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

Claim 9:
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.