Abstract: A storage system for storing product items includes a grid structure, a number of storage bins configured to be stored in vertical compartments in the grid structure, and a picking and/or supply station. Each storage bin is configured to contain at least one product item. The storage system further includes a conveyor system configured to convey a storage bin from a first position to a second position and further to a third position, where the conveyor system includes a first, tillable conveyor configured to convey the storage bin from the first position to the third position via the second position.

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: The invention concerns an automated storage and retrieval system comprising at least one relay module (60) for relaying storage containers (6) between a port column (61) and an access station (64), the relay module (60) being arranged below a port column (61) wherein the relay module (60) comprises a port station for receiving storage containers (6) dropped off from and to be picked up through the port column (61), a first conveyor and a second conveyor, each arranged at a side of the port station, the first conveyor being adapted to transport storage containers (6) to an access station (64), the second conveyor being adapted for transporting storage containers (6) from the access station (64). A lateral displacement device is arranged for transporting storage containers (6) between the port station and the first conveyor, and between the second conveyor and the port station.

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 stacked on top of one another to form stacks of storage containers arranged in storage columns below the first and second guiding systems. Each storage column is located vertically below a grid opening of a plurality of adjacent grid cells, the grid cells forming a grid pattern in the horizontal plane. The vehicle includes a lifting device for picking up storage containers from the storage columns to a position above the highest level of the storage columns.

Abstract: A remotely operated vehicle assembly for picking up storage bins from a storage system and a method for change of vehicle direction. The vehicle assembly has a vehicle body with a cavity suitable for receiving a storage bin stored within the storage system, a lifting device for lifting the containers into the cavity and a displacement arrangement including a motor for lifting one of two sets of wheels in or out of engagement with an underlying track for changing vehicle direction. The displacement arrangement includes a displacement plate and a vertically displaceable bar arranged in a lateral plane above the cavity.

Abstract: The invention concerns a displacement mechanism (16) for a remotely operated vehicle (400,500,600,700), the displacement mechanism (16) being for raising and lowering wheels (25) onto a rail system (108) that the remotely operated vehicle (400,500,600,700) runs on. Furthermore, the invention concerns a remotely operated vehicle (400,500,600,700) comprising such a displacement mechanism (16), a method for raising and lowering the wheels of a remotely operated vehicle (400,500,600,700) comprising such a displacement mechanism (16) and an automated storage and retrieval system (1) comprising at least one remotely operated vehicle (400,500,600,700) comprising such a displacement mechanism (16).

Abstract: An automated storage and retrieval system comprises a rail 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 neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks; and a plurality of stacks of storage containers arranged in storage columns located beneath the rail system. Each storage column is located vertically below a grid opening.

Abstract: A storage system includes a charging station assembly for charging a plurality of power sources and a method thereof. The charging station assembly includes a charging station support fixing the charging station assembly to a base of the storage system, a plurality of charging stations, each charging station including a charger that charges the plurality of power sources and a power source transport device enabling relocation of the power source between an operational position on a remotely operated vehicle and a charging position in or at any one of the plurality of charging stations.

Abstract: A remotely operated vehicle assembly for picking up storage bins from a storage system and a method for change of vehicle direction. The vehicle assembly has a vehicle body with a cavity suitable for receiving a storage bin stored within the storage system, a lifting device for lifting the containers into the cavity and a displacement motor for lifting one of two sets of wheels in or out of engagement with an underlying track for changing vehicle direction. The wheels are arranged at outer side walls of the vehicle body facing away from the cavity, arranged at, or near, each of the respective two corners of the lower edge of the vehicle body.

Abstract: The invention concerns an automated storage and retrieval system (1), a storage container handling vehicle (3) and a method for operating such a system. The system (1) comprises one or more vehicle (3) configured to lift and move storage containers (106) stacked in the system (1). Each vehicle (3) comprises a storage container lifting device (16), a drive system (18) with a wheel arrangement (19, 20) configured to drive and maneuver the vehicle (3) along the track system (108), abase (31) onto which the wheel arrangement (19, 20) is connected, a rotational part (30) rotationally connected via a swivel device (32) to the base (31) and a rotational drive system (34) for rotating the rotational part (30) relative to the base (31).

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 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 remotely operated vehicle, for picking up a storage bin from an underlying storage system, may include a vehicle body having a cavity adapted to contain the entire storage bin, vehicle rolling means for movement of the vehicle on the underlying storage system, and a lifting assembly for lifting the storage bin from the underlying storage system to a position above the lowest level of the vehicle rolling means. Additionally, the lifting assembly may include a lifting frame, a rotatable lifting shaft, a first lifting band assembly, and a second lifting band assembly. Further, the lifting frame is connectable to the storage bin and the rotatable lifting shaft is arranged in an upper part of the vehicle body.

Abstract: A leveling foot having a base section with a raised, hollow column. A spring is arranged in the hollow column. A moveable top piece engages the column, and is movable in the vertical direction against the force of the spring. The top piece is slightly larger than the column, such that side walls of the top piece overlap the sides of the column when the spring is compressed. The bottom edges of the side walls of the top piece are angled. A generally U-shaped wedge device is provided that may be pressed into engagement with the base section, whereby a leg of the U engages each side of the column. The top surfaces of the legs of the U-shaped device are angled in the form of wedges, the angles of the top surfaces of the legs corresponding to the angles of the side walls of the movable top piece, such that the side walls of the top piece will rest upon the angled top surfaces of the legs of the wedge device when the top piece is under load.

Abstract: A vehicle operated cleaning bin for cleaning a storage grid of a storage system includes a connector suitable for attaching the cleaning bin to a lifting device of a remotely operating vehicle being configured to vertically convey the cleaning bin into the storage grid by aid of the lifting device. Further, the vehicle operated cleaning bin includes a cleaner provided for removing foreign debris from the storage grid.

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: A storage system for storing product items includes a grid structure, a number of storage bins configured to be stored in vertical compartments in the grid structure, and a picking and/or supply station. Each storage bin is configured to contain at least one product item. The storage system further includes a conveyor system configured to convey a storage bin from a first position to a second position and further to a third position, where the conveyor system includes a first, tillable conveyor configured to convey the storage bin from the first position to the third position via the second position.

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 storage system includes a charging station assembly for charging a plurality of power sources and a method thereof. The charging station assembly includes a charging station support fixing the charging station assembly to a base of the storage system, a plurality of charging stations, each charging station including a charger that charges the plurality of power sources and a power source transport device enabling relocation of the power source between an operational position on a remotely operated vehicle and a charging position in or at any one of the plurality of charging stations.

Abstract: A remotely-operated vehicle assembly for picking up storage bins from a storage system and a method for changing vehicle direction includes a body displaying a cavity, a lifting device connected to the body for lifting the bin into the cavity, a displacement arrangement including a displacement motor which provides power to displace one or both of first and second sets of vehicle wheels between a displaced state where the relevant vehicle wheels are displaced away from the underlying system during use, and a non-displaced state where the relevant vehicle wheels are in contact with the underlying system during use, and driving wheels coupled to the displacement arrangement. The driving wheels include the first and second sets of vehicle wheels connected to the body allowing movement of the vehicle along first and second directions, respectively, within the system. The first and second directions are perpendicular.