Abstract: A container-handling vehicle picks up storage containers from a three-dimensional grid of an underlying storage system. The container-handling vehicle has a vehicle body and wheels for moving the vehicle in two perpendicular directions on the grid. The vehicle body surrounds a cavity within which at least a first lifting device and a second lifting device are positioned adjacent to each other. Each lifting device is independently controlled and arranged to lift a storage container from the grid and into the cavity. The vehicle includes at least one vertical frame guiding element arranged inside the cavity. The frame guiding element extends between the lifting devices.

Abstract: An automated storage and retrieval system includes a framework structure forming a three-dimensional storage grid structure for storing the storage containers in storage columns. The framework structure includes a grid-based rail system arranged above the storage columns with the rail system providing available routes for the container handling vehicles handling and transferring the storage containers to and from the storage columns. Each container handling vehicle includes a first set of wheels configured to move the vehicle along a first lateral direction of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction of the grid-based rail system. The second direction is perpendicular to the first direction.

Abstract: A storage container handling system includes a base, and a delivery vehicle configured to travel on the base. The delivery vehicle includes a rolling base unit, a container carrier, and an elevating device. The rolling base unit includes first and second sets of rolling means for guiding the delivery vehicle along the base in a first and second directions respectively. The container carrier is provided on the rolling base unit. The container carrier is configured to removably support a storage container from below. The elevating device is configured to move the container carrier vertically between an upper and a lower position relative to the base. The storage container handling system includes a temporary storage station for temporarily storing a storage container to be picked-up or dropped off by the delivery vehicle. The temporary storage station includes a fixed container support configured to removably support the storage container.

Abstract: An access station, which is for presentation of a storage container from an automated storage and retrieval system to a picker, has a receiving position for receiving a storage container, forward of the receiving position a picking position for picking products from the storage container, and behind the receiving position a buffer area for buffering of a storage container. The access station includes a guiding frame, an inner carriage, and an outer carriage. The guiding frame is arranged in a horizontal plane and extending between the picking position, the receiving position, and the buffer area. The inner carriage, which is for transporting a storage container, includes an inner carriage base movable along the guiding frame and a first storage container support connected to the inner carriage base. The inner carriage base includes an elevation mechanism for raising and lowering the first storage container support relative to the guiding frame.

Abstract: An automated grid based storage and retrieval system includes a framework structure including upright members and a grid of horizontal rails provided at upper ends of the upright members. The framework structure defines a plurality of storage volumes arranged adjacent one another below the horizontal rails. The storage volumes are open against the horizontal rails such that storage container vehicles may lower and raise storage containers into and out of the storage volumes. The system includes a plurality of vertical walls surrounding each of the plurality of storage volumes, and a cooler system adapted to draw air from an input of the cooler system, cool the air drawn from the input, and blow cooled air through an output of the cooler system.

Abstract: A remotely operated picking vehicle, which is for an automated storage and retrieval system for retrieving and storing products within storage containers, includes a vehicle body, a picker support, and a storage container. The vehicle body includes a base with displacement means for transportation on a rail system. The picker support, which is for a robotic picking device or a human picker, is arranged on the vehicle body. The storage container magazine, which is for supporting three or more storage containers simultaneously, is arranged on the vehicle body. The storage container includes a storage container loading/offloading position and a storage container accessing position. The storage container loading/offloading position is for loading and offloading of storage containers by means of a container handling vehicle. The storage container accessing position is for presenting storage containers to a picker positioned on the picker support.

Abstract: A vehicle operates on an automated storage and retrieval system. The automated storage and retrieval system includes a two-dimensional rail system including a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction which is perpendicular to the first direction. The vehicle includes a wheeled base. The wheeled base includes a first set of non-motorized guiding wheels for interaction with the rails in the first direction and a second set of non-motorized guiding wheels for interaction with the rails in the second direction; and a first motorized belt drive arranged for frictional contact with a rail of the rail system for driving the vehicle in one of the first direction and/or the second direction.

Abstract: A vehicle tilting device for tilting a delivery vehicle for increasing access to items from a storage container transported on the delivery vehicle includes a base structure and a tiltable platform connected to the base structure. The tiltable platform includes guiding features adapted to guide the delivery vehicle onto the tiltable platform, and a tilting actuator arranged for lifting the tiltable platform at a second platform side which is opposite to a first platform side, such that the tiltable platform is tilted towards the first platform side.

Abstract: A remotely operated vehicle, which is for transporting a storage container on a rail system of an automated storage and retrieval system, includes a vehicle body having a base. The base includes a first set of drivers and a second set of drivers. The first set of drivers are arranged on opposite sides of the vehicle body, and are for moving the vehicle along a first horizontal direction on the rail system. The second set of drivers are arranged on other opposite sides of the vehicle body or within a cavity of the vehicle body, and are for moving the vehicle along a second horizontal direction on the rail system, the second direction being perpendicular to the first direction. A storage container support, which is for carrying the storage container, is moveably mounted to the vehicle body. The storage container support is movable between: a first position; and a second position wherein the storage container support is extending in a horizontal plane for supporting the storage container.

Abstract: A method of operating a bin storage system includes a plurality of storage columns for storage of a plurality of vertically-stacked storage bins and a plurality of robot vehicles for transporting storage bins. A plurality of supporting rails are arranged in a two-dimensional matrix at the top of the columns. The supporting rails are arranged in a first direction and a second direction orthogonal to the first direction. The method includes positioning a cavity displaying a downwardly facing opening for the storage bin of one of the plurality of robot vehicles such that the cavity is aligned with one of the storage columns to permit the cavity to receive a storage bin from the storage columns, receiving a storage bin from the storage column into the cavity, and moving the robot vehicle along the bin storage system, using a plurality of wheels attached to the robot vehicle. A first set of wheels is arranged to allow the robot vehicle to travel in the first direction along the supporting rails.

