Storage Grid Vehicle Position Sensing at Track Crossings
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Solution Overview
Problem
Existing methods for tracking the position of remotely operated vehicles on storage grids are complex and not very precise, particularly when using integrated tracking devices to detect crossings relative to a frame structure.
Innovation Solution
The use of sensors attached to wheel supports on a remotely operated vehicle to detect and monitor track crossings in x- and y-directions, with active sensors measuring crossings and passive sensors measuring distance to the next crossing, transmitting signals to a controller for precise control of the vehicle's movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If integrated tracking devices are used to detect track crossings, then the robot can track its position, but the system becomes complex and precision is reduced
Solution Approach 1:
The tracking system is segmented into multiple simple sensors distributed at different wheel supports rather than using a single complex integrated tracking device. Each sensor independently detects track crossings or measures distance to the next crossing, and the controller integrates these segmented measurements to determine overall position, achieving high precision through distributed simple components
Solution Approach 2:
The patent replaces complex mechanical/electronic integrated tracking devices with simple optical or electromagnetic sensors that detect track crossings by sensing changes in the track structure. This substitution uses basic sensing principles instead of complex tracking mechanisms, reducing device complexity while maintaining or improving measurement precision
2Reliability
If sensors are attached to all wheel supports, then complete position tracking is achieved, but device complexity increases
Solution Approach 1:
Instead of attaching sensors to all wheel supports, the system uses partial action by placing sensors only at selected wheel supports (at least one in x-direction, one in y-direction). The controller compensates for the partial sensing by calculating position based on the subset of sensor data, achieving sufficient reliability without the complexity of complete coverage
Solution Approach 2:
The sensors serve multiple functions: they detect track crossings, measure distance to next crossings, and provide data for both x and y direction positioning. This multi-functionality allows the sensor system to achieve comprehensive position tracking reliability with fewer sensors, reducing overall system complexity
Data Source
AI summary
A vehicle for an automated storage and retrieval system is configured to follow a set route on a track being laid out in the automated storage and retrieval system and having one or more track features. The vehicle includes a first set of wheels capable of moving the vehicle in a first direction; a second set of wheels capable of moving the vehicle in a second direction perpendicular to the first direction; and a plurality of sensors attached to the vehicle and configured to detect track features and to measure a distance to a track feature while the vehicle is moving in the first direction or the second direction.