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AssigneeAutostore Technology AS
InventorsBjørnar Berge Lie, Jonas Lægreid Haldorsen
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A system tracks the position of a container handling vehicle on a grid, following a route relative to rails on a frame structure forming a storage grid. The vehicle has first and second sets of wheels connected to drives for moving the vehicle in corresponding x- and y-directions on the grid. The vehicle receives information of number of rails to pass between start and stop positions in x- and y-directions according to the route from a central computer system. The container handling vehicle has at least one camera mounted underneath to film downwards while the container handling vehicle is in motion, a computer system with an image processing algorithm to process the transferred images and detect the rails in the images, and the camera is positioned so as to be able to capture at least one rail in the x-direction and one rail in the y-direction while the container handling vehicle is positioned over a column.
A system for tracking the position of a container handling vehicle on a grid, following a route relative to rails on a frame structure forming a storage grid, the vehicle having first and second sets of wheels connected to drives for moving the vehicle in corresponding x- and y-directions on the grid, said vehicle comprises a vehicle computer configured for receiving information of number of rails to pass between start and stop positions in x- and y-directions according to the route from a central computer system, wherein the container handling vehicle has at least one camera mounted underneath to film downwards while the container handling vehicle is in motion, and wherein the at least one camera is a 3D time-of-flight camera, a computer system with an image processing algorithm to process images from the camera and detect the rails in the images, and the camera is positioned so as to be able to capture at least one rail in the x-direction and one rail in the y-direction while the container handling vehicle is positioned over a column.
A method for tracking the position of a container handling vehicle following a route relative to rails laid out on a frame structure forming a storage grid, the vehicle having first and second sets of wheels connected to drives for moving the vehicle in corresponding x- and y-directions on the grid, comprising:
Dependencies are inferred from the claim text.