Abstract: A storage system includes a bin storing grid for storing storage bins in columns of the grid, a base with rails provided on top of the grid, and a vehicle configured to move vertically along the rails in a vehicle operating space. The system includes a charging station assembly for charging the rechargeable power sources of the vehicle. The charging station assembly includes a plurality of charging stations located above each other. Each charging station includes a power source carrier for carrying one of the respective power sources. A charging station support is supporting the charging stations in relation to the base. A transportation device is connected to the base for vertical displacement of the charging stations in relation to the base. A holding device is configured to selectively hold one of the charging stations at an exchange location in which the power source carrier of the one charging station is a predetermined height above the base.

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 container-handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a first set of wheels arranged at opposite sides of a vehicle body, for moving the vehicle along a first direction on the grid; a second set of wheels arranged at opposite sides of the vehicle body, for moving the vehicle along a second direction on the grid, the second direction being perpendicular to the first direction; and the first set of wheels displaceable in a vertical direction between a first position, wherein the first set of wheels allow movement of the vehicle along the first direction, and a second position, wherein the second set of wheels allow movement of the vehicle along the second direction.

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 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.