Abstract: A system tracks the position of a container handling vehicle on a grid, following a route relative to rails on a frame structure forming a storage grid. The vehicle has first and second sets of wheels connected to drives for moving the vehicle in corresponding x- and y-directions on the grid. The vehicle receives information of number of rails to pass between start and stop positions in x- and y-directions according to the route from a central computer system. The container handling vehicle has at least one camera mounted underneath to film downwards while the container handling vehicle is in motion, a computer system with an image processing algorithm to process the transferred images and detect the rails in the images, and the camera is positioned so as to be able to capture at least one rail in the x-direction and one rail in the y-direction while the container handling vehicle is positioned over a column.

Abstract: A vehicle for an automated storage and retrieval system is configured to follow a route relative to tracks of the automated storage and retrieval system. The route includes one or more track crossings. The vehicle includes a first set of wheels capable of moving the vehicle in a first direction; a second set of wheels capable of moving the vehicle in a second direction perpendicular to the first direction; and one or more sensors attached to the vehicle and configured to detect the one or more track crossings while the vehicle is moving in the first direction or the second direction.

Abstract: A service vehicle unit (SVU) is for manoeuvring a container handling vehicle that has stalled on an automated storage and retrieval system. The system includes a rail system having a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) 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 vehicle in a second direction (Y), which is perpendicular to the first direction (X). The first and second sets of parallel rails dividing the rail system into a plurality of grid cells. At least one container handling vehicle is configured to operate on the rail system. The SVU includes a wheel module configured with a first and second set of wheels, which enable movement of the container handling vehicle in the X and Y direction and which is configured to operate on the rail system.

Abstract: A system for delivering storage containers comprises a carrier framework for integration into a cargo compartment of a vehicle, and a transfer platform, wherein the carrier framework is a spatial framework configured to store a plurality of storage containers to be delivered in a plurality of individual storage spaces forming a carrier grid having vertical carrier columns, wherein the carrier framework comprises at least one access device configured to selectively present the individual storage containers received by and stored in the carrier framework to a user outside the carrier framework or outside a vehicle into which the carrier framework is integrated, wherein the transfer platform is connectable to or integratable into a framework structure of a storage grid of an automated storage and retrieval system to form a cantilever structure at the storage grid, beneath which the carrier framework or a vehicle, into which the carrier framework is integrated, is placeable, wherein the transfer platform has a tr

Abstract: A container handling vehicle is fitted with a coupler for coupling to a delivery container and/or to a storage container. The coupler includes a coupler frame, a delivery container gripper, and a storage container gripper. The delivery container gripper is provided on the coupler frame and protrudes from a lower face of the coupler frame. The delivery container gripper is configured to enable releasable coupling to corresponding coupling structure of a delivery container. The storage container gripper is provided on the coupler frame and protrudes from the lower face of the coupler frame. The storage container gripper is configured to enable releasable coupling to corresponding coupling structures of a storage container having a size allowing the delivery container to be held therein. The delivery container gripper includes two gripper paddles for gripping the delivery container.

Abstract: A container vehicle includes a rechargeable power source; two separated charge-receiving elements connected to the power source and each comprising a first contact surface; and a first set of wheels and a second set of wheels for moving the container vehicle along a rail grid. The container vehicle is operable to change between: a first configuration, a second configuration, and a third configuration. In the first configuration, the first set of wheels may move the container vehicle in a first direction. The first and the second sets of wheels are in contact with the rail grid such that movement of the container vehicle is prevented. In the third configuration, the second set of wheels may move the container vehicle in a second direction.

Abstract: A method controls storage locations of products stored in storage containers in an automated storage and retrieval system operated by container handling vehicles. The storage and retrieval system comprises a grid structure with storage columns adapted for holding stacks of storage containers. The grid structure has a corresponding rail system above the storage columns for guiding movements of the vehicles adapted for transferring storage containers to and from the storage columns. Each vehicle comprises a vehicle controller connected to driving means for controlling movements of the vehicle along the rail system relative to movements of other vehicles. Controlling of container handling vehicles and storage locations of storage containers is handled by a main controller of the automated storage and retrieval system communicating with a Warehouse Management System configured to register each storage container to be stored and type of one or more products placed in the storage containers.

Abstract: A watering system for a vertical farming facility, having a stackable growth module having a load bearing frame to allow the growth module to be arranged in a self-supporting stack of other modules in a vertical farming facility. The growth module supports a vertically arranged growth board for supporting plants grown in the vertical farming facility where the plants grow in a horizontal direction out from the growth board. The growth board has: a porous growth medium; a watering trough extending along an upper edge of the growth board which is provided with holes for distributing water into the growth medium; a water collection trough extending along a lower edge of the growth board arranged to collect water exiting the growth medium; and a valve provided in the water collection trough arranged to permit water to flow out of the water collection trough when the valve is open and to prevent water from flowing out of the collection trough when the valve is closed.

Abstract: A method, control system and computer program for utilizing the operational capacity of container handling vehicles when assigned tasks of delivering or retrieving identified storage containers in an automatic storage and retrieval system are provided. The control system assigns tasks without deadlines, calculates end times and end positions of the container handling vehicles when the assigned tasks are completed, and assigns tasks with a deadline. The control system checks if the container handling vehicles can meet the deadline after first completing the task without a deadline, and ranks the tasks assigned to the container handling vehicles. Tasks for which the deadline can be met after first finishing a task without a deadline are ranked first, and further according to the arrival times of the container handling vehicles at the port.

