Abstract: Method and vehicle for tracking the position of a remotely operated vehicle following a set route relative to tracks laid out on a frame structure forming a grid, the vehicle having first and second sets of wheels connected to drives for moving the vehicle in corresponding x- and y-directions on the grid, the method comprising: receiving information of the number of track crossings to pass between start and stop positions in x- and y-directions according to the set route; directing sensors attached to the vehicle at the tracks along the route of the vehicle; detecting and monitoring track crossings passed when moving the vehicle in the x- and y-directions according to the set route, and transmitting a signal to a controller, controlling the drives of the wheels of the vehicle, when the number of track crossings passed is close to the total number of track crossings to pass between the start and stop positions in respective x- and y-directions along the set route.

Abstract: An automated storage and retrieval system includes a first track system and a second track system. The first track system includes a first set of parallel tracks arranged in a first horizontal plane and extending in a first direction of the first track system and a second set of parallel tracks arranged in the first horizontal plane and extending in a second direction of the first track system which is orthogonal to the first direction of the first track system. The first and second sets of tracks of the first track system forming a grid pattern in the first horizontal plane including a plurality of adjacent grid cells. Each grid cell of the first track system comprising a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks. Storage columns are located beneath the first track system for storing storage containers in a plurality of stacks. Each storage column is located vertically below a grid opening.

Abstract: A container accessing station for accessing a storage container of an automated storage and retrieval system includes a housing and a vehicle lift. The housing includes an access opening, and a base opening. A human and/or robot may access contents of the storage container through the access opening. The storage container can enter the container accessing station to be presented at the access opening through the base opening. The vehicle lift is arranged to lift a delivery vehicle carrying the storage container on an upper surface of the delivery vehicle from a pickup level below the base opening up to an accessing level where the storage container is presented to be accessed through the access opening by the human and/or robot while the storage container is still being carried by the delivery vehicle.

Abstract: A bin holding device includes two vertical side elements spaced to accommodate a storage bin between the two vertical side elements. Each side element is provided with a bin supporting assembly including a bin support and an actuator. The bin support includes an upper bin interacting part arranged 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. The actuator is operably connected to the bin support and includes a lower bin interacting part arranged to interact with the storage bin during introduction of the storage bin into the bin holding device in a downward vertical direction, such that the upper bin interacting part is moved to interact with the storage bin.

Abstract: A vehicle for an automated storage and retrieval system is configured to follow a set route on a track being laid out in the automated storage and retrieval system and having one or more track features. 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 a plurality of sensors attached to the vehicle and configured to detect track features and to measure a distance to a track feature while the vehicle is moving in the first direction or the second direction.

Abstract: A method and a controller for controlling movements of a robot from a start to a stop position, where the robot has pairs of wheels having drivers that are controlled by local controllers. Based on a current speed and an angular position of each wheel and a position of the robot relative to the frame structure, a master controller sets up individual speed driving sequences for the pair of wheels based on the current speed and angular position of each wheel, current global position of the robot, and the start and stop positions of the robot. The speed driving sequence is transmitted to the local controllers controlling the pair of wheels, thereby controlling acceleration and deceleration of each wheel via the individual drivers. The local controllers ensure that pairs of wheels are kept synchronised.

Abstract: A remotely operated vehicle assembly 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 target containers. The remotely operated vehicle assembly includes a first vehicle including a vehicle body and 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. The first vehicle includes a container lifting device configured to carry a first target container. The vehicle assembly further includes a second vehicle including a vehicle body and 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.

Abstract: A container handling vehicle picks up storage containers from a three-dimensional grid of an underlying storage system. The container handling vehicle includes a vehicle module part (P1); and a container lifting part. The vehicle module part (P1) includes a first set of wheels for moving the container handling vehicle in a first direction (X) and a second set of wheels for moving the container handling vehicle in a second direction (Y). The second direction is perpendicular to the first direction. The container lifting part extends sideways as a cantilever from the vehicle module part (P1) and includes a hoist frame (P2) with an opening (OSP) defining an access perimeter; a hoist mechanism carried by the hoist frame (P2); a plurality of lifting bands connected to the hoist mechanism and guided by the hoist frame (P2); and a lifting frame for releasable connection to a storage container, the lifting frame being suspended in a horizontal orientation from the hoist frame (P2) by the plurality of lifting bands.

