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Abstract A storage system includes at least one consolidation vehicle, a transfer rail grid, an item picking area, and an item delivery station. The consolidation vehicle includes a wheel arrangement for moving the consolidation vehicle in two perpendicular directions upon the transfer rail grid. The consolidation vehicle may be positioned upon the item picking area to receive multiple items picked from at least one storage container, and an item picker is arranged to pick items from the storage container and transfer them to the consolidation vehicle. The consolidation vehicle may be positioned upon the item delivery station to deliver items received from the storage container to a packaging/processing assembly. The consolidation vehicle includes an item carrier arranged such that items may be emptied from the item carrier when the consolidation vehicle is positioned at the item delivery station.

Abstract An automated vertical farming system, includes a framework structure forming a grid storage arrangement. One or more module handling vehicles are arranged to travel and transport modules along a rail system. A control system is configured to control the travel and operation of the one or more module handling vehicles. Stackable growth modules are arranged to support growing plants, the growth modules having a footprint corresponding to that of a column of the framework structure, such that the growth modules may be arranged in stacks in the columns. The growth modules allow plants to grow horizontally, and also provide a non-drip watering system for watering the plants.

Abstract Movement is controlled of a plurality of container handling vehicles on a rail system arranged at least partially across a top of a framework structure of an automated storage and retrieval system, on which rail system the plurality of container handling vehicles are operable to raise storage containers from, and lower storage containers into, storage columns arranged in rows between upright members and horizontal members of the framework structure. The storage containers are also transported above the storage columns. The movement control is performed by a central operational controller which is in communication with a local controller in each container handling vehicle. The central operational controller receives data relating to a subsection of the rail system. The data includes a container handling vehicle movement threshold for the subsection. The central operational controller instructs a container handling vehicle to follow a path which takes in at least a part of the subsection. The central operational controller instructs the container handling vehicle to reduce speed and/or acceleration such that the movement of the container handling vehicle within the subsection is below the container handling vehicle movement threshold of the sub section.

Abstract A remotely operated delivery vehicle for transport of a storage container includes a vehicle base, rolling device motors, a power source, a container carrier, and a rotational drive. The vehicle base includes rolling devices configured to move the remotely operated delivery vehicle in a horizontal plane along tracks of a rail system. The rail system includes a first set of parallel rails arranged in a first direction and a second set of parallel rails arranged in a second direction perpendicular to the first direction. The rolling device motors drive the rolling devices. The power source is configured to provide propulsion power to the rolling device motors. The container carrier is supported by the vehicle. The container carrier is configured to receive the storage container from above and/or from a side and onto or at least partly into the container carrier. The rotational drive is configured to rotate the container carrier, and any storage container supported thereon, relative the vehicle base.

Abstract A container-handling vehicle includes a vehicle body and a lifting device for lifting a storage container from a grid. The lifting device includes a lifting band drive assembly connected to the vehicle body, a horizontal lifting frame for releasable connection to a storage container, and four lifting bands connecting the lifting band drive assembly to the lifting frame. The lifting band drive assembly includes a lifting shaft assembly having a lifting shaft and at least one motor for rotating the lifting shaft. The lifting shaft includes a first end section and a second end section. Two of the lifting bands are connected at each of the first and second end sections. The lifting shaft assembly includes at least one electrical insulating element arranged such that the lifting bands connected at the first end section is electrically insulated from the lifting bands connected at the second end section.

Abstract A service vehicle operates on a rail system of a storage and retrieval grid. The service vehicle is configured for retrieving a remotely operated vehicle for service. The service vehicle includes a first vehicle area in which the remotely operated vehicle can be received by the service vehicle while the remotely operated vehicle is still on the rail system, and a second vehicle area in which the remotely operated vehicle can be supported by the service vehicle for servicing. The first vehicle area is configured as a vehicle pen for holding the remotely operated vehicle before entry to the second vehicle area. The first vehicle area is linked to the second vehicle area for passage of the remotely operated vehicle via the vehicle pen. The vehicle pen includes an entry barrier to regulate entry of the remotely operated vehicle into the service vehicle and the vehicle pen, and an exit barrier on exit from the vehicle pen into the second vehicle area to regulate the passage of the remotely operated vehicle through the first vehicle area and into the second vehicle area.

Abstract An automated grid based storage and retrieval system includes a framework structure and a plurality of storage containers. The framework structure includes upright members and a grid of horizontal rails provided at upper ends of the upright members. The framework structure defines a storage volume including a plurality of columns arranged in a grid pattern below the horizontal rails between the upright members. The plurality of storage containers are stacked vertically in stacks in the columns to provide a plurality of storage columns. An under-stack void extends beneath the stacks of storage containers. A plurality of inlets lead to the under-stack void between the stacks of storage containers. At least one column, which is empty of storage containers and arranged amongst the storage columns, provides a ventilation column. The ventilation column includes a fan. A plurality of duct walls surrounding the ventilation column define a duct having a first end adjacent the horizontal rails and a second end adjacent the under-stack void. The fan is arranged to circulate gas along sides of the stacks, via the plurality of inlets and the under-stack void, and through the duct.

Abstract A storage facility includes a storage space, a container handling vehicle, a first upper vehicle support, a first lower vehicle support, a container delivery vehicle, a transit space, and a first separation wall. The storage space encloses a storage and retrieval system including a storage grid configured to store a plurality of storage containers in vertical stacks. The first upper vehicle support extends in an upper horizontal plane above the storage grid. The container handling vehicle is configured: to transport at least one of the plurality of storage containers by a wheel arrangement between at least two locations on the first upper vehicle support; and to vertically displace the at least one storage container by a lifting device. The first lower vehicle support extends in a lower horizontal plane below the first upper vehicle support. The container delivery vehicle operates within a lower section of the storage space above the first lower vehicle support. The container delivery vehicle is configured to receive the at least one storage container from the container handling vehicle and to transport the at least one storage container between at least two locations on the first lower vehicle support by a wheel arrangement. The transit space includes a second lower vehicle support extending in the lower horizontal plane and arranged relative to the first lower vehicle support such that the container delivery vehicle may move between the lower section of the storage space and a lower section of the transit space. The first separation wall separates the storage space and the transit space. The first separation wall includes: a first lower opening sized and positioned to allow the container delivery vehicle to pass through between the lower section of the storage space and the lower section of the transit space; and a first lower closable gate configured to open and close the first lower opening.