Abstract: An access station for a storage system includes at least one container holder arranged to rotate about an axis of rotation. The axis of rotation is inclined at a first angle relative to a vertical. The container holder is arranged to accommodate a storage container and is configured such that a centreline of the storage container when supported by the container holder is inclined at a second angle relative to the axis of rotation. The container holder may rotate between a first position, where the centreline of an accommodated storage container is vertical, and a second position being opposite the first position relative to the axis of rotation. The centreline of an accommodated storage container is inclined at a third angle relative to the vertical. The third angle is equal to the sum of the first angle and the second angle.

Abstract: A 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 the 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 first and second sets of parallel rails dividing the rail system into a plurality of grid cells. A container handling vehicle for operation on the rail system includes a wheel base unit including sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions; a body unit; and a lifting device. The body unit includes: a lower section which is provided on the wheel base unit; a support section extending vertically from the lower section; and a cantilever section extending horizontally from the support section.

Abstract: An automated storage and retrieval system includes a framework structure having a plurality of internal and peripheral upright members arranged to define a storage grid including multiple storage columns for storing storage containers on top of each other in vertical stacks. The upright members are interconnected at their upper ends by a rail system arranged to guide at least one container handling vehicle thereon. The container handling vehicle is configured to raise storage containers from, and lower storage containers into the storage columns and to transport the storage containers horizontally above the storage columns. The peripheral upright members of the framework structure define a horizontal periphery of the framework structure. A vehicle elevator includes a vertically extending support, a platform, and a lift mechanism.

Abstract: A remotely operated vehicle for moving on a rail system includes a first set of wheels, a second set of wheels, a wheel displacement assembly, and a wheel drive assembly. The rail system includes a first set of parallel rails and a second set of parallel rails arranged perpendicular to the first set of rails. The first set of wheels includes a first pair of wheels and a second pair of wheels, the first and second pairs of wheels arranged on opposite sides of a vehicle frame, allowing movement of the vehicle along a first direction on the rail system during use. The second set of wheels includes a third pair of wheels and a fourth pair of wheels, the third and fourth pairs of wheels arranged on opposite sides of the vehicle frame, allowing movement of the vehicle along a second direction on the rail system during use. The second direction is perpendicular to the first direction.

Abstract: A container handling vehicle for lifting a storage container from an underlying framework structure includes a vehicle body and a container lifting assembly for lifting the storage container. The vehicle body includes a wheeled base, a support, and at least one cantilevered section. The wheeled base includes a first set of wheels, arranged on opposite sides of the vehicle body, for moving the vehicle along a first direction on a rail grid at a top level of the underlying framework structure, and a second set of wheels arranged on other opposite sides of the vehicle body, for moving the vehicle along a second direction on the rail grid, the second direction being perpendicular to the first direction. The support includes a lower end connected to the wheeled base and an upper portion connected to the cantilevered section. The container lifting assembly includes a lifting frame and a plurality of lifting bands.

Abstract: A storage container, which is for an automated storage and retrieval system (ASRS), is configured to be stacked in a stack of storage containers where an underlying storage container supports the storage container(s) positioned above. The storage container is adapted to be lifted by grippers on a lifting device such that the storage container can be lifted from above. The storage container includes a base, four sides, and four corner posts. The four sides are each hingedly connected to an edge of the base. The four corner posts are each configured to interconnect a pair of adjacent sides to each other in a horizontal direction when the sides are positioned substantially 90 degrees relative the base and relative each other.

Abstract: An automated storage and retrieval system including a rail system and a storage section located beneath or above the rail system. The storage section includes a plurality of storage towers for storing goods holders and movement in at least one of a first direction and a second direction. Additionally, the storage section includes at least one column void defined by a space between two or more of the plurality of storage towers. The at least one column void includes a footprint corresponding to an area of at least one cell. Further, the at least one column void may be repositioned within the storage section in at least one of the first direction and the second direction into vertical alignment with different access openings at varying locations via movement in at least one of the first direction and the second direction of at least one of the plurality of storage towers.

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 storage grid for storing storage containers includes a plurality of horizontal container supporting frameworks distributed vertically with vertical offsets. The plurality of horizontal container supporting frameworks includes a first container supporting framework and at least one second container supporting framework arranged beneath and parallel to the first container supporting framework. Each of the first and the at least one second container supporting frameworks includes a plurality of container supports arranged in parallel along a first direction. Each container support displays at least one hole with an opening size being at least a maximum horizontal cross section of the storage containers to be stored. The at least one hole of the first container supporting framework are aligned vertically with the at least one hole of the at least one second container supporting framework.

