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 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.
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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.
199 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 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. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. 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. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method comprising:
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providing at least one vertical lift having at least one shelf; providing reference datums on at least one wall adjacent the at least one vertical lift, the reference datums being aligned with at least one predetermined storage position on the at least one shelf; 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; aligning a payload of the autonomous transport vehicle with a predetermined storage position on a predetermined shelf of the at least one vertical lift based on a determined location of the autonomous transport vehicle; determining, with a controller, the determined location of the autonomous transport vehicle relative to the predetermined shelf based on the output signal from the at least one sensor; verifying a location of the autonomous transport vehicle within a storage structure of a storage and retrieval system based on at least the output signal from the at least one sensor, and comparing a location of the autonomous transport vehicle at a time a 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. - View Dependent Claims (16, 17, 18)
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19. A storage and retrieval system comprising:
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at least one vertical lift having at least one shelf; at least one wall adjacent the at least one vertical lift, the wall including reference datums that are substantially aligned with at least one storage position on the at least one shelf; 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, where the autonomous transport vehicle is configured to align a payload of the autonomous transport vehicle with a predetermined storage position on a predetermined shelf of the at least one vertical lift based on a determined location of the autonomous transport vehicle; and a controller configured to determine the determined location of the autonomous transport vehicle relative to the predetermined storage position on the predetermined shelf based on the output signal from the at least one sensor; verify a location of the autonomous transport vehicle within a structure of the storage and retrieval system based on at least the output signal; and 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 update a verified location of the autonomous transport vehicle if the locations substantially coincide. - View Dependent Claims (20)
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Specification