Autonomous transport vehicle with position determining system and method therefor
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.
1. An autonomous transport vehicle for a storage and retrieval system having a storage structure with storage shelves, the vehicle comprising:
a frame and drive section for autonomous traverse of the storage structure;
a vehicle position determining system connected to the frame configured so as to interface a redundant positioning system including positioning determining features having at least one of radio devices disposed at predetermined locations on supports of the storage structure and reference targets connected to the storage shelves that are spaced apart from each other by a predetermined distance, wherein:
the position determining system includes at least one sensor that includes at least an antenna, for interrogating the radio devices and obtaining position information based on the predetermined location of an interrogated radio device, and is configured to sense each of the reference targets and output a signal indicating when the reference target is sensed; and
a controller for determining, based on the position information from the interrogated radio device of the redundant positioning system, a location of the autonomous transport vehicle, and verifying the location of the autonomous transport vehicle within the storage structure based on at least the output signal.
2. The autonomous transport vehicle of claim 1 , wherein the controller is configured to compare a location of the autonomous transport vehicle at a time the reference target is sensed with a predetermined location of the reference target and update a verified location of the autonomous transport vehicle if the locations substantially coincide.
3. The autonomous transport vehicle of claim 1 , wherein the positioning determining features are configured to provide a position of the autonomous transport vehicle upon an initialization of the autonomous transport vehicle.
4. The autonomous transport vehicle 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.
5. The autonomous transport vehicle 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.
6. The autonomous transport vehicle of claim 5 , 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.
7. The autonomous transport vehicle 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 targets 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 targets.
8. The autonomous transport vehicle of claim 1 , wherein the autonomous transport vehicle includes a case unit detection sensor configured to detect case units located on the storage shelf and the controller is further configured to determine a position of the autonomous transport vehicle based on the sensed case units.
9. The autonomous transport vehicle of claim 1 , wherein the reference targets are configured to support case units stored on a respective storage shelf.
10. A method comprising:
providing an autonomous transport vehicle having a frame and drive section for autonomous traverse of a storage structure, with storage shelves, of a storage and retrieval system;
providing a vehicle position determining system connected to the frame to interface a redundant positioning system including positioning determining features having radio devices disposed at predetermined locations on supports of the storage structure and reference targets connected to each storage shelf that are spaced apart from each other by a predetermined distance;
sensing each of the reference targets with at least one sensor of the vehicle position determining system that includes at least an antenna, for interrogating the radio devices and obtaining position information based on the predetermined location of an interrogated radio device, and outputting a signal indicating when the reference target is sensed;
determining, with a controller, based on the position information from the interrogated radio device of the redundant positioning system, a location of the autonomous transport vehicle; and
verifying, with the controller, the location of the autonomous transport vehicle within the storage structure based on at least the output signal.
11. The method of claim 10 , further comprising comparing a location of the autonomous transport vehicle at a time the reference target is sensed with a predetermined location of the reference target and updating a verified location of the autonomous transport vehicle if the locations substantially coincide.
12. The method of claim 10 , wherein the positioning determining features are configured to provide a position of the autonomous transport vehicle upon an initialization of the autonomous transport vehicle.
13. The method of claim 10 , wherein the controller ignores the output signal of the at least one sensor where the locations do not substantially coincide.
14. The method of claim 10 , 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.
15. The method of claim 14 , further comprising obtaining, with the controller, wheel encoder information from the autonomous transport vehicle for updating the estimated location of the autonomous transport vehicle.
16. The method of claim 10 , further comprising aligning transfer arm fingers of the autonomous transport vehicle with spaces located between the reference targets 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 targets.
17. The method of claim 10 , further comprising:
detecting, with the autonomous transport vehicle, case units located on the storage shelf; and
determining, with the controller, a position of the autonomous transport vehicle based on the sensed case units.
18. The method of claim 10 , wherein the reference targets support case units stored on a respective storage shelf.
19. A method comprising:
providing an autonomous transport vehicle having a frame and drive section for autonomous traverse of at least one vertical lift having at least one shelf;
providing a vehicle position determining system connected to the frame to interface a redundant positioning system including positioning determining features having radio devices disposed at predetermined locations on the at least one vertical lift and reference targets connected to at least one wall adjacent the at least one vertical lift, the reference targets being aligned with at least one predetermined storage position on the at least one shelf;
sensing each of the reference targets with at least one sensor of the vehicle position determining system that includes at least an antenna, for interrogating the radio devices and obtaining position information based on the predetermined location of an interrogated radio device, and outputting a signal indicating when the reference target 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, based on the position information from the interrogated radio device of the redundant positioning system, the determined location of the autonomous transport vehicle relative to the predetermined shelf; and
verifying, with the controller, the 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.
20. The method of claim 19 , further comprising comparing a location of the autonomous transport vehicle at a time a reference target is sensed with a predetermined location of the reference target and updating a verified location of the autonomous transport vehicle if the locations substantially coincide.
21. The method of claim 19 , wherein the positioning determining features are configured to provide a position of the autonomous transport vehicle upon an initialization of the autonomous transport vehicle.
22. The method of claim 19 , wherein the at least one shelf includes at least two item holding locations, the method further comprising aligning a transfer arm of the autonomous transport vehicle with one of the at least two item holding locations based on the output signal from the at least one sensor.
23. The method of claim 19 , further comprising ignoring the out signal from the at least one sensor where the locations do not substantially coincide.
24. The method of claim 19 , further comprising continually updating an estimated location of the autonomous transport vehicle based on a last known verified location of the autonomous transport vehicle.
25. An autonomous transport vehicle for a storage and retrieval system having at least one vertical lift with at least one shelf, the autonomous transport vehicle comprising:
a frame and a drive section for autonomous traverse of the at least one vertical lift;
a vehicle position determining system connected to the frame so as to interface a redundant positioning system including positioning determining features having at least one of radio devices disposed at predetermined locations on the at least one vertical lift and reference targets connected to at least one wall adjacent the at least one vertical lift, the reference targets being substantially aligned with at least one storage position on the at least one shelf, wherein:
the vehicle position determining system includes at least one sensor that includes at least an antenna, for interrogating the radio devices and obtaining position information based on the predetermined location of an interrogated radio device, and is configured to sense each of the reference targets and output a signal indicating when the reference target 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, based on the position information from the interrogated radio device of the redundant positioning system, the determined location of the autonomous transport vehicle relative to the predetermined storage position on the predetermined shelf, and
verify the location of the autonomous transport vehicle within a structure of the storage and retrieval system based on at least the output signal.
26. The autonomous transport vehicle of claim 25 , wherein the controller is further configured to compare a location of the autonomous transport vehicle at a time the reference target is sensed with a predetermined location of the reference target and update a verified location of the autonomous transport vehicle if the locations substantially coincide.
27. The autonomous transport vehicle of claim 25 , wherein the positioning determining features are configured to provide a position of the autonomous transport vehicle upon an initialization of the autonomous transport vehicle.
28. The autonomous transport vehicle of claim 25 , wherein the at least one shelf includes at least two item holding locations and the autonomous transport vehicle includes a transfer arm, the autonomous transport vehicle being configured to align the transfer arm with one of the at least two item holding locations based on the output signal from the at least one sensor.