AutoStore Technology

The disclosure relates to an automated storage and retrieval system comprising a storage frame comprising a plurality of vertical frame members defining columns for storing storage containers; an outlet for releasing a fluid into or around the columns; and a conduit passing underneath at least one vertical frame member of the storage frame to a periphery of the storage frame, the conduit configured to connect to a supply of a fluid and configured to convey the fluid to the outlet. The disclosure also relates to an elongate frame member for such an automated storage and retrieval system. The disclosure also relates to a method of releasing a fluid into an automated storage and retrieval system.

The disclosure relates to a controller configured to control the operation of one or more container-handling robotic vehicles (650, 660) at ports (711, 712, 713, 714, 715) in an automated storage and retrieval system (100) wherein the vehicles comprise a container lifting part (500) extending in the positive Y direction and the automated storage and retrieval system comprises ports arranged adjacent to each other and extending in the positive Y direction. The controller is configured to permit the container-handling vehicles to wait with the container lifting part over a first port of the group of ports when not performing an action in retrieving or depositing a container from/into the first port of the group of ports, before performing a subsequent action in retrieving or depositing a container from/into the first port of the group of ports; and control the container-handling vehicles to be prevented from waiting with the container lifting part over non-first ports of the group of ports when not performing an action in retrieving or depositing a container from/into the non-first ports of the group of ports.

The disclosure relates to a controller (502) configured to control movement of containers at a port (504) of an automated storage and retrieval system. The port comprises a first position (511), second position (512), and third position (513) for containers, and a conveyer (520) configured to move containers between the positions. The controller is configured to determine a first container (501) in the second position cannot be lifted by a container lift (524) and a second container (502) is in the first position, control the conveyer to move the first container to the third position and the second container to the second position, control the conveyer to move the first container to the first position for reconfiguration of the first container, control the conveyer to move the first container to the second position when reconfigured, and initiate delivery of the reconfigured first container from the port to a storage area (100) by the container lift.

The disclosure relates to a container (400) for vertical farming in an automated storage and retrieval system, comprising a frame defining a base (410) and side walls (402, 402, 406, 408) upwardly extending from the base (410), the base and side walls defining an interior space, and a tray fixation mechanism configured to receive and secure a tray configured to support a farmed organism within the interior space.

The disclosure relates to a controller in an automated storage and retrieval system. The controller is configured to receive (S100) a dataset comprising one or more measurements of an elapsed time taken to perform a port procedure, retrieve (S110, S210) an initial estimate of an elapsed time in performing the port procedure, input (S115, S215) the received dataset and the retrieved initial estimate into a Kalman filter to determine an updated estimate of an elapsed time in performing the port procedure, receive (S120, S220) an indication of an initiation of a subsequent port procedure at the port, and control (S125, S225) a robotic vehicle to traverse the automated storage and retrieval system and be at the port based on the updated estimate of an elapsed time in performing the port procedure after receiving the indication of the initiation of the subsequent port procedure.

The disclosure relates to a computer-implemented method of simulating modifications in a real automated storage and retrieval system. The method comprises providing a virtual automated storage and retrieval system, the virtual automated storage and retrieval system being a digital twin of a real automated storage and retrieval system; providing a virtual software stack for controlling the virtual automated storage and retrieval system, the virtual software stack being a digital twin (e.g., a software clone or virtual instance) of a real software stack for controlling the real automated storage and retrieval system; modifying the virtual automated storage and retrieval system and/or the virtual software stack; receiving, by the virtual software stack, order data; applying, by the virtual software stack, the order data to the virtual automated storage and retrieval system; and comparing performance of the real automated storage and retrieval system with performance of the virtual automated storage and retrieval system based on responses of the real automated storage and retrieval system and the virtual automated storage and retrieval system to the order data.

The disclosure relates to an automated storage and retrieval system comprising a storage grid for storing one or more packages, a classifier system configured to classify the one or more packages based on their respective contents, and a conveying means for retrieving the one or more packages stored in the storage grid and delivering the one or more packages to the classifier system, and/or sending the one or more packages from the classifier system to the storage grid for storage in the storage grid.

The disclosure relates to a location determination system (500) for determining the location of a robotic vehicle (502) in an automated storage and retrieval system. The location determination system comprises a first light detector (506a) configured to detect a first light signal emitted from a light source (504) at the robotic vehicle, and a second light detector (506b) configured to detect a second light signal emitted from the light source. A location determining module (508) is configured perform triangulation using the first light signal and the second light signal to determine a location of the robotic vehicle in the automated storage and retrieval system.

The disclosure relates to a computer-implemented method for managing access within an automated storage and retrieval system, ASRS. The method comprises controlling access to a first area of the ASRS based on a first owner ID associated with the first area.

The disclosure relates to a storage frame module for a modular automated storage and retrieval system and associated systems and methods. The storage frame module is configured to connect to one or more of a plurality of other storage frame modules of the modular automated storage and retrieval system. The storage frame module comprises a plurality of longitudinal struts arranged parallel to a first direction. The plurality of longitudinal struts defines a plurality of compartments for receiving a stack of storage containers in the first direction. The storage frame module comprises a first set of transverse struts connected to the plurality of longitudinal struts at a first end of each longitudinal strut. The transverse struts of the first set are arranged perpendicular to the first direction. The first set of transverse struts forms a grid defining a plurality of access openings for passing the stack of storage containers through to access the plurality of compartments. The storage frame module comprises a transverse support structure connected to the plurality of longitudinal struts. The transverse support structure is configured to support a weight of the plurality of longitudinal struts perpendicular to the first direction.