Automated storage systems and devices

1 . A load handling device for lifting and moving storage containers stacked in a grid framework grid with a structure comprising:

a first set of parallel rails or tracks and a second set of parallel rails or tracks extending substantially perpendicularly to the first set of parallel rails or tracks in a substantially horizontal plane to form a grid with a grid pattern having a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a plurality of vertical storage locations beneath the grid for containers to be stacked between and be guided by the uprights in a vertical direction through the plurality of grid spaces,

the load handling device comprising:

a body mounted on a first set of wheels being configured and arranged to engage with the first set of parallel rails or tracks and a second set of wheels being configured and arranged to engage with the second set of parallel rails or tracks; and

a drive assembly for driving the load handling device in a first direction along the first set of parallel rails or tracks or driving the load handing device in a second direction along the second set of parallel rails or tracks, wherein the drive assembly comprises:

a first set of at least two motors for driving respective wheels of the first set of wheels; and

a second set of at least two motors for driving respective wheels of the second set of wheels,

wherein each motor of the first and second sets of at least two motors is positioned such that each drive shaft is parallel and non-coaxially arranged with respect to an axis of rotation of a corresponding one of the respective wheels of the first and second sets of wheels; and

a number of gear arrangements corresponding to a number of motors of the first and second sets of at least two motors for transferring drive from each motor of the first and second sets of at least two motors to a corresponding one of the respective wheels of the first and second sets of wheels,

wherein each motor of the first and second sets of at least two motors is arranged on a face of the body perpendicular to a corresponding one of the respective wheels of the first and second sets of wheels.

2 . A load handing device according to claim 1 ,

wherein the first set of wheels includes two wheels on a first face of the load handling device, and two wheels on a first opposed face of the load handing device;

wherein the second set of wheels includes two wheels on a face of the load handling device perpendicular to the first face of the load handling device, and two wheels on a second opposed face of the load handing device; and

wherein at least one wheel of the two wheels on each face of the first face, the first opposed face, the face perpendicular to the first face, and the second opposed face of the load handling device is configured to be driven by a respective motor of the first and second sets of the at least two motors.

3 . A load handing device according to claim 1 , wherein each wheel of the first set of wheels and the second set of wheels is configured to be driven by a respective motor of the first and second sets of at least two motors.

4 . A load handling device according to claim 1 , wherein at least one of the first set of wheels and at least one of the second set of wheels are driven by a motor(s) of the first and second sets of at least two motors powered by a first power source, and at least one of the first set of wheels and at least one of the second set of wheels are driven by a motor(s) of the first and second sets of at least two motors powered by a second power source, and the first power source and the second power source are independent or separate.

5 . A load handling device according to claim 4 , wherein two of the first set of wheels and two of the second set of wheels are driven by the motor(s) of the first and second sets of at least two motors powered by the first power source, and two of the first set of wheels and at least one of the second set of wheels are driven by the motor(s) of the second sets of at least two motors powered by the second power source.

6 . A load handling device according to claim 4 , wherein the first power source and/or the second power source is sub-divided into at least two independent parts.

7 . A load handling device according to claim 1 , wherein the load handling device comprises:

means for selectively driving the first set of wheels or the second set of wheels.

8 . A load handling device according to claim 1 , wherein the load handling device comprises:

a direction change assembly for selectively engaging the first set of wheels and or the second set of wheels respectively with the first set of parallel rails or tracks and the second set of parallel rails or tracks.

9 . A load handling device according to claim 8 , wherein the direction change assembly comprises:

a first set of direction change pulleys for the first set of wheels; and

a second set of direction change pulleys for the second set of wheels,

wherein the direction change pulleys are configured to operate to selectively lift the first set of wheels or the second set of wheels to disengage the first set of wheels or the second set of wheels respectively from the first set of parallel rails or tracks or the second set of parallel rails or tracks.

10 . A load handling device according to claim 9 , wherein the first set of direction change pulleys and/or the second set of direction change pulleys are operated in unison for the first set of wheels and/or the second set of wheels, by a direction change motor for each wheel of the first set of wheels and/or the second set of wheels.

11 . A load handling device according to claim 8 , wherein the first set of wheels and the second set of wheels are configured to move in synchronisation relative to the body to selectively engage and disengage the first set of wheels and the second set of wheels respectively with the first set of parallel rails or tracks and the second set of parallel rails or tracks.

12 . A load handling device according to claim 1 , comprising:

a lifting assembly for lifting and or lowering a storage container from and or to a storage location beneath the grid.

13 . A load handling device according to claim 1 , comprising:

sensing means for:

determining load handling device location on the grid;

determining a fault or failure in the drive assembly;

determining engagement of the first set of wheels or the second set of wheels respectively with the first set of parallel rails or tracks or the second set of parallel rails or tracks;

determining a fault or failure in the direction change assembly; and/or

determining engagement and/or disengagement of the lifting assembly with a container.

14 . A grid-based storage and retrieval system comprising:

at least one load handling device according to the load handling device of claim 1 configured and arranged for operating on the grid framework grid;

the grid framework grid with the structure;

and a centralised control utility for controlling the at least one load handling device(s).

15 . A system according to claim 14 , wherein the at least one load handing device comprises:

a communication means; and the centralised control utility of the storage system comprises:

communication means for communicating with a communication means on the at least one load handling device.

16 . A system according to claim 14 , wherein the centralised control utility is configured to remotely monitor a condition of the at least one load handling device.

17 . A system according to claim 14 , wherein if a malfunction and or failure of the load handling device is detected, the load handling device is instructed by the centralised control utility to move to a maintenance area or edge of the gird using non-malfunctioning and non-failed means.

18 . A system according to claim 14 , wherein the centralised control utility is configured to communicate with the at least one load handling device operating on the grid to instruct the load handling device to move to a specific location on the grid.

19 . A system according to claim 18 , wherein the centralised control utility is configured for instructing the load handling device to lift a container from a stack and move the container to another location on the grid, and/or for instructing the load handling device to lower a container into a stack position beneath the grid.

20 . A method of maneuvering a load handing device operating on a grid framework structure, the grid framework structure having a first set of parallel rails or tracks and a second set of parallel rails or tracks extending substantially perpendicularly to the first set of parallel rails or tracks in a substantially horizontal plane to form a grid with a grid pattern having a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a plurality of vertical storage locations beneath the grid for containers to be stacked between and be guided by the uprights in a vertical direction through the plurality of grid spaces, and the load handling device having:

a body mounted on a first set of wheels being configured and arranged to engage with the first set of parallel rails or tracks and a second set of wheels being arranged to engage with the second set of parallel rails or tracks; and

a drive assembly for driving the load handling device in a first direction along the first set of parallel rails or tracks or driving the load handing device in a second direction along the second set of parallel rails or tracks, wherein the drive assembly comprises:

a first set of at least two motors for driving respective wheels of the first set of wheels; and

a second set of at least two motors for driving respective wheels of the second set of wheels,

wherein each motor of the first and second sets of at least two motors is positioned such that each drive shaft is parallel and non-coaxially arranged with respect to an axis of rotation of a corresponding one of the respective wheels of the first and second sets of wheels; and

a number of gear arrangements corresponding to a number of motors of the first and second sets of at least two motors for transferring drive from each motor of the first and second sets of at least two motors to a corresponding one of the respective wheels of the first and second sets of wheels,

wherein each motor of the first and second sets of at least two motors is arranged on a face of the body perpendicular to a corresponding one of the respective wheels of the first and second sets of wheels,

the method comprising:

selectively driving one or more motors of the first set of at least two motors or the second set of at least two motors to drive the first set of wheels or the second set of wheels in forward or reverse directions.

21 . A method of maneuvering a load handing device according to claim 20 , comprising:

receiving a signal from a centralised control facility;

selectively engaging the first set of wheels with the first set of parallel rails or tracks or the second set of wheels with the second set of parallel rails or tracks;

navigating the load handing device on the grid to a location specified by the centralised control facility.

22 . A method of maneuvering a load handing device according to claim 20 , comprising:

receiving a signal from a centralised control facility;

controlling a direction-change mechanism of the load handling device based on the received signal to:

(a) engage the first set of wheels with the first set of parallel rails or tracks;

(b) engage the second set of wheels with the second set of parallel rails or tracks; or

(c) engage first and second sets of wheels with the first and second sets of parallel rails or tracks to park the load handling device.

23 . A method of maneuvering a load handing device according to claim 20 , comprising:

receiving a signal from a centralised control facility;

moving the load handing device on a specified location on the grid; and

performing a lifting operation to lift a container from a storage location beneath the grid, or performing a lowering operation to lower a container to a storage location beneath the grid.