Abstract: A storage system comprises a first grid structure of storage cells, each cell being arranged to accommodate a vertical stack of storage bins, the first grid structure having a top level. The system further comprises a first vehicle, arranged to move horizontally at the top level of the first grid structure, and a bin lift device, arranged to convey a bin in a vertical direction between the top level of the grid structure and a delivery station. The first vehicle is further arranged to receive a storage bin from a storage cell at the top level of the first grid structure and to deliver the storage bin to the bin lift device. The bin lift device is arranged to receive a bin from the vehicle at the top level of the first grid structure and to convey the bin to the delivery station.

Abstract: A service vehicle operates on a rail system of a storage and retrieval grid. The service vehicle is configured for retrieving a remotely operated vehicle for service. The service vehicle includes a first vehicle area in which the remotely operated vehicle can be received by the service vehicle while the remotely operated vehicle is still on the rail system, and a second vehicle area in which the remotely operated vehicle can be supported by the service vehicle for servicing. The first vehicle area is configured as a vehicle pen for holding the remotely operated vehicle before entry to the second vehicle area. The first vehicle area is linked to the second vehicle area for passage of the remotely operated vehicle via the vehicle pen.

Abstract: An automated storage and retrieval system includes an automated storage and retrieval grid, a container accessing station, a delivery rail system, and a delivery vehicle operating on the delivery rail system.

Abstract: A storage system includes a grid structure of storage cells. Each storage cell is arranged to accommodate a vertical stack of storage bins and having a top level. The grid structure includes a plurality of vertical aluminum columns interconnected by top rails. The columns form adjacent rows of storage cells. The storage system includes at least one remotely operated vehicle arranged to move on the top rails and receive a storage bin from a storage cell at the top level of the grid structure. The storage system includes an insulated cover covering at least one of the storage cells at the top level.

Abstract: A remotely operated vehicle for handling a storage container or a further vehicle works on a rail system of an automated storage and retrieval system. The rail system overlies upright members and includes a first set of parallel rails and a second set of parallel rails arranged perpendicular to the first set of parallel rails. The remotely operated vehicle includes a first set of wheels arranged to engage with two adjacent rails of the first set of rails and a second set of wheels arranged to engage with two adjacent rails of the second set of rails. The remotely operated vehicle further includes a mass balancing system including a balance weight. The mass balancing system is configured to purposely displace the balance weight in order to improve stability of the remotely operated vehicle. The balance weight is displaced in response to a change in position of the remotely operated vehicle's center of gravity (COG).

Abstract: A storage system includes a storage grid structure and multiple container handling vehicles. The storage grid structure includes vertical column profiles defining multiple storage columns, in which storage containers can be stored one on top of another in vertical stacks, and at least one transfer column, the column profiles are interconnected at their upper ends by top rails forming a horizontal top rail grid upon which the container handling vehicles may move in two perpendicular directions, the container handling vehicles are able to retrieve storage containers from, and store storage containers in, the storage columns, and transport the storage containers on the storage grid structure. The storage grid structure includes at least one horizontal transfer section. The storage system includes multiple container transfer vehicles and transfer rails forming a transfer rail grid upon which the container transfer vehicles may move in at least one horizontal direction.

Abstract: A method picks products from at least one storage container in a picking zone of a picking station of an automated storage and retrieval system. The picking is controlled by a picking system controller communicating with a warehouse management system, WMS. The picking is performed by a picking device in the picking zone by placing picked products in one or more consolidation containers according to orders. The picking system controller is adapted for controlling the picking device and picking station for executing the method.

Abstract: The invention concerns an automated storage and retrieval system (1), a storage container handling vehicle (3) and a method for operating such a system. The system (1) comprises one or more vehicle (3) configured to lift and move storage containers (106) stacked in the system (1). Each vehicle (3) comprises a storage container lifting device (16), a drive system (18) with a wheel arrangement (19, 20) configured to drive and maneuver the vehicle (3) along the track system (108), abase (31) onto which the wheel arrangement (19, 20) is connected, a rotational part (30) rotationally connected via a swivel device (32) to the base (31) and a rotational drive system (34) for rotating the rotational part (30) relative to the base (31).

Abstract: A method for storing product items in storage bins in a storage system includes a bin storing grid in which storage bins are stored above each other in columns. The method includes: inserting product items to or retrieving product items from the respective storage bins at a port; determining a weight for each storage bin after one or more product items have been inserted to or retrieved from the storage bin; determining a storage position for the storage bin in the bin storing grid based on the weight; and transporting the storage bin from the port to the determined storage position by means of a vehicle and a bin lift device provided on each vehicle.

Abstract: A vehicle tilting device for tilting a delivery vehicle for increasing access to items from a storage container transported on the delivery vehicle. The vehicle tilting device comprises a base structure and a tiltable platform connected to the base structure, wherein the tiltable platform comprises guiding features adapted to guide the delivery vehicle onto the tiltable platform. The tiltable platform is arranged to be connected to a delivery grid cell of a delivery rail system such that that there is a path to and/or from the tiltable platform for the delivery vehicle via the delivery grid cell. The invention is also related to an access station, a delivery system and a method of accessing a storage container.

