Automated storage and retrieval system

An autonomous rover comprising:

• a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface;
• a common active registration surface configured to engage the pickface supported on payload supports in the payload bay, where the common active registration surface is distinct and decoupled from the payload supports;
• and
• a drive section connected to the common active registration surface, the drive section being configured to variably position the common active registration surface relative to at least one storage shelf of an automated storage and retrieval system to effect placement of the pickface on the at least one storage shelf so that pickfaces, the placement of each being so effected, are substantially continuously arranged along the at least one shelf with a predetermined storage spacing between the pickfaces.

An autonomous rover comprising:

• a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface;
• a common active registration surface configured to engage the pickface upheld on payload supports in the payload bay, where the common active registration surface is distinct and decoupled from each of the pickface upholding payload supports;
• and
• a drive section connected to the common active registration surface, the drive section being configured to variably position the common active registration surface, free of each of the pickface upholding payload supports, relative to at least the frame.

An automated storage and retrieval system comprises:

• an array of storage locations;
• and
• at least one autonomous rover in communication with the array of storage locations, the at least one autonomous rover including
• a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface;
• a common active registration surface configured to engage the pickface upheld on payload supports in the payload bay, where the common active registration surface is distinct and decoupled from each of the pickface upholding payload supports;
• and
• a drive section connected to the common active registration surface, the drive section being configured to variably position the common active registration surface, free of each of the pickface upholding payload supports, relative to at least the frame.