The present invention provides a storage system (1) comprising a storage grid structure (104) and multiple container handling vehicles (200,300), the storage grid structure comprises vertical column profiles (102) defining multiple storage columns (105), in which storage containers (106) can be stored one on top of another in vertical stacks (107), and at least one transfer column (119,120), the column profiles are interconnected at their upper ends by top rails (110,111) forming a horizontal top rail grid (108) upon which the container handling vehicles (200,300) may move in two perpendicular directions, the container handling vehicles are able to retrieve storage containers (106) from, and store storage containers in, the storage columns (105), and transport the storage containers on the storage grid structure, wherein the storage grid structure (104) comprises at least one horizontal transfer section (2); and the storage system comprises multiple container transfer vehicles (6) and a transfer floor (5) on which the container transfer vehicles (6) may move horizontally, and the transfer section (2) is arranged at a level below the top rail grid (108) and extends from an external side (12) of the storage grid structure (104) to a position below the at least one transfer column (119,120) and comprises at least a section of the transfer floor (5); and each of the container transfer vehicles comprises a container carrier (38) for carrying a storage container (106) and a wheel arrangement (32a,32b) for moving the container transfer vehicle (6) in at least two perpendicular directions on the transfer floor (5); and wherein the at least one transfer column (119,120) extends from the top rail grid (108) to the transfer section (2), such that a storage container (106) may be transferred between the top rail grid (108) and the container carrier of one of the container transfer vehicles (6).

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. Each container handling vehicle includes a vehicle body, a wheel assembly provided on the vehicle body, the wheel assembly being configured to move the vehicle along the rail system in both of the first direction and the second direction, a vehicle control unit configured to receive data signals from, transmit data signals to and process data signals of the central control unit, and a proximity sensor system configured to detect another container handling vehicle of said plurality of container handling vehicles and determine whether or not it is within a predetermined distance. The method includes detecting with the central control unit that access of a first container handling vehicle to a target cell, which is one of the plurality of grid cells, is blocked by a second container handling vehicle, transmitting a data signal from the central control unit to the vehicle control unit of the first container handling vehicle commanding the first container handling vehicle to move into the target cell when the second container handling vehicle is beyond said predetermined distance.

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. Each container handling vehicle includes a vehicle body, a wheel assembly provided on the vehicle body, the wheel assembly being configured to move the vehicle along the rail system in both of the first direction and the second direction, a vehicle control unit configured to receive data signals from, transmit data signals to and process data signals of the central control unit, and a proximity sensor system configured to detect another container handling vehicle of said plurality of container handling vehicles and determine whether or not it is within a predetermined distance. The method includes detecting with the central control unit that access of a first container handling vehicle to a target cell, which is one of the plurality of grid cells, is blocked by a second container handling vehicle, transmitting a data signal from the central control unit to the vehicle control unit of the first container handling vehicle commanding the first container handling vehicle to move into the target cell when the second container handling vehicle is beyond said predetermined distance.

A container accessing station for accessing a storage container of an automated storage and retrieval grid. The container accessing station comprising: an access opening through which a human and/or robot may access contents of the storage container; a base opening; and a lifting device arranged to retrieve the storage container from a first level beneath the base opening and lift it up through the base opening to a second level so that the storage container may be accessed through the access opening. The invention is also directed to a container accessing system and a method thereof.

A container accessing station for accessing a storage container of an automated storage and retrieval grid. The container accessing station comprising: an access opening through which a human and/or robot may access contents of the storage container; a base opening; and a lifting device arranged to retrieve the storage container from a first level beneath the base opening and lift it up through the base opening to a second level so that the storage container may be accessed through the access opening. The invention is also directed to a container accessing system and a method thereof.

A method for handling malfunctioning vehicles on a rail system constituting part of a storage and retrieval system includes storing a plurality of stacks of storage containers and a control system. The storage and retrieval system includes a plurality of remotely operated vehicles configured to move laterally on the rail system. The method includes wirelessly monitoring and controlling, via the control system, movements of the plurality of vehicles. The method includes forming the control system by wireless data communication including: registering an anomaly in an operational condition of a vehicle on the rail system; registering the vehicle with the anomalous operational condition as a malfunctioning vehicle; bringing the malfunctioning vehicle to a halt; registering a halt position of the malfunctioning vehicle relative to the rail system; setting up a two-dimensional shutdown zone within the rail system into which the malfunctioning vehicle is halted; and updating movement pattern of the plurality of remotely operated vehicles outside the two-dimensional shutdown zone such that entrance into the two-dimensional shutdown zone is avoided.

A method for handling malfunctioning vehicles on a rail system constituting part of a storage and retrieval system includes storing a plurality of stacks of storage containers and a control system. The storage and retrieval system includes a plurality of remotely operated vehicles configured to move laterally on the rail system. The method includes wirelessly monitoring and controlling, via the control system, movements of the plurality of vehicles. The method includes forming the control system by wireless data communication including: registering an anomaly in an operational condition of a vehicle on the rail system; registering the vehicle with the anomalous operational condition as a malfunctioning vehicle; bringing the malfunctioning vehicle to a halt; registering a halt position of the malfunctioning vehicle relative to the rail system; setting up a two-dimensional shutdown zone within the rail system into which the malfunctioning vehicle is halted; and updating movement pattern of the plurality of remotely operated vehicles outside the two-dimensional shutdown zone such that entrance into the two-dimensional shutdown zone is avoided.

A remotely operated delivery vehicle for transport of a storage container between an automated storage and retrieval grid, which is configured to store a plurality of stacks of storage containers, and an access station for handling of the storage container by at least one of a robotic operator and human operator. The remotely operated delivery vehicle comprising; a vehicle body comprising a motor for driving a plurality of rolling devices for moving the remotely operated delivery vehicle in a horizontal plane; a control unit for controlling the remotely operated delivery vehicle; and a container carrier (35) provided above the motorized vehicle body for carrying a storage container. The remotely operated delivery vehicle comprises a safety device which transmits a signal to the control unit such that it performs an action of operating the remotely operated delivery vehicle, in the event that a collision is detected. The collision is caused by a force (F) acting on the remotely operated delivery vehicle (30) and is detected by a collision mechanism (60) of the safety device and the collision mechanism is a container carrier displacement device (60) arranged such that it trips the safety device upon displacement of the container carrier (35) relative to the motorized vehicle body (31), which first position is the undisplaced position and the second position is the displaced position.

A remotely operated delivery vehicle for transport of a storage container between an automated storage and retrieval grid, which is configured to store a plurality of stacks of storage containers, and an access station for handling of the storage container by at least one of a robotic operator and human operator. The remotely operated delivery vehicle comprising; a vehicle body comprising a motor for driving a plurality of rolling devices for moving the remotely operated delivery vehicle in a horizontal plane; a control unit for controlling the remotely operated delivery vehicle; and a container carrier (35) provided above the motorized vehicle body for carrying a storage container. The remotely operated delivery vehicle comprises a safety device which transmits a signal to the control unit such that it performs an action of operating the remotely operated delivery vehicle, in the event that a collision is detected. The collision is caused by a force (F) acting on the remotely operated delivery vehicle (30) and is detected by a collision mechanism (60) of the safety device and the collision mechanism is a container carrier displacement device (60) arranged such that it trips the safety device upon displacement of the container carrier (35) relative to the motorized vehicle body (31), which first position is the undisplaced position and the second position is the displaced position.

A container accessing station which has been 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 working surface is provided by one or more working surface sections, each working surface section having a common attachment configuration to allow either an access panel or a blanking-off panel to be fitted as part of the container accessing station at any of the multiple access points.