Devices, systems and methods for vertical farming

Abstract

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, 404, 406, 408) upwardly extending from the base, the base and side walls defining an interior space, and a tray fixation mechanism configured to receive and secure a tray (500) configured to support a farmed organism within the interior space. The disclosure also relates to a method for manufacturing a product, part or an element for vertical farming in an automated storage and retrieval system, the method comprising providing at least one material; manufacturing, using an additive manufacturing technique, the product, part or element from the at least one material; and providing the manufactured product, part or element to the automated storage and retrieval system. Vertical farming can thus be enhanced by 3D printing products, parts and / or elements therefor, when vertical farming is a carried out using grid-based automated storage and retrieval systems.

Description

DEVICES, SYSTEMS AND METHODS FOR VERTICAL FARMINGTECHNICAL FIELD

[0001] This disclosure relates to devices, systems and methods for vertical farming in an automated storage and retrieval system. More particularly, it relates to a container, a tray, a system comprising the container and the tray, and a kit of parts for vertical farming in an automated storage and retrieval system, and related methods, including methods of manufacturing one or more of such products using additive manufacturing techniques.BACKGROUND

[0002] Traditional storage solutions usually involve the arrangement of goods on rows of shelves within a warehouse. The shelf location for each item is recorded in an inventory, and goods are retrieved from the shelves by a stock picker. The shelves are restocked and the inventory updated, as needed, as goods enter and leave the warehouse. Warehouse workers may be assisted by robotic pickers and by automated inventory management systems. Automated transit systems may also be implemented in traditional warehouse set-ups to move goods from their inventory location to a picking and / or packing station.

[0003] An alternative to a traditional warehouse set-up is an automated storage and retrieval system in which robots retrieve items from their logged location within the warehouse and deliver the items to a packing station or port. Such systems can reduce or eliminate the space needed to pass between rows of shelves to access stock, thereby removing the need for broad aisles within the warehouse. One example of such a system involves placing goods in bins or containers that are configured to be stacked, side by side, within a three-dimensional grid. A rail system is arranged on top of the grid, along which robotic container-handling vehicles configured to lift containers from the grid can travel. The container-handling vehicles are configured to transport containers from the grid and to deliver them to ports or stations at the periphery of the grid so that the goods within the container can be picked and packed.

[0004] Vertical farming is a method of growing organisms in vertically arranged boxes, containers, trays, or bins. Vertical farming in an automated storage and retrieval system poses many challenges. Depending on the nature of the farmed organism, there may be problems related to light access, fluid management, air circulation, temperaturecontrol, disinfection, pest control, or any other problem known to a skilled person. Given that the farmed organisms may die, it is also important to provide solutions for removal of dead organisms, and for removal of any other sources of possible contamination.

[0005] In general, prior art solutions for vertical farming are unsuitable for use in an automated storage and retrieval system, and prior art storage and retrieval systems are unsuitable or at least not well adapted for vertical farming. In particular, vertical farming systems may require specific components to enable growth of a particular organism. Put simply, there may be no one-size-fits-all container, tray, or similar product for vertical farming; these tools, or at least some of their components and / or characteristics may be dependent on the type of plant farmed in the described systems. Even if the system used a set of parts that share some common characteristics, one or more of the design parameters may have to be chosen to fit the farmed organism. This may in turn lead to enormous requirements on storage space at the vertical farming facility and, potentially, even a significant reduction of the useful volume for the vertical farming system. On top of that, the vertical farming system is highly reliant on an external supply chain to enable its operations, which may lead to a significant downtime if some of the components break down and / or need to be re-designed and / or modified. Therefore, it would be advantageous to provide new and improved solutions.

[0006] This disclosure provides devices, systems and methods that address at least some of the problems described above.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The disclosure will be described in more detail in connection with a number of exemplary embodiments shown in the accompanying drawings, in which:Fig. 1 shows a perspective view of a storage system comprising a grid and a plurality of robotic container-handling vehicles configured to retrieve and / or rearrange goods stored within the grid;Fig. 2 shows a top view of the system of Fig. 1;Fig. 3A shows a side view of a first robotic container-handling vehicle suitable for use in the system of Fig. 1;Fig. 3B shows a side view of a second robotic container-handling vehicle suitable for use in the system of Fig. 1;Fig. 3C is a perspective side view of the robot of Fig. 3B;Fig. 4 shows an example container for vertical farming in an automated storage and retrieval system;Fig. 5 shows an example tray for vertical farming in an automated storage and retrieval system;Figs. 6 and 7 show a part of the tray of Fig. 5 from side-on and perspective views respectively;Fig. 8 shows an example system for vertical farming in an automated storage and retrieval system, comprising a container and a tray;Fig. 9 shows an example system for vertical farming in an automated storage and retrieval system, comprising a container and a plurality of trays;Fig. 10 shows a flowchart of an example method for vertical farming in an automated storage and retrieval system; andFig. 11 shows schematically a control system for the storage systems described herein, which in this particular example takes the form of a computing device.DETAILED DESCRIPTION

[0008] In overview, the present disclosure relates to a container, a tray, a system, and a method for vertical farming in an automated storage and retrieval system. The disclosure describes a container with a frame that provides structural support and spatial separation for a tray that maybe received by a tray fixation mechanism comprised in the container. The tray fixation mechanism inhibits movement of the tray, which leads to a high degree of structural stability. This structural stability may be synergistic in the sense that the container stabilises the tray and the tray similarly stabilises the container.

[0009] Furthermore, the disclosure describes a tray with a support structure configured to support a farmed organism such that it can be used in a vertical farming implementation within an automated storage and retrieval system. The tray comprises a fluid entry portion and a fluid exit portion. The tray thereby provides both a living and growth space for the farmed organism, as well as an integrated fluid management solution. Fluid management and prevention of spillage and dripping are major challenges in vertical farming, and the tray arrangements described herein provide an effective, easy-to-handle, and easy-to-manufacture solution to these problems.[ooio] A kit of parts suitable to be assembled to form a tray as described herein is also disclosed. Such a kit of parts may lead to simplified manufacture, transportation, and storage of unused trays.

[0011] This disclosure further describes a system comprising a container and a tray as described herein. Such a system provides an integrated functional unit for vertical farming in automated storage and retrieval system, providing a combination of benefits of both the container and the tray, and enabling an efficient realisation of a vertical farm.

[0012] A method for vertical farming in an automated storage and retrieval system is also disclosed. The method comprises the steps of receiving a first volume of fluid by a first farming system, guiding the first volume of fluid towards a first farmed organism supported by a tray held within the first farming system, expelling at least a portion of the first volume of fluid from the tray of the first farming system, and receiving the expelled portion of fluid at a target location below the farming system. This method provides an effective way to configure the system disclosed herein for vertical farming and enables efficient fluid management.

[0013] A method of manufacturing an element for vertical farming in an automated storage and retrieval system is also disclosed. This method allows manufacturing a desired product, part or an element, using additive manufacturing (e.g., using 3D printing). Therefore, the product, part or element can be manufactured on-premises and / or in response to a demand, such as a specific demand arising on site. This greatly reduces any requirements for stocking pre-made parts or components for said automated storage and retrieval systems and may even improve the utilisation of volume in the automated storage and retrieval systems. The method may take into account a parameter that may influence the final product (for example, the number of trays configured in a vertical system, along with the spacing between these tray). This provides an effective way of supplying the automated system with a product, part or an element for vertical farming without the need to maintain a large stock of already-made products, parts or elements, and increases the flexibility of the automated storage and retrieval system.

[0014] The disclosure also describes a manufacturing device that implements the manufacturing method. The device may be configured to communicate with the automated storage and retrieval system, that is with the control system that controls the automated storage and retrieval system, which enables all the benefits of the manufacturing method, along with other possible benefits, such as parallel manufacturingof products, parts or elements for vertical farming, potentially whilst the automated storage and retrieval system is in operation.Container

[0015] Turning now in more detail to the disclosed container, in a first aspect the present disclosure provides a container for vertical farming in an automated storage and retrieval system. The container comprises a frame defining a base and side walls upwardly extending from the base. The base and side walls thereby define an interior space of the container, into which one or more trays supporting farmed organism(s) may be placed.

[0016] The frame may provide structural support for the container. Additionally, the frame may provide a protective area around the tray(s), which may prevent contamination and provide the farmed organisms with a space to grow. Additionally, the frame may allow for stacking and vertical or horizontal arrangement of the trays. The frame maybe made of plastic, metal, resin, or any other suitable material. The frame may be also made from a plurality of different materials.

[0017] The base and side walls, defined by the frame, may be open, partially open, made of solid material, or made of solid material containing openings or apertures. In other words, while the terms “base” and “side walls” are a convenient way to describe the various planes defined by the frame, it should be understood that in some examples the base or any of the side walls may be mostly devoid of material. Such open base and side walls maybe used to provide light access, or to enable air circulation to farmed organisms within the container. The base and the side walls may have multiple openings in them and may comprise one or more material elements, for example a mesh or a grating.

[0018] The base and the side walls define the interior space of the container, which may also be considered as the internal volume of the container. The interior space may therefore be delineated by or align with the edges of the frame. It will be appreciated that, in examples where the top of the container is open, a farmed organism growing within the container may extend beyond the interior space, for example through the top opening of the container.

[0019] The container further comprises a tray fixation mechanism configured to receive and secure (inhibit movement of) a tray within the interior space of the container. In particular, the tray fixation mechanism may receive and secure a tray that is configured to support a farmed organism, as already described. By providing such a fixation mechanism, one or more trays used in vertical farming can be stored within the container.The container can then be used within the context of an automated storage and retrieval system, as described in more detail herein, to provide an automated vertical farming system.

[0020] The tray fixation mechanism may comprise any suitable mechanism for receiving and inhibiting movement of the tray. The tray fixation mechanism may advantageously be configured to stabilise the tray within the interior space of the container. This is advantageous for keeping the tray in the right position and orientation, and for preventing accidents during manipulation or movement of the container. A particular example implementation of the tray fixation mechanism will be described below in connection with one of the examples disclosed herein.

[0021] In some examples, the tray fixation mechanism may be releasable, in other words be configured to allow the tray inserted thereinto to be removed, for example by a vehicle or a robot in the automated storage and retrieval system or by a human operator. For example, the tray fixation mechanism may allow the tray to be pulled out when (enough) pulling force is applied, and / or may comprise operable features (e.g. a clasp or switch) that, when operated, release or open to allow the tray to be pulled out.

[0022] The tray fixation mechanism may comprise a flexible portion configured to exert pressure on the received tray to thereby inhibit its movement. For example, the flexible portion may deform upon coming into contact with a feature of the tray, such as a securing mechanism of the tray (described in more detail below).

[0023] The use of a flexible fixation mechanism means that the requirements for manufacturing precision of the tray and / or container may be lower, since the flexible portion may accommodate manufacturing imperfections (e.g. variations in component size), or use them to inhibit the movement of the tray. Decreased manufacturing precision requirements (and / or increased tolerances) may also lead to faster and / or more efficient manufacturing, and may negate the need to use high-precision manufacturing methods. For example, the container may be moulded from a suitable material, without any need for post-processing.

[0024] The flexible portion may comprise any suitable non-rigid feature(s), for example a flexible hook, and / or a flexible string, and / or a portion of the container configured to deform. The flexible portion may act as the sole movement inhibitor for a received tray, or it may reinforce the effect of one or more other features of the tray fixation mechanism. The flexible portion may be configured to elastically deform upon receivingthe tray. The phrase “elastically deform” means that the flexible portion may return, or essentially return, to its non-deformed state once the tray is removed.

[0025] The container may comprise a tray guiding portion configured to guide at least a portion of the tray towards the tray fixation mechanism. The tray guiding portion maybe used to simplify positioning of the tray within the interior space of the container. For example, if the tray is being inserted by a vehicle in an automated storage and retrieval system, the tray guiding portion may guide the tray towards the tray fixation mechanism, thereby negating the need for highly sensitive manipulation and precise sensors on the vehicle to ensure correct placement of the tray within the container. The tray guiding portion may receive a suitable counterpart, such as a protrusion, on the tray and guide it to the tray fixation mechanism. In some examples, this may occur while a vehicle in the automated storage and retrieval system moves the tray towards or into the container.

[0026] The tray guiding portion may comprise a first groove for receiving and guiding at least a portion of the tray. The tray guiding portion may taper toward the tray fixation mechanism, such as a flexible portion of the tray fixation mechanism. At least some of the tray fixation mechanism may comprise a groove that is narrower than the tray guiding portion. In this manner, the tray may slide into an increasingly tapered groove until it is ultimately gripped or wedged in the tray fixation mechanism.

