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Method and apparatus for mapping a warehouse rack structure for a storage and retrieval machine

  • US 5,699,281 A
  • Filed: 11/17/1995
  • Issued: 12/16/1997
  • Est. Priority Date: 11/17/1995
  • Status: Expired due to Fees
First Claim
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1. A method of mapping a rack structure having a plurality of racks, the method comprising the steps of:

  • creating a logical matrix, said logical matrix storing information pertaining to the locations of said plurality of racks, and said logical matrix forming an initial map of said rack structure;

    updating said logical matrix, said updating step including the steps ofcausing a moveable device to travel to a first rack, said first rack being one of said plurality of racks,producing a first machine-readable distance measurement output, said producing step including the step of using a first sensor which produces said first machine-readable distance measurement output, said first machine-readable distance measurement output representing a first distance, said first distance being a distance between said first sensor and a first position on said rack structure,and wherein said logical matrix is updated based on said first machine-readable distance measurement output; and

    repeating said updating step for additional racks of said plurality of racks so as to create an updated map of said rack structure, said updated map being more accurate than said initial map.

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