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 invention relates to warehouse technology, and specifically, to systems of automatic storage, sorting, assembly and delivery of goods. The invention can be used in various automated storage facilities, remote sales systems, as well as automated retail stores. An automatic system comprises a plurality of places arranged in rows in two horizontal directions, perpendicular to each other, and serving to accommodate boxes for storing materials in vertical stacks. A transport network comprises first rail tracks arranged above the stacks of boxes and intended for the movement of mobile actuating devices along them, as well as second rail tracks arranged perpendicular to the first rail tracks and located below the latter for the movement of mobile transporting devices along them. The mobile transporting devices are intended for moving boxes placed onboard along the second rail tracks. The mobile actuating devices are provided with a transfer unit intended for removing/placing one upper box from the storage place or one box from the mobile transporting device onto a transporting platform intended for accommodating materials during the movement of the mobile actuating device, and a gripper intended for retrieving/placing material from/into a box. The transport network is organized in such a way that a window is arranged above each stack of boxes, allowing to retrieve the upper boxes from the stack through such window from above, and another window is arranged above each of the second rail tracks, allowing to retrieve the boxes located on the mobile transporting device through such window from above.

A storage facility includes a storage space enclosing a storage and retrieval system, a transit space, and a first separation wall. The storage and retrieval system includes a storage grid configured to store a plurality of storage containers in vertical stacks, a first upper vehicle support extending in an upper horizontal plane above the storage grid, and a container handling vehicle configured to transport at least one of the plurality of storage containers on a wheel arrangement between at least two locations on the first upper vehicle support. The transit space includes a second upper vehicle support extending in the upper horizontal plane and arranged relative to the first upper vehicle support such that the container handling vehicle may move between the storage space and the transit space. The first separation wall separating the storage space and transit space. The first separation wall includes a first upper opening having a minimum size and vertical position allowing the container handling vehicle to pass through, and a first upper closable gate configured to open and close the first opening.

An overhead transport vehicle includes an elevator including a base on which a holding device is provided, a plurality of suspension attaching portions to which each of the plurality of belts are attached and supporting the base to be vertically movable from below in a vertical direction via a vibration isolator, and a lock mechanism that fixes a relative positional relation between each of the plurality of suspension attaching portions and the base. The overhead transport vehicle further includes a controller that controls so that the lock mechanism is locked to fix a relative position relation at least partially during elevating operation of the elevator and also controls so that the lock mechanism is unlocked by releasing the lock at least partially during traveling operation of a body unit.

A transport vehicle (2) that travels along a container shelf (1) is provided with a plurality of levels of shelf portions (11) arranged in a vertical direction (Z) and configured to support containers (W), thereby transporting the containers (W). The transport vehicle (2) is provided with a support region where a container (W) is supported, a first transfer apparatus (23) that inserts/takes the container (W) into/out of the container shelf (1), and a second transfer apparatus (24) that loads/unloads the container (W) on/from the support region. The second transfer apparatus (24) is configured such that a container (W) can be moved to the support region so as to allow a plurality of the containers (W) to be supported in a stacked state in the support region.

A sorting system and a method for sorting piece goods provide for conveying the piece goods to be sorted on a delivery level to a delivery point and delivering them there into or onto a receiving device moving on a collection level receiving the piece goods. The collection level is disposed below the delivery level. The receiving device travels over an individually determined route on the collection level.

An automated storage and retrieval system includes a rail system with perpendicular tracks in X and Y direction. The storage and retrieval system includes a plurality of remotely operated container handling vehicles configured to move laterally on the rail system; and a main control system using a first communication system for communicating with the plurality of remotely operated container handling vehicles. The main control system monitors and controls the movement of the plurality of container handling vehicles via the first communication system. At least one service vehicle is movable on the rail system. The at least one service vehicle is configured to bring a malfunctioning remotely operated container handling vehicle to a service area outside of the rail system where the remotely operated container handling vehicles operate. The system further includes a secondary control system using a second communication system. The second communication system is independent of the main communication system. The secondary control system is communicating with the at least one service vehicle on the rail system such as to monitor and control the movement of the at least one service vehicle.

A rescue system for retrieving a malfunctioning vehicle from a rail system of an automated storage and retrieval system includes a first rescue vehicle and a second rescue vehicle. The rail system includes a plurality of rails with tracks extending in an X-direction and a plurality of rails with tracks extending in a Y-direction perpendicular to the X-direction, and a plurality of remotely operated vehicles configured to move in the X and Y-directions on the tracks of the rail system. The first rescue vehicle is configured to run on the tracks of the rail system. The first rescue vehicle is provided with a lifting device on one side of the vehicle, which faces for engagement in a first X-direction. The second rescue vehicle is configured to run on the tracks of the rail system. The second rescue vehicle is provided with a lifting device on an opposite side of the vehicle, which faces for engagement in a second X-direction opposite to the first X-direction. The first and second rescue vehicles are configured to work in tandem so that when one of the plurality of remotely operated vehicles malfunctions, the first and second rescue vehicles can position themselves on the rail system on opposite sides of the malfunctioning vehicle to engage their respective lifting devices with the opposite sides of the malfunctioning vehicle. The first and second rescue vehicles operate their lifting devices simultaneously so as to lift the malfunctioning vehicle off the rail system and transport the malfunctioning vehicle.

A method, system, and computer program for controlling operation of an automated storage and retrieval system during rebuilding a physical design. The method includes a planning and designing phase that establish a new design. Storage columns with a rail system that is affected by the rebuilding are excluded from a selection of available routes for container handling vehicles operating on the storage system. In a relocation phase, storage containers located in excluded storage columns are relocated to other storage columns. In a rerouting phase, traffic flow of container handling vehicles are rerouted according to available routes. A master controller is instructed to control the vehicles according to the available routes. In a rebuilding phase, the storage system is rebuilt according to the new physical design. In a final routing phase, the routing planner controls traffic flow of the vehicles according to available routes on the rail system of the rebuilt physical design.

A robot includes a body coupled to a wheel assembly and a container retrieval device. The wheel assembly has a plurality of wheels and a drive mechanism arranged to move the body along a first set of parallel rails and along a second set of parallel rails. The container retrieval device includes an extendable and retractable grapple arranged to selectively secure an engagement feature positioned between a rim and a bottom surface of a container. The grapple thus allows the robot to lift multiple containers in a single lift.