A robotic system for dynamic controlling the movement of a mobile robot is presented. The robotic system includes a multi-level transport system arranged in an xyz-space. The multi-level transport system includes a plurality of magnetic tracks configured to allow movement of the mobile robot in at least one direction in the xy-plane. The multi-level transport system further includes a plurality of transfer mechanisms configured to change the direction of the mobile robot in the xy-plane, and to allow the movement of the mobile robot in a direction along the z-axis, each transfer mechanism defining a transfer node in the multi-level transport system. The robotic system further includes a control system configured to dynamically control the movement of the mobile robot in the x,y,z direction at one or more transfer nodes of the multi-level transport system, by dynamically activating a corresponding magnetic track or a corresponding transfer mechanism.

A storage and retrieval system employing a gridded three-dimensional storage structure features workstations served by the same robotic vehicle fleet that serves the storage structure, travel-through workstations using the same robotic vehicles to carry storage units through the workstation without hand-off to any other conveyor or handler, internal sortation using orchestrated navigation of the robotic vehicles to workstation intake points, sensors on the robotic vehicles to confirm proper loading and alignment of storage units thereon, lifting mechanisms for raising the robotic vehicles into shafts of the gridded three-dimensional storage structure from a lower track thereof, use of markers and scanners to align the robotic vehicles with the grid shafts, and workstation light curtains for hand safety, pick-counting and container content protrusion detection.

Warehouse automation and methods of controlling material flow can be used to streamline order fulfillment processes. For example, according to some embodiments described herein, systems and methods for enhancing automated material handling and storage systems by facilitating multi-level accessibility of materials moving into and out of a three-dimensional storage and retrieval system can be used to enhance the efficiency of warehouses and order fulfillment processes.

An automated carrier system is disclosed for moving objects to be processed. The automated carrier system includes a base structure of a carrier on which an object may be supported, and at least two wheels mounted to at least two motors to provide at least two wheel assemblies, the at least two wheel assemblies being pivotally supported on the base structure for pivoting movement from a first position to a second position to effect a change in direction of movement of the carrier.

The present invention relates to an automated storage system, comprising a three-dimensional storage structure and plurality of remotely controlled robot vehicles. The three-dimensional storage structures comprises a plurality of pillars which are positioned with internal distances and in a rectangular arrangement, wherein the rectangular arrangement of the pillars define storage columns for the storage of a plurality of vertically-stacked storage bins, supporting rails arranged in a two-dimensional matrix on the pillars, said supporting rails arranged in a first direction and a second direction orthogonal to the first direction, the supporting rails defining openings for the storage columns. The remotely controlled robot vehicles comprises a vehicle body, a cavity arranged to receive a storage bin from a storage column, and a plurality of wheels attached to the vehicle body, arranged for traveling along the storage structure in the first and second directions, whereby the robot vehicle can move along the storage structure to position the cavity within the cross-sectional area of the storage column to receive the storage bin into the cavity for further transport along the storage structure.

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.

A remotely operated delivery vehicle transports a storage container between a location directly below 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 may include a rolling devices configured to move the remotely operated delivery vehicle in a horizontal plane along tracks of a delivery rail system. Additionally, rolling device motors are provided for driving the rolling devices. A power source provides propulsion power to the rolling device motors. A container carrier receives 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.

An exemplary robotic parking device of the present disclosure includes a number of stacks of containers. The stacks being positioned within a frame structure including uprights and a horizontal grid disposed above the stacks. The grid having substantially perpendicular rails on which load handling devices can run. Cars or vehicles are positioned in containers and are moved into and out of the stacks by the robotic handling devices running on the grid. The cars are put into the grid at entry points that may be positioned at points under the stacks.

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.

An automated storage and retrieval system includes an automated storage and retrieval grid and a delivery system. The automated storage and retrieval grid includes a container handling vehicle rail system and a delivery column. The container handling vehicle rail system, which is for guiding a plurality of container handling vehicles, includes 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 container handling vehicle grid cells. Each container handling vehicle grid cell includes 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. The delivery column is 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 system includes a remotely operated delivery vehicle. The remotely operated delivery vehicle includes a vehicle body, rolling devices connected to the vehicle body, rolling device motors for driving the rolling devices in a horizontal plane, and a power source connected to the rolling device motors. A container carrier is adapted to support the storage container. The delivery vehicle is further adapted to transport the storage container between a delivery port and a second location for handling of the storage container by at least one of a robotic operator and a human operator.