[0027] The tray guiding portion may additionally or alternatively comprise one or more of: at least one magnet configured to guide at least a metallic portion of the tray; at least one actuator configured to guide and manipulate the tray; at least one electromagnetic component configured to guide the tray using electro-magnetic phenomena, for example electrostatic or magnetic attraction and / or repulsion; and at least one air flow component configured to direct a flow of air to exert a force on the tray to guide the tray.

[0028] The container may comprise a tray entry portion configured to receive a tray prior to the tray guiding portion and to guide the tray towards the tray guiding portion. The tray entry portion may comprise a second groove. The tray entry portion may taper towards the tray guiding portion.

[0029] The tray entry portion may further simplify the insertion of the tray by guiding the tray towards the tray guiding portion, which in turn guides the tray toward the tray fixation mechanism as described above. The tray entry portion may be realised as a tapered groove or channel configured to receive the tray while it is moving into the container and guide it towards the tray guiding portion. The tray entry portion may berealised by any of the means in which the tray guiding portion maybe realised, described above and also in more detail below. The tray entry portion may comprise a portion that is wider than the tray guiding portion and / or that tapers towards the tray guiding portion. The tray entry portion may ‘catch’ the tray, thereby further eliminating the need for precise horizontal positioning and enabling the tray to reach the tray guiding portion (and ultimately the tray fixation mechanism) more easily.

[0030] At least one of the tray fixation mechanism, tray guiding portion, and tray entry portion maybe integral with the frame. This may simplify manufacture and provide a greater degree of structural resilience and stability. Alternatively, at least one of the tray fixation mechanism, tray guiding portion, and tray entry portion may be added to the container without being an integral part of it, which may provide greater versatility and reconfigurability of the container.

[0031] As explained above, an appropriate fluid maybe used to support (e.g. to feed or to water) a farmed organism within the container. In some examples, it may be desirable for fluid to exit the container, for example in the case of excess fluid that has not been absorbed by the farmed organism. With this in mind, the container may advantageously comprise a fluid conduit configured to guide collected fluid (e.g. excess or runoff fluid) towards a target location below the container. The presence of the fluid conduit enables more precise fluid management, by ensuring that fluids are collected at the target location rather than, for example, simply overflowing from the container in an uncontrolled manner. The fluid conduit also thereby reduces the probability of contamination due to uncontrolled flow or dripping, e.g. onto other organisms. The fluid conduit may comprise a drip edge, which may optionally protrude from the container. The fluid conduit maybe integral to the frame, or maybe in addition to the frame, with each arrangement having the same respective advantages described above in respect of the fixation mechanism. The fluid conduit may guide fluid passively, by providing a surface or a groove along which the fluid may flow. Alternatively or additionally, the fluid conduit may guide collected fluid to the target location in a more active manner, for example using sucking or other forces.

[0032] The target location towards which the fluid conduit guides collected fluid may comprise one or more of: a fluid collection point, another container of the automated storage and retrieval system, and / or another tray configured to support a farmed organism. The fluid collection point may comprise any appropriate element in the automated storage and retrieval system, such as a drain or a chemical fluid collector. Thetarget location may also comprise another container, for example a container with solid base and side walls that collects the dripping fluid, a container filled with chemicals that absorb the dripping fluid, a container that comprises a device to process the fluid, or any other suitable container. By guiding excess fluid from the container to a target location in this manner, the fluid may be (re-)used to support the growth of farmed organisms present in the target location. The provision of a fluid guiding mechanism and a defined target location may also prevent flooding or contamination in the automated storage and retrieval system as described above.

[0033] The container may comprise at least one support member configured to provide structural support to the container. That is, in addition to the frame which defines the interior space of the container, the container may comprise at least one additional member configured to provide additional support to the container. For example, the frame may define the twelve edges and six faces of a (rectangular) cuboid, and the at least one support member may be provided in addition to this frame. The at least one support member may comprise a strut or any material component in the base or in any of the side walls. The at least one support member may be configured vertically, diagonally, or horizontally within the base or any of the side walls. The at least one support member may be configured to cross the interior space. The at least one support member may be made from the same material as the frame, from a different material than the frame, or from a mixture of materials. The at least one support member maybe integral to the frame. The at least one support member may provide a container with a higher level of structural stability and resilience. The at least one support member may also provide a structural fail-safe mechanism to maintain at least some level of structural stability in case of an accident, malfunction, or degradation of the container.

[0034] The container may comprise one or more interface features configured to enable a vehicle of the automated storage and retrieval system to interact with the container, optionally from above. The one or more interface features may enable more efficient manipulation of the storage container using a vehicle of the automated storage and retrieval system. The one or more interface features may be integral to the frame or may be in addition to the frame, with each arrangement having the same respective advantages described above in respect of the fixation mechanism.

[0035] The frame may comprise at least one stacking portion configured to inhibit relative movement of an additional container stacked above or below the container. The at least one stacking portion may enable more efficient stacking of containers without theneed for precise positioning of containers. Alternatively or additionally, it may provide a greater degree of structural stability to a column of stacked containers. It may also inhibit relative movement of individual containers within a column of stacked containers, thus making the column more resilient and more resistant to falling apart. In an example, the stacking portion is configured to interface with a neighbouring container, such as a container stacked above or below in a stack of containers. The at least one stacking portion may comprise a protrusion or a hole configured, for example, to matingly interface with a respective protrusion or hole of another container.Tray for supporting a farmed organism

[0036] In a second aspect, the present disclosure provides a tray for vertical farming in an automated storage and retrieval system. The tray comprises a support structure configured to support a farmed organism and maybe inserted into the container described above and in more detail below to provide a vertical farming solution in an automated storage and retrieval system. The support structure may comprise any suitable feature for supporting a farmed organism on or in said structure, such as one or more shelves, platforms, frameworks, meshes, pouches or any combination thereof.

[0037] The support structure may expose a farmed organism to the environment. The support structure may enable access to nutrients, light, fluid, air, or any other environmental or material factor required by the farmed organism. If the farmed organism comprises a root system, a mycelium, or any similar support organ, organelle, or structure, the support system may provide support for said organism support structure. The support system may allow at least a part of the farmed organism to grow outside the support system. The support system may confine the farmed organism within a desired space within the tray. The support structure may comprise a removable cover or hatch for access to the farmed organism.

[0038] The support structure may be configured to enable the farmed organism(s) to grow in at least two directions, for example out of two sides of the tray. This improves the volume or number of farmed organisms that can be grown on a single tray and provides access to the farmed organism from at least two directions. In this manner, the support structure maybe configured to enable the farmed organism to be harvested by a vehicle or operator of the automated storage and retrieval system from the at least two directions. For example, a harvesting vehicle may harvest the farmed organism from atleast two sides of the tray, possibly at the same time, which provides improved versatility and efficiency.

[0039] As noted above, it may be desired to provide a fluid to the farmed organism supported by the tray. With this in mind, the tray further comprises a fluid entry portion configured to receive and guide fluid toward the support structure for providing to the farmed organism. By receiving and guiding fluid in the fluid entry portion, the tray enables efficient fluid management and minimises the contamination risk associated with fluid spilling or dripping onto the farmed organism. The fluid entry portion may comprise one or more sloped portions, surfaces, and / or openings. The fluid entry portion may suck, drain, absorb, or otherwise enable fluid to enter (an internal volume of) the tray. The fluid entry portion maybe integrated into at least a part of the tray. For example, the fluid entry portion may comprise an edge of the tray that delineates the area configured for fluid entry. The fluid entry portion may be configured anywhere on the tray, however advantageously the fluid entry portion may be provided toward the top of the tray in use, so as to more effectively receive fluid flowing or falling toward the tray from above as may occur in a vertical stack of containers within an automated storage and retrieval system. Accordingly, in one advantageous implementation, the fluid entry portion may comprise an upper edge or surface of the tray. In other examples, the fluid entry portion may be configured on a side of the tray. The fluid entry portion may comprise a fluid reservoir that may store fluid before guiding said fluid to the support structure.

[0040] The fluid entry portion may comprise a funnel to receive the fluid. The term “funnel” should be interpreted broadly as comprising at least one sloped surface that tapers from a larger to a smaller aperture or opening and thereby guides fluid towards said smaller opening. The funnel may thereby provide a wide surface area on which to catch or otherwise receive fluids, thereby preventing spillage or dripping by providing a wider area where fluids may be received. It will be appreciated that the funnel need not be of a conical shape, but may instead be realised as two surfaces that taper towards at least a portion of the fluid entry portion. The funnel maybe made of a different material than the tray, or it may comprise a treated and / or coated surface. For example, the different material, or the treated and / or coated surface, may be more resistant to corrosion or may be more hydrophobic, or may have any other attribute that improves guiding of fluids or improves resistance against material degradation.

[0041] The fluid received by the tray may comprise at least one of: a liquid, a gel, a mist, a fog, a suspension, or another fluid medium. The fluid maybe liquid or gaseous.The fluid may comprise at least one of: water, nutrients, pharmaceuticals, or other substances that support or inhibit the growth of the farmed organisms, or that remove or manage contaminants. Such contaminants may be other organisms, contaminating substances or environmental factors. The fluid maybe used for temperature management. A skilled person will readily recognise that the fluid may be any suitable fluid used in hydroponics, aeroponics, aquaculture or similar growing techniques. Similarly, the fluid may be any substance that may support or enable growth, metabolism, reproduction, or any vital function of the farmed organism.

[0042] In order to further improve the fluid management properties of the tray, the tray comprises a fluid exit portion configured to expel excess fluid from the tray. The fluid exit portion may comprise any appropriate feature configured to perform this function. The fluid exit portion provides drainage, and therefore reduces the chance of oversupply of fluid which can lead to contamination and / or death of the farmed organism. Furthermore, as will be explained below, the fluid exit portion may enable effective fluid management by allowing fluid exiting the tray to be guided more easily to a specific location, thereby reducing the chance of spillage or dripping onto other farmed organisms within the automated storage and retrieval system. The fluid exit portion may comprise a passive feature, for example one or more openings, a funnel, and / or a dripping edge. Such a passive feature may enable expelling of fluid due to gravity or adhesion and may enable (controlled) dripping or collection at a desired location. The fluid exit portion may comprise an active feature that expels excess fluid. For example, the fluid exit portion may be controllable to expel fluid based on receiving a control signal, and / or may comprise a reservoir, an actuator that sucks fluids into said reservoir and an actuator that actively expels (e.g. squirts out) fluid collected in said reservoir.

[0043] As already noted, the tray may be such that the fluid exit portion is configured to expel excess fluid from the tray towards a target location below the container. The target location maybe as described above in relation to the container and may provide the same effects and benefits. In particular, the target location may comprise one or more of: a fluid collection point, another container of the automated storage and retrieval system, and / or another tray configured to support a farmed organism.

[0044] The tray may be configured to confine fluid received by the fluid entry portion within the tray prior to expelling the fluid from the fluid exit portion. This configuration reduces the chance of spillage or dripping and therefore provides efficient fluid management and contamination prevention. For example, fluid maybe guided suchthat it remains (solely) within the inner volume of the tray prior to expulsion. Guiding of the fluid in this manner can be achieved, for example, through the provision of one or more fluid openings, channels, or conduits configured to facilitate fluid flow through the interior of the tray. In particular, said fluid openings, channels or conduits may help confine fluid within the tray and prevent fluid from exiting the tray at a point other than the fluid exit portion.

[0045] The tray may comprise a substrate, supported by or held adjacent to the tray’s support structure, configured to support the growth of the farmed organism. The substrate may be configured to provide nutrients, fluids, support and / or temperature management for the farmed organism. The substrate may be comprised, at least in part, in or on the support structure. The substrate may be made of one or more material such as soil, gel, cellulose, rockwool, glass, materials suitable for cultivation of bacteria, fungi, cells, or any other suitable material configured to support the growth of the farmed organism. Alternatively or additionally, the substrate may comprise a material structure, for example a mesh or a frame to which the farmed organism may attach. The substrate may comprise a sheet of soil or soil-like material.

[0046] The tray may be configured to guide fluid received by the fluid entry portion such that the fluid is absorbed within the substrate prior to expelling the fluid from the fluid exit portion. In this manner, fluid can be guided to a farmed organism more effectively, via the substrate. As a result, the fluid may interact with the substrate and carry nutrients present in the substrate to the farmed organism. The substrate may gradually release fluid to be received by the farmed organism and therefore provide a regulation function. The substrate may contribute to environmental or thermal management. The substrate and / or the tray maybe arranged such that only a portion of fluid received by the fluid entry portion maybe absorbed by the substrate. In some examples, the substrate may be provided between the fluid entry portion and the fluid exit portion.

[0047] The tray may comprise a securing mechanism configured to position and secure (inhibit movement of) the tray within an interior space of the container. The securing mechanism may enable the tray to be securely positioned within a container, and therefore easily manipulated within an automated storage and retrieval system. The securing mechanism may comprise any suitable mechanism that provides this function. In this way, the securing mechanism maybe seen as a counterpart or analogue of the tray fixation mechanism of the container. Indeed, in some examples, the securing mechanism of the tray maybe configured to be received by a tray fixation mechanism of a container.The securing mechanism may thereby synergise with (e.g. provide or enhance any of the effects of) the tray fixation mechanism and vice versa.

[0048] The securing mechanism may comprise a flexible portion, for example a flexible hook, and / or a flexible string, and / or a portion of the tray configured to deform. As in the case of the tray fixation mechanism of the container, described above, the usage of a flexible portion in the securing mechanism of the tray may similarly lead to decreased manufacturing precision requirements (and / or increased tolerances), which leads to faster and / or more efficient manufacturing, and may negate the need to use high-precision manufacturing methods. For example, the tray maybe moulded from a suitable material, without any need for post-processing.

[0049] The securing mechanism may comprise a protrusion on the tray. The protrusion may interact or otherwise engage with the container, for example with a fixation mechanism of the container, in order to provide better fixation of the tray within the container. For example, the protrusion may operate or engage a movable part of the tray fixation mechanism and / or may be adapted to slide or enter into a suitable opening or groove. The protrusion may alternatively or additionally interact with a flexible portion of the tray fixation mechanism of the container and thereby strengthen the effects of the tray fixation mechanism. For example, the protrusion may be configured to elastically deform a flexible portion on the container. The protrusion may be integral to the tray, which simplifies manufacturing.

[0050] The securing mechanism may comprise a deflectable portion that interacts with a suitable counterpart configured on a container. The securing mechanism may additionally or alternatively comprise one or more of: at least one magnet configured to secure and / or guide at least a part of a tray; at least one electromagnetic component configured to secure and / or guide at least a part of a tray , optionally wherein the at least one electromagnetic component is a switchable electromagnet; at least one actuator configured to secure and / or guide at least a part of a tray. The securing mechanism of the tray may be releasable, in other words may be configured to allow removal from the tray fixation mechanism of a container. For example, the securing mechanism may allow the tray to be pulled out when (enough) pulling force is applied, and / or may comprise operable features (e.g. a clasp or switch) that, when operated, allow the tray to be pulled out.

[0051] The tray may comprise first and second parts. This arrangement may enable easier manufacture and assembly of the tray. For example, instead of manufacturing thetray as a single indivisible item, the tray may be assembled from a kit of parts, which may be transported and stored in a disassembled state and assembled only when needed. The first and second parts may be configured to hold a substrate configured to support the growth of the farmed organism therebetween. A tray arrangement having two or more parts in this manner may enable easier access to a farmed organism and / or substrate positioned inside or between the two parts. For example, a vehicle and / or an operator may disassemble and / or open the tray to remove, add, and / or manipulate the substrate and / or farmed organism. Advantageously, the first and second tray parts may be detachably connected (e.g. using a clasp or latch), such that the tray can be disassembled and reassembled each time it is desired to replace or manipulate the substrate and / or farmed organism held therein.

[0052] The first and the second part may be essentially identical or essentially symmetrical, which would simplify manufacture of the tray. Alternatively, the first and second parts may be asymmetrical and / or substantially different. This may be advantageous because, by having different first and second parts, one may manufacture trays that allow access or growth from only one direction, which may improve confinement of a farmed organism and / or vehicle access and / or reduce the chance of contamination due to uncontrolled growth.Kit of parts to form a tray

[0053] In a third aspect, the present disclosure provides a kit of parts suitable to be assembled to form a tray as described in connection with the second aspect. Further to all the benefits of the tray described in connection with the second aspect, the kit of parts may be easier to manufacture, store, manipulate and / or distribute compared to a fully assembled tray. The kit of parts may comprise two parts that can be joined together to form the tray, in the manner described above. The kit of parts may also comprise more than two parts.

[0054] The kit of parts may comprise a feature that guides a human operator or a machine while assembling the kit of parts. Therefore, the kit of part maybe assembled in a more effective manner. For example, the kit of parts may comprise a color-coded part, or may comprise a tactile feature on a part, or a part may comprise an instruction or a label engraved, imprinted, attached, and / or otherwise marked upon said part. A part in the kit of parts may comprise a machine-identifiable label, for example a QR code, whichmay enable easier part identification and / or assembly. For example, a machine-identifiable label may enable precise part identification during assembly.System for vertical farming

[0055] In a fourth aspect, the present disclosure provides a system for vertical farming in an automated storage and retrieval system, comprising a container and a tray secured within the container. The container may be as described anywhere herein. For example, the container maybe the container of the first aspect described above. The tray may similarly be as described anywhere herein. For example, the tray maybe the tray of the second aspect described above.

[0056] The system of the fourth aspect provides a combination of any and all of the benefits of the container and the tray. The system provides an integrated solution for vertical farming in an automated storage and retrieval system that is easy to manipulate, possibly using a vehicle or a robot. The system provides efficient fluid management, leading to reduction of spillage and dripping, which in turn enables less fluid to be used in the vertical farm.

[0057] The tray may be secured in the container by a tray fixation mechanism of the container, by a securing mechanism of the tray, or by a combination of the two. Irrespective of how the tray and container are secured together, the tray and the container may be connected in a permanent (or essentially permanent) or a detachable manner. A detachable connection is to be understood as one where the tray maybe inserted into the container and then subsequently removed from it. This improves versatility and allows the tray to be reused more easily. An (essentially) permanent connection is to be understood as one where the container and the tray are not intended to be disconnected after attachment. For example, the tray may be fused, glued, welded, or brazed into the container. While less versatile, such a connection may simplify initial manufacture of, for example, the tray fixation mechanism. More generally, it will be appreciated that the tray and the container may be connected in any way described or implied elsewhere in this disclosure.

[0058] The system may comprise a plurality of trays as described herein, for example a plurality of trays according to the second aspect, stored within the same container. This arrangement may increase space utilisation. The plurality of trays may fill essentially the entire interior space of the container, which would maximise space utilisation within the container. The trays of the plurality of trays may be spaced apartfrom each other. For example, the trays maybe spaced apart well enough to enable vertical air flow, for example by leaving a gap whose width corresponds to at least 5% of the width of the tray. To give another illustrative example, the trays maybe spaced apart well enough to provide separation between farmed organisms in different trays, for example by using a low-enough number of trays (e.g., 3-5) and placing the trays so that they are uniformly spaced within the interior space of the container. A skilled person may choose or adapt the details of tray spacing taking into account at least some of the following: the dimensions of the container, the dimensions of the tray, details of the farmed organisms, details of the automated storage and retrieval system and / or the desired result to be achieved by spacing. A skilled person may refine the spacing arrangement using straightforward experimentation (e.g., they may configure the system with a chosen spacing, try it out and adapt accordingly).

[0059] It will be appreciated that, when a plurality of trays is provided within a container, not every tray need necessarily be (directly) secured by the container. For example, one or more trays of the plurality of trays may be connected to, or secured by / to, a different tray. This example allows multiple trays to be provided in the same container without requiring the same fixation mechanism to be provided for each tray. To give a concrete example, a subset of the trays may be held by a (respective) fixation mechanism on the container and all the other trays may be secured to that subset via a different connection or securing mechanism. More generally, it will be appreciated that any tray from the plurality of trays may be connected to the container or to a different tray using any of the connection mechanisms described herein.Method for vertical farming

[0060] In a fifth aspect, the present disclosure provides a method for vertical farming in an automated storage and retrieval system, the method comprising the steps of: receiving a first volume of fluid by a first farming system, wherein the first farming system is configured as described in connection with the fourth aspect; guiding the first volume of fluid towards a first farmed organism supported by a tray held within the first farming system; expelling at least a portion of the first volume of fluid from the tray of the first farming system; and receiving the expelled portion of fluid at a target location below the farming system. This method provides efficient fluid management and brings at least all the benefits of fluid management described above in respect of the tray and container.

[0061] The target location may comprise at least one of: a tray supporting a second farmed organism, optionally a fluid entry portion of said tray; a container, optionally wherein the first farming system is stacked on the container; or a vehicle in the automated storage and retrieval system. More generally, the target location may comprise any features or attributes of any target location described elsewhere in this disclosure.

[0062] The method may be such that, prior to being expelled from the first farming system, the at least a portion of the first volume of fluid is confined within the tray of the first farming system. This enables a more efficient fluid management by preventing spillage and dripping as described above in relation to the second aspect.

[0063] The method may be such that the tray of the first farming system comprises a substrate, and the tray may be configured to guide fluid received by the fluid entry portion such that the fluid is absorbed within the substrate prior to expelling at least a portion of the fluid from the fluid exit portion. This may further improve fluid management, prevent accidental spillage and dripping, and / or enable better support for a farmed organism as also described above in relation to the second aspect. For example, fluid may be absorbed by a substrate, wherein it becomes enriched with soluble nutrients, pharmaceuticals, or any other suitable substance, and this enriched fluid maybe used to support or feed the farmed organism, prior to being expelled from the fluid exit portion.Manufacturing method

[0064] In a sixth aspect, the present disclosure provides a method of manufacturing a product, a part or an element for vertical farming in an automated storage and retrieval system, the method comprising manufacturing, using an additive manufacturing technique (e.g., 3D printing), the product, part or an element from at least one material. From here on, any references to an “element” are to be interpreted, more appropriately as references to any of a “product”, a “part” or an “element”, wherein a “product” means a complete product for vertical farming such as a storage container therefor, a “part” means a part for such a product, such as one of the trays described herein, and an element means any product, part or subcomponent therefor.

[0065] By manufacturing the element in the automated storage and retrieval system using an additive manufacturing technique, the storage requirements (in the sense of any requirements to stock products, components and / or parts or elements for vertical farming) for the automated storage and retrieval system may be significantly reduced, and at the same time the system becomes more adaptive to various demands (for example, itbecome easier to scale up its capacity). This may lead to an increase in the useful capacity of the storage system, because the method reduces the need to store elements that are not being used and enables introduction of new elements into the system, given a constant “real-estate” space or volume; that is, more space can be utilised by the automated storage and retrieval system as such, and less space maybe dedicated to stock of products, parts, components and / or elements for vertical farming in such system.

[0066] The method of the sixth aspect can reduce the need for shipping of elements from outside the storage system while providing customized, high-strength storage solutions, possibly tailored to a specific operational requirement. By reducing the dependency of the automated storage and retrieval system on an external supply chain, the reliability and / or availability and / or flexibility of the system maybe increased.

[0067] The element may comprise the container described in connection with the first aspect of the present disclosure. The element may comprise the tray described in connection with the second aspect of the present disclosure. The element may comprise a part suitable to be provided in the kit of parts described in connection with the third aspect of the present disclosure and / or a full kit of part as described in connection with the third aspect.

[0068] The at least one material may comprise any material suitable for use in an additive manufacturing technique. For example, the at least one material may comprise a polymer (e.g., ABS (Acrylonitrile butadiene styrene), PLA (polylactide), polyamide (e.g., Nylon), glass filled nylon, polycarbonate, epoxy resin, wax, photopolymer resin, or any other suitable polymer), a metal, and / or a glass-based or ceramic-based material (e.g., a powder comprising glass, porcelain and / or other suitable material). The at least one material may comprise a solid, a liquid, a gel, a powder, and / or a material in any other suitable state. The material maybe chosen based on a material requirement, for example, it may be hydrophobic and / or may have anti-bacterial, anti-fungal, and / or similar properties. The at least one material may comprise a reinforced polymer, a fiber-infused composite, and / or recycled or biodegradable plastic. By using a reinforced polymer and / or a fiber-infused composite, the structural strength and / or maximal load of the element may be increased compared to an element wherein a different material (e.g., a non-reinforced polymer) was used. By using a recycled or biodegradable material, the environmental impact of manufacturing maybe reduced thus making the operation of the automated storage and retrieval system more environmentally friendly.

[0069] The at least one material may comprise a material chosen based on a structural requirement (e.g., a strength requirement related to an expected load), a weight requirement (e.g., based on the maximum weight supported by a vehicle in the system), a de-commissioning requirement (e.g., biodegradability of the material), and / or an environmental-resistance requirement (e.g., resistance to UV radiation).

[0070] The manufacturing may comprise joining and / or connecting, using an additive manufacturing technique, a plurality of parts to produce the element. For example, the step of manufacturing may comprise joining two or more parts (e.g., two parts from the kit of parts according to the third aspect of the present disclosure) to manufacture the element.

[0071] The additive manufacturing technique may comprise vat photopolymerization. For example, if the element is a container according to the first aspect, the container maybe manufactured in a vat of liquid photopolymer resin by using an UV light to harden the resin.

[0072] The additive manufacturing technique may comprise material jetting. For example, the element may be made on a build platform, onto which one or more materials are deposited. The one or more materials may be cooled, left to cool, cured, hardened, and / or otherwise processed to finish the manufacturing process.

[0073] The additive manufacturing technique may comprise binder jetting. For example, the element may be made from one or more powder-based materials that are bound together using a (e.g., liquid and / or gel-like) binding material.

[0074] The additive manufacturing technique may comprise powder bed fusion. For example, the additive manufacturing technique may comprise direct metal laser sintering (DMLS), electron beam melting (EBM), selective heat sintering (SHS), selective laser melting (SLM) and / or selective laser sintering (SLS). For example, the element may be manufactured be melting and fusing one or more powder materials.

[0075] The additive manufacturing technique may comprise material extrusion. The additive manufacturing technique may comprise fused deposition modelling (FDM). For example, the element may be made from one or more materials drawn through a nozzle, wherein said one or more materials are heated and deposited layer by layer.

[0076] The additive manufacturing technique may comprise directed energy deposition. For example, the additive manufacturing technique may comprise laser engineered net shaping, directed light fabrication, direct metal deposition, and / or 3Dlaser cladding. For example, the element may be manufactured from one or more materials that are melted upon deposition, for example melted using a laser.

[0077] The additive manufacturing technique may comprise sheet lamination. For example, the additive manufacturing technique may comprise ultrasonic additive manufacturing (UAM) and / or laminated object manufacturing (LOM). For example, the element may be made from multiple sheets of metal that are bound by (ultrasonic) welding, and possibly machined.

[0078] The additive manufacturing technique may comprise a plurality of additive manufacturing techniques (e.g., a plurality of additive manufacturing techniques as described elsewhere in the present disclosure).

[0079] The additive manufacturing technique may comprise post-processing. The post-processing may comprise cooling, heating, waiting, UV light treatment, processing using a CNC machine (e.g., comprising one or more of cutting, milling, lathing, drilling, machining and / or any material processing technique), exposure to a chemical (e.g., a hardening agent), and / or exposure to physical factors (e.g., temperature, light, radiation). Post-processing may enable the element to achieve a property that improves one or more characteristics of the element (e.g., its maximal load, structural properties, resistance to environmental conditions, or any other relevant characteristic).

[0080] The additive manufacturing technique may comprise an additive manufacturing technique that results in a desired structural parameter (e.g., maximal load, hardness, elasticity, etc.). For example, employing layered printing may allow for creation of one or more reinforced zones in the manufactured element, which may increase load-bearing capacity of the element. The additive manufacturing technique may be based on a structural parameter. For example, the thickness of a part of the element may be chosen to possess said structural parameter and / or an additive manufacturing technique may be chosen to provide the element with said structural parameter.

[0081] A skilled person would realise that other additive manufacturing techniques maybe used. The examples of additive manufacturing techniques in the present disclosure are meant to be illustrative, not restrictive.

[0082] The method may comprise receiving a first signal at, for example, a control system of the automated storage and retrieval system, wherein the manufacturing as described herein may be based on the first signal, in the sense that manufacturing may commence based on such signal, and such signal may contain all or at least a portion ofinformation on which said manufacturing depends, for example which of the abovedescribed methods of additive manufacturing is used, or which material or materials are used to make the required product, part or element. By making the method controllable via the first signal, the manufacturing may reflect any additional parameters and demands, which further increases the flexibility of the method and simplifies the operation of the system. For example, instead of introducing fully assembled bins into the system, the method of the sixth aspect maybe used to manufacture an element (e.g., using a preapproved and / or previously provided design) on site, that is, for example within the same space that hosts the automated storage and retrieval system, or nearby, that is in close proximity thereto, thus making the system more flexible and increasing its uptime even under changing operational demands. For example, when it is desired and / or needed to introduce a new part, product or element into the automated storage and retrieval system, instead of waiting for an external delivery, the method according to the sixth aspect may be used to provide the required part, product or element by manufacturing it on-site.

[0083] The first signal may comprise information configured to represent a design parameter of the product, part or element. The design parameter may correspond to a parameter configured to represent a dimension, a shape, an attribute, and / or a variation of the element. For example, the design parameter may comprise a value that corresponds to the value of said parameter (e.g., a dimension, an angle between two parts, thickness of a part, material used for a particular part, and / or another parameter), and / or a value that implies a given parameter and / or a range thereon (e.g., a structural parameter that implies a particular choice of materials and / or thickness of parts, each being within a predetermined range). For example, the design parameter may comprise information representing a choice of a material, information indicating a dimension of the product, part or element, information indicating a desired number of trays in a container, information indicating a desired separation distance between a plurality of trays in a container, and / or any other relevant information. By using information configured to represent a design parameter, a wide range of products, parts and / or elements may be produced, thus further increasing the flexibility of the method, and enabling providing of a wide spectrum of arrangements. Also, the information may be used to modify a preexisting stored design of the product, part or element.

[0084] The first signal may comprise information representing a demand for the element. For example, the first signal may comprise information indicating a request to produce three systems according to the fourth aspect of the present disclosure, which maylead to production of three containers according to the first aspect and three trays according to the second aspect. By using the information representing such demand, the method can be carried out only when the element is needed, thus making the method more efficient. This may reduce stock requirements (for example, for replacement storage containers, or for any parts thereof, or for any other spare parts of the system) in the automated storage and retrieval system, because there is no need to store manufactured elements that are not (yet) needed.

[0085] The method may comprise transmitting a second signal. By transmitting the second signal, the method may comprise communicating with other devices, e.g. other devices in the automated storage and retrieval system. Therefore, the control and / or monitoring of the system may be improved thanks to feedback generated by the system according to the method described herein. In other words, the second signal may be a feedback signal related to the method, e.g. related to any one or more of its related events.

[0086] The second signal may comprise information representative of an error condition. The information may enable providing maintenance which may restore, maintain, and / or improve the performance of a device and / or a system that implements the method.

[0087] The second signal may comprise information representative of successful manufacturing of an element. The information about successful manufacturing may improve control and monitoring of the system, for example by enabling of keeping track of the number of newly manufactured elements ready to be provided to the system.

[0088] The second signal may comprise information indicating that the manufacturing is complete. This information may be used by the system to instruct a vehicle, device, and / or an operator to interact with the manufactured element.Manufacturing device

[0089] In a seventh aspect, the present disclosure provides a manufacturing device configured to perform the method according to the sixth aspect of the present disclosure. The manufacturing device may be in communication with the automated storage and retrieval system (e.g., it maybe comprised in the automated storage and retrieval system and / or connected to the control system of said system). Therefore, the manufacturing device provides at least all the technical effects and benefits described in connection with the method of the sixth aspect of the present disclosure. The manufacturing device may comprise a processor and / or a controller, which maybe the same as or separate from anyprocessors controllers associated with the control system of the automated storage and retrieval system.

[0090] The manufacturing device maybe configured to manufacture a plurality of products, parts and / or elements in parallel. For example, the manufacturing device may have a plurality of compartments, each compartment configured for manufacturing as described in connection with the method according to the sixth aspect of the present disclosure. For example, the manufacturing device may simultaneously manufacture a first product (e.g., a container) and a second part (e.g., a tray). The plurality of products, parts and elements may comprise various kinds of products, parts or elements. By manufacturing a plurality of products, parts or elements in parallel, the production rate of the manufacturing device is increased.Automated storage and retrieval system

[0091] In an eighth aspect, the present disclosure provides an automated storage and retrieval system comprising the manufacturing device as described in connection with the seventh aspect of the present disclosure. Due to the manufacturing device, the system enjoys at least all the technical effects and benefits described in connection with the manufacturing device of the seventh aspect and the manufacturing method of the sixth aspect of the present disclosure.

[0092] As mentioned above, the system may comprise a system controller or control system (these wordings are used interchangeably). The presence of the system controller further increases the planning, forecasting, monitoring, and / or controlling capabilities of the system. The system controller may comprise a plurality of subcontrollers and / or may comprise a cloud-based, distributed and / or networked computer. The system controller may comprise a networking device (e.g., a network interface, a transmitter, a wired connection, a signal amplifier). The system controller may be configured to accept user input.

[0093] The system controller may be configured to receive the first signal as described in connection with the sixth aspect of the present disclosure in response to an event in the system.

[0094] The system controller may be configured to produce the first signal as described in connection with the sixth aspect of the present disclosure in response to a user input.

[0095] The system controller may be configured to receive the first signal as described in connection with the sixth aspect of the present disclosure in response to the second signal as described in connection with the sixth aspect.Machine-readable storage medium

[0096] In a ninth aspect, the present disclosure provides a machine-readable medium storing data which defines both a digital representation of the product of the method as described in connection with the sixth aspect of the present disclosure and operating instructions adapted to control a manufacturing device to manufacture the product using the digital representation of the product when said data is relayed to the manufacturing device. For example, the machine-readable storage medium may comprise G-code (e.g., one or more manufacturing instructions according to the international standard ISO 6983-1, or any similar and / or related instruction set) adapted for manufacturing the products, parts or element as described in connection with the sixth aspect of the present disclosure. A skilled person would realise that the machine-readable storage medium may comprise data according to other suitable formats and / or according to a plurality of formats that encode manufacturing instructions and / or additive manufacturing instructions.Description of examples shown in figures

[0097] Figs. 1-10 provide illustrative drawings to further aid understanding of the content and context of the present disclosure. Accordingly, the particular examples shown in Figs. 1-10 are not intended to be restrictive.Figs. 1-3 - Automated storage and retrieval system overview

[0098] Referring to the embodiment shown in Fig. 1, a grid 100 comprises a frame formed by a plurality of generally rectilinear, adjacent vertical columns 102 formed between vertical frame members 104 and extending in the X and Y directions 108, 110. The grid elements maybe fabricated of any appropriate material; for example, the frame members may be formed of extruded aluminium. Storage containers (also referred to as “bins”) 112 are stacked on top of each other, preferably in a self-supporting manner, in the Z direction 114 in the columns 102, forming a storage volume of storage cells for respective storage containers 112 extending in the X, Y and Z directions 108, 110, 114.

[0099] A rail system or network 116 is formed on top of the grid too and comprises pairs of vehicle rails or tracks 118a, 118b and 120a, 120b, respectively extending in the Xand Y directions 108, 110. Robotic container-handling vehicles, or robots, 122, which can be of a range of size, shape and function, are provided and configured to run on the rails 118, 120 and to transport storage containers 112 in both the X and Y directions 108, 110. The robots 122 are additionally configured to lift and lower storage containers 112 from / into the columns 102 in the Z direction 114, the storage containers 112 optionally being guided by the vertical frame members 104. The robots 122 access the storage containers 112 via access openings 124 above the columns 102 and formed between the rails 118, 120.

[0100] Some columns 102 may be used for alternative purposes than storage container storage. For example, port columns 126, 128 comprise port or access columns allowing transfer of a storage container 112 in and / or out of the grid too. Port columns 126, 128 provide a vertical channel for lifting of a storage container 112 from, or lowering of a storage container 112 to, a port or ports 130, 132. The ports 130, 132 are shown in Fig.1 at the lowest level of the grid, however ports can be located at any vertical position along the column. The respective port columns 126, 128 can be assigned for removing (‘dropoff’) and / or returning or delivering (‘pick-up’) storage containers 112 from / to the grid too. The ports 130, 132 are therefore configured to allow storage containers 112 to be removed and reintroduced (horizontally) into the associated port column. As such, a port 130, 132 can comprise a conveyor (not shown in Fig. 1) onto which a storage container 112 maybe lowered and transported horizontally out of the port column. The port columns 126, 128 include an opening or access point through which storage containers 112 can enter and leave the column.

[0101] Storage containers 112 can be transported along the top of the grid too to and / or from a port column 126, 128 by robots 122, and from a port 130, 132 to a location outside the grid too, which may be an access station (not shown) for processing of the storage container 112 or its contents, such as a picking station for adding content to, or removing content from, the storage container 112. In alternative examples (not shown), the storage container 112 may be transported to a port of another grid on the same or another level, or to an external facility. Transport of storage containers 112 to and from ports 130, 132 may be by any appropriate means (not shown) including conveyors, transport vehicles, lifts or robots.

