An automated storage and retrieval system includes a grid-based rail structure and a plurality of remotely operated vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system includes a locking device arranged in a zone of the grid-based rail structure where a human and/or a robotic operator is permitted to interact with the remotely operated vehicle or contents of a storage container that the remotely operated vehicle is carrying. The locking device is arranged to lock the remotely operated vehicle against accidental displacement prior to interaction with the human and/or robotic operator, and wherein the locking device being arranged to unlock the remotely operated vehicle once interaction with the human and/or robotic operator is no longer required.

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).

An unloading arrangement, an unloading station, and a method of unloading an item (5) from a storage container (6), comprising: a delivery vehicle (30); a storage container (6) carried by the delivery vehicle (30); and an unloading station (10) for unloading an item (5) from the storage container (6) while it is being carried by the delivery vehicle (30) in an automatic storage and retrieval system (1), the unloading station (10) comprising: an unloading device (40); and a destination conveyor (60) configured to convey the item (5) to a target destination (TD), wherein the unloading device (40) is configured to move the item (5) through a side opening of the storage container (6) to the destination conveyor (60).

An unloading arrangement, an unloading station, and a method of unloading an item (5) from a storage container (6), comprising: a delivery vehicle (30); a storage container (6) carried by the delivery vehicle (30); and an unloading station (10) for unloading an item (5) from the storage container (6) while it is being carried by the delivery vehicle (30) in an automatic storage and retrieval system (1), the unloading station (10) comprising: an unloading device (40); and a destination conveyor (60) configured to convey the item (5) to a target destination (TD), wherein the unloading device (40) is configured to move the item (5) through a side opening of the storage container (6) to the destination conveyor (60).

An automated storage and retrieval system includes an automated storage and retrieval grid, a container accessing station, a delivery rail system, and a delivery vehicle operating on the delivery rail system. The automated storage and retrieval grid includes a container handling vehicle rail system for guiding a plurality of container handling vehicles, the container handling vehicle rail system comprising a first set of parallel rails arranged in a horizontal plane (P) and. extending in a first direction (X), and a second set of parallel rails arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent container handling vehicle grid cells, each container handling vehicle grid cell comprising a container handling vehicle grid opening defined by a pair of neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails; and a delivery column adapted for transport of a storage container arranged in a stack of storage containers beneath the container handling vehicle rail system between a container handling vehicle and a delivery port situated at a lower end of the delivery column. The delivery rail system includes at least a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) which is orthogonal to the first direction (X), the first and second sets of rails together defining a delivery grid of delivery grid cells. The delivery vehicle includes a motorized vehicle body and a container carrier provided above the motorized vehicle body for carrying the storage container. The delivery vehicle is arranged to transport the storage container from the delivery port of the storage grid across the delivery grid to the delivery grid cell situated below the container accessing station. The container accessing station includes 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 delivery vehicle is arranged to deliver the storage container to the lifting device of the container accessing station, or receive a storage container from the lifting device and return the storage contain

The operation of container handling vehicles and remotely operated specialized container handling vehicles are controlled by a method such that total elapsed time or waiting time cost for transferring specified storage containers between them is minimal or optimal. The specialized container handling vehicles are operating at a level below an automated storage and retrieval system having a framework structure defining a storage grid for storing storage containers in grid cells. The storage containers are stored and retrieved by container handling vehicles running on top of the storage grid. At least one operational controller, which is in communication with a first type of controller in each container handling vehicle and a second type of controller in each specialized container handling vehicle, performs the followings steps: when a specified storage container is to be transferred from a storage column and its corresponding grid cell to a specialized container handling vehicle: assigning and instructing a container handling vehicle to pick up the storage container from the grid cell and lower it to a selected port, located at the lower end of an identified free delivery column by transmitting instructions to the first type of controller of the assigned container handling vehicle, where the port selected is included as a variable in a weighting function together with time and waiting cost to derive a trade-off of the container handling vehicle and the specialized container handling vehicle having the best matching travel time to the port; moving the container handling vehicle to the grid cell, picking up the storage container and transporting it to a grid cell of the delivery column where the port is; transmitting a signal to the specialized container handling vehicles comprising information of the selected port at a first location and when the storage container will be available at the port; based on responses from the specialized container handling vehicles, assigning and instructing a specialized container handling vehicle to retrieve the specified storage container at the selected port; moving the assigned specialized container handling vehicle to the selected port at the first location, picking up the storage container and bringing it to a second location; and/or, when a specified storage container is to be transferred to a grid cell, for storage in its corresponding storage column, by a specialized container handling vehicle: determining which port at a first location that is to be used, where the port selected is included as a variable in a weighting function together with time and waiting cost to derive a trade-off of the container handling vehicle

A remotely operated delivery vehicle for transport of a storage container between an automated storage and retrieval grid configured to store a plurality of stacks of storage containers, and a second location for handling of the storage container by at least one of a robotic operator and a human operator, the remotely operated delivery vehicle comprising: rolling devices configured to move the remotely operated delivery vehicle in a horizontal plane along tracks of a delivery rail system comprising a first set of parallel rails arranged in a first direction and a second set of parallel rails arranged in a second direction orthogonal to the first direction, rolling device motors for driving the rolling devices, and a power source configured to provide propulsion power to the rolling device motors. The remotely operated delivery vehicle further comprises a container carrier configured to receive the storage container from above and onto or at least partly into the container carrier so that contents of the storage container are accessible by the at least one of the robotic operator and the human operator.

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; anda 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 vehicle tilting device for tilting a delivery vehicle for increasing access to items from a storage container transported on the delivery vehicle includes a base structure and a tiltable platform connected to the base structure. The tiltable platform includes guiding features adapted to guide the delivery vehicle onto the tiltable platform, and a tilting actuator arranged for lifting the tiltable platform at a second platform side which is opposite to a first platform side, such that the tiltable platform is tilted towards the first platform side.

A vehicle tilting device for tilting a delivery vehicle for increasing access to items from a storage container transported on the delivery vehicle includes a base structure and a tiltable platform connected to the base structure. The tiltable platform includes guiding features adapted to guide the delivery vehicle onto the tiltable platform, and a tilting actuator arranged for lifting the tiltable platform at a second platform side which is opposite to a first platform side, such that the tiltable platform is tilted towards the first platform side.