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Bot position sensing

  • US 10,696,479 B2
  • Filed: 03/05/2019
  • Issued: 06/30/2020
  • Est. Priority Date: 12/15/2010
  • Status: Active Grant
First Claim
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1. A storage and retrieval system comprising:

  • a storage structure having storage shelves, each storage shelf having reference datums integrally formed with the storage shelves and being spaced apart from each other by a predetermined distance;

    an autonomous transport vehicle including at least one sensor configured to sense each of the reference datums and output a signal indicating when a reference datum is sensed and a case unit detection sensor configured to detect case units located on the storage shelf; and

    a controller for verifying a location of the autonomous transport vehicle within the storage structure based on at least the output signal and configured to compare a location of the autonomous transport vehicle at a time the reference datum is sensed with a predetermined location of the reference datum and updating a verified location of the autonomous transport vehicle if the locations substantially coincide, wherein the controller is further configured to dynamically update a map of case unit positions of case units located on the storage shelf from the verified location of the autonomous transport vehicle.

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