[0102] Referring to the embodiment shown in Fig. 2, the X-Y configuration 200 of the rail system 116 can be seen in more detail, together with robots 202, 204 of different types. The rail system includes rails 206 defining between them vertical column accessopenings 124 for access to storage containers 112. The rails 206 can be any appropriate type for permitting travel of the robots 202, 204 in the X and Y directions 108, 110 thereon, including (not shown) groove-type rails for receiving vehicle wheels, or protrusion-type rails for engaging wheel recesses. Each rail 206 may comprise a single track or multiple parallel tracks in each of the X and Y directions 108, 110.

[0103] A first, ‘cantilever’ type of robot 202 is shown in more detail in Fig. 3A and includes a body 300, a set of wheels 302 and a lifting device 304. The body 300 contains operational equipment (not shown) for the robot 202 including drive, power and control systems. The wheels 302 permit movement of the robot 202 in one of the X and Y directions, an additional set of wheels (not visible in this view) permitting movement in the other of the X and Y directions, in both cases along the respective rails or tracks 206. One or both sets of wheels can be raised or lowered to permit selective engagement of the rails for movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending in the X-Y plane from the top of the body 300, and a gripping device 308, which is raisable and lowerable from the cantilever element 306. The gripping device 308 is configured to grip or engage a storage container 112; for example, by gripping a part of the storage container 112, or by passively or actively engaging a suitably configured part of the storage container 112.

[0104] A second, ‘internal cavity’ type of robot 204 is shown in more detail in Fig.3B and includes, as an alternative to the cantilevered lifting system, an internal cavity 310 within the body 300 and in which the lifting device 312 including a gripping device (not shown) is located. In this case, the body 300 includes the robot’s operational equipment and a storage space for one or more storage containers 112, for use, for example, while transporting the storage container 112.

[0105] Fig. 3C shows a perspective side view of the robot of Fig. 3B in which the first set of wheels 302 from Fig. 3B are visible. The additional set of wheels referenced above but not shown in Fig. 3B are shown as wheels 303 in Fig. 3C. The additional set of wheels 303 is arranged perpendicular to the first set of wheels 302, to allow rolling of the robot 204 in the X and Y directions on the first and second set of wheels 302, 303 respectively. The first and second set of wheels 302, 303 shown in Fig. 3C may be configured to be independently lowered into engagement with the rails (and conversely raised out of engagement with the rails) to allow the robot 202 to move in the X and Y direction across the arrangement of rails shown in Fig. 2. Although the perspective viewshown in Fig. 3C is of the robot 204 of Fig. 3B, it will be appreciated that a similar perpendicular wheel arrangement maybe applied to the robot 202 of Fig. 3A.Fig. 4- a container

[0106] Fig. 4 shows a perspective view of an example container 400 according to the present disclosure. The container 400 is particularly suited for enabling vertical farming in an automated storage and retrieval system such as that just described with respect to Figs. 1-3C.

[0107] The container 400 may be manipulated in the same way as any storage container 112 in the automated storage and retrieval system. In particular, container 400 can be placed in columns 102 within grid too and can be transported to or from ports 130, 132, where it can be dropped-off or picked-up in the manner described above.

[0108] Container 400 may be manipulated using a robot 202,204, or multiple robots, in any way that a storage container 112 maybe manipulated. The unique identifiers and / or the database related to a storage container 112 may be applied to container 400 and may be expanded, modified, or adapted to carry any additional information useful in the context of vertical farming (for example, details and / or manipulation history of a farmed organism).

[0109] Alternatively, or in addition to these standard modes of operation, the robot 202, 204 maybe configured to carry out operations specific to vertical farming in respect of container 400. For example, the robot 202, 204 may comprise a harvesting device, which may operate in a similar manner to the lifting device 304 and / or gripping device 308. In some examples, the robot 202, 204 maybe configured to provide or remove fluids from container 400. The robot 202, 204 maybe also adapted to carry out sanitation tasks, such as cleaning and / or contamination control. More generally, the robot 202, 204 may be configured to carry out any action described elsewhere in this disclosure that may be carried out by a robot, a vehicle, or a human operator.

[0110] The robot 202, 204 may be configured to adapt its modes of operation to the context of vertical farming. For example, it may slow down (relative to its standard operation speed) when transporting a farmed organism and / or it may utilise alternative path-finding algorithms that minimise the chance of interfering with the vertical farming systems and / or contaminating the farmed organisms.[oiiijTurning now to the structure of the example container 400 of Fig. 4, the container 400 comprises a frame defining a base 410 and side walls 402, 404, 406, 408 upwardly extending from the base 410. As can be seen, the base and side walls define an interior space of the container, which can also be considered as the volume of the container. In Fig. 4, the container 400, in particular its base 410 and side walls 402, 404, 406, 408, delineate essentially a rectangular cuboid. However, it will be appreciated that container 400, along with its base 410 and side walls 402, 404, 406, 408 may also delineate a different parallelepiped or a shape similar to a parallelepiped. It should be understood that the exact shape delineated by the container is not essential, as long as it is suitable for use in an automated storage and retrieval system (e.g., it is stackable and / or structurally resilient and / or encircles the interior space).

[0112] The base 410 and side walls 402, 404, 406, 408 of the example container 400 of Fig. 4 are mostly devoid of material. In particular, other than the frame defining the edges of the container and support members 432 (described in more detail below), the base 410 and side walls 402, 404, 406, 408 are open. This is advantageous because the container 400 thereby increases the amount of light and airflow that can enter the container 400 and reach any farmed organism provided therein. It will be apparent, however, that the base 410 and side walls 402, 404, 406, 408 may in other examples be less open and in some cases may comprise a mesh, grating or solid material.

[0113] The container 400 further comprises a tray fixation mechanism configured to receive and inhibit movement of a tray within the interior space of the container. Where the tray received by the container 400 is configured to support a farmed organism, the container can thereby be used to support a vertical farm in the automated storage and retrieval system. Details of an example tray for use within container 400 will be described below in relation to Figs. 5-7.

[0114] In the particular example shown in Fig. 4, the tray fixation mechanism comprises a flexible portion 424 configured to deform (e.g. elastically) in response to insertion of a tray and thereby exert pressure on and inhibit movement of the tray. In other words, the flexile portion 424 may grip the portion of the tray provided therein to secure the tray in container 400. The tray fixation mechanism in this example also comprises a plurality of coupling portions 420, which are configured to couple to a respective portion of a tray, such as a catch or protrusion of the tray. This will be explained in further detail below with reference to Figs. 5-9.

[0115] It will be appreciated that other arrangements of the tray fixation mechanism are possible. For example, while in Fig. 4 the flexible portion 424 is placed near the base 410 of the container, it may be placed elsewhere on the container. The flexible portion 424 may also comprise flexible hooks or other features not shown in Fig. 4. Also, while the container 400 in Fig. 4 comprises tray fixation mechanisms provided symmetrically at either side 402, 406, of the container, this is optional and other arrangements are possible. In this example, the flexible portions 424 and coupling portions 420 of the tray fixation mechanisms are integral with the frame, however as described elsewhere in this disclosure the features of the tray fixation mechanism may alternatively be in addition to (i.e. not integral with) the frame. It will be appreciated that in some examples there may be more or fewer or none of either flexible portion 424 or coupling portion 420. In some examples, no tray fixation mechanism maybe provided on the container 400 and the securing of a tray within the container maybe performed solely by a feature of the tray.

[0116] The example container 400 in Fig. 4 also comprises a tray guiding portion 422 configured to guide at least a portion of the tray towards the flexible portion 424. In this example the tray guiding portion 422 comprises a first groove.[oir / JContainer 400 also comprises a tray entry portion 426. The tray entry portion 426 guides a received tray towards the tray guiding portion 422. In this example the tray entry portion 426 comprises a second groove having a tapered shape. The tapered shape means that it is simpler to place or insert a tray into the tray guiding portion 426. In general, however, the tray entry portion 426 need not be tapered, and it need not be connected directly to the tray guiding portion 422. Similarly, while the tray entry and guiding portions 426, 422 are made from a connected piece of material in the illustrative example shown in Fig. 4, this need not be the case and other arrangements are possible.

[0118] The example container 400 of Fig. 4 also comprises multiple fluid conduits 430 configured to guide collected fluid towards a target location below the container. These fluid conduits 430 may be particularly suited for expelling excess fluid in a controlled manner to a desired location. As shown in Fig. 4, possible locations for a fluid conduit 430 comprise the bottom of a tray fixation mechanism, or an edge of the container 400. For example, the fluid conduit 430 configured at the bottom of the tray fixation mechanism may guide any fluid that reaches the fixation mechanism in a controlled manner through the base 410 of the container 400. A fluid conduit 430 configured at the bottom of the container 400 may similarly collect and expel any fluid that reaches theframe at that location. A fluid conduit 430 maybe supplemented by any means that may help guide fluids, for example a surface structure such as a rib or a groove, surface treatment, and / or coating.

[0119] Container 400 also comprises support members 432 configured to provide structural support and improve loading capacity of the container 400. In this example, support members 432 comprise an additional piece of framework provided in sides 404 and 408 of container 400 that supplement the existing framework and strengthen container 400. Support members 432 are distinct from the other elements of the frame of the container in that support members 432 do not define the edges of the container but rather are additional elements configured to provide additional support. It will be appreciated that, while support members 432 in Fig. 4 are vertical elements in side walls 404 and 408, support members 432 can additionally or alternatively be configured diagonally or horizontally, or within the interior space.

[0120] Container 400 further comprises multiple interface features 434 configured to enable a vehicle of the automated storage and retrieval system to interact with the container. These interface features 434 enable a gripping device, such as gripping device 308 described with reference to Fig. 3A, to lift and lower the container 400 into and out of a storage grid too and thereby enable automated handling of container 400.

[0121] At least one of the interface features 434 may additionally or alternatively be configured to interface with at least one stacking portion of another container 400, for example another container 400 stacked above or below the present container 400. Through coupling of an interface feature 434 with a stacking portion of another container, relative movement of the two containers can be inhibited. In a particular example, a container 400 may be equipped with protrusions on the outer side of its base, which, when stacked, interact with interface features 434 configured on another container below it. While Fig. 4 shows examples interface features 434 configured on the top part of the frame (i.e., outer part of the frame distant from the base), they maybe also configured elsewhere on container 400.

[0122] It will be appreciated that the features illustrated using Fig. 4 provide advantages and admit of variations as described elsewhere in this disclosure.

[0123] A design parameter related to the container 400 may comprise information related to the size, shape, material, and / or any other parameter of the container 400. To give some concrete examples, a design parameter may relate to a length of any of the size,to a height of the container, to a material used to produce (at least a part of) the container 400, to the maximum load of the container 400, to the placement of any features of the container (e.g., placement of one or more interface features 434, fluid conduits 430, tray entry portions 426), to the shape of any of the features (e.g., to the shape of the tray guiding feature 422), to the size and / or position of an opening in any of the sides 402, 404, 406, 408, to the number, size and / or position of features configured on the container (e.g., to the number of tray entry portions 426, tray guiding portions 422, fluid conduits 430, interface features 434, and / or any other features described in connection with the container 400), or to any other parameter related to (and / or described in connection with) the container 400.Figs.5-7 ~ a tray

[0124] Turning now to Figs. 5-7, an example tray for inserting into a container, such as container 400 of Fig. 4, is shown. Fig. 5 shows the assembled tray 500, which in this example is formed of two parts 550 connected together. It will be appreciated that the parts 550 maybe connected in any suitable manner, for example using clasps or fasteners. By providing a tray 500 formed of two (or more) parts in this way, the tray 500 can be easily assembled and, in examples where the coupling between parts 550 is releasable, also disassembled. In the example shown in Fig. 5, the parts 550 are configured to hold a substrate configured to support the growth of a farmed organism therebetween. In particular, the first and second parts 550 are configured to be opened or disconnected, so that the substrate and / or a farmed organism may be inserted into or otherwise manipulated within the tray 500. When it is desired to modify, remove, or replace the substrate or farmed organism, the parts 550 can again be disconnected to allow easy access to the interior of the tray 500.

[0125] In this example, the parts 550 are symmetrical and may therefore be considered as respective halves of the tray 500, however it will be appreciated that other examples are possible and that the parts 550 maybe asymmetrical. The parts 550 maybe provided as a kit of parts suitable to be assembled to form tray 500, as described in more detail elsewhere in this disclosure. Such a kit of parts maybe assembled using a robot 202, 204 or by a human operator. In alternative examples, the tray 500 may be formed of a single piece.

[0126] Figs. 6 and 7 show one part 550 (half) of tray 500 from a side-on and perspective view respectively, with the inner face visible to better illustrate the internal structure of the tray part 550.