Abstract: A lifting device assembly for handling a delivery container stored within a storage container includes a delivery container coupler and a lifting device. The delivery container coupler includes a coupler frame having a coupler frame lower face and a coupler frame upper face, and a delivery container coupling mechanism fixed to the coupler frame and protruding from the coupler frame lower face for enabling releasable coupling to corresponding coupling structures within an inner volume of a delivery container. The lifting device includes a lifting frame having a lifting frame lower face and a lifting frame upper face, and a plurality of grippers connected to the lifting frame for releasable connection to the coupler. The lifting frame is configured such that the lifting frame lower face can be arranged adjacent to the coupler frame upper face in a coupled position.

Abstract: A storage system includes a first region and a second region of a rail system. Each of the first region and the second region has rails with a profiled upper surface that define one or more tracks for supporting container handling vehicles, and each rail of at least one pair of parallel rails of the first region is connected to a corresponding rail of a pair of rails of the second region via an expansion joint. The expansion joint includes a first rail element, a second rail element, and a profiled upper surface. The rail elements are elongate and configured at a first end to allow the first ends of the first and second rail elements to move relative to one another in a longitudinal direction in a junction area where they overlap. The profiled upper surface defines one or more tracks. The tracks extend from the first rail element through the junction area to the second rail element.

Abstract: The present disclosure relates to an actuator for moving a storage container, wherein the actuator comprises: a base comprising a support arranged to support a storage container in a first position on a support plane or in a second position on the support plane; a slider movable, relative to the base, in a first direction parallel to the support plane and a second direction opposite the first direction; a driver arranged to move the slider in the first and second directions; and an engagement member coupled to the slider. The engagement member is configured to move relative to the slider between an raised position and a lowered position. In the raised position, a portion of the engagement member protrudes above the support plane. In the lowered position, the portion of the engagement member is retracted beneath the support plane.

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: An automated storage and retrieval system comprising an arrangement and system for the disposal of and/or recycling of trash, such as packaging materials, recyclable materials or other refuse The container handling vehicles of the system transport trash in a trash container from an access station, along the rail system of the storage system, to a trash port which has means for emptying the trash and advantageously diverting the trash to an appropriate receptacle.

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 area for receiving storage containers, forward of the receiving area a picking position for picking products from the storage container. The access station includes a guiding frame, a primary carriage, and a secondary carriage. The guiding frame is arranged in a horizontal plane and extends between the picking position and the receiving area. The primary carriage, which is for transporting a storage container, includes a primary carriage base, a primary carriage displacement motor, a first storage container support, and a transfer device. The primary carriage base is movable along the guiding frame. The primary carriage displacement motor is configured to move the primary carriage along the guiding frame. The first storage container support is connected to the primary carriage base.

Abstract: A bracing arrangement is for a framework structure of an automated storage and retrieval system. 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, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent grid cells. Each grid cell includes a 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. The framework structure provides a plurality of storage columns.

Abstract: An automated grid-based storage and retrieval system includes a framework structure, storage containers, a vehicle, and a control system. The structure includes upright members and a rail system of a grid of horizontal rails at upper ends of members and defines a storage volume of adjacent storage columns below the rails. The grid defines grid positions. The containers are stacked in the columns. The vehicle includes a lifting device that can be lowered. The control system records, for each position, a coordinate and the level of containers of that position. A method includes, for a grid position, determining a level of containers in the stack by lowering the lifting device of a first vehicle until detecting a container at a vertical position and determining a grid position of the first vehicle by matching the vertical position with a record of a position of the same level of containers.

Abstract: An access station for an automated storage and retrieval system includes a frame structure; a drawer arranged in the frame structure and including a compartment for accommodating a goods holder; and a blocker operational with the drawer for providing a safety zone above the receiving position. The drawer is movable between a receiving position for receiving the goods holder from above where the drawer is retracted into the frame structure for preventing a user from accessing the compartment, and a picking position for presenting the goods holder to a user. The blocker is configured to block movement of the drawer located in the receiving position when an object is located in the safety zone. The blocker is configured to block movement of the object into the safety zone when the drawer is at least partly located outside the receiving position.

Abstract: An 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 framework 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 across the top of the framework structure which is perpendicular to the first direction. A number of container handling vehicles operate on the rail system for storing and retrieving goods holders in the automated storage and retrieval system. The framework structure includes a transfer column and an adjustable blocker. The transfer column includes a side opening for a goods holder to pass through. The adjustable blocker is for obstructing the side opening. The blocker includes a guiding surface for guiding a lifting device of the container handling vehicle vertically in the transfer column past the side opening.

Abstract: The present disclosure relates to an access station. The access station comprises an access module comprising a frame defining a drawer compartment provided within the frame and a drawer comprising a drawer base and a drawer front, wherein the drawer is movably connected to the frame. The drawer actuator is moving the drawer relative to the frame between a presentation position in which the drawer protrudes from the drawer compartment and a retracted position in which the drawer is retracted within the drawer compartment. The access module comprises a horizontal lower guide for supporting the drawer front. The drawer actuator comprises a front wheel and a motor for rotating the front wheel. The front wheel is connected to the drawer. The front wheel is configured to nm on the horizontal lower guide to move the drawer between the presentation position and the retracted position.