 207) may be configured to engage with the second object 112B and move the second object 112B to a second depth in the storage position such that another object may be placed in the storage position at a first depth that is less than the second object 112B.

Referring now to blocks 275 and 285 of fig. 2F, the method of positioning the first object 112A at the first depth and the second object 112B at the second depth includes moving the shuttle to align the first chamber with a storage location in which the second object is positioned, and then positioning the first object 112A from the first chamber in the storage location. In various embodiments, the load arms (e.g., the first load arm 200 and the third load arm 204) may be configured to engage with the first object 112A and move the first object 112A to a first depth in the storage position. In various embodiments, the first object 112A and the second object 112B may be stored in opposing compartments such that the second object 112B is in the first compartment and the first compartment is first aligned with the storage position.

Fig. 3A-3D illustrate another exemplary operation for a shuttle defined to have a width that is at least twice the width of an object. In some embodiments, the shuttle car may have a first arm 200 disposed along a side of the load bed 206. In some embodiments, the second arm 202 may be centrally located in the middle of the load bed 206. For example, the second arm 202 may divide the load bed into two chambers and may be retractable such that objects may be moved from one chamber to the other. In various embodiments, the operation may be based on disposing the first object 112A, the second object 112B, the third object 112C, and the fourth object 112D in a single storage location. Referring now to fig. 3A, the shuttle 114 may be "fully loaded" such that a maximum number of objects (e.g., four objects 112A-112D) located on the load bed 206 may be loaded onto the load bed 206. In various embodiments, shuttle 114 may be configured to move to a particular storage location where an object is to be disposed. As shown in fig. 3B, the fourth object 112D and the third object 112C disposed in the first chamber 208 may be disposed in the storage position via the shuttle arm. As shown in fig. 3C, the first object 112A and the second object 112B may then be moved from the second chamber 210 into the first chamber 208 via one or more pushing mechanisms 400 (e.g., conveyor rollers may be employed to laterally move the objects). Additionally, in some embodiments, the shuttle car itself may be displaced such that the second chamber is aligned with a storage location in which the third object 112C and the fourth object 112D are disposed. As shown in fig. 3D, the second object 112B and the first object 112A may be positioned one after the other in the storage position such that the fourth object 112D defines a storage depth that is deeper than the storage depth of the third object 112C, which is deeper than the storage depth of the second object 112B, which is also deeper than the storage depth of the first object 112A. Thus, for example, the first object 112A may have to be removed from the storage position before any other objects can be accessed.

Fig. 3E-3G illustrate an exemplary embodiment shuttle car defining a width that is at least as wide as the width of two objects. In various embodiments, the shuttle car may define a first load arm 200 and a second load arm 202. In various embodiments, the first load arm 200 may be disposed at a side of the load bed 206 and the second load arm 202 may be disposed at approximately the middle of the load bed. Thus, the second load arm 202 may be configured to collapse (e.g., into a slot of the load bed) to enable objects to move from one chamber of the object load bed 206 to another. In various embodiments, the shuttle car may be configured with one or more movement mechanisms (e.g., a pushing mechanism or a lifting mechanism) configured to move objects from one chamber to another chamber. For example, the moving mechanism may be a hydraulic press, a motorized operator, a conveyor roller, or the like. In various embodiments, movement mechanisms may be defined along the edges of the load bed (e.g., as shown in fig. 3A, one or more movement mechanisms 300, such as four movement mechanisms, may be defined on the shuttle car to move objects from one portion of the shuttle car to another (e.g., laterally)). Additionally, in some embodiments, as shown in fig. 4B, the movement mechanism (e.g., the lift mechanism 400) may be positioned outside of the load bed. For example, the movement mechanism may be adjacent to a load area on the shuttle that is in operable communication with the movement method used (e.g., a motor and/or hydraulic device may be in communication with a portion of the load bed to move a given object).

