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 where a position of each ware case unit is non-deterministic for each storage location on the at least one storage shelf;
• a controller, where each ware case unit has a predetermined storage position in which a ware case unit is seated on the at least one storage shelf and the controller is configured to determine the predetermined storage position, where the controller is configured to generate different ware case unit position correction commands corresponding to different variance types;
• and
• a disturbance restorative system including
• at least one disturbance detection sensor disposed on the at least one storage shelf,
• a disturbance control module in communication with the at least one disturbance detection sensor and configured to identify a disturbance, and
• wherein the disturbance restorative system is configured so that the disturbance restorative system initializes a case mapper of the disturbance restorative system in response to the disturbance control module, wherein an automated guided vehicle within the storage structure traverses the storage structure relative to the at least one storage shelf to identify a ware case unit seated position type of at least one ware case unit within the storage structure from different ware case unit seated position types.

A method for automated storage and retrieval of cases in a case storage room within an automated storage and retrieval system, the method comprising:

• providing a storage structure with storage racks configured to support case units;
• determining, with a controller, a predetermined storage position for each case unit, where each case unit is seated on the storage racks in the respective predetermined storage position;
• providing a picking aisle configured to provide access to the case units within the storage structure;
• traversing, with an automated case mapper, the picking aisle, and identifying a seated position of at least one case unit within the storage structure;
• comparing, with the controller, an identified seated position of the at least one case unit received from the case mapper with the predetermined storage position of the at least one case unit and identifying a variance between the identified seated position and the predetermined storage position of the at least one case unit;
• and
• generating, with the controller, a command with information for case unit position correction based on a variance type, where the controller is configured to generate different case unit position correction commands corresponding to different variance types.