A service vehicle provides a platform for servicing a container handling vehicle while on a grid-based rail system of a three-dimensional storage grid of an automated storage system for storing storage containers. The service vehicle includes two or more wheel modules. Each module having a first set of wheels configured to move the vehicle along a first lateral direction of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction of the grid-based rail system. The second direction is perpendicular to the first direction. A platform is mounted on the two or more wheel modules. The platform includes an enclosure that has at least one opening that can be closed by a barrier. The platform has a set of tracks matching the width of the tracks on the grid.

A picking system is configured to pick items from, and put items into, storage containers. The picking system includes a picking station. The picking station includes: a picking system controller configured to receive product orders from a warehouse management system; at least one container contents handling position; a camera configured to produce an image of contents of a storage container; an image processing system in communication with the camera for processing the image produced by the camera in order to identify a position of a specific item in the storage container, and a robotic picking device. The image processing system is further in communication with a picking system controller and is adapted to inform the picking system controller of the position of the specific item. The robotic picking device is in communication with the picking system controller and is configured to, under guidance from the picking system controller, to pick said specific item from said position in the storage container. The camera and the robotic picking device are arranged to operate, at any one instance, on different containers such that the camera is producing an image and the image processing system is processing the produced image of the contents of a storage container in a first product order while the robotic picking device is handling a second storage container on the basis of an earlier image that has been produced by the camera and processed by the image processing system.

An inventory handling station assembly for a storage and retrieval system is disclosed. A grid framework structure includes a plurality of upright columns for one or more containers to be stacked, the plurality of upright columns being interconnected at their top ends by grid members which support first and second sets of tracks for a load handling device to move containers on the grid framework structure. A supply zone includes at least one vertical chute. A buffer zone vertically accumulates containers and includes at least one bin lift device. An access station is intermediate of the supply zone. A conveyor system conveys containers 10 from the supply zone to the buffer zone via the access station.

An access station for a storage system includes at least one container holder arranged to rotate about an axis of rotation. The axis of rotation is inclined at a first angle relative to a vertical. The container holder is arranged to accommodate a storage container and is configured such that a centreline of the storage container when supported by the container holder is inclined at a second angle relative to the axis of rotation. The container holder may rotate between a first position, where the centreline of an accommodated storage container is vertical, and a second position being opposite the first position relative to the axis of rotation. The centreline of an accommodated storage container is inclined at a third angle relative to the vertical. The third angle is equal to the sum of the first angle and the second angle.

A system for allocating jobs and/or targets to robots in an automated storage and retrieval system includes a plurality of robots and a framework structure forming a three-dimensional storage grid structure for storing storage containers. The framework structure includes a rail system. The rail system provides available routes for the robots handling and transferring the storage containers to and from the storage columns. At least one robot includes a first set of wheels configured to move the robot along a first horizontal direction of the grid-based rail system and a second set of wheels configured to move the robot along a second horizontal direction of the grid-based rail system. The second direction is perpendicular to the first direction. The movement of the robots is controlled by a central computer system including a warehouse management system that includes a router and an assigner. The router decides which routes the robots travel and the assigner has control over which jobs are to be done and which targets to reach. The assigner is configured to create a list of job options of jobs to be done and a list of target options of targets to be reached by each robot, which lists of job options and target options are made accessible to the router. The router is configured to decide which job and target to be assigned to the robot using a multi-position search algorithm. The decision is based on the location of the robot in question and the route it has to travel to reach the job and the target.

An automatic storage and retrieval system includes: a delivery vehicle; a storage container carried by the delivery vehicle; and an unloading station for unloading an item from the storage container while it is being carried by the delivery vehicle. The unloading station includes: an unloading device; and a destination conveyor configured to convey the item to a target destination, wherein the unloading device is configured to move the item through a side opening of the storage container to the destination conveyor.

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 to lift containers from the stacks and deposit them at alternative locations in the stacks or at stations where goods may be removed or alternative functions may be undertaken. The containers can provide the following exemplary services: power, power control, heating, lighting, cooling, sensing, and data logging. 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. The containers when removed from the stacks are electrically connected to the load handling device, power being supplied by a power supply within the load handling device.

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. The platform includes a horizontally extending structure arranged to carry the container handling vehicle and a connection device moveably attaching the platform to the vertically extending support. The lift mechanism is arranged to move the platform between a first lift stop position, which establishes access between the platform and the rail system, and a second lift stop position arranged within an accessing area such that a human operator/service personnel and/or robot can perform in-situ maintenance on the container handling vehicle while the container handling vehicle is arranged on the platform. The first and second lift stop positions are arranged vertically offset.

An automated storage and retrieval system for storing product items includes a framework structure with upright members and horizontal members and a storage volume including storage columns between the members. The framework structure includes a rail system arranged above the members. The automated storage and retrieval system further includes storage containers in which the product items are stored and container handling vehicles moving along the rail system for transporting the storage containers. The storage containers are stackable in stacks within the storage columns. The rail system includes rails and each rail includes tracks. Adjacent tracks of at least one rail of the rail system are separated by a ventilation slot extending in a vertical plane between two adjacent storage columns.

The present invention includes a pallet storage device (30) having holding units (31, 32, 33) holding pallets (P) and a frame (40) supporting the holding units (31, 32, 33), a conveyance device (10) having a traveling base (11) having a traveling path (11a) extending along the pallet storage device (30) and a conveyance unit (15) loading and unloading the pallets (P) into and from the holding units (31, 32, 33) and conveying the pallets (P) to and from a predetermined place, and a controller (60) controlling operation of the conveyance device (10). The frame (40) has a space capable of receiving the controller (60) therein and has a plate-shaped cover (43, 48, 51) arranged to be located above the controller (60) and inclined downward toward the traveling base (11) side. The cover (43, 48, 51) is supported by the frame (40) such that a lower end of the cover (43, 48, 51) can be flipped up, and the cover (40) is configured such that the controller (60) can pass under the cover (43, 48, 51) when the lower end of the cover (43, 48, 51) is in a flipped-up state.