Abstract: A storage container assembly includes a storage container, a delivery container, and a holder. The storage container includes a base and four walls extending up from edges of the base, thereby defining a top opening of the storage container. The delivery container includes a base and four walls extending up from edges of the base. The holder for the delivery container is telescopically retained within the storage container and extendable from the opening of the storage container. The holder has a side-access opening, which is revealed on extension of the holder from the storage container. The delivery container can be guided into and out from the side-access opening of the holder and the delivery container can be slidably retained within the holder for storage within the storage container.

Abstract: A method of measuring level deviation in an automated storage and retrieval system, wherein the system includes rail system, at least one container handling vehicle, and a central control unit. The rail system includes a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction 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 which is perpendicular to the first direction. The first and second sets of parallel rails divide the rail system into a plurality of grid cells. The at least one container handling vehicle is configured to operate on the rail system. The at least one container handling vehicle is provided with at least one orientation sensor configured to measure at least one orientation parameter of the sensor in a three-dimensional cartesian reference system.

Abstract: A container-handling vehicle picks up storage containers from a three-dimensional grid of an underlying storage system. The container-handling vehicle has a vehicle body and wheels for moving the vehicle in two perpendicular directions on the grid. The vehicle body surrounds a cavity within which at least a first lifting device and a second lifting device are positioned adjacent to each other. Each lifting device is independently controlled and arranged to lift a storage container from the grid and into the cavity. The vehicle includes at least one vertical frame guiding element arranged inside the cavity. The frame guiding element extends between the lifting devices.

Abstract: A storage container handling system includes a base, and a delivery vehicle configured to travel on the base. The delivery vehicle includes a rolling base unit, a container carrier, and an elevating device. The rolling base unit includes first and second sets of rolling means for guiding the delivery vehicle along the base in a first and second directions respectively. The container carrier is provided on the rolling base unit. The container carrier is configured to removably support a storage container from below. The elevating device is configured to move the container carrier vertically between an upper and a lower position relative to the base. The storage container handling system includes a temporary storage station for temporarily storing a storage container to be picked-up or dropped off by the delivery vehicle. The temporary storage station includes a fixed container support configured to removably support the storage container.

Abstract: A remotely operated picking vehicle, which is for an automated storage and retrieval system for retrieving and storing products within storage containers, includes a vehicle body, a picker support, and a storage container. The vehicle body includes a base with displacement means for transportation on a rail system. The picker support, which is for a robotic picking device or a human picker, is arranged on the vehicle body. The storage container magazine, which is for supporting three or more storage containers simultaneously, is arranged on the vehicle body. The storage container includes a storage container loading/offloading position and a storage container accessing position. The storage container loading/offloading position is for loading and offloading of storage containers by means of a container handling vehicle. The storage container accessing position is for presenting storage containers to a picker positioned on the picker support.

Abstract: A rotation device rotates an autonomous vehicle operating on a rail system of an automated storage and retrieval system. The system is of the type having a framework structure including a plurality of vertical upright members defining storage columns for storing stacks of storage containers, with the rail system arranged on the framework structure. The rail system includes perpendicular tracks, the intersection of which define a grid having grid cells. The grid cells define openings to the storage columns. The autonomous vehicle is of the type having wheels that travel along the rail system, and which changes direction by alternatively lifting or lowering sets of wheels. One set of wheels is adapted for travel of the vehicle in a first direction, and a second set of wheels is adapted for travel of the vehicle in a second direction, perpendicular to the first direction.

Abstract: A remotely operated vehicle, which is for transporting a storage container on a rail system of an automated storage and retrieval system, includes a vehicle body having a base. The base includes a first set of drivers and a second set of drivers. The first set of drivers are arranged on opposite sides of the vehicle body, and are for moving the vehicle along a first horizontal direction on the rail system. The second set of drivers are arranged on other opposite sides of the vehicle body or within a cavity of the vehicle body, and are for moving the vehicle along a second horizontal direction on the rail system, the second direction being perpendicular to the first direction. A storage container support, which is for carrying the storage container, is moveably mounted to the vehicle body. The storage container support is movable between: a first position; and a second position wherein the storage container support is extending in a horizontal plane for supporting the storage container.

Abstract: A plurality of container handling vehicles operate on a rail system arranged at least partially across a top of framework structure of an automated storage and retrieval system, on which rail system the plurality of container handling vehicles are operable to handle storage containers. A control system is in communication with a local controller in each container handling vehicle and performs a method of controlling movement of the plurality of container handling vehicles. The method includes instructing a first container handling vehicle to move in a first direction towards a grid cell designated as a first target position on the rail system, instructing a second container handling vehicle to move in the first direction towards the first target position such that the second container handling vehicle physically contacts the first container handling vehicle, and the second container handling vehicle after contact applies a push force on the first container handling vehicle to maintain physical contact.

Abstract: A container handling vehicle operates on a two-dimensional rail system. The two-dimensional rail system includes a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction 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 vehicles in a second direction which is perpendicular to the first direction. The container handling vehicle includes a wheel base unit, a support section, a cantilever section, a lifting frame, four guiding sheaves, four lifting bands, a lifting shaft, and a lifting device motor. The wheel base unit includes first and second sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions respectively. The support section extends vertically from the wheel base unit. The support section has a footprint with a horizontal extent.

Abstract: A service vehicle operates on a rail system of a storage and retrieval grid. The service vehicle is configured for retrieving a remotely operated vehicle for service. The service vehicle includes a first vehicle area in which the remotely operated vehicle can be received by the service vehicle while the remotely operated vehicle is still on the rail system, and a second vehicle area in which the remotely operated vehicle can be supported by the service vehicle for servicing. The first vehicle area is configured as a vehicle pen for holding the remotely operated vehicle before entry to the second vehicle area. The first vehicle area is linked to the second vehicle area for passage of the remotely operated vehicle via the vehicle pen.