Abstract: A storage tower for storing storage containers includes a plurality of horizontally extending container supporting frameworks distributed with vertical offsets. The plurality of horizontal container supporting frameworks includes a first container supporting framework and at least one second container supporting framework arranged beneath and extending parallel to the first container supporting framework. Each of the first and the at least one second container supporting frameworks includes a horizontally extending container support with principal directions in a first direction and an orthogonal second direction. Each container support is configured as a matrix of container spaces with a plurality of columns of container spaces arranged in the first direction and a plurality of rows of container spaces arranged in the second direction.

Abstract: A system for condition-based maintenance of an automated storage and retrieval system includes a framework structure with a rail system forming a three-dimensional storage grid structure for storing storage containers for storing items. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening between rails of the rail system that are arranged on the framework structure. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. At least one container handling vehicle which has a container handling platform with a set of grippers for handling the storage containers. The grid structure includes one or more ports for extracting containers from the storage grid so that the storage containers can be picked and a service station for performing maintenance on the components of the storage and retrieval system.

Abstract: A container handling vehicle with a cantilever solution operates on an automated storage and retrieval system. The automated storage and retrieval system includes a framework structure forming a three-dimensional storage grid structure for storing storage containers for storing items. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening of the vertical storage columns. A rail system is arranged on the framework structure, rails of the rail system extending in an X-direction and a Y-direction to define a grid and to define a perimeter of each access opening on top of each storage column. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. Each rail has a first track and a parallel second track allowing two container handling vehicles to pass each other using the same rail.

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: A system for allocating jobs and/or targets to robots in an automated storage and retrieval system includes a plurality of robots and a framework structure forming a three-dimensional storage grid structure for storing containers. Each robot has wheels configured to move along two perpendicular horizontal directions on the grid. A central computer system manages robot movement and task allocation via a warehouse management system comprising an assigner and a router. The assigner generates lists of job and target options for each robot, which are made accessible to the router. The router assigns jobs and targets using a multi-position search algorithm based on each robot's location and the route required to reach the assigned job and target. This coordinated approach enables efficient task and path assignment within the storage system.

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 storage grid provided by a framework structure arranged in a building under a ceiling. The framework structure includes a rail system arranged at an upper level of the framework structure. The rail system 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. The first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent access openings/grid cells. The storage grid defines a plurality of storage columns. Each storage column being arranged to store a respective stack of storage containers. The storage columns are located beneath the rail system. Each storage column is located vertically below a respective access opening/grid cell.

Abstract: A storage system includes at least one consolidation vehicle, a transfer rail grid, an item picking area, and an item delivery station. The consolidation vehicle includes a wheel arrangement for moving the consolidation vehicle in two perpendicular directions upon the transfer rail grid. The consolidation vehicle may be positioned upon the item picking area to receive multiple items picked from at least one storage container, and an item picker is arranged to pick items from the storage container and transfer them to the consolidation vehicle. The consolidation vehicle may be positioned upon the item delivery station to deliver items received from the storage container to a packaging/processing assembly. The consolidation vehicle includes an item carrier arranged such that items may be emptied from the item carrier when the consolidation vehicle is positioned at the item delivery station.

Abstract: An automated vertical farming system, includes a framework structure forming a grid storage arrangement. One or more module handling vehicles are arranged to travel and transport modules along a rail system. A control system is configured to control the travel and operation of the one or more module handling vehicles. Stackable growth modules are arranged to support growing plants, the growth modules having a footprint corresponding to that of a column of the framework structure, such that the growth modules may be arranged in stacks in the columns. The growth modules allow plants to grow horizontally, and also provide a non-drip watering system for watering the plants.

Abstract: A remotely operated delivery vehicle for transport of a storage container includes a vehicle base, rolling device motors, a power source, a container carrier, and a rotational drive. The vehicle base includes rolling devices configured to move the remotely operated delivery vehicle in a horizontal plane along tracks of a rail system. The rail system includes a first set of parallel rails arranged in a first direction and a second set of parallel rails arranged in a second direction perpendicular to the first direction. The rolling device motors drive the rolling devices. The power source is configured to provide propulsion power to the rolling device motors. The container carrier is supported by the vehicle. The container carrier is configured to receive the storage container from above and/or from a side and onto or at least partly into the container carrier. The rotational drive is configured to rotate the container carrier, and any storage container supported thereon, relative the vehicle base.

Abstract: Movement is controlled of a plurality of container handling vehicles on a rail system arranged at least partially across a top of a framework structure of an automated storage and retrieval system, on which rail system the plurality of container handling vehicles are operable to raise storage containers from, and lower storage containers into, storage columns arranged in rows between upright members and horizontal members of the framework structure. The storage containers are also transported above the storage columns. The movement control is performed by a central operational controller which is in communication with a local controller in each container handling vehicle. The central operational controller receives data relating to a subsection of the rail system. The data includes a container handling vehicle movement threshold for the subsection. The central operational controller instructs a container handling vehicle to follow a path which takes in at least a part of the subsection.