Storage and retrieval system case unit detection

A warehouse automated storage and retrieval system for transport and storage of cases of wares in a ware case storage room, the warehouse automated storage and retrieval system comprising:

• a storage structure with an array of storage locations distributed on at least one storage shelf having a seating surface configured to support ware case units freely throughout the seating surface on the at least one storage shelf;
• a controller, where each ware case unit has a predetermined storage position in which the ware case unit is seated on the at least one storage shelf and the controller is configured to determine the predetermined storage position;
• and
• a disturbance restorative system including
• at least one autonomous transport vehicle with a detection sensor disposed in an aisle adjoining the at least one storage shelf,
• a disturbance control module in communication with the at least one autonomous transport vehicle and detection sensor and configured to identify a disturbance to at least one of the ware case units and a characteristic of the at least one disturbed ware case unit due to a disturbance type causing the disturbance from different disturbance types, and
• wherein the disturbance restorative system is configured so that the disturbance restorative system initiates a corrective action from a number of different corrective actions based on the different disturbance types.