Abstract: A remotely operated vehicle for handling a storage container or a further vehicle works on a rail system of an automated storage and retrieval system. The rail system overlies upright members and includes a first set of parallel rails and a second set of parallel rails arranged perpendicular to the first set of parallel rails. The remotely operated vehicle includes a first set of wheels arranged to engage with two adjacent rails of the first set of rails and a second set of wheels arranged to engage with two adjacent rails of the second set of rails. The remotely operated vehicle further includes a mass balancing system including a balance weight. The mass balancing system is configured to purposely displace the balance weight in order to improve stability of the remotely operated vehicle. The balance weight is displaced in response to a change in position of the remotely operated vehicle's center of gravity (COG).

Abstract: An automated storage and retrieval system includes a framework structure having a plurality of internal and peripheral upright members arranged to define a storage grid including multiple storage columns for storing storage containers on top of each other in vertical stacks. The upright members are interconnected at their upper ends by a rail system arranged to guide at least one container handling vehicle thereon. The container handling vehicle is configured to raise storage containers from, and lower storage containers into the storage columns and to transport the storage containers horizontally above the storage columns. The peripheral upright members of the framework structure define a horizontal periphery of the framework structure. A vehicle elevator includes a vertically extending support, a platform, and a lift mechanism.

Abstract: An automated storage and retrieval system includes a rail system, at least one vehicle operating on the rail system, at least one charging station on or at the perimeter of the rail system, and a control system. The rail system includes a first set of parallel rails extending in a first direction and a second set of parallel rails extending in second direction. The second direction is perpendicular to the first direction. The at least one vehicle includes at least one power storage source, and a local controller adapted to control movements of the at least one vehicle. The at least one charging station is adapted to be electrically connected with the at least one power storage source of the at least one vehicle. The control system is adapted to communicate with the local controller in the at least one vehicle and the at least one charging station.

Abstract: A two-dimensional rail system includes a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction 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 vehicles in a second direction which is perpendicular to the first direction. The first and second sets of parallel rails form a grid which divides the rail system into a plurality of grid cells. A container handling vehicle for operation on the two-dimensional rail system includes a base, a support structure, a container, and a support surface. The base includes moving guides for the container handling vehicle along the rail system in the first direction and the second direction respectively. The support structure is provided on the base and extends from a lower section at the base to an upper section.

Abstract: A container-handling vehicle picks up storage containers from a three-dimensional grid of an underlying storage system. The container-handling vehicle has a vehicle body and wheels for moving the vehicle in two perpendicular directions on the grid. The vehicle body surrounds a cavity within which at least a first lifting device and a second lifting device are positioned adjacent to each other. Each lifting device is independently controlled and arranged to lift a storage container from the grid and into the cavity. The vehicle includes at least one vertical frame guiding element arranged inside the cavity. The frame guiding element extends between the lifting devices.

Abstract: A container handling vehicle for lifting a storage container from an underlying framework structure includes a container lifting assembly for lifting the storage container and a vehicle body. The container lifting assembly includes a lifting frame for releasable connection to a storage container, a lifting shaft assembly, and a plurality of lifting bands. The lifting bands are connected to the lifting frame and the lifting shaft assembly such that the lifting frame may be raised or lowered by operating the lifting shaft assembly. The vehicle body includes a sidewall and a cantilevered section from which the lifting frame depends. The cantilevered section extends laterally from an upper end of the sidewall. The container lifting assembly features a lifting frame guide assembly comprising a first guide device and a cooperating second guide device. The first guide device is provided on the lifting frame.

Abstract: A system for condition-based maintenance of an automated storage and retrieval system includes a framework structure with a rail system forming a three-dimensional storage grid structure for storing storage containers for storing items. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening between rails of the rail system that are arranged on the framework structure. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. At least one container handling vehicle which has a container handling platform with a set of grippers for handling the storage containers. The grid structure includes one or more ports for extracting containers from the storage grid so that the storage containers can be picked and a service station for performing maintenance on the components of the storage and retrieval system.

Abstract: A two-dimensional rail system includes a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of the frame 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, which is perpendicular to the first direction. The first and second sets of parallel rails divide the rail system into a plurality of grid cells. A container handling vehicle for operation on the two-dimensional rail system includes: a wheel base unit, a body unit, a support section, a cantilever section, and a lifting device. The wheel base unit includes first and second sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions respectively. The first and second sets of wheels form outer peripheries of the wheel base unit. The body unit includes a lower section, which is provided on the wheel base unit.

Abstract: A two-dimensional rail system includes a first set of parallel rails arranged to guide movement of container handling vehicles in a first direction across the top of the frame 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 which is perpendicular to the first direction. The first and second sets of parallel rails dividing the rail system into a plurality of grid cells. A container handling vehicle for operation on the rail system includes a wheel base unit including sets of wheels for guiding the container handling vehicle along the rail system in the first and second directions; a body unit; and a lifting device. The body unit includes: a lower section which is provided on the wheel base unit; a support section extending vertically from the lower section; and a cantilever section extending horizontally from the support section.

Abstract: A height-adjustable storage container includes a lower container frame and an upper container frame. The lower container frame includes a base and four lower walls extending from the base. The upper container frame includes four upper walls. Each of the upper walls at least partially overlaps a respective one of the four lower walls. The storage container includes a connection structure for connecting the lower container frame and the upper container frame together, and which allows the relative positioning of the lower container frame and the upper container frame to be adjusted to change the height of the height-adjustable storage container.