# US 2018/0022549 A1 · Storage and retrieval system case unit detection > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0022549 A1 - Document ID: US20180022549A1 - Status: Published application - Kind: A1 - Application number: 15/722,936 - Filed: 2017-10-02 - Published: 2018-01-25 - Earliest claimed: 2011-09-09 - Assignees: Symbotic LLC - Applicants: Symbotic, LLC - Inventors: Robert SULLIVAN; Stephen C. TOEBES - Web page: https://patentgrep.com/patent/US20180022549A1 ## CPC - B65G 1/0492: {with cars adapted to travel in storage aisles} - B65G 1/1371: {with data records} - B65G 1/1373: {for fulfilling orders in warehouses} - G05B 15/02: electric - G05D 1/225: operated by off-board computers - G05D 1/245: using dead reckoning - G05D 1/667: Delivering or retrieving payloads - G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management - G06Q 10/087: Inventory or stock management, e.g. order filling, procurement or balancing against orders - G06Q 10/0877: {by inventory control or reporting using inventory tracking or counting} - B65G 2207/20: Earthquake protection - G05D 2105/28: of freight - G05D 2107/70: Industrial sites, e.g. warehouses or factories - G05D 2109/10: Land vehicles - G05D 2111/54: {for measuring the travel distances, e.g. by counting the revolutions of wheels} - G06Q 10/0874: {Inventory fulfillment (shipping G06Q10/083)} - B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR ## Abstract An automated storage and retrieval system including a storage structure with storage racks having a