Abstract: A container handling vehicle includes a lower part and an upper part. The lower part includes a width and a length that form a vehicle footprint of the container handling vehicle; and a storage space configured to accommodate a storage container. The lower part includes a first set of wheels oriented in a first vertical plane and a second set of wheels oriented in a second vertical plane orthogonal to the first vertical plane. The lower part includes a first set of vertical side walls that are co-planar to the first vertical plane, and a second set of vertical side walls that are co-planar to the second vertical plane. The first set of wheels, the second set of wheels, the first set of vertical side walls, and the second set of vertical side walls are arranged such that the lower part of the container handling vehicle has a cuboid shape. The upper part is disposed vertically above the lower part, and includes a protruding section and a recessed section.

Abstract: An automated storage and retrieval system includes a track system including 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 orthogonal to the first direction, forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells. Each grid cell includes a grid opening. A plurality of stacks of storage containers are arranged in storage columns located beneath the track system. Each storage column is located vertically below the grid opening. A plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks are configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings.

Abstract: An automated storage and retrieval system includes storage containers, an illuminable storage grid, a support displacement system, and a container handling device. The illuminable storage grid includes horizontally displaceable container supports each arranged with a vertical offset to an adjacent container support and configured to support a plurality of the storage containers. At least one of the container supports is an illuminable container support that is configured to illuminate an area below. The illuminable container support has at least one aperture configured to allow passage of at least one of the storage containers therethrough. The support displacement system displaces at least one of the container supports horizontally. The container handling device is configured to move between a first location above or on the illuminable storage grid and a second location outside the horizontal periphery of the illuminable storage grid.

Abstract: An automated storage and retrieval system includes a plurality of goods holders for holding crops, and a storage section configured for storing goods holders in a plurality of columns. A service vehicle for irrigation and/or inspection of crops stored within the automated storage and retrieval system is movable above the storage section and includes irrigation equipment for irrigating crops held by a goods holder, and/or inspection equipment for inspecting crops held by a goods holder.

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: 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: 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 accessing station is configured to offer multiple access points where access to each access point may be permitted through an upper working surface of the container accessing station to an underlying container that has been delivered to the access point. The container accessing station includes one or more working surface sections, access panels and blanking-off panels. Each working surface section has a common attachment configuration to allow either the access panel or the blanking-off panel to be fitted as part of the container accessing station at any of the multiple access points.

Abstract: An automated storage and retrieval system includes a track system, a plurality of storage columns, a container handling vehicle, a replaceable power supply, and a charging station. The track system includes 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, said first and second sets of tracks forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each grid cell 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. The plurality of storage columns are located beneath the track system. Each storage column is located vertically below a grid opening and arranged to store a stack of storage containers.

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

Abstract: An automated storage and retrieval system includes a track system forming a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each grid cell including a grid opening. A plurality of storage columns is located beneath the track system. Each storage column is located vertically below a grid opening and arranged to store a stack of storage containers. A container handling vehicle for lifting at least one storage container stacked in the stacks is configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings.

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 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 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 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: A container handling vehicle includes a lower part and an upper part. The lower part includes a width and a length that form a vehicle footprint of the container handling vehicle; and a storage space configured to accommodate a storage container. The lower part includes a first set of wheels oriented in a first vertical plane and a second set of wheels oriented in a second vertical plane orthogonal to the first vertical plane. The lower part includes a first set of vertical side walls that are co-planar to the first vertical plane, and a second set of vertical side walls that are co-planar to the second vertical plane. The first set of wheels, the second set of wheels, the first set of vertical side walls, and the second set of vertical side walls are arranged such that the lower part of the container handling vehicle has a cuboid shape. The upper part is disposed vertically above the lower part, and includes a protruding section and a recessed section.

Abstract: The operation of container handling vehicles and remotely operated specialized container handling vehicles are controlled by a method such that total elapsed time or waiting time cost for transferring specified storage containers between them is minimal or optimal. The specialized container handling vehicles are operating at a level below an automated storage and retrieval system having a framework structure defining a storage grid for storing storage containers in grid cells. The storage containers are stored and retrieved by container handling vehicles running on top of the storage grid.

Abstract: An automated storage and retrieval system includes a track system including 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 orthogonal to the first direction, forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells. Each grid cell includes a grid opening. A plurality of stacks of storage containers are arranged in storage columns located beneath the track system. Each storage column is located vertically below the grid opening. A plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks are configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings.

Abstract: An automated storage and retrieval system includes a track system including a first set of tracks arranged in a horizontal plane and extending in a first direction, and a second set of tracks arranged in the horizontal plane and extending in a second direction that is orthogonal to the first direction. The first set of tracks and the second set of tracks form a grid pattern in the horizontal plane including a plurality of adjacent grid cells. Each grid cell includes an opening defined by the first set of tracks and the second set of tracks such that the track system includes a plurality of openings. A plurality of storage containers are arranged in columns beneath the track system such that the storage containers are located vertically below the openings. A plurality of container handling vehicles for lifting and moving the storage containers are configured to move on the track system and access the storage containers via the openings.