Autonomous Shelf Vehicle Positioning Using Slat Detection

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing storage and retrieval systems face challenges in accurately locating and positioning autonomous transport vehicles relative to case holding areas in warehouses, which affects the efficient picking and placement of case units.

Innovation Solution

The implementation of a storage and retrieval system that includes autonomous transport vehicles equipped with sensors to detect slats on storage shelves, generating signals for incremental or absolute positioning, and a controller that verifies the vehicle's location using a structure file, allowing precise alignment of transfer arms with shelf spaces for accurate item transfer.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If automated transports are used to transport cases to and from storage racks, then productivity is improved, but measurement precision of vehicle location deteriorates

Engineering Contradiction:

Improvetransport efficiencyVSAvoidvehicle location accuracy

Core Design Contradiction:

ProductivityVSMeasurement precision

Solution Approach 1:

The patent introduces position determining features (markings, reflectors, or sensors) as intermediary elements between the autonomous vehicle and the storage structure. These features serve as mediators that enable precise location measurement without requiring complex direct sensing systems on the vehicle, thus maintaining both productivity and measurement precision.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent replaces mechanical positioning systems with optical or electromagnetic sensing systems. Instead of using mechanical encoders or physical guides, the system uses sensors to detect position determining features, enabling more precise and flexible location measurement that doesn't compromise transport efficiency.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If sensors are added to autonomous vehicles for position detection, then measurement precision is improved, but device complexity increases

Engineering Contradiction:

Improvelocation accuracyVSAvoidvehicle system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent divides the positioning system into separate components: position determining features attached to the storage structure and sensors on the vehicle. This segmentation allows the complex measurement function to be distributed, reducing the burden on any single component and making the overall system more manageable despite increased precision capabilities.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent uses position determining features that are replicated at multiple locations throughout the storage structure. These features serve as simple, copyable markers that provide reference points for sensors, enabling accurate positioning without requiring complex processing or multiple sophisticated sensor systems on the vehicle.

Inventive Principle:

Principle #26Copying

3Adaptability or versatility

If the system must handle varying storage configurations and random accessibility, then adaptability is improved, but device complexity increases

Engineering Contradiction:

Improvestorage configuration flexibilityVSAvoidpositioning system complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent implements position determining features and sensors that serve multiple functions: they provide location information, verify vehicle alignment, and work with different storage rack configurations. This universal approach allows the same basic system to handle varying storage arrangements and random accessibility requirements without requiring separate specialized systems for each configuration.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

This solution enables precise and efficient transfer of case units by ensuring accurate vehicle positioning within the storage structure, enhancing the system's ability to handle random accessibility and varying storage configurations, thereby improving operational efficiency and reducing errors.

Implementation Method 1

at least one sensor mounted on the autonomous vehicle and configured to sense each of the slats and generate a signal in response to sensing a slat

Methodology Applied

Scientific EffectSensing:

Data Source

PatentUS11884487B2Autonomous transport vehicle with position determining system and method therefor

Publication Date: 2024.01.30 SYMBOTIC LLC

AI summary

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.