Abstract: A storage system includes a storage grid and a container lift. The container lift includes a lifting assembly suspended from a spoolable lifting elements and arranged to be raised/lowered in order to raise/lower an accompanying storage container within the storage grid. The lifting assembly includes a lifting frame part for releasable attachment to a storage container and a guide shuttle arranged to guide the lifting frame part and any accompanying storage container as the lifting frame part is raised and lowered within the storage grid. The guide shuttle is arranged above the lifting frame part and includes guide elements arranged to stabilise and maintain horizontal alignment of the lifting frame part and any accompanying storage container. The framework features internal guide surfaces arranged to stabilise and maintain the horizontal alignment of the lifting frame part, when the guide shuttle is at a level above the top rail grid.

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: An automated storage and retrieval system includes a track system having a first set of parallel tracks and a second set of parallel tracks. The first and second sets of tracks form a grid pattern of grid cells. Storage containers are arranged in storage columns located beneath the track system. Container handling vehicles lift and move storage containers. The container handling vehicles are configured to move laterally on the track system above the storage columns to access the storage containers via grid openings. Each container handling vehicle includes: a protruding section which extends horizontally beyond the footprint of the container handling vehicle and, when the container handling vehicle is positioned above a grid cell, into a neighbouring grid cell; and a recessed section arranged to accommodate the protruding sections of another container handling vehicle when operating over a neighbouring grid cell.

Abstract: Power management system for a container-handling vehicle, with a rechargeable power source, for handling storage containers in an automated storage/retrieval system includes a charging station for recharging the rechargeable power source of the container-handling vehicle, a power supply for delivering power to the storage system, a power monitoring device coupled to the power supply, and a control system for controlling the operation of the automated storage/retrieval system. The power monitoring device monitors available power from the power source entering the automated storage/retrieval system and communicate a signal to the control system indicative of the available power.

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 includes remotely operated vehicles, a main grid in which the vehicles operates, a service grid for placement of vehicles for service, and a control system for controlling the vehicles. The control system includes a data record for the status of a vehicle state for each vehicle. Each remotely operated vehicle includes a label and the service grid includes a reader for reading the label so as to identify each vehicle passing the reader. The control system receives a signal from the reader and, upon receipt, compares the data record with an observed vehicle state of the identified vehicle and either updates the data record with the observed vehicle state or indicates to an operator that a difference exists between the observed vehicle state and the vehicle state on the control system.

Abstract: The present invention provides a storage system (1) comprising a storage grid structure (104) and multiple container handling vehicles (200,300), the storage grid structure comprises vertical column profiles (102) defining multiple storage columns (105), in which storage containers (106) can be stored one on top of another in vertical stacks (107), and at least one transfer column (119,120), the column profiles are interconnected at their upper ends by top rails (110,111) forming a horizontal top rail grid (108) upon which the container handling vehicles (200,300) may move in two perpendicular directions, the container handling vehicles are able to retrieve storage containers (106) from, and store storage containers in, the storage columns (105), and transport the storage containers on the storage grid structure, wherein the storage grid structure (104) comprises at least one horizontal transfer section (2); and the storage system comprises multiple container transfer vehicles (6) and transfer rails (110?,111

Abstract: An autonomous grid storage system (1) arranged in a warehouse space (12). The autonomous grid storage system is divided within the warehouse space, for example on a single floor of said space, into a plurality of sub grids (10a/10b) separated by fire walls (18). One or more bridges (14) pass through openings in the fire wall to allow bin handling vehicles (210/301) to traverse between the sub grids. The openings (20) are provided with closable fire door (22).

Abstract: An autonomous grid storage system (1) with a foam based fire prevention system. The autonomous grid storage system is in the form of a grid storage structure (104) dived into sub grids (10A, 10B, 10C) separated by firebreak or firebreaks (12). A foam dispensing system (20) dispenses a fire-retardant foam into the firebreak or firebreaks in the event of fire.

Abstract: A container-handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a vehicle body and at least one lifting device with a lifting frame with gripper elements for releasable connection to a storage container, and a transmitter for communicating instructions for controlling the gripper elements. The lifting frame includes a first rechargeable power supply for supplying energy to the gripper elements. The container handling vehicle has at least one second rechargeable power supply configured to charging the first rechargeable power supply when the lifting frame is in a top most position. The at least one second rechargeable power supply is connected to at least one upper charger connector and the first rechargeable power supply is connected to at least one lower charger connector. The at least one lower charger connector is attached to the upper side of the horizontal lifting frame and is connected to the first rechargeable power supply.