[0127] In this example, each part 550 comprises (a part of) a support structure configured to support a farmed organism. In the particular example shown in Figs. 5-7, the support structure comprises a plurality of shelves or platforms 502 on which farmed organisms can be provided and can grow. For example, a farmed organism maybe a plant, initially introduced into the tray 500 as a seed, and may grow on or over one of the platforms 502 of the support structure. Alternatively or additionally, the farmed organism may be introduced on and / or within a substrate that is supported by (e.g. held in place by) the support structure. The support structure provides the farmed plant with a space where it can develop any of its organs (e.g., root system, stems, foliage etc.). In some examples, the support structure maybe (significantly) different from the support structure shown in Figs. 5-7. For example, it may comprise a compartment, pouch, frame, Petri dish or any other structure that may support a farmed organism within the tray 500. Given the significantly different requirements for cultivation of different organisms, it is to be understood that the example support structure shown in Figs. 5-7 is merely a non-limiting illustration.

[0128] The example tray 500 further comprises features to enable improved flow of fluids, including improved airflow. In the present example, these features include a fluid entry portion 506, fluid exit portion 508, and fluid openings 510. These features will now be described in turn.

[0129] Turning first to the fluid entry portion 506, the example fluid entry portion (shown most clearly in Figs. 5 and 7) comprises a sloped surface on each tray part 550 which slopes downward from an outer edge of the tray part 550 to the centre of the tray 500 (when assembled). When assembled, the tray 500 therefore comprises two such surfaces that act as a funnel to catch liquid falling on the tray from above and guide the liquid toward the centre of the tray 500. In the example shown, the fluid entry portion 506 is configured at the top of the tray 500 and covers substantially the entire width of the tray 500, however it will be appreciated that other arrangements are possible.

[0130] Turning next to the fluid exit portion 508, this portion is configured to guide fluid leaving the tray, such as excess fluid that has not been absorbed by a farmed organism, toward a target location. In the example of Figs. 5-7 the fluid exit portion 508 comprises a plurality of openings provided at the bottom of each tray part 550 throughwhich (excess) fluid can exit the tray 500 in a controlled manner. In the example shown, the tray 500 tapers and is narrower towards the bottom. As a result, the fluid exit portion 508 is provided at the narrowest part of the tray 500, which further improves the control of fluid flow by channelling fluid towards this specific part of the tray 500 for expulsion.

[0131] Turning finally to fluid openings 510, the tray 500 further comprises a plurality of such opening 510 to allow fluids to enter and move through the interior of the tray 550 more effectively. In this example, the openings 510 are provided throughout the fluid entry portion 506 and each platform 502 of the tray. In this example, the openings 510 are provided across essentially the entire width of the tray 500 and enable fluids to flow vertically within the tray. In this example, a part of each opening is provided in each tray part 550, such that when the tray parts 550 are assembled the openings 510 are formed between the tray parts 550. It will be appreciated that other arrangements of openings 510 are possible, however.

[0132] Both liquid fluids entering the tray via the liquid entry portion 506 and gasses such as air can traverse through openings 510 in order to move through the tray 500. Accordingly, the openings 510 improve both liquid and airflow in the tray, improving growing conditions for the farmed organism. In the case of fluid provided to the tray 500, the fluid may be guided from the fluid entry portion 506 to the nearest platform 502 comprised in the support structure, where it may interact with a farmed organism located at or on that platform 502. The fluid may then flow down using any of the openings 510 in the first platform 502 and keep progressing in this manner until the fluid has reached all of the platforms 502 and farmed organisms held within the tray 500. Excess fluid (e.g. fluid not absorbed by a farmed organism or substrate within the tray 500) may then reach the fluid exit portion 508 and be expelled from the tray 500.

[0133] In this example, tray 500 also comprises a securing mechanism configured to secure (e.g. position and inhibit movement of) the tray 500 within an interior space of a container, such as container 400 of Fig. 4. In the present example, a symmetrical part of the securing mechanism is provided on each part (half) 550 of the tray 500, however it will be appreciated that other arrangements are possible.

[0134] In this example, the securing mechanism comprises a tapered portion 504 and a latching portion or mechanism 512. The tapered portion 504 is shaped and configured for interfacing with the tray guiding portion 422 and flexible portion 424 of container 400 described above with respect to Fig. 4. In particular, the tapered portion 504 comprises a tapered protrusion that is configured to slide into the groove of the trayguiding portion 422 and be held by the flexible portion 424. The latching portion 512 is similarly shaped and configured for interfacing with a coupling portion 420 of container 400 described above with respect to Fig.4. In this example, latching portion 512 comprises a latching mechanism configured to latch over and grip a coupling portion 420. Through provision of a tray securing mechanism, in this example embodied by tapered portion 504 and latching portion 512, the tray 500 can be easily inserted into and secured within a container 400.

[0135] It will be appreciated that other arrangements of the securing mechanism of the tray are possible. For example, while the tray 500 in Figs. 5-7 comprises a securing mechanism at either side of the tray, this is optional and other arrangements are possible. It will be appreciated that in some examples there may be more, fewer, or none of either tapered portion 504 or latching portion 512. The securing mechanism may also comprise other features not shown in Figs. 5-7. In some examples, no securing mechanism maybe provided on the tray and the securing may be performed solely by a feature of the container 400.

[0136] Robots 202, 204 may manipulate one or more trays 500, similarly to how they would manipulate a storage container 112 or a container 400. Other parts of an automated storage and retrieval system, such as ports 130, 132, may be also adapted to operate directly with trays. In particular, a robot 202, 204 may transport a tray 500 to / from a port 130, 132 for drop-off or pick-up.

[0137] A robot 202, 204 may be adapted for specific manipulation of a tray 500, for example it maybe adapted to assemble a tray 500 from a kit of parts 550, place a tray 500 in a container 400, remove a tray 500 from a container 400, and / or carry out any other tray-related manipulation tasks described elsewhere in this disclosure.

[0138] It will be appreciated that the features illustrated using Figs. 5-7 provide advantages and admit of variations as described elsewhere in this disclosure.

[0139] A design parameter related to the tray 500 or its part 550 may relate to a length and / or height of the tray 500 or part 550, to the number of platform 502, to the shape and size of the tapered portion 504, to the position and / or size of one or more fluid entry portions 506, to the size and / or shape of the latching portion 512. A design parameter for the tray 500 or the part 550 maybe derived from a design parameter for the container 400 (and vice versa).Figs. 8-9 - a system

[0140] Fig. 8 shows a perspective view of an example system 600 for vertical farming in an automated storage and retrieval system, comprising a container 400 as described with reference to Fig. 4 and a tray 500 as described with reference to Figs. 5-7. In the particular example shown in Fig. 8, the securing mechanism of tray 500 is secured in the tray fixation mechanism of the container. More specifically, at each side of the tray, tapered portion 504 is received and secured in tray guiding portion 422 and flexible portion 424. Similarly, each latching portion 512 is latched over and secured to coupling portion 420.

[0141] System 600 maybe assembled (e.g. by a robot 202, 204) by placing tray 500 into container 400. In the present example, this process may comprise pushing the tray 500 into the flexible portion 424 such that it is gripped by flexible portion 424 and causing latching mechanism 512 to secure to (e.g. latch or clip over) a corresponding coupling portion 420 of the container 400.

[0142] System 600 enables the tray 500 to be efficiently handled within an automated storage and retrieval system, for example using a vehicle or a robot 202, 204 within a grid too as described above. In particular, following insertion of tray 500 into container 400, the resulting system 600 maybe placed into an appropriate position within the grid too by a robot or a vehicle 202, 204. If it is desired to access tray 500, the system 600 can then be similarly removed from the grid too. Other operating procedures are of course also possible. For example, the tray 500 may be received by the container 400 to form the system 600 while the container is already in position within the automated storage and retrieval system. Similarly, instead of removing the entire system 600 when it is desired to remove tray 500, in some examples only the tray 500 may be manipulated or removed without removing the container 400. It will be appreciated that the exact operating protocol will depend on the specific details of the automated storage and retrieval system.

[0143] Once in position, the tray 500 of the system 600 may receive and expel fluids in the manner described above in order to feed, nurture or otherwise support a farmed organism growing in / on the tray 500. While in position, a robot 202, 204 may also manipulate (e.g., harvest, introduce, remove, treat, ...) the farmed organism. If the required manipulation necessitates removal of the system 600 from its position, it maybe removed by a robot 202, 204 in the manner described above.

[0144] Due to the stackable nature of the container 400, multiple systems 600 as shown in Fig. 8 may be positioned in a stack, similarly to the stacks of containers 112 in grid too described in reference to Fig. 1. This provides efficient storage for trays 500 and also enables improved fluid management because the fluid entry portion 506 and fluid exit portion 508 of the trays 500 enable fluid flow to be directed, for example from one tray 500 to a target location (e.g. another tray) below.

[0145] Fig. 9 shows a perspective view of an example multi-tray system 700 for vertical farming in an automated storage and retrieval system. System 700 in this example comprises the same features as the system 600 of Fig. 6, however in this case the system 700 comprises a plurality of trays 500. In the example shown in Fig. 9, only the central tray 500 is secured in a tray guiding portion 422 and flexible portion 424 of the container 400. The other trays 500 are secured in place through their proximity to one another and via their respective latching mechanisms 512 coupling to coupling portions 420 of the container 400. However, it will be appreciated that this is merely one example and in other examples each tray maybe secured by its own tray guiding portion 422 and flexible portion 424 or some other combination of securing mechanisms 504, 512.

[0146] The operating procedures and the benefits described in connection with the single-tray system 600 described in Fig. 8 apply similarly to the multi -tray system 700 shown in Fig. 9.

[0147] It will be appreciated that one benefit of a system 700 with a plurality of trays 500 such as that shown in Fig. 9 is that the combined surface area of the fluid entry portions 506 of the trays 500 is increased relative to that of a single tray, which provides a greater surface area over which fluid falling on the system 700 can be captured and put to use. Another benefit is that, as will be apparent from Fig. 9, a plurality of trays 500 can be efficiently stored and / or moved together in a single container 400.

[0148] For example, one may use the method described in connection with the sixth aspect of the present disclosure to manufacture various containers 400 that give rise to a variety of systems 700 that differ in the spacing between the individual trays 500 configured in said system 700.

[0149] Containers 400 and systems 600, 700 described in this disclosure may possess any and all of the attributes and features of a storage container 112 described above with reference to Figs. 1-3C. It will be appreciated that this advantageously means thatcontainers 400 and systems 600, 700 can be easily incorporated into existing automated storage and retrieval systems.Fig. 10 - a method

[0150] Fig. 10 shows a flowchart of an example method 800 for vertical farming in an automated storage and retrieval system. The method illustrated using Fig. 10 enables more effective fluid management by providing improved control of fluid and allowing for reuse of fluids.

[0151] At step 802, the method comprises receiving a first volume of fluid by a first farming system, such as system 600 or 700 described above in reference to Figs. 8 and 9. In some examples, fluid may reach the first farming system from another farming system, or from a source of fluid (e.g., a hose, sprinkler, pipe, or a reservoir). Advantageously, the fluid may be received directly by a fluid receiving portion of a tray of the first farming system, such as fluid receiving portion 506 of tray 500.

[0152] At step 804, the first volume of fluid is guided towards a first farmed organism supported by a tray held within the first farming system. In some examples, this step may comprise guiding the fluid using a system of one or more openings, pipes, channels, or other structures or features configured to guide fluids. For example, openings 510 of tray 500 described above with reference to Figs. 5-7 maybe used for this purpose.

[0153] The first volume of fluid may be guided via or using a substrate. For example, the tray of the first farming system may comprise a substrate, and the tray may be configured to guide fluids received by the fluid entry portion such that the fluid is absorbed within the substrate and can thereby be provided to the farmed organism growing on / in the substrate.

[0154] After the first volume of fluid reaches the first farmed organism, the first farmed organism may interact with the fluid in any fitting manner. For example, if the first farmed organism is a plant or a fungus, it may absorb fluids or nutrients from the first volume of fluid using its root system (or other appropriate organ). If the farmed organism is an animal, the fluid may provide its required living environment, nutrients, and / or breathing gases. Specifically, if the farmed animal is an aquatic animal, the fluid may provide essential living environment.

[0155] At step 806, at least a portion of the first volume of fluid is expelled from the tray of the first farming system. This may happen passively (e.g., by action of gravityand / or adhesion) and / or using an active system (e.g., the fluid maybe pushed or squirted out). The portion of fluid may comprise excess fluid not absorbed by the substrate or farmed organism and / or waste fluid.

