Abstract: A farming system suitable for hydroponic farming. The farming system has a support structure with a tray-receiving location for receiving a grow tray, and an irrigation system for supplying fluid to and draining fluid from the tray-receiving location. The irrigation system has a tray conduit couplable to the bottom of a grow tray when located in the tray-receiving location to allow fluid communication between the tray conduit and the grow tray via an irrigation opening extending through the base of the grow tray. The irrigation system is configured and arranged to both supply fluid to and drain fluid from the grow tray via the tray conduit.

Abstract: A control device is provided to more quickly and efficiently verify which item has been grasped by a robot system whilst also providing a solution which is scalable. Verification of the item which has been grasped is achieved by measuring a dynamics property of the item. A control unit for operation with a robot system a sensor unit, the robot system arranged to grasp an item from a container. The control unit includes a verification unit arranged to receive identifying information of an item expected to be in the container, receive information from the sensor unit indicative of a dynamics property of the item grasped by the robot system and verify that the item grasped by the robot system matches the item expected to be in the container based on the received identifying information and the received dynamics property information.

Abstract: A sequencing system and a robotic storage and picking system include a plurality of containers disposed in stacks beneath a grid having a first set of tracks and second set of tracks, the first and second sets of tracks being disposed substantially perpendicular to each other. Plural load handling devices are operable on the grid, the load handling devices lifting and depositing containers from and to the stacks. The load handling devices can deposit containers on to conveyor belts into predetermined positions, the positions being fillable in any random order and multiple positions being fillable at any one time.

Abstract: A robotic service device is described for use on a robotic picking system grid. The robotic service device is capable of driving to any location on the grid order to perform maintenance operations or cleaning. Additionally, the service device may be used to rescue robotic load handling devices operational in the picking system. The robotic service device may include a releasable docking mechanism to enable it to dock and latch on to malfunctioning load handling devices. The service device may also be provided with cleaning capability and a camera to enable the condition of the grid and other robotic devices to be monitored.

Abstract: A gripping device for being suspended from a load handling device for lifting and moving containers stacked in stacks in a grid storage structure including a plurality of tracks arranged in a grid pattern above the stacks of containers. The gripping device including a frame and at least one gripping assembly mounted on the frame. The gripping assembly including at least two grippers, each gripper being configured to engage a container located below the frame. Each gripper is movable between a gripping position for gripping the container and a release position for releasing the container. The gripping device further including a single linear actuator coupled to the at least two grippers by a linkage assembly such that actuation of the single linear actuator drives the at least two grippers substantially simultaneously between the gripping and release positions.

Abstract: An automated picking system robotic device testing station having rollers for engagement with the wheels of a robotic device; and a controller to vary the rotation of the rollers.

Abstract: System for handling containers and a method for supplying inventory items to a fulfilment station in a warehouse or in any other location where fulfilment of orders or delivery of orders, for example grocery orders, is taking place. The system includes at least one mobile inventory carrier for storing containers, a mini load system including a gripping mechanism for picking up or releasing a container from the mobile inventory carrier and autonomous mobile robotic units, wherein the mini load system, the mobile inventory carrier and the autonomous mobile robotic unit(s) are distinct units and operate independently from each other.

Abstract: A mechanised container for use in a robotic storage and picking system is described. The container includes a base openable to deposit at least one item from the container in to a further container positioned by a load handling device beneath the first container. Each item can be stored in such mechanised containers in stacks within a robotic storage and picking system.

Abstract: A customisable, modular storage system is described where goods are stored in containers and the containers are stored in stacks. The stacks are contained within towers formed of stacks of bin receiving units. A grid network of tracks is provided on the top of the bin receiving units upon which load handling devices run. The load handling 30 devices take containers from the stacks and deposit them at alternative locations in the stacks or deposit then at stations where goods may be picked out.

Abstract: A method for generating a trajectory to control movement of a motion device, by: i) receiving a specification of the trajectory; ii) receiving at least one jerk constraint; and iii) generating a sequence of one or more trajectory segments based on the at least one jerk constraint. The generating includes applying a velocity transition algorithm including moving the magnitude of a velocity reference of the trajectory segments in a given time to a desired final velocity reference, the difference between the desired final velocity reference and the velocity reference defining a velocity delta. The velocity transition algorithm includes computing a peak acceleration having a magnitude being a function of the velocity delta.

Abstract: A controller is provided to control movement of transporting devices. Embodiments limit the loads imparted on a grid of pathways structure of transporting devices to prevent non-safety-critical damage from excess loads and/or fatigue. A controller is arranged to control movement of transporting devices arranged to transport containers stored in a facility. The facility includes pathways arranged in cells to form a grid-like structure which extends in first and second directions. A route determination unit determines a route from one location to another, and a clearance unit to provide clearance for each transporting device to traverse a portion of the determined route. A constraint area determination unit determines constraint areas based on the grid-like structure and a calculation unit calculates a constraint limit in each constraint area.

