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 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 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 system and method for picking items is disclosed. The system includes a grid-based storage area and an order assembly area. The system includes an array of presentation positions, the presentation positions being configured and adapted so as to present storage containers delivered to the presentation positions so as to enable picking of items contained therein.

Abstract: A farming system, method and a growing tray system for propagating, growing and harvesting a crop, the growing tray system including an espalier frame defining a growing volume, being mounted to a base and configured to be movable with respect to the base between a substantially horizontal plane growing position and an open position.

Abstract: A storage system and a load handling device for lifting and moving containers stacked in the storage system are described. The storage system includes a plurality of rails or tracks arranged in a grid pattern above the stacks of containers. The grid pattern can include a plurality of grid spaces and each stack is located within a footprint of only a single grid space. The load handling device is configured to move laterally on the rails or tracks above the stacks. The load-handling device includes a container-receiving space located above the rails or tracks in use and a lifting device arranged to lift a container from a stack into the container-receiving space. The load handling device has a footprint that, in use, occupies only a single grid space in the storage system.

Abstract: A storage system and a load handling device for lifting and moving containers stacked in the storage system are described. The storage system includes a plurality of rails or tracks arranged in a grid pattern above the stacks of containers. The grid pattern can include a plurality of grid spaces and each stack is located within a footprint of only a single grid space. The load handling device is configured to move laterally on the rails or tracks above the stacks. The load-handling device includes a container-receiving space located above the rails or tracks in use and a lifting device arranged to lift a container from a stack into the container-receiving space. The load handling device has a footprint that, in use, occupies only a single grid space in the storage system.

Abstract: Systems, methods, and machine-executable coded instruction sets are disclosed for fully- and/or partly automated handling of goods. The disclosure provides improvements in the storage and retrieval of storage and delivery containers in order processing systems.

Abstract: This disclosure relates a container storage and retrieval system including a frame structure configured to store a plurality of rows of containers. The system includes a load handling device including a first actuating assembly configured to move a container row lengthwise in order to retrieve a container from the container row for delivery to the workstation or add a container from the workstation to the container row.

Abstract: A load handling device is disclosed for retrieving, transporting, and delivering containers in a storage system having a grid structure formed of two substantially perpendicular sets of rails or tracks located above stacks of containers. An exemplary load handling device can include a wheel assembly, a container receiving space, and a plurality of vehicle modules. The wheel assembly can include a first set of wheels to guide movement of the load handing device in a first direction and a second set of wheels to guide movement of the load handing device in a second direction. Each of the vehicle modules can include a container lifting means arranged to lift a container into the container receiving space and each of the vehicle modules can be moveable to adjust the spacing of the containers in the load handling device.

Abstract: A gripper for latching to a storage container is disclosed which includes: a gripper housing; a pair of gripper arms held in the gripper housing, wherein the gripper arms have cooperating shapes; and a movable rotatable actuator held in a channel between the pair of gripper arms for moving the gripper arms between closed and open positions. A load handling device for lifting and moving storage containers can include one or more grippers. A method of using a gripper, and a grid-based storage and retrieval system which can include at least one load handling device containing one or more grippers are also disclosed.

Abstract: The present invention relates to containers which can be stacked one on top of another whilst still permitting easy access to the contents of any container within the stack without the need for de-stacking. The contents of the containers remain secured within the container.

Abstract: An object handling and retrieving system and method are described. A storage system is described suitable for storing multiple product lines in an automated warehouse environment. The storage system includes a plurality of load handling devices disposed above a frame and independently moveable to access different stacks. The load handling device can retrieve and transport a target container to a sequencing and temporary storage portion having a sorting frame for taking delivery of the target container and moving it to an output port of the sorting frame.

Abstract: A system and method for picking items is disclosed. The system includes a grid-based storage area and an order assembly area. The system includes an array of presentation positions, the presentation positions being configured and adapted so as to present storage containers delivered to the presentation positions so as to enable picking of items contained therein.

Abstract: A vehicle for use with an object handling system, the object handling system including two substantially perpendicular sets of rails forming a first grid, a plurality of first uprights supporting the first grid, a plurality of containers arranged in stacks, each stack being located underneath the first grid, one or more robotic load handling devices configured to drive on top of the rails of the first grid, the one or more load handling devices including means for removing or replacing at least one container from the stacks. The vehicle includes two substantially perpendicular sets of rails forming a second grid substantially at the top of the vehicle above a storage space for carrying containers. The second grid interfaces with the first grid to allow the one or more load handling devices to drive from the rails of the first grid onto the rails of the second grid.

Abstract: The present invention relates to containers which can be stacked one on top of another whilst still permitting easy access to the contents of any container within the stack without the need for de-stacking. The contents of the containers remain secured within the container.

Abstract: A system for picking items from a containerised storage system is described. The items are stored in storage bins in stacks within a framework comprising a grid system disposed above the stacks of bins. Robotic devices are disposed on the grid, the devices acting so as to pick containers from the stacks of bins. The storage system is provided with at least one picking device for picking items from bins and depositing them directly in delivery containers DT.

Abstract: A robotic picking device for picking items from a containerised storage system wherein items are stored in storage bins in stacks within a framework having a grid system disposed above the stacks of bins. Robotic picking devices are disposed on the grid, the devices acting to pick containers from the stacks of bins. The storage system is provided with at least one picking device for picking items from bins and depositing them directly in delivery containers DT.

Abstract: A storage system is described where goods are stored in containers and the containers are stored in stacks. Above the stacks runs a grid network of tracks on which load handling devices run. The load handling devices take containers from the stacks and deposit then at alternative locations in the stacks or deposit then at stations where goods may be picked out. Each container may be provided with connectors having a push fit male connector located at a top edge of the container and a female connector at a bottom edge of the container. Adjacent containers in a stack can be linked by routing means, which form moldings on each container. The connectors can also have spring-loaded contacts. The provision of these services within individual containers rather than across the system as a whole, allows for flexibility in storage whilst reducing cost and inefficiency.

Abstract: Systems, methods, and machine-executable coded instruction sets are disclosed for fully- and/or partly automated handling of goods. The disclosure provides improvements in the storage and retrieval of storage and delivery containers in order processing systems.