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

• Current Assignee: Symbotic, Llc
• Original Assignee: Symbotic, Llc
• Inventors: Sullivan, Robert, Cyrulik, Michael, Toebes, Stephen C.
• Primary Examiner(s): Alharbi, Adam M
• Application Number:
  US16/292,611
• Publication Number:
  US 20190193937A1
• Time in Patent Office: 483 Days
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/69 Coordinated control of the position or course of two or more vehicles

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.

Claims

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.

2. The storage and retrieval system of claim 1, wherein the controller is further configured to ignore the output signal of the at least one sensor where the locations do not substantially coincide.

3. The storage and retrieval system of claim 1, wherein the controller is configured to continuously update an estimated location of the autonomous transport vehicle based on a last known verified location of the autonomous transport vehicle.

4. The storage and retrieval system of claim 3, wherein the autonomous transport vehicle includes at least one wheel encoder and the controller is further configured to obtain wheel encoder information for updating the estimated location of the autonomous transport vehicle.

5. The storage and retrieval system of claim 1, wherein the autonomous transport vehicle is configured to align transfer arm fingers of the autonomous transport vehicle with spaces located between the reference datums of a respective storage shelf based on the determined location of the autonomous transport vehicle for extending the transfer arm fingers into the spaces without contacting the reference datums.

6. The storage and retrieval system of claim 1, wherein the controller is configured to compare the position of each detected case unit located on the storage shelf with the map position of each case unit located on the storage shelf, previously registered by the controller.

7. The storage and retrieval system of claim 1, wherein the reference datums are configured to support case units stored on a respective storage shelf.

8. The storage and retrieval system of claim 1, wherein the storage structure further includes positioning determining features having radio devices disposed at predetermined locations on supports of the storage structure and the at least one sensor includes at least an antenna for interrogating the radio devices and obtaining information regarding a predetermined location of an interrogated radio device.

9. The storage and retrieval system of claim 8, wherein the positioning determining features and at least the antenna are configured to provide a position of the autonomous transport vehicle upon an initialization of the autonomous transport vehicle.

10. The storage and retrieval system of claim 8, wherein the at least one sensor is movably mounted to the autonomous transport vehicle and biased towards the positioning determining features.

11. A method comprising:

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.

12. The method of claim 11, wherein the controller ignores the output signal of the at least one sensor where the locations do not substantially coincide.

13. The method of claim 11, further comprising continuously updating an estimated location of the autonomous transport vehicle, with the controller, based on a last known verified location of the autonomous transport vehicle.

14. The method of claim 13, further comprising obtaining, with the controller, wheel encoder information from the autonomous transport vehicle for updating the estimated location of the autonomous transport vehicle.

15. The method of claim 11, further comprising aligning transfer arm fingers of the autonomous transport vehicle with spaces located between the reference datums of a respective storage shelf based on the determined location of the autonomous transport vehicle for extending the transfer arm fingers into the spaces without contacting the reference datums.

16. The method of claim 11, further comprising comparing, with the controller, the position of each detected case unit located on the storage shelf with the map position of each case unit located on the storage shelf, previously registered by the controller.

17. The method of claim 11, wherein the reference datums support case units stored on a respective storage shelf.

18. The method of claim 11, further comprising providing positioning determining features having radio devices at predetermined locations on supports of the storage structure and interrogating, with at least an antenna of the at least one sensor, the radio devices and obtaining information regarding a predetermined location of an interrogated radio device.

19. The method of claim 18, further comprising providing, with the positioning determining features and at least the antenna, a position of the autonomous transport vehicle upon an initialization of the autonomous transport vehicle.

20. The method of claim 18, wherein the at least one sensor is movably mounted to the autonomous transport vehicle and biased towards the positioning determining features.