Abstract: A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes: a first set of wheels, arranged at opposite portions of a vehicle body of the container handling vehicle, for moving the vehicle along a first direction on a rail system of the grid; and a second set of wheels for moving the vehicle along a second direction on the rail system of the grid. The container handling vehicle further comprises a first section and a second section arranged side-by-side such that a centre point of a footprint of the first section (F1) is arranged off centre relative a centre point of the footprint of the vehicle body (FV), and a size ratio of the footprint of the first section (F1) relative a footprint of the second section (F2) is at least 2:1.

Abstract: A bin holding device includes two side elements vertically spaced to accommodate a storage bin between the two side elements. Each side element is provided with a bin supporting assembly comprising a bin support. The bin support comprises an upper bin interacting part configured to interact with the storage bin when the storage bin is accommodated in the bin holding device, such that a top edge of the accommodated storage bin is held at a predetermined level.

Abstract: An automated storage and retrieval system includes a plurality of storage container handling vehicles. Each vehicle includes a vehicle body, a thereto connected wheel assembly configured to guide the vehicle along the track system, a container picking device for releasably attaching to a storage container, which include one or more arms. The configuration of the container picking device is such that it is movable between a first lifting position enabling the container picking device to lift at least one storage container from a position beyond a horizontal extent of the vehicle body and a second transport position enabling the container picking device to hold the at least one storage container at least partly within the horizontal extent of the vehicle body and above the vehicle body.

Abstract: A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a first set of wheels, for moving the vehicle along a first direction on a rail system in the grid; and a second set of wheels, for moving the vehicle along a second direction on the rail system in the grid, the second direction being perpendicular to the first direction. A vehicle body includes walls on all sides and forms a quadrilateral footprint. The footprint is defined by horizontal peripheries in the first and second directions of the vehicle body. The container handling vehicle further includes a first section and a second section arranged side-by-side such that a centre point of a footprint of the first section is arranged off centre relative a centre point of the footprint formed by the vehicle body. The first and second sections are separated by a divider element.

Abstract: A method of operating a bin storage system including a plurality of storage columns for the storage of a plurality of vertically-stacked storage bins, and a plurality of robot vehicles for transporting storage bins, the method includes: positioning a cavity of one of the plurality of robot vehicles such that it is aligned with one of 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 rolling members attached to the vehicle body about the cavity that are arranged for travelling in a first direction and a perpendicular second direction along the bin storage system.

Abstract: A product handling system for retrieving and storing products within storage containers includes a rotatable container carousel, a robotic picking device, and an access station. The rotatable container carousel includes a rotational device having a rotational carousel axis, and a storage container support connected to the rotational device at a radial carousel distance between the rotational axis of the rotational device and a horizontal center point of the storage container support, allowing rotation through at least a storage container loading position and a storage container accessing position. The robotic picking device includes a robotic base at a base center position, a first robotic segment connected to the robotic base, and a gripper connected at least indirectly to the first robotic segment. The gripper is spaced at an adjustable radial gripper distance between the base center position and the gripper such that the gripper is as least within reach of the storage container accessing position.

Abstract: An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system and a delivery column. The container handling vehicle rail system, which is for guiding a plurality of container handling vehicles, includes a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent container handling vehicle grid cells. Each container handling vehicle grid cell includes a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails.

Abstract: An automated storage and retrieval system includes a grid-based rail structure and a plurality of remotely operated delivery vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system includes a locking device arranged in a zone of the grid-based rail structure where a human and/or a robotic operator is permitted to interact with the remotely operated vehicle or contents of a storage container that the remotely operated vehicle is carrying. The locking device is arranged to latch to a motorized vehicle body of the remotely operated delivery vehicle, and to lock the remotely operated delivery vehicle against accidental displacement prior to interaction with the human and/or robotic operator. The locking device is arranged to unlock the remotely operated delivery vehicle once interaction with the human and/or robotic operator is no longer required.

Abstract: A floor element for an automated storage and retrieval system, which comprises a three-dimensional grid, a plurality of container handling vehicles, and multiple floor elements, each floor element arrangeable at a top end of a storage column on top of a vertical stack of containers, includes an upper surface with a substantially rectangular horizontal periphery suitable for being accommodated in a storage column. The floor element further includes lifting frame connecting elements, for releasable connection to a lifting frame, on a peripheral top section of the upper surface and a cut-out at each corner of the substantially rectangular horizontal periphery for interaction with guiding pins arranged on the lifting frame, and rail-connecting elements at the substantially rectangular horizontal periphery.

Abstract: A storage system comprises a first grid structure of storage cells, each cell being arranged to accommodate a vertical stack of storage bins, the first grid structure having a top level. The system further comprises a first vehicle, arranged to move horizontally at the top level of the first grid structure, and a bin lift device, arranged to convey a bin in a vertical direction between the top level of the grid structure and a delivery station. The first vehicle is further arranged to receive a storage bin from a storage cell at the top level of the first grid structure and to deliver the storage bin to the bin lift device. The bin lift device is arranged to receive a bin from the vehicle at the top level of the first grid structure and to convey the bin to the delivery station.