Automated storage and retrieval system

A storage and retrieval system comprising:

• at least one autonomous guided autonomous transport vehicle including
• a frame forming a payload area having a payload bay with a pickface support plane,
• at least one upright mast member mounted upright to the frame, where the at least one upright mast member is mounted to and forms with the payload bay, the payload area of the frame, and
• extension arms movably mounted to the at least one upright mast member for movement in at least a vertical direction, each extension arm being configured for
• extension and retraction relative to the frame along an extension axis, and
• wherein the payload area has a payload justification traverse member movable relative to the payload area of the frame, in at least one direction that crosses the extension axis;
• at least one picking aisle configured to allow travel of the at least one autonomous guided autonomous transport vehicle through the at least one picking aisle;
• and
• at least one storage shelf located adjacent the at least one picking aisle, where extension and retraction of the extension arms effects transfer of at least one pickface between the at least one storage shelf and the payload area.

A method for transferring pickfaces within a storage and retrieval system that includes at least one autonomous guided autonomous transport vehicle, at least one picking aisle having a picking aisle deck configured to allow the at least one autonomous guided autonomous transport vehicle to travel along the at least one picking aisle and at least one storage shelf disposed adjacent the at least one picking aisle, the method comprising:

• positioning extension arms of the at least one autonomous guided autonomous transport vehicle along at least one axis relative to a payload area of the frame of the at least one autonomous guided autonomous transport vehicle so that the extension arms are disposed at a position corresponding to a predetermined location of the at least one storage shelf, where the extension arms are positioned vertically along at least one upright mast member that is mounted upright to and forms, with a payload bay of the frame, a payload area of the frame;
• extending the extension arms so that the extension arms straddle opposing sides of a pickface;
• transferring the pickface into the payload area of the at least one autonomous guided autonomous transport vehicle through a retraction of the extension;
• and
• moving a payload justification traverse member of the payload area along another axis relative to the payload area of the frame in at least one direction that axis crosses the other axis.

An autonomous guided autonomous transport vehicle comprising:

• a frame forming a payload area having a payload bay with a pickface support plane;
• at least one upright mast member mounted upright to the frame, where the at least one upright mast member is mounted to and forms, with the payload bay, the payload area of the frame;
• extension arms movably mounted to the at least one upright mast member for movement in at least a vertical direction, each extension arm being configured for
• extension and retraction relative to the frame along an extension axis to effect transfer of at least one pickface to and from the payload area, and
• wherein the payload area has a payload justification traverse member movable relative to the frame, in at least one direction that crosses the extension axis;
• and
• wherein the payload justification traverse member effects justification of the at least one pickface in the direction that crosses the extension axis independent of extension and retraction of the extension arms.