Fig. 3H is a flow diagram illustrating a take-out operation of a shuttle vehicle, such as the shuttle vehicles shown in fig. 3E-3G, according to various embodiments. Referring now to block 350 of fig. 3H, the method of retrieving the second object 112B includes aligning the shuttle car with a storage location that houses the first object 112A and the second object 112B. In various embodiments, alignment of the shuttle car may include aligning the storage position with the first load arm 200 and the second load arm 202 such that the first load arm 200 and the second load arm 202 may extend into the storage position without contacting the object (e.g., the load arm 200 or 202 may extend into the storage position and then extend one or more fingers to engage the object to bring the object onto the shuttle car). Referring now to block 360 of FIG. 3H, the method of retrieving the second object 112B includes retrieving the first object 112A and the second object 112B from the storage location. In some embodiments, the first object 112A and the second object 112B may be removed via a single motion of a given load arm (e.g., the load arm may engage the second object 112 and move the second object toward the first object 112A so that both objects move to the shuttle). Alternatively, each object may be moved individually onto the shuttle (e.g., the first object 112A may be moved onto the shuttle and then the second object 112B may be moved onto the shuttle). Fig. 3E illustrates an exemplary operation in which the first load arm 200 is aligned with the storage position and the first object 112A and the second object 112B have been loaded onto the shuttle. As shown in block 370 of fig. 3H and as shown in fig. 3F, the second object 112B may be moved in a first direction such that a path from the first object to the same storage location is unobstructed. In various embodiments, the first direction may be vertical (e.g., up or down as shown in fig. 4A-4E) or horizontal (e.g., as shown in fig. 3E-3G). Thus, as shown in block 380 of FIG. 3H, the first object 112A may be placed back into the same storage location. Additionally, as shown in block 390 of fig. 3H and also as shown in fig. 3G, the second object 112B may move back into an initial position within the load bed (e.g., the second object may move in a second direction opposite the first direction). In various embodiments, the shuttle car may then move the second object 112B toward the vertical lift 110 and ultimately toward the outfeed conveyor 108.

Fig. 3I is a flow diagram illustrating setup operations of a shuttle vehicle, such as the shuttle vehicles shown in fig. 3E-3G, according to various embodiments. The operations described herein may occur in situations where the first object 112A is located on the load bed between the second object 112B and the storage position and the second object 112B is to be disposed in the storage position behind the first object 112A. Referring now to block 355 of fig. 3I, the method of disposing the first and second objects in the storage position includes aligning the shuttle car with the storage position, as described above with reference to block 350. In such embodiments, the first object may be disposed on the shuttle and the second object disposed at a first depth within the storage location. For example, the first object 112A may be stored at a second depth within the storage position (e.g., behind the second object 112B). In such examples, as shown at block 365, the method of disposing the first and second objects in the storage position includes retrieving the second object at a first depth in the storage position onto the load bed 206. In various embodiments, the withdrawal of the second object 112B may be as described above (e.g., block 360 of fig. 3H). Referring now to block 375 of fig. 3I, the method of disposing the first and second objects in the storage position includes moving the second object 112B in the first direction. In various embodiments, the first direction may be horizontal (e.g., fig. 3E-3G) or vertical (e.g., fig. 4A-4E) such that the first object 112A may be moved into the storage position (e.g., into the second depth).

Referring now to block 385 of fig. 3I, a method of disposing a first object and a second object in a storage position includes disposing the first object in the storage position at a second depth. In various embodiments, disposing the first object may be the same as disposing the other objects described herein (e.g., via an arm, as described with reference to block 380 of fig. 3H). Referring now to block 395 of fig. 3I, a method of disposing a first object and a second object in a storage position includes moving the second object into an initial position on a shuttle. In some embodiments, the second object 112B may then be disposed in the same storage location as the first object 112A, as shown in block 397 of fig. 3I.

