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

Claim 24:
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.