Abstract: An access station for an automated storage and retrieval system comprises a frame structure enclosing a receiving space for receiving a storage container, an access opening for accessing the receiving space from externally, at least one optical projection unit having an optical output and configured to project optical information, and a processing unit coupled with the projection unit, wherein the optical output of the projection unit is directed to the receiving space, such that the projection unit is capable of projecting the optical information onto at least one interior face of a storage container arranged in the receiving space, and wherein the processing unit is configured to control an operation of the projection unit to selectively project optical information into the storage container arranged in the receiving space to instruct a user of the access station where and/or how to place items into the storage container.

Abstract: An assembly includes a goods holder having a front side and a storage cell for storing the goods holder. At least a section of the front side is movable so as to allow access into the interior of the goods holder. The storage cell is provided with a locking mechanism configured to engage with the movable section of the front side of the stored goods holder so as to secure the movable section. The assembly is configured such that the goods holder stored in the storage cell is accessible from above by a remotely operated vehicle operating on a rail system.

Abstract: A computer-implemented method for controlling movement of a robot on tracks laid out on a frame structure forming a grid includes receiving a current speed of a first wheel in a first pair of wheels of the robot, receiving a current position of the robot relative to at least a portion of the frame structure, and setting, based on the current speed of the first wheel and the current position of the robot, a driving sequence for the first pair of wheels.

Abstract: The present invention provides an improved track sensor arrangement for an automated vehicle operating on an automated storage and retrieval system, arranged whereby the sensor directly detects the position of the vehicle in relation to an access opening. The term “directly detects” in the context of the present invention is to be understood to mean that the gripping mechanism of the vehicle is correctly positioned in relation to the access opening at the precise moment the sensor detects a specific structural feature of a track. In one aspect the specific structural feature of the track is an intersection adjacent to an access opening.

Abstract: A remotely operated vehicle for an automated storage and retrieval system, including: a horizontal base structure extending in a first direction and in a second direction which is orthogonal to the first direction, and a first downward facing guide system being horizontally arranged, positioned above the base structure, and extending at least in the first direction. The remotely operated vehicle includes: a lower base provided with driving means configured for movement along the base structure in the first direction and/or in the second direction, and an upper base provided with guiding means configured for engagement with the first downward facing guide system.

Abstract: A vehicle-portable grid assessment device is capable of being lowered onto a rail system device for assessing a top of a framework structure of a storage grid in an automated storage and retrieval system. The framework structure includes a rail system. The rail system includes a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across the top of the framework 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 across the top of the framework structure that is perpendicular to the first direction. The first and second sets of parallel rails dividing the rail system into a plurality of grid cells. The framework structure includes upright members to support the rail-system and at least one container handling vehicle operating on the rail system. The device includes a body with a pivoting arm on at least one side.

Abstract: An access station for an automated storage and retrieval system having a storage section for storing storage containers comprises a frame structure enclosing a receiving space for receiving a storage container to be transferred from or into the storage section along a conveying path, an access opening for accessing the receiving space from externally of the access station, a movable cover element for selectively covering the access opening, and a stopper mechanism wherein the cover element is configured to move along a cover path between an open position and a closed position, wherein the stopper mechanism comprises at least one blocking element, which is toggleable between a blocking position and a release position, wherein the blocking element is in the blocking position when the cover element is in the open position, and in a release position when the cover element is in the closed position, and wherein when in the blocking position, the blocking element blocks the conveying path for storage containers.

Abstract: The disclosure relates to an automated vertical farming system, including: a framework structure forming a grid storage arrangement; one or more module handling vehicles arranged to travel and transport modules along a rail system, a control system configured to control the travel and operation of the one or more module handling vehicles; and stackable growth modules 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: An automated storage and retrieval system includes a framework structure that includes a plurality of storage columns for accommodating goods holders. A rail system is arranged across the top of the framework structure. The automated storage and retrieval system further includes a detachable storage column module for coupling to the framework structure of the system. The module includes at least one storage column for accommodating goods holders inserted by means of a remotely operated vehicle operating on the rail system. The at least one storage column includes a plurality of storage cells each comprising a goods holder support movable between a first position in which the support can obstruct passage of the goods holder moving vertically through the storage cell and a second position in which the vertically moving goods holder can pass through the storage cell.

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 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 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 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.