Fig. 4A-4E illustrate another exemplary shuttle configuration of various embodiments described herein. Fig. 4A shows a shuttle having a conventional width slightly wider than the width of the object to accommodate the intended size of the object (e.g., similar to the size shown in fig. 1B). Fig. 4B and 4C show two different variations of the exemplary configuration. As shown, the shuttle car of fig. 4A-4C may be configured with a lift mechanism configured to lift and/or lower an object, as shown in fig. 4B and 4C. The operation of the shuttle of fig. 4A-4C is related to the operation of fig. 3H. Thus, the first object 112A and the second object 112B may be removed from the same storage location via the first load arm 200 and/or the second load arm 202, as shown in blocks 350 and 360 of fig. 3H. The second object may then be moved in the first direction such that a path for disposing the first object in the storage position is unobstructed by the second object (block 370). Unlike fig. 3E-3F, the second object 112B may move in a vertical direction (e.g., upward as shown in fig. 4B or downward as shown in fig. 4C). In various embodiments, the shuttle car may be configured with a lift mechanism 400 configured to raise and lower an object. By way of non-limiting example, the lift mechanism 400 may be a hydraulic lift device, a pulley system, a gear drive mechanism, or the like. Additionally, in situations where the second object is lowered, as shown in fig. 4C, the shuttle car may be configured with a retractable floor for portions of the object carrying bed 206. In various embodiments, the retractable floor may be opened into multiple pieces, slid under the non-retractable floor, or the like. Thus, once the second object 112B is returned to the initial position within the loaded bed, the floor may be opened to allow the second object 112B to move in a first direction (e.g., downward) prior to closing (block 390).

In various embodiments, such as shown in fig. 4D and 4E, a portion of the load bed 206 (e.g., the movable bed portion 410) may be lowered and/or raised such that the first object 112A or the second object 112B may slide into the storage position. As shown in fig. 4D and 4E, the operation may lift the first object 112A in a case where the second object 112B is loaded to the storage position. Thus, the reverse operation may occur in the case where the second object 112B is being removed from the storage position. For example, the second object 112B may be raised or lowered as shown in fig. 4B and 4C to allow the first object 112A to be placed back into the storage position. The various examples described herein may allow for selective unloading and loading from a given storage location, as described with reference to fig. 4D and 4E.

In an exemplary lowered condition, the first object 112A may slide over the top of the second object 112B. In an exemplary raised condition, the load bed 206 may define a surface below the portion of the load bed 206 that is being raised such that the first object 112A may slide back into the storage position. In various embodiments that encompass multiple shuttle vehicles each operating at a different corresponding level of the storage rack, temporary storage locations (e.g., different storage locations) may be used to avoid deadlock conditions defined as a situation where an elevated or lowered object interferes with the operation of another shuttle vehicle. Thus, in situations where two shuttle vehicles may be simultaneously at the same horizontal position in adjacent layers, prior to raising or lowering the first object 112A, one of the shuttle vehicles may be moved horizontally along the shuttle track and aligned with another "temporary" storage location that is different from the storage location from which the first and second objects 112A, 112B were removed. In such examples, the operation may be performed with the first object 112A disposed in the temporary storage location rather than the initial storage location 116, as shown in block 480 of fig. 3. In various embodiments, the shuttle car may continue with other operations related to moving the second object 112B, and after disposing the second object 112B at the desired location, the shuttle car may be configured to retrieve the first object 112A and return the object to the initial storage location 116. In various embodiments, only one of the adjacent shuttle cars may be required to use the temporary storage locations, such that the number of temporary storage locations is reduced compared to the current methods described above. In various embodiments, in an instance in which adjacent shuttle vehicles may experience a deadlock condition, one of the shuttle vehicles may be configured to remain at another location along the shuttle guide until the deadlock condition no longer exists (e.g., one of the shuttle vehicles completes picking or setting an object at the potential deadlock location).

In various embodiments, the motors discussed in various embodiments may be used with the lift mechanism 400 and/or the retractable floor. Alternatively, the lift mechanism 400 may be independent of the motor used to move the shuttle. In addition, various sensors may be used to determine the position of the object (e.g., during the lifting or lowering process) as well as the position of other shuttle vehicles (e.g., to avoid the lifted or lowered object interfering with the shuttle vehicle on another floor).

