| 摘要 |
Disclosed is a container 1 array storage and retrieval system, in which containers 1 are accessible from above by one or more overhead load handlers 4, by one or more lifters 71. The handlers 4 and lifters 71 engage with one or more clamps 72 to hold and displace one or more containers 1, in particular, lifting multiple containers, when engaged with a bottommost container 1 in a stack. Also disclosed is a method involving generating a control signal for coordinating a lifter 71 and clamp 72 to add incoming containers 1 to the bottom of a stack, and a control signal for a lifter 71 to lift container 1 from the top of a stack. |