[0156] At step 808, the expelled portion of fluid is received at a target location below the first farming system. It is to be appreciated that the phrase “below” is to be interpreted broadly herein and means simply that fluid expelled from the tray flows in the direction of the target system, for example under the action of gravity. The target location need not be directly underneath the tray, but could for example comprise a drain that is adjacent but nevertheless below the tray. The target location may be any target location described elsewhere in this disclosure, such as another farming system or fluid collection point. The expelled portion of fluid may be re-used or removed from circulation.

[0157] In addition or alternatively to providing nutrition to a farmed organism, the method shown in Fig. 10 may be also used to “flush” the tray and therefore manage possible contamination within the tray, or to influence the environment within said tray. In such examples, the method may be performed while the tray is empty, e.g. while no farmed organism is provided therein.

[0158] A robot 202, 204 maybe adapted to cause the method of Fig. 10 to be carried out. For example, the robot 202, 204 may position a system 600, 700 in an appropriate way, or deliver the fluids to be received by a system 600, 700. A robot 202, 204 may also act as a target location for the fluid expelled at step 806.

[0159] It will be appreciated that this method and its steps may have attributes and effects as described elsewhere in this disclosure, and they may admit variations as described elsewhere in this disclosure.Fig.11 - a controller

[0160] Control and monitoring of the automated storage and retrieval system, including monitoring and storing bin position and controlling bin delivery, retrieval and transport and robot routing and collision avoidance, is performed by a control system shown in Fig. 11 in communication with the robots and / or other controllable system components. For example, the control system may be used to control manufacturing of any products, parts and / or elements of the automated storage and retrieval system, as described herein. Control can be performed locally or remotely and maybe implemented by a processing system, for example in the form of a computing device. Accordingly, themethods described herein may form all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0161] With reference to Fig. 11, a processing system 1100 suitable for carrying out the methods described herein will now be described. Fig. 11 shows a block diagram of one implementation of a processing system 1100 in the form of a computing device within which a set of instructions for causing the computing device to perform any one or more of the methods described herein may be executed. In some implementations, the computing device maybe connected (e.g., networked) to other machines in a Local Area Network (LAN), an intranet, an extranet, or the Internet. The computing device may operate in the capacity of a server or a client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device maybe a personal computer (PC), a tablet computer, a set-top box (STB), a Personal Digital Assistant (PDA), a cellular telephone, a web appliance, a server, a network router, switch or bridge, or any machine capable of executing a set of instructions (sequential or otherwise) that specify actions to be taken by that machine. Further, while only a single computing device is illustrated, the term ‘computing device’ shall also be taken to include any collection of machines (e.g., computers) that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methods described herein.

[0162] The example processing system 1100 includes a processor 1102, a main memory 1104 (e.g., read-only memory (ROM), flash memory, dynamic random-access memory (DRAM) such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM), etc.), a static memory 1106 (e.g., flash memory, static random-access memory (SRAM), etc.), and a secondary memory (e.g., a data storage device 1118), which communicate with each other via a bus 1130.

[0163] Processor 1102 represents one or more general-purpose processors such as a microprocessor, central processing unit, or the like. More particularly, the processor 1102 may be a complex instruction set computing (CISC) microprocessor, reduced instruction set computing (RISC) microprocessor, very long instruction word (VLIW) microprocessor, processor implementing other instruction sets, or processors implementing a combination of instruction sets. Processor 1102 may also be one or more special-purpose processors such as an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a digital signal processor (DSP), network processor, orthe like. Processor 1102 is configured to execute the processing logic (instructions 1122) for performing the operations and steps described herein.

[0164] The processing system 1100 may further include a network interface device 1108. The processing system 1100 also may include any of a video display unit 1110 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 1112 (e.g., a keyboard or touchscreen), a cursor control device 1114 (e.g., a mouse or touchscreen), and an audio device 1116 (e.g., a speaker).

[0165] It will be apparent that some features of the processing system 1100 shown in Fig. 11 maybe absent. For example, the processing system 1100 may have no need for display device 1110 (or any associated adapters). This may be the case, for example, for particular server-side computer apparatuses which are used only for their processing capabilities and do not need to display information to users. Similarly, user input device 1112 may not be required. In its simplest form, processing system 1100 comprises processor 1102 and main memory 1104.

[0166] The data storage device 1118 may include one or more machine-readable storage media (or more specifically one or more non-transitory computer-readable storage media) 1128 on which is stored one or more sets of instructions 1122 embodying any one or more of the methods or functions described herein. The instructions 1122 may also reside, completely or at least partially, within the main memory 1104 and / or within the processor 1102 during execution thereof by the processing system 1100, the main memory 1104 and the processor 1102 also constituting computer-readable storage media 1128.

[0167] The various methods described herein may be implemented by a computer program. The computer program may include computer code arranged to instruct a computer to perform the functions of one or more of the various methods described herein. The computer program and / or the code for performing such methods may be provided to an apparatus, such as a computer, on one or more computer-readable media or, more generally, a computer program product. The computer-readable media may be transitory or non-transitory. The one or more computer-readable media could be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, or a propagation medium for data transmission, for example for downloading the code over the Internet. Alternatively, the one or more computer-readable media could take the form of one or more physical computer-readable media such as semiconductor or solid-state memory, magnetic tape, a removable computer diskette, a random-accessmemory (RAM), a read-only memory (ROM), a rigid magnetic disc, or an optical disk, such as a CD-ROM, CD-R / W or DVD.

[0168] The computer program is executable by the processor 1102 to perform functions of the systems and methods described herein.

[0169] In an implementation, the modules, components, and other features described herein can be implemented as discrete components or integrated in the functionality of hardware components such as ASICS, FPGAs, DSPs, or similar devices.

[0170] A ‘hardware component’ is a tangible (e.g., non-transitory) physical component (e.g., a set of one or more processors) capable of performing certain operations and may be configured or arranged in a certain physical manner. A hardware component may include dedicated circuitry or logic that is permanently configured to perform certain operations. A hardware component may be or include a special-purpose processor, such as a field programmable gate array (FPGA) or an ASIC. A hardware component may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations.

[0171] Accordingly, the phrase ‘hardware component’ should be understood to encompass a tangible entity that may be physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate in a certain manner or to perform certain operations described herein.

[0172] In addition, the modules and components can be implemented as firmware or functional circuitry within hardware devices. Further, the modules and components can be implemented in any combination of hardware devices and software components, or only in software (e.g., code stored or otherwise embodied in a machine-readable medium or in a transmission medium).Operation of an automated storage and retrieval system

[0173] In operation, each storage container 112 is given a unique identifier, which maybe marked on the storage container 112 using a computer-readable identifier (e.g., a barcode, quick-response code or radio-frequency identification tag) to ease identification of the storage container 112. A processing system may be present. A database of the processing system may store, in association with the unique identifier, the position and, optionally, content of each storage container 112. When a storage container 112 is moved(e.g., when it is retrieved from the grid too), the database may be updated to record its change in position.

[0174] When it is desired to retrieve a storage container 112 from the grid too, for example under control of the processing system, a robot 202, 204 is routed via the rail system 116 to the vertical column 102 including the storage cell where the storage container 112 is positioned, and the lifting device 304, 312 is positioned (according to robot type) over the corresponding access opening 124, either adjacent or below the robot 202, 204. The robot 202, 204 lowers the gripping device 308 which engages, grips and lifts the storage container 112 to the robot 202, 204. The robot 202, 204 then transports the storage container 112, for example, to the drop-off port column 126, 128 for delivery to the port 130, 132 and subsequent processing external to the grid too. In the event that the target or designated storage container 112 is below other storage containers in the stack then the robot 202, 204 or multiple robots, which may be dedicated to the task, are controlled in a ‘digging’ operation to sequentially lift and reposition, temporarily or permanently, storage containers above the target storage container 112 in order for it to be retrieved. It will be appreciated that other operations in relation to the storage container 112 can be carried out in a similar manner. For example, a storage container 112 can be delivered for storage in the grid too at the port 130, 132 of the pick-up port column 126, 128, gripped and lifted by a robot 202, 204 and delivered to the desired storage cell, storage containers above the desired position being repositioned if necessary as discussed above. Similar operations maybe carried out also in connection with the container 400, the tray 500, the system 600, 700, or a manufactured element 1210.

[0175] Similarly, the robot 202, 204 may stack a plurality of systems 600, 700 according to the fourth aspect of the present disclosure to carry out the method 800 according to the fifth aspect.

[0176] In at least some situations, the automated storage and retrieval system may issue a command to one or more manufacturing devices to manufacture one or more demanded elements. The command may be issued, for example, because it is desired to scale up the farming operation and more systems 600, 700 are needed, and / or because a container 400, tray 500, and / or system 600, 700 broke during operation, and / or because the automated storage and retrieval system determined that a particular system 600, 700 is structurally degraded (e.g., due to its age and / or usage history). The command, which may comprise the first signal described in connection with the sixth aspect of the present disclosure, may also contain additional data, for example the number of trays 500 desiredin the manufactured system 700, a dimension of the manufactured container 400, and / or data related to the desired manufacturing materials.

[0177] Once the command is received by the one or more manufacturing devices, they may proceed to carry out the manufacturing method as described in connection with the sixth aspect of the present disclosure.

[0178] Naturally, other modes of operation are possible as well, some of which have been described elsewhere in the present application.Penultimate comments

[0179] It is to be understood that the above description is intended to be illustrative, and not restrictive. Many other implementations will be apparent to those of skill in the art upon reading and understanding the above description. Although the present disclosure has been described with reference to specific example implementations, it will be recognized that the disclosure is not limited to the implementations described but can be practiced with modification and alteration within the spirit and scope of the appended claims. Accordingly, the specification and drawings are to be regarded in an illustrative sense rather than a restrictive sense. The scope of the disclosure should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

[0180] The phrase “organism”, used herein, should be understood broadly and should encompass any living matter and any matter capable of growth, metabolism, or reproduction, suitable to be farmed in an automated storage and retrieval system. The farmed organism referred to herein may be a plant (e.g. a fruit, vegetable or herb), a fungus, a bacterium, an animal, or any similar organism, or any item that may lead to reproduction and / or growth of these organisms, such as an egg, an embryo, a spore, a seed, a structure for vegetative reproduction, or any similar item. In general, the farmed organism may be any organism suitable for being farmed, grown, cultivated, or reproduced.

[0181] Additionally, it is to be understood that various organisms require different adaptations of the invention disclosed herein, based on, among others, their fluid / nutrition / light / airflow provision requirements, the structure of their organs, and other attributes apparent to a skilled person. For example, a system for growing plants may be different from a system adapted for growing mushrooms, or from a system forcultivation of bacteria, or for animals (e.g., aquaculture). These organism-specific details will be apparent to a person skilled in the appropriate sub-area of farming.

[0182] Likewise, it should be understood that the embodiments of the invention described in this disclosure may significantly vary in size. The size of these embodiments may depend on the farmed organism and / or details of the automated storage and retrieval system wherein the embodiments are being used. In general, any size scale on which it is feasible to provide a container may be appropriate for a particular embodiment of the invention disclosed herein.

[0183] In general, any of the aspects and examples of the present disclosure may be adapted for use in an automated storage and retrieval system as described in connection with Figs. 1-3C. It should be understood that the aspects and examples of the present disclosure may be interoperable with prior-art automated storage and retrieval systems.