Abstract: A container-handling vehicle for handling storage containers in a three-dimensional grid of an underlying storage system, comprising: at least one lifting device for lifting storage containers from and lowering storage containers to the underlying storage system, said lifting device comprises a lifting frame for gripping a storage container, a winch system for lifting and lowering the lifting frame, a motor to drive the winch system and a driver circuit with a controller controlling the motor; and at least first and second rechargeable power sources for providing power to the motor, wherein the driver circuit further comprises a regenerative energy circuit configured to harvest energy from the motor when the lifting frame is lowered into the storage system and where the driver circuit is configured to direct harvested energy to the rechargeable power sources according to levels of charge in the rechargeable power sources.

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: A storage system includes at least one vehicle, a horizontal rail grid, and a charging system for charging a rechargeable power source of the vehicle. The vehicle includes a first set of wheels and a second set of wheels for moving the vehicle upon the rail grid. The first set of wheels is displaceable in a vertical direction between a first position, a second position, and a third position. The first set of wheels may move the vehicle in a first direction. The first and the second set of wheels are in contact with the rail grid. The second set of wheels may move the vehicle in a second direction perpendicular to the first direction. The charging system includes at least two charge-receiving elements arranged on the vehicle and connected to the power source, and a charging station including two charge-providing elements connected to a charging power source.

Abstract: A method and computer program product controls the transferring of a storage container for storing items by transferring the storage container via access station at an interaction area among a plurality of interaction areas of an automated storage and retrieval system. The storage container is linked to a user and items stored. The method performed by the computer program product includes specific modules performing different steps of the method. The modules include a user identification module processing user identification data and giving access to the system, a registration module registering items to be stored in an inventory database, a search module for searching for stored items in the inventory database, a presentation module presenting search results and items stored, and an execution module generating instructions that via a communication module is instructing a system controller of the automated storage and retrieval system to retrieve or store a specific 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, for moving the vehicle along a first direction on a rail system in the grid; a second set of wheels arranged at opposite portions of the vehicle body, for moving the vehicle along a second direction on the rail system in the grid. The second direction is perpendicular to the first direction. The vehicle body includes walls on all sides and forms a quadrilateral footprint. A first section and a second section arranged side-by-side such that a centre point of the first section is arranged off centre relative a centre point of the footprint formed by the vehicle body. A size ratio of a footprint of the first section relative a footprint of the second section is at least 2:1. The first section is configured to accommodate a storage container, and the second section includes at least a first battery.

Abstract: An automated storage and retrieval system includes a three-dimensional grid and a plurality of container handling vehicles. The three-dimensional grid includes multiple storage columns, in which containers may be stored on top of one another in vertical stacks. Each container handling vehicle includes a container lifting device having a lifting frame for releasably connecting to a container, and is operated on rails at a top level of the grid for retrieving containers from, and storing containers in, the storage columns, and for transporting the containers horizontally across the grid. The automated storage system comprises multiple floor elements, each floor element arrangeable at a top end of a storage column on top of a vertical stack of containers, such that an operator may stand on top of the storage column. The floor elements may be stored on top of one another in a vertical stack arranged in a storage column in the grid.

Abstract: A service vehicle moves on a rail system including 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 grid cells. The service vehicle includes a container handling vehicle part for storing a container handling vehicle operating on the rail system, and wheels for allowing movement of the service vehicle along the rail system during operation. The service vehicle further includes a displacement mechanism, and a hoist arrangement connected to the displacement mechanism. The displacement mechanism and the hoist arrangement are configured for moving the container handling vehicle between an operational position on the rail system and a loaded position within the container handling vehicle part.

Abstract: A method for controlling movement of a robot on a plurality of tracks laid out on a frame structure forming a grid includes detecting a current speed and an angular position for one wheel in a pair of wheels of the robot; tracking a current position of the robot relative to at least a portion of the frame structure; and setting a driving sequence for the pair of wheels, based on a position information of the robot.

Abstract: A remotely operated vehicle for an automated storage and retrieval system moves a product item between a storage container stored in an automated storage and retrieval grid configured to store a plurality of stacks of storage containers, and a further container. The remotely operated vehicle includes a vehicle body; a wheel arrangement connected to the vehicle body configured to move the remotely operated vehicle along a rail system of the automated storage and retrieval system; and a picking system for moving the product item between the storage container and the further container. The vehicle includes a container lifting device configured to carry the further container. The picking system includes a picking arm having a first end connected to the vehicle body and a second end. The picking system includes a holding mechanism for releasably holding of the product item. The holding mechanism is provided in the second end of the picking arm.