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: The present invention provides a container-handling vehicle (9?) for picking up storage containers (6) from a three-dimensional grid (4) of an underlying storage system (1), comprising a vehicle body (13) and at least one lifting device (18) for lifting a storage container (6) from the grid (4), the lifting device (18?) comprises a lifting band drive assembly (47, 47?,31), a horizontal lifting frame (17) and a plurality of lifting bands (16a, 16b); the lifting band drive assembly (47, 47?,31) is connected to the vehicle body (13) and comprises at least one rotatable lifting shaft (22.

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 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: 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 a transfer floor (5) on

Abstract: A storage system includes a framework structure, at least one container lift device, and a plurality of storage containers. The framework structure includes multiple storage columns, in which the storage containers are stored on top of one another in vertical stacks. The container lift device includes a lifting frame for releasable connection to one of the storage containers when the lifting frame is lowered into one of the storage columns to retrieve said storage container. An outer periphery of each storage container includes a vertical guiding pin recess at each of four container corners. A vertical guiding pin is provided at each of four frame corners of the lifting frame. A lower part of at least two of the guiding pins have a container support portion including a container support surface.

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 method, control system 500 and computer program for routing and rerouting of container handling vehicles 201 handling storage containers 106 in an automated storage and retrieval system comprising a framework structure 100 forming a three-dimensional storage grid structure 104 for storing the storage containers 106 in storage columns 105, the framework structure including a grid-based rail system 108 arranged above the storage columns 105 with the rail system 108 providing available routes for the container handling vehicles 201 handling and transferring the storage containers 106 to and from the storage columns 105, and wherein each container handling vehicle 201 comprises a first set of wheels configured to move the vehicle along a first lateral direction (X) of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction (Y) of the grid-based rail system (108), the second direction (Y) being perpendicular to the first direction (X), the movements o

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: An access station, which is for presentation of a storage container from an automated storage and retrieval system to an operator at the access station, includes an access module, a drawer, and a first actuator. The access module includes a frame defining a drawer compartment provided within the frame and a front opening for allowing presentation of the storage container. The drawer includes a drawer base and a drawer front. The drawer is movably connected to the frame. The drawer base includes a support on which the storage container can be supported. The first actuator is for moving the drawer relative to the frame between a presentation position in which the drawer is protruding through the front opening of the frame and a retracted position in which the drawer is retracted within the drawer compartment. The access station includes a safety mechanism located above the front opening. The safety mechanism includes a cover, a safety plate, and a safety sensor. The cover is secured to the frame.

Abstract: A method of operating a bin storage system includes a plurality of storage columns for storage of a plurality of vertically-stacked storage bins and a plurality of robot vehicles for transporting storage bins. A plurality of supporting rails are arranged in a two-dimensional matrix at the top of the columns. The supporting rails are arranged in a first direction and a second direction orthogonal to the first direction. The method includes positioning a cavity displaying a downwardly facing opening for the storage bin of one of the plurality of robot vehicles such that the cavity is aligned with one of the storage columns to permit the cavity to receive a storage bin from 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 wheels attached to the robot vehicle. A first set of wheels is arranged to allow the robot vehicle to travel in the first direction along the supporting rails.

Abstract: A storage system includes a framework structure in which storage containers can be stored, a container lift device, and a container transfer device. The framework structure includes at least a first port column through which a storage container may be transferred to or from the container transfer device by the container lift device. The first port column includes an upper end, at which the container lift device is arranged when a storage container is to be lowered or lifted through the port column, and a lower end at which a container buffering assembly is arranged. The container buffering assembly features a container holder frame including a plurality of supports. The container holder frame is horizontally moveable between a first position under the lower end of the first port column and a second position away from the lower end of the first port column.

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: An automated storage and retrieval system includes: a track system having a first set of parallel tracks and a second set of parallel tracks, which form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each having 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; a plurality of storage containers arranged in storage columns located beneath the track system, wherein each storage column is located vertically below a grid opening; and a vehicle configured to move on top of the track system above the storage columns, including a storage container lifting device for lifting storage containers and a drive system including a wheel arrangement, configured to drive the vehicle along the track system in at least one of the first direction and the second direction.

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: 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 storage system includes a framework structure in which storage containers are stored, a container lift device, and a conveyor. The framework structure includes at least a first port column through which a storage container may be transferred by the container lift device. The first port column includes an upper end at which the container lift device is arranged when a storage container is to be lowered or lifted through the port column, and a lower end at which a container buffering assembly is arranged. The container buffering assembly includes a container holder frame including a plurality of supports. The container holder frame is movable in a first horizontal direction between a first position under the lower end of the first port column and a second position away from the lower end of the first port column.

Abstract: A hatch assembly includes a pivotable hatch, at least one driven arm, and at least one link. The pivotable hatch includes a hatch frame pivotable about a horizontal pivot axis at its base, and a hatch cover connected to the hatch frame. The hatch cover can move in an arcuate manner for covering an open side of the goods holder. The driven arm rigidly is connected to a drive shaft. The link is for linking the pivotable hatch frame and the driven arm so that motion of the driven arm causes pivoting motion of the hatch. The link has a first direction of extension and is rigidly connected to the hatch frame and flexibly connected to the driven arm. The link has variable length in the first direction of extension. The length of the link is reduced once a forward pivotal movement of the hatch frame is discontinued.

Abstract: An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system.

Abstract: In a wireless communication network, a node communicates with a central communication unit via at least one access point. An operating method of the communication node includes receiving, at the node, a wireless signal from the access point; determining, by the node, channel quality information based on the received wireless signal; and determining, by the node, an order of active channels ranked according to the determined channel quality. The operating method further includes selecting, by the node, an active channel for transmitting wireless signals in accordance with the determined order; and transmitting, by the node, wireless signals on the selected, active channel. The access point is configured to filter a message. When operating the access point in a beacon transmit mode, the access point transmits wireless beacon data to the node. In a listening mode, the access point relays data received from the node to the central communication unit.