[0184] It will be appreciated that references herein to actions such as “assembly”, “disassembly”, “removal”, “insertion”, “harvesting”, “manipulation” and their derivatives, variants and / or more concrete examples may refer to actions carried out by a robot, a vehicle, or a human operator within the automated storage and retrieval assembly.Clauses

[0185] This disclosure comprises the following clauses:1. A container for vertical farming in an automated storage and retrieval system, comprising:a frame defining a base and side walls upwardly extending from the base, the base and side walls defining an interior space; anda tray fixation mechanism configured to receive and secure a tray configured to support a farmed organism within the interior space.2. The container of clause 1, further comprising a tray guiding portion configured to guide at least a portion of the tray towards the tray fixation mechanism, optionally wherein the tray guiding portion comprises a first groove.3. The container of clause 2, further comprising a tray entry portion configured to receive the tray prior to the tray guiding portion and to guide the tray towards the tray guiding portion,optionally wherein the tray entry portion comprises a second groove,further optionally wherein the tray entry portion tapers towards the tray guiding portion.4. The container of any preceding clause, wherein at least one of the tray fixation mechanism, tray guiding portion, and tray entry portion are integral with the frame.5. The container of any preceding clause, wherein the tray fixation mechanism comprises a flexible portion configured to exert pressure on the received tray to thereby inhibit its movement.6. The container of clause 5, wherein the flexible portion is configured to elastically deform upon receiving the tray.7. The container of any preceding clause, wherein the container comprises a fluid conduit configured to guide collected fluid towards a target location below the container.8. The container of clause 7, wherein the target location comprises one or more of: a fluid collection point, another container of the automated storage and retrieval system, and / or another tray configured to support a farmed organism.9. The container of any preceding clause, wherein the frame comprises at least one support member configured to provide structural support to the container.10. The container of any preceding clause, further comprising one or more interface features configured to enable a vehicle of the automated storage and retrieval system to interact with the container,optionally wherein the one or more interface features are configured to enable a vehicle of the automated storage and retrieval system to interact with the container from above.11. The container of any preceding clause, wherein the frame comprises at least one stacking portion configured to inhibit relative movement of an additional container stacked above or below the container.12. A tray for vertical farming in an automated storage and retrieval system, comprising:a support structure configured to support a farmed organism; a fluid entry portion configured to receive and guide fluid toward the support structure for providing to the farmed organism; anda fluid exit portion configured to expel excess fluid from the tray.13. The tray of clause 12, wherein the fluid exit portion is configured to expel excess fluid from the tray towards a target location below the container, optionally wherein the target location comprises one or more of: a fluid collection point, another container of the automated storage and retrieval system, and / or another tray configured to support a farmed organism.14. The tray of clause 12 or 13, wherein the fluid entry portion comprises a sloped portion, optionally a funnel.15. The tray of any of clauses 12-14, wherein the tray comprises a securing mechanism configured to position and inhibit movement of the tray within an interior space of a container, optionally wherein the securing mechanism is configured to be received by a tray fixation mechanism of the container.16. The tray of clause 15, wherein the securing mechanism comprises:a protrusion, optionally wherein the protrusion is tapered; and / ora latching portion configured to interface with a coupling portion of a container.17. The tray of any of clauses 12-16, further comprising a substrate, supported by the support structure, configured to support the growth of the farmed organism.18. The tray of any of clauses 12-17, wherein the support structure is configured to enable the farmed organism to grow in at least two directions.19. The tray of any of clauses 12-18, wherein the tray is configured to provide access to the farmed organism from at least two directions,optionally wherein the support structure is configured to enable the farmed organism to be harvested by a vehicle of the automated storage and retrieval system from the at least two directions.20. The tray of any of clauses 12-19, wherein the tray comprises first and second parts, optionally wherein the first and second parts are configured to hold a substrate configured to support the growth of the farmed organism therebetween.21. The tray of any of clauses 12-20, wherein the tray is configured to confine fluid received by the fluid entry portion within the tray prior to expelling the fluid from the fluid exit portion.22. The tray of clause 21, wherein the tray is configured to guide fluid received by the fluid entry portion such that, when a substrate is present in the tray, the fluid is absorbed within the substrate.23. The tray of any of clauses 12-22, further comprising one or more openings, channels, or conduits within the tray configured to facilitate fluid flow through the interior of the tray.24. A kit of parts suitable to be assembled to form the tray of any of clauses 12-23, optionally wherein the kit of parts comprises two parts that can be joined together to form the tray of any of clauses 12-23.25. A system for vertical farming in an automated storage and retrieval system, comprising:a container comprising a frame defining a base and side walls upwardly extending from the base, the base and side walls defining an interior space; anda tray comprising:a support structure configured to support a farmed organism; a fluid entry portion configured to receive and guide fluid toward the support structure for providing to the farmed organism; anda fluid exit portion configured to expel excess fluid from the tray; wherein the tray is secured in the interior space of the container by a tray fixation mechanism of the container and / or a securing mechanism of the tray.26. The system of clause 25, wherein the container is arranged as described in any of clauses 1-11 and / or wherein the tray is arranged as described in any of clauses 12-23.27. The system of clause 25, comprising a plurality of trays, optionally wherein each tray is arranged as described in any of clauses 12-23 or clause 25.28. A method for vertical farming in an automated storage and retrieval system, the method comprising:receiving a first volume of fluid by a first farming system, wherein the first farming system is configured as set out in any of clauses 25-27;guiding the first volume of fluid towards a first farmed organism supported by a tray held within the first farming system;expelling at least a portion of the first volume of fluid from the tray of the first farming system; andreceiving the expelled portion of fluid at a target location below the farming system.29. The method of clause 28, wherein the target location is at least one of:a tray supporting a second farmed organism, optionally a fluid entry portion of said tray;a container, optionally wherein the first farming system is stacked on the container; ora vehicle in the automated storage and retrieval system.30. The method of clause 28 or 29, wherein, prior to being expelled from the first farming system, the at least a portion of the first volume of fluid is confined within the tray of the first farming system.31. The method of clause 30, wherein the tray of the first farming system comprises a substrate, and wherein the tray is configured to guide fluid received by the fluid entry portion such that the fluid is absorbed within the substrate prior to at least a portion of the fluid being expelled from the fluid exit portion.32. A method of manufacturing an element for vertical farming in an automated storage and retrieval system, the method comprising:manufacturing, using an additive manufacturing technique, the element from at least one material;wherein the manufactured element comprises at least one of:- the container according to any of clauses 1-11:- the tray according to any of clauses 12-22; and- a part suitable to be provided in the kit of parts according to clause 24.33- The method of clause 32, wherein the at least one material comprises at least one of: a reinforced polymer; a fiber-infused composite; and recycled or biodegradable plastic.34. The method of any of clauses 32-33, further comprising receiving a first signal, wherein the manufacturing is based on the first signal, and wherein the first signal comprises at least one of:an information configured to influence a design parameter of the element; andan information configured to indicate a demand for the element.35. The method of clause 34, wherein the additive manufacturing technique is based on the first signal.36. The method according to any of clauses 32-35, further comprising transmitting a second signal, wherein the second signal comprises at least one of:an information indicating an error condition; andan information indicating successful manufacturing of the element.37. A manufacturing device configured to perform the method according to any of clauses 32-36.38. The manufacturing device according to clause 37, further comprising a controller, the controller configured to receive a first signal, wherein the manufacturing is based on the first signal, and wherein the first signal comprises at least one of:an information configured to influence a design parameter of the element; andan information configured to indicate a demand for the element.39. The manufacturing device according to clause 37 or 38, further comprising a controller, the controller configured to transmit a second signal, wherein the second signal comprises at least one of:an information indicating an error condition; andan information indicating successful manufacturing of the element.40. The manufacturing device of any of clauses 37-39 configured to manufacture a plurality of elements in parallel.41. An automated storage and retrieval system comprising the manufacturing device according to any of clauses 37-40.42. The system according to clause 41, further comprising a system controller configured to provide the first signal in response to at least one of:an event in the system;a user input; andthe second signal.43. A machine-readable medium storing data which defines both a digital representation of the product of the method as recited in any of claims 32-36 and operating instructions adapted to control a manufacturing device to manufacture the product using the digital representation of the product when said data is relayed to the manufacturing device.44. The machine-readable storage medium according to clause 43, further comprising machine-executable instructions configured to, when executed, cause one or more processors to cause the method according to any of clauses 32-36 to be performed.

Claims

1. CLAIMS1. A container for vertical farming in an automated storage and retrieval system, comprising:a frame defining a base and side walls upwardly extending from the base, the base and side walls defining an interior space; anda tray fixation mechanism configured to receive and secure a tray configured to support a farmed organism within the interior space.

2. The container of claim 1, further comprising a tray guiding portion configured to guide at least a portion of the tray towards the tray fixation mechanism, optionally wherein the tray guiding portion comprises a first groove.

3. The container of claim 2, further comprising a tray entry portion configured to receive the tray prior to the tray guiding portion and to guide the tray towards the tray guiding portion, optionally wherein the tray entry portion comprises a second groove, further optionally wherein the tray entry portion tapers towards the tray guiding portion.

4. The container of any preceding claim, wherein the tray fixation mechanism comprises a flexible portion configured to exert pressure on the received tray to thereby inhibit its movement, optionally wherein the flexible portion is configured to elastically deform upon receiving the tray.

5. The container of any preceding claim, wherein the container further comprises at least one of:a fluid conduit configured to guide collected fluid towards a target location below the container;at least one support member configured to provide structural support to the container; and / orone or more interface features configured to enable a vehicle of the automated storage and retrieval system to interact with the container, optionally wherein the one ormore interface features are configured to enable a vehicle of the automated storage and retrieval system to interact with the container from above.

6. A tray for vertical farming in an automated storage and retrieval system, comprising:a support structure configured to support a farmed organism;a fluid entry portion configured to receive and guide fluid toward the support structure for providing to the farmed organism; anda fluid exit portion configured to expel excess fluid from the tray.

7. The tray of claim 6, wherein the fluid entry portion comprises a sloped portion, optionally a funnel.

8. The tray of claim 6 or 7, wherein the tray comprises a securing mechanism configured to position and inhibit movement of the tray within an interior space of a container, optionally wherein the securing mechanism is configured to be received by a tray fixation mechanism of the container, optionally wherein the securing mechanism comprises a protrusion, further optionally wherein the protrusion is tapered.

9. The tray of any of claims 6-8, further comprising a substrate, supported by the support structure, configured to support the growth of the farmed organism.

10. The tray of any of claims 6-9, wherein the tray is configured to provide access to the farmed organism from at least two directions,optionally wherein the support structure is configured to enable the farmed organism to be harvested by a vehicle of the automated storage and retrieval system from the at least two directions.

11. The tray of any of claims 6-10, wherein the tray is configured to confine fluid received by the fluid entry portion within the tray prior to expelling the fluid from the fluid54exit portion, optionally wherein the tray is configured to guide fluid received by the fluid entry portion such that, when a substrate is present in the tray, the fluid is absorbed within the substrate.

12. A kit of parts suitable to be assembled to form the tray of any of claims 6-11, optionally wherein the kit of parts comprises two parts that can be joined together to form the tray of any of claims 6-11.

13. A system for vertical farming in an automated storage and retrieval system, comprising:a container comprising a frame defining a base and side walls upwardly extending from the base, the base and side walls defining an interior space; anda tray comprising:a support structure configured to support a farmed organism; a fluid entry portion configured to receive and guide fluid toward the support structure for providing to the farmed organism; anda fluid exit portion configured to expel excess fluid from the tray; wherein the tray is secured in the interior space of the container by a tray fixation mechanism of the container and / or a securing mechanism of the tray.

14. A method for vertical farming in an automated storage and retrieval system, the method comprising:receiving a first volume of fluid by a first farming system, wherein the first farming system is configured as set out in claim 13;guiding the first volume of fluid towards a first farmed organism supported by a tray held within the first farming system;expelling at least a portion of the first volume of fluid from the tray of the first farming system; andreceiving the expelled portion of fluid at a target location below the farming system.

15. The method of claim 14, wherein the target location is at least one of: a tray supporting a second farmed organism, optionally a fluid entry portion of said tray;a container, optionally wherein the first farming system is stacked on the container; ora vehicle in the automated storage and retrieval system.

16. A method of manufacturing an element for vertical farming in an automated storage and retrieval system, the method comprising:manufacturing, using an additive manufacturing technique, the element from at least one material;wherein the manufactured element comprises at least one of:- the container according to any of claims 1-5;- the tray according to any of claims 6-11;- a part suitable to be provided in the kit of parts according to claim 12.

17. The method of claim 16, wherein the at least one material comprises at least one of: a reinforced polymer; a fiber-infused composite; and recycled or biodegradable plastic.

18. The method according to claim 16 or 17, further comprising receiving a first signal, wherein the manufacturing is based on the first signal, and wherein the first signal comprises at least one of:information representative of a design parameter of the element; andinformation representative of a demand for the element.

19. The method according to any one of claims 16 to 18, further comprising transmitting a second signal, wherein the second signal comprises at least one of:information indicating an error condition;information indicating successful manufacturing of the element.5620. A manufacturing device configured to perform the method according to any of claims 16-19.

21. The manufacturing device of claim 20 configured to manufacture a plurality of elements in parallel.

22. An automated storage and retrieval system comprising the manufacturing device according to any one of claims 20 to 21.

23. The system according to claim 22, further comprising a system controller configured to provide the first signal in response to at least one of:an event in the system;a user input; andthe second signal.

24. A machine-readable medium storing data which defines both a digital representation of the product of the method as recited in any one of claims 16 to 19 and operating instructions adapted to control a manufacturing device to manufacture the product using the digital representation of the product when said data is relayed to the manufacturing device.

25. The machine-readable storage medium according to claim 24, further comprising machine-executable instructions configured to, when executed, cause one or more processors to cause the method according to any of claims 16-19 to be performed.

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