Fig. 5A-5E illustrate operation of another shuttle configuration according to various embodiments of the present disclosure. As shown, the shuttle car may be sized to receive a single object thereon (e.g., having a width slightly greater than the width of the object). Fig. 5G is a flow diagram illustrating operation of a shuttle vehicle, such as the shuttle vehicles shown in fig. 5A-5F, according to various embodiments. Fig. 5F shows a side view of an exemplary shuttle vehicle used in the operations described with reference to fig. 5A-5E and the flowchart of fig. 5G. As shown, the shuttle may include a load bed rotation mechanism 500 configured to rotate the load bed 206 as described herein. Additionally, the shuttle car may include a single object rotation mechanism 510 configured to rotate only a single object (e.g., first object 112A). Referring now to blocks 550 and 560 of fig. 5G, a method of retrieving the second object 112B may include: aligning the shuttle with a storage position containing a first object at a first depth and a second object at a second depth, wherein the second depth is greater than the first depth; and removing the first and second objects from the storage location. In various embodiments, the first object 112A and the second object 112B may be removed via the first load arm 200 and/or the second load arm 202, as described with reference to fig. 4A. The positions of the first object 112A and the second object 112B taken out are shown in fig. 5A. As shown in block 570 of fig. 5G and as shown in fig. 5B and 5C, the object load bed 206 may be rotated approximately 180 degrees such that the first object is closer to the initial storage position 116. In various embodiments, the entire shuttle vehicle may be rotated via the load bed rotation mechanism 500. Alternatively, a portion of the shuttle can remain stationary (e.g., portion 520 of the shuttle, including wheels 170 engaging the shuttle track) and the object load bed 206 can be rotated via the load bed rotation mechanism 500, as shown in fig. 5F. As shown in block 580 of fig. 5G and also as shown in fig. 5D, the shuttle car may be configured to rotate the first object 112A by approximately 180 degrees. In some embodiments, the first object may be rotated via a single object rotation mechanism 510. In this way, the single object rotation mechanism 510 may rotate independently of the load bed 206 such that only objects (e.g., the first object 112A) on the single object rotation mechanism 510 rotate. In various embodiments, the rotation of the object load bed 206 and the first object 112A may be generated via a single rotational force mechanism (e.g., a shuttle vehicle may have a switch between the rotational force mechanism and the object load bed 206). In various embodiments, the first object 112A may then be disposed in the storage position. As shown in block 590 of fig. 5G and also in fig. 5E, the object-carrying bed 206 may then be rotated at least about 180 degrees. In some embodiments, the load bed 206 may be rotated back to the initial orientation (e.g., rotated about 180 degrees back to the orientation shown in fig. 5A). As with other exemplary embodiments, the shuttle car may then move the second object to the intended destination (e.g., to the vertical lift 110 and ultimately to the outfeed conveyor 108). The various embodiments described herein can also be used to move objects from one storage location to another.

Fig. 5H is a flow chart illustrating operation of a shuttle vehicle, such as the shuttle vehicles shown in fig. 5A-5F, according to various embodiments. The operation of FIG. 5H is similar to that described in FIG. 5G for the case where the first object 112A is loaded on the load bed between the second object 112B and the storage position. Referring now to block 555 of fig. 5H, the method of disposing the first and second objects in the storage position includes aligning the shuttle with the shuttle position, as described with reference to block 550. Referring now to block 557 of fig. 5H, a method of disposing a first object and a second object in a storage location includes retrieving the first object from the storage location. The first and second objects may be removed via the first arm 200 and/or the second arm 202 as described herein. As shown in block 565 of fig. 5H, the object load bed 206 may be rotated approximately 180 degrees such that the second object 112B is moved closer to the target storage location. In various embodiments, the entire shuttle vehicle may be rotated via the load bed rotation mechanism 500. Alternatively, a portion of the shuttle can remain stationary (e.g., portion 520 of the shuttle, including wheels 170 engaging the shuttle track) and the object load bed 206 can be rotated via the load bed rotation mechanism 500, as shown in fig. 5F. As shown in block 575 of fig. 5H, the shuttle car may be configured to rotate the second object 112B about 180 degrees. In some embodiments, the second object 112B may be rotated via a single object rotation mechanism 510. In various embodiments, the single object rotation mechanism 510 may be configured as part of the load bed 206 being configured to rotate (e.g., via hydraulic, motorized operation, etc.). In some embodiments, single object rotation mechanism 510 may be a convex surface (e.g., as shown in fig. 5F). In various embodiments, the single object rotation mechanism 510 may rotate independently of the load bed 206 such that only objects on the single object rotation mechanism 510 (e.g., the second object 112B) rotate. In various embodiments, the rotation of the object load bed 206 and the second object 112B may be generated via a single rotational force mechanism (e.g., a shuttle vehicle may have a switch between the rotational force mechanism and the object load bed 206).