Abstract: The present disclosure relates to an apparatus and method for a load handling system such that direction change of a transporting device is more easily and quickly realised. A transporting device includes an omnidirectional driving unit, and is arranged to transport a container, the container being stored in a facility. The facility is arranged to store the container in a plurality of stacks, a plurality of pathways being arranged in cells so as to form a grid-like structure above the stacks, the transporting device being arranged to operate on the grid-like structure and to be driven in a first direction and/or second direction.

Abstract: A method for generating a trajectory to control the movement of a motion device, by: i) receiving a specification of the trajectory; ii) receiving at least one jerk constraint; and iii) using the at least one jerk constraint to generate a sequence of one or more trajectory segments the trajectory segments are generated based on predicting a value of a parameter using a root finding algorithm to find a root of an objective function, the objective function being an amount of positional deviation from a commanded position when the velocity reference and the acceleration reference is substantially zero and the root corresponding to the value of the parameter is less than a predetermined threshold.

Abstract: A charge unit for charging a robotic load handling device operative on a grid framework structure including a plurality of grid members arranged in a grid pattern is provided. The charge unit including a charge providing head for coupling with a charge receiving head of the robotic load handling device, a plurality of profiled sections, and a cartridge for interfacing with a hoist element of the robotic load handling device. The cartridge is moveable along the plurality of profiled sections so as to effect vertical movement of the charge providing head relative to the charge receiving head of the robotic load handling device.

Abstract: A load handling device for lifting and moving containers stacked in a storage system having a grid framework structure supporting a plurality of tracks arranged in a grid pattern, the load handling device including: a wheel assembly driven by a drive mechanism; a lifting device for lifting a storage container; a position detection detector; and a controller configured to control movement of the load handling device by: a) determining a feedforward torque demand on the wheel assembly at a given time from a predetermined motion control profile; and b) compensating the feedforward torque demand from a measured position of the load handling device on the grid structure at the given time to calculate a torque demand on the wheel assembly.

Abstract: A method for generating a motion control profile having an acceleration and a deceleration phase to control motion of a load handling device on a grid structure including a plurality of tracks arranged in a grid pattern. The motion control profile is generated by receiving a plurality of constraints for the motion control profile, including a plurality of jerk constraints; selectively applying the jerk constraints for controlling an acceleration reference and a velocity reference in the acceleration phase; and selectively applying the jerk constraints for controlling a deceleration reference and a velocity reference in the deceleration phase, such that a magnitude of the acceleration reference and the velocity reference is substantially zero at a second position of the load handling device.

Abstract: A control device is provided to more quickly and efficiently verify which item has been grasped by a robot system whilst also providing a solution which is scalable. Verification of the item which has been grasped is achieved by measuring a dynamics property of the item. A control unit for operation with a robot system a sensor unit, the robot system arranged to grasp an item from a container. The control unit includes a verification unit arranged to receive identifying information of an item expected to be in the container, receive information from the sensor unit indicative of a dynamics property of the item grasped by the robot system and verify that the item grasped by the robot system matches the item expected to be in the container based on the received identifying information and the received dynamics property information.

Abstract: A gripping device for being suspended from a load handling device for lifting and moving containers stacked in stacks in a grid storage structure including a plurality of tracks arranged in a grid pattern above the stacks of containers. The gripping device includes a frame; a gripping mechanism mounted on the frame configured to releasably grip a container from below the frame; a fixing device mounted on the frame configured to fix a free end of a reeled cable; and a cable tensioner configured to put the cable under tension in use. The cable tensioner includes a track; a carriage slidably mounted on the track; and a biasing device configured to bias the carriage.

Abstract: A load handling device is disclosed for lifting and moving containers stacked in a storage system having a grid structure. The load handling device includes a container receiving space; a lifting mechanism arranged to lift a container; a vehicle body; a wheel assembly arranged to support the vehicle body, the wheel assembly having a first set of wheels and a second set of wheels; and a drive mechanism for selectively driving rotation of the first set of wheels and the second set of wheels. Each wheel includes a wheel positioning mechanism configured to rotate the wheel about a respective second axis of rotation to selectively lower or raise the first set of wheels or the second set of wheels to selectively engage or disengage the first set of wheels with a first set of grid members or the second set of wheels with a second set of grid members.

Abstract: The present invention provides a transporting device for a storage system which maximises storage capacity of the storage system whilst remaining scalable and avoiding overheads. The transporting device includes a frame having a Z-direction track and a tray for supporting the container. The tray includes an X-direction movement unit arranged to move the container in an X-direction, a Y-direction movement unit arranged to move the container in a Y-direction and a Z-direction movement unit arranged to move the tray in a Z-direction by way of interaction with the Z-direction track. The transporting device can include a frame having a Z-direction track and a first movement unit arranged to move the container in an X-direction and/or a Z-direction by with the Z-direction track. A second movement unit is arranged to move the container in a Y-direction and/or a Z-direction.