Abstract: A rotation device rotates an autonomous vehicle operating on a rail system of an automated storage and retrieval system. The system is of the type having a framework structure including a plurality of vertical upright members defining storage columns for storing stacks of storage containers, with the rail system arranged on the framework structure. The rail system includes perpendicular tracks, the intersection of which define a grid having grid cells. The grid cells define openings to the storage columns. The autonomous vehicle is of the type having wheels that travel along the rail system, and which changes direction by alternatively lifting or lowering sets of wheels. One set of wheels is adapted for travel of the vehicle in a first direction, and a second set of wheels is adapted for travel of the vehicle in a second direction, perpendicular to the first direction.

Abstract: An access station, which is for presentation of a storage container from an automated storage and retrieval system to a picker, includes an access module, a drawer, a first actuator, and a second actuator. The access module includes a frame defining a drawer compartment provided within the frame. The drawer includes a drawer base and a drawer front. The drawer is movably connected to the frame. The first actuator is for moving the drawer relative to the frame between a presentation position in which the drawer is protruding from the drawer compartment and a retracted position in which the drawer is retracted within the drawer compartment. The drawer base includes a support on which the storage container can be supported in a front position or in a rear position. The second actuator is for moving the storage container from the front position to the rear position.

Abstract: An automated storage and retrieval system includes a track system including a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells. Each grid cell includes a grid opening. A plurality of stacks of storage containers are arranged in storage columns located beneath the track system. Each storage column is located vertically below the grid opening. A plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks are configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings.

Abstract: A remotely-operated vehicle assembly for picking up storage bins from a storage system and a method for changing vehicle direction includes a body displaying a cavity, a lifting device connected to the body for lifting the bin into the cavity, a displacement arrangement including a displacement motor which provides power to displace one or both of first and second sets of vehicle wheels between a displaced state where the relevant vehicle wheels are displaced away from the underlying system during use, and a non-displaced state where the relevant vehicle wheels are in contact with the underlying system during use, and driving wheels coupled to the displacement arrangement. The driving wheels further includes first and second sets of vehicle wheels connected to the body allowing movement of the vehicle along first and second directions, respectively, within the system. The first and second directions are perpendicular.

Abstract: A distribution dock includes a dock for handling and providing access to storage containers of a mobile storage system. The dock includes a framework structure of upright members and a first rail system arranged on the upright members of the framework structure including a set of parallel rails arranged to guide movement of a container handling vehicle in a direction across the top of the framework structure. At least one container handling vehicle is configured to operate on the first rail system. At least one interface includes a set of parallel tracks configured to connect the first rail system of the dock to a second rail system of a mobile storage system such that the container handling vehicle can retrieve storage containers from the mobile storage system.

Abstract: An access station, which is for presentation of a storage container from automated storage and retrieval system to a picker, has a receiving position for receiving a storage container, forward of the receiving position a picking position for picking products from the storage container, and a transfer zone connecting the receiving position and the picking position. The access station includes a ramp at least partly arranged below the transfer zone; a guiding frame arranged in a horizontal plane and extending between the picking position, the transfer zone and the receiving position; and an inner carriage for transporting a storage container. The inner carriage includes an inner carriage base movable along the guiding frame; a first storage container support pivotably connected to the inner carriage base; and a follower connected to and extending from the first storage container support for interaction with the ramp.

Abstract: A storage system including a storage grid including vertical column profiles defining a plurality of grid columns. The grid columns include storage columns, in which storage containers can be stored one on top of another in vertical stacks. The storage grid including at least one rail grid at the upper ends of the column profiles, and a first container handling vehicle and a second container handling vehicle. The first and the second container handling vehicles each include at least one wheel base unit and a first container handling module or a second container handling module. Each wheel base unit having a wheel arrangement for movement of the wheel base unit in two perpendicular directions upon a rail grid of the storage system. The first container handling module is a different type of container handling module to the second container handling module.

Abstract: A container handling module for an access station in a storage system includes a first container holder, a second container holder, a shuttle, and a rail assembly. The first and second container holders are rotatably mounted to the shuttle via a rotary shaft. Each of the first and second container holders is arranged to accommodate a storage container and is rotatable around an axis of rotation between a first angular position and a second angular position. The second angular position is opposite the first angular position relative to a centreline of the rotary shaft. The shuttle is configured for linear movement in a horizontal direction between a first linear position and a second linear position relative to the rail assembly.

Abstract: A plurality of container handling vehicles operate on a rail system arranged at least partially across a top of framework structure of an automated storage and retrieval system, on which rail system the plurality of container handling vehicles are operable to handle storage containers. A control system is in communication with a local controller in each container handling vehicle and performs a method of controlling movement of the plurality of container handling vehicles. The method includes instructing a first container handling vehicle to move in a first direction towards a grid cell designated as a first target position on the rail system, instructing a second container handling vehicle to move in the first direction towards the first target position such that the second container handling vehicle physically contacts the first container handling vehicle, and the second container handling vehicle after contact applies a push force on the first container handling vehicle to maintain physical contact.

Abstract: A container handling vehicle operates on a two-dimensional rail system. The two-dimensional rail system includes a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of a frame structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicles in a second direction which is perpendicular to the first direction. The container handling vehicle includes a wheel base unit, a support section, a cantilever section, a lifting frame, four guiding sheaves, four lifting bands, a lifting shaft, and a lifting device motor. The wheel base unit includes first and second sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions respectively. The support section extends vertically from the wheel base unit. The support section has a footprint with a horizontal extent.