Referring now to block 585 of fig. 5H, the method may further include disposing a second object in the storage position. The second object 112B may be disposed in the storage position using the first load arm 200 and/or the second load arm 202. In various embodiments, the second object 112B may be disposed at the second depth such that another object may be placed at a first depth within the storage location that is less than the second depth. Referring now to block 595 of fig. 5H, the method can include rotating the object-carrying bed 206 by at least about 180 degrees. In some embodiments, the load bed 206 may be rotated back to the initial orientation (e.g., rotated about 180 degrees back to the orientation shown in fig. 5A). As with other exemplary embodiments, the shuttle car may then move the first object 112A into the storage position (e.g., at a first depth in front of the second object 112B). Referring now to block 597 of fig. 5H, a method of disposing a first object and a second object in a storage position includes disposing the first object in the storage position at a first depth. As described herein, the first object may be disposed in the same storage location as the second object at a lesser depth than the second object. In various embodiments, the first object may be disposed in the storage position via the first arm 200 and/or the second arm 202.

Various operations described herein may be performed by a controller having a processor or the like. Thus, the operations may be autonomous (e.g., programmatically determining operation of the shuttle) and/or manual (e.g., a user may control at least a portion of the shuttle operations described herein). As described above, the operations described herein allow for a reduction in the amount of reserved space required and/or a reduction in the amount of unnecessary operations performed by the shuttle during the operation. Various embodiments described herein allow for more efficient removal and storage using the AS/RS.

While the disclosure has been described with reference to exemplary embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the disclosure. In addition, many modifications may be made to adapt a particular system, device or component thereof to the teachings of the disclosure without departing from the essential scope thereof. Therefore, it is intended that the disclosure not be limited to the particular embodiments disclosed for carrying out this disclosure, but that the disclosure will include all embodiments falling within the scope of the appended claims. Moreover, unless otherwise specified the use of the terms first, second, etc. do not denote any order or importance, but rather the terms first, second, etc. are used to distinguish one element from another.

In accordance with various aspects of the present disclosure, an element, or any portion of an element, or any combination of elements may be implemented with a "processing system". The processor may be embodied in a number of different ways. For example, a processor may be embodied as one or more of various hardware processing means such as a coprocessor, a microprocessor, a controller, a Digital Signal Processor (DSP), a processing element with or without an accompanying DSP, or various other processing circuits including integrated circuits such as, for example, an ASIC (application specific integrated circuit), an FPGA (field programmable gate array), a microcontroller unit (MCU), a hardware accelerator, a special-purpose computer chip, or the like.

In an example embodiment, the processor may be configured to execute instructions stored in a memory device or otherwise accessible to the processor. Alternatively or in addition, the processor may be configured to perform hard-coded functions. Thus, whether configured by hardware or software methods, or by a combination thereof, a processor may represent an entity (e.g., physically embodied in circuitry) capable of performing operations according to an embodiment of the present invention while configured accordingly.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

In accordance with the exemplary systems described above, methodologies that may be implemented in accordance with the disclosed subject matter have been described with reference to several flow diagrams. While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the claimed subject matter is not limited by the order of the blocks, as some blocks may occur in different orders and/or concurrently with other blocks from what is depicted and described herein. Moreover, not all illustrated blocks may be required to implement the methodologies described herein. Additionally, it should be further appreciated that the methodologies disclosed herein are capable of being stored on an article of manufacture to facilitate transporting and transferring such methodologies to computers. The term article of manufacture, as used herein, is intended to encompass a computer program accessible from any computer-readable device, carrier, or media.

It should be understood that any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated material does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. Accordingly, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated if there is no conflict between that incorporated material and the existing disclosure material.