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

Claim 18:
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.