Storage and retrieval system transport vehicle

An automated storage and retrieval system autonomous transport vehicle comprising:

• a frame having a longitudinal axis and forming a payload section configured to hold one or more payload items;
• a justification member disposed within the payload section so as to move transverse to the longitudinal axis;
• a transfer arm disposed as least partly within the payload section;
• and
• a controller connected to the justification member and the transfer arm, the controller being configured to control a combined movement of the justification member and the transfer arm to effect an on-the-fly sorting of the one or more payload items carried in the payload section with respect to each other.

An automated storage and retrieval system autonomous transport vehicle comprising:

• a frame having a longitudinal axis and forming a payload section configured to hold one or more payload items;
• a transfer arm that is common to the one or more payload items, the transfer arm being disposed as least partly within the payload section and being configured to hold the one or more payload items, the transfer arm extending transverse to the longitudinal axis along an extension path to transfer the one or more payload items to and from the payload section;
• and
• a payload item justification member disposed within the payload section so as to cross the extension path of the transfer arm, the payload item justification member being independent of the transfer arm and configured so as to engage at least one of the one or more payload items and move transverse to the longitudinal axis, where movement of the payload item justification member is independent of movement of the transfer arm.