Bot payload alignment and sensing
First Claim
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1. An autonomous transport robot for transporting a payload comprising:
- a payload bed having at least one reference datum surface with respect to a payload storage location; and
at least one payload justification device;
wherein the at least one payload justification device being configured to position a payload on the payload bed in substantial contact with the at least one reference datum surface that is arranged relative the payload bed to place each payload so that a payload side is at a repeatable predetermined longitudinal position, independent of a payload size, on the payload bed relative to at least a longitudinal axis of the autonomous transport robot.
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Abstract
An autonomous transport robot for transporting a payload, the autonomous transport robot includes a payload bed having at least one reference datum surface and at least one payload justification device, the at least one payload justification device being configured to position a payload on the payload bed in substantial contact with the at least one reference datum surface to place the payload in a predetermined position on the payload bed.
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Citations
20 Claims
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1. An autonomous transport robot for transporting a payload comprising:
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a payload bed having at least one reference datum surface with respect to a payload storage location; and at least one payload justification device; wherein the at least one payload justification device being configured to position a payload on the payload bed in substantial contact with the at least one reference datum surface that is arranged relative the payload bed to place each payload so that a payload side is at a repeatable predetermined longitudinal position, independent of a payload size, on the payload bed relative to at least a longitudinal axis of the autonomous transport robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An autonomous transport robot for transporting a payload within a storage and retrieval system comprising:
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a payload bed having an opening; an effector for transferring the payload to and from the payload bed at least party through the opening; at least one sensor disposed adjacent the opening for sensing a first and second edge of the payload and a controller configured to determine a dimension of the payload based at least in part on the sensing of the first and second edge of the payload and compare the determined dimension of the payload with a predetermined dimension of the payload. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A method comprising:
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providing an autonomous transport robot for transporting a payload within a storage and retrieval system, the autonomous transport robot including a payload bed having an opening and an effector for transferring the payload to and from the payload bed at least partly through the opening; sensing a first and second edge of the payload with at least one sensor disposed adjacent the opening; and with a controller of the autonomous transport robot determining a dimension of the payload based at least in part on the sensing of the first and second edge of the payload, and comparing the determined dimension of the payload with a predetermined dimension of the payload. - View Dependent Claims (18, 19, 20)
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Specification