Bot position sensing
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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Abstract
A storage and retrieval system including a storage structure having storage shelves, each storage shelf having slats for supporting stored items where the slats are spaced apart from each other by a predetermined distance, an autonomous transport vehicle including at least one sensor configured to sense each of the slats and output a signal indicating when a slat is sensed, and a controller for verifying a location of the autonomous transport vehicle within the storage structure based on at least the output signal.
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Citations
20 Claims
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1. A storage and retrieval system comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method comprising:
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providing a storage structure having storage shelves; providing each storage shelf with reference datums that are integrally formed with the storage shelves and spaced apart from each other by a predetermined distance; sensing each of the reference datums with at least one sensor of an autonomous transport vehicle and outputting a signal indicating when a reference datum is sensed; verifying, with a controller, a location of the autonomous transport vehicle within the storage structure based on at least the output signal and comparing 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; detecting, with a case unit detection sensor of the autonomous transport vehicle, case units located on the storage shelf; and dynamically updating, with the controller, a map of case unit positions of case units located on the storage shelf from the verified location of the autonomous transport vehicle. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification