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: A method controls the operation of container handling vehicles and remotely operated specialized container handling vehicles. A specified storage container is to be transferred from a storage column and its corresponding grid cell to a specialized container handling vehicle.

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: A method for handling malfunctioning vehicles on a rail system constituting part of a storage and retrieval system includes storing a plurality of stacks of storage containers and a control system. The storage and retrieval system includes a plurality of remotely operated vehicles configured to move laterally on the rail system. The method includes wirelessly monitoring and controlling, via the control system, movements of the plurality of vehicles.

Abstract: An automated storage and retrieval system includes a storage grid for storage of storage containers and a delivery system for transport of said storage containers between a delivery port of the storage grid and an access point of the delivery system. The access point is adapted for handling of items held in the storage containers by a robotic operator or human operator.

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 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 container is for use in an automated, grid-based storage and retrieval system. A side wall of the storage container includes a first through-recess. The storage container includes a first part for gauging information regarding temperature in the interior of the storage container. The first part is placed in the first through-recess. When said first part is placed in the first through-recess and a section of said first part is in contact with the exterior of the storage container, gauged information is readable from the exterior of the storage container.

Abstract: A coupler includes a coupler frame, a handle, a first container gripper paddle, a second container gripper paddle, and an actuator system. The coupler frame includes a lower coupler frame face and an upper coupler frame face. The handle protrudes from the upper coupler frame face for releasable connection to an operative end of a robotic picking device. The first and second container gripper paddles are connected to the coupler frame for releasable connection to a container and arranged at opposite sides a centre plane oriented perpendicular to the lower coupler frame face. Each of the container gripper paddles includes a gripper protrusion located below the lower coupler frame face for insertion into a corresponding recess or aperture accessible within an inner volume of the container.

Abstract: A container handler handles a storage container in a column of a frame structure of an automated storage and retrieval system. The container handler includes a lifting frame, a first guide pin, and a gripper element. The lifting frame is arranged for vertical movement within the column of the frame structure. The first guide pin protrudes downwardly from the lifting frame for guiding the lifting frame vertically within the column of the frame structure relative to the storage container. The gripper element protrudes downwardly from the lifting frame for gripping the storage container. The first guide pin includes a first sensor for sensing the position of the lifting frame relative to the storage container. The container handler includes a control system provided in communication with the first sensor. The control system is controlling the vertical movement of the lifting frame and is controlling the gripper element based on a signal received from the first sensor.

Abstract: An assembly is for handling goods holders, such as storage containers, storage trays, and/or storage pallets, of an automated storage and retrieval system. The assembly includes a base body, a lifting frame, a gripper, and at least one connecting element. The base body is for connection to a lifting device for vertical transportation of the goods holders in a storage column. The lifting frame has a central opening, and is arranged at a vertical distance below said base body. The gripper is associated with the lifting frame and for engaging with the goods holder. The at least one connecting element is for connecting the lifting frame and the base body. The vertical distance between the lifting frame and the base body is variable.

Abstract: The present invention relates to a support vehicle (20) for performing support operations in an automated storage and retrieval system (1). It comprises a vehicle body (21). It comprises a drive system (40) comprising wheels (42, 44) provided in a lower part of the vehicle body (21), where the drive system (40) being configured to drive the support vehicle (20) along a track system (108) of the automated storage and retrieval system (1). It comprises a connection system (30) provided on a first side (20a) of the support vehicle (20). The connection system (30) comprises a connector member (31) protruding through a aperture (22) of the vehicle body (21). The connection system (30) comprises an actuator (34) for moving the connector member (31) in the aperture (22) in relation to the vehicle body (21). The present invention also relates to an automated storage and retrieval system (1).

Abstract: A storage container handling system includes a base, a remotely operated vehicle, and a storage station. The remotely operated vehicle includes rollers configured to operate the remotely operated vehicle on the base. The remotely operated vehicle includes at least one container carrier configured to carry a storage container. The storage station stores a storage container that is to be picked-up by or dropped off by the remotely operated vehicle. The storage station includes a container support, a delivery position, and an elevating system. The container support is configured to support the storage container. The delivery position is for the remotely operated vehicle picking-up or dropping off the storage container. The elevating system is configured to lift and lower the container support between a transfer position and a storage position. The transfer position is where the storage container can be picked-up or dropped off by the remotely operated vehicle.

Abstract: A bracing arrangement for a framework structure of an automated storage and retrieval system includes a plurality of upright members arranged in rows defining storage columns. The upright members support a rail system comprising first and second sets of parallel rails upon which travel container handling vehicles for retrieving containers or other items stored in the storage columns. A plurality of twin-post upright members are arranged in at least one row of the framework structure. The twin-post upright members include a pair of upright member sections arranged with a space therebetween. At least one elongated bracing member is connected at a first end to a first upper connection point and at a second end to a second lower connection point in order to brace the framework structure. Each elongated bracing member is arranged to pass diagonally through the spaces between the vertical sections of the pairs of upright member sections of the plurality of twin-post upright members arranged in the at least one row.

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 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: An automated storage and retrieval system includes a guiding assembly and a vehicle. The guiding assembly includes a first guiding system arranged in a first horizontal plane and extending in a first direction, and a second guiding system arranged in a second horizontal plane and extending in a second direction which is orthogonal to the first direction, and a plurality of storage containers. The vehicle includes a lifting device for picking up storage containers that includes a lifting frame connectable to a storage container via lifting bands including powering and control cables for controlling a gripping device on the lifting frame. The vehicle includes at least one reader arranged on the lifting frame configured to read at least one label of a storage container of the system. The at least one reader is power and signally connected to onboard controls and communications systems of the vehicle.

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: An automated storage and retrieval system includes at least one relay module for relaying storage containers between a port column and an access station. The relay module is arranged below a port column. The relay module includes a port station, a first conveyor, a second conveyor, each arranged at a side of the port station, and a lateral displacement device. The port station receives storage containers dropped off from and to be picked up through the port column. The first conveyor is adapted to transport storage containers to an access station. The second conveyor is adapted for transporting storage containers from the access station. The lateral displacement device is arranged to transport storage containers between the port station and the first conveyor, and between the second conveyor and the port station.

Abstract: The present invention provides a storage system comprising at least one container vehicle (6?,300?,400), a horizontal rail grid (108,5) and a charging system for charging a rechargeable power source (20) of the container vehicle, wherein the container vehicle comprises a first set of wheels (32a) and a second set of wheels (32b) for moving the container vehicle upon the rail grid; the first set of wheels (32a) is displaceable in a vertical direction between a first position, wherein the first set of wheels may move the container vehicle in a first direction (X), a second position, wherein the first and the second set of wheels are in contact with the rail grid, and a third position wherein the second set of wheels may move the container vehicle in a second direction (Y) perpendicular to the first direction; the charging system comprises two separated charge-receiving elements (21a,21b) arranged on the container vehicle and connected to the power source (20), and a charging station (22) comprising two separate