Abstract: The present invention relates to automated storage and retrieval system comprising: a track system comprising a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of tracks form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks; a plurality of stacks of storage containers arranged in storage columns located beneath the track system, wherein each storage column is located vertically below a grid opening; a plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks, the container handling vehicles being configured to move laterally on the track system above the s

Abstract: A container handling vehicle for an automated storage and retrieval system includes a three-dimensional grid having multiple storage columns, in which containers are stored one on top of another in vertical stacks. The container handling vehicle is arrangeable above a top level of the grid for retrieving a container from, and storing a container in, at least some of the storage columns, and/or for transporting a container horizontally across the top level of the grid. The container handling vehicle has a lifting device including a lifting frame for releasable connection to a container, and lifting bands arranged to lower and raise the lifting frame relative to the storage columns. The lifting device includes a container centring device arranged to extend around portions of the lifting frame. The container centring device having a lower open end including at least one edge element for interaction with a peripheral part of the upper end of a storage column.

Abstract: A storage container for storing product items in an automated storage and retrieval system includes a base; two first parallel side walls; two second parallel side walls perpendicular to the two first parallel side walls; a top opening; and two side openings. The two side openings allow one or more items to be unloaded from the storage container or loaded into the storage container through one of the side openings at an unloading station or at a loading station. The storage container is provided with a restraint which is arranged to restrain movement of the one or more items from exiting through one of the side openings during transportation of the storage container to the unloading or loading station.

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 system for storing and transporting storage containers includes an automated storage and retrieval grid including vertical members defining multiple storage columns for storing storage containers on top of each other in vertical stacks. The vertical members are interconnected at their upper ends by a container handling vehicle rail system arranged to guide at least one container handling vehicle being configured to raise storage containers from, and lower storage containers into, the storage columns, and to transport the storage containers above the storage columns.

Abstract: An automated storage and retrieval system comprising a three-dimensional grid (4) comprising a plurality of storage columns (5) in which storage containers are stored one on top of another in vertical stacks, and at least one port (28, 29) through which the storage containers can be transferred out of and/or into the grid; and a plurality of container handling vehicles (9) which are operated laterally on the grid for retrieving storage containers from and storing storage containers in the storage columns, and for transporting the storage containers laterally across the grid.

Abstract: A remotely operated vehicle for picking up storage bins from an underlying storage system includes a vehicle lifting device for lifting the storage bin from the underlying storage system, a first vehicle rolling assembly including a first rolling set and a second rolling set arranged at opposite sides of a vehicle frame, allowing movement of the vehicle along a first direction (X) on the underlying storage system during use, a second vehicle rolling assembly including a first rolling set and a second rolling set arranged at opposite sides of the vehicle frame, allowing movement of the vehicle along a second direction (Y) on the underlying storage system during use, the second direction (Y) being perpendicular to the first direction (X), and a rolling set displacement assembly arranged to move the first vehicle rolling assembly in a vertical direction (Z) between a first position and a second position. The first vehicle rolling assembly allows movement of the vehicle along the first direction (X).

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 an X direction on a rail system of the grid; and a second set of wheels for moving the vehicle along a Y direction on the rail system of the grid. The Y direction is perpendicular to the X direction. The container handling vehicle includes a vehicle body having a vehicle body footprint defined by horizontal peripheries in the X and Y directions of the vehicle body. The vehicle body includes a first section and a second section. The first section has a first footprint and the second section has a second footprint. The first and second footprints are defined by horizontal peripheries in the X and Y directions of the first and second sections respectively.

Abstract: An automated storage and retrieval system includes a grid-based rail structure and a plurality of remotely operated 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 lock the remotely operated vehicle against accidental displacement prior to interaction with the human and/or robotic operator, and wherein the locking device being arranged to unlock the remotely operated vehicle once interaction with the human and/or robotic operator is no longer required.

Abstract: A vehicle operated cleaning bin for cleaning a storage grid of a storage system, wherein the cleaning bin includes a connector for attaching the cleaning bin to a lifting device of a remotely operating vehicle being configured to vertically convey the cleaning bin inside a column of the storage grid by aid of the lifting device, and a plurality of cleaners for removing foreign debris from the storage grid. The plurality of cleaners are arranged on at least one lateral wall of the cleaning bin.

Abstract: A method of operating an automated storage and retrieval system includes: 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, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, a central control unit configured to receive, transmit and process data signals of a plurality of container handling vehicles for handling storage containers of the automated storage and retrieval system.

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 an X direction on a rail system of the grid; and a second set of wheels for moving the vehicle along a Y direction on the rail system of the grid. The Y direction is perpendicular to the X direction. The container handling vehicle includes vehicle body including sides. The vehicle body has a vehicle body footprint defined by horizontal peripheries in the X and Y directions of the vehicle body and includes a first section and a second section. The first section has a first footprint and the second section has a second footprint. The first and second footprints are defined by horizontal peripheries in the X and Y directions of the first and second sections respectively.