Patent ID: 11884487
Assignee: SYMBOTIC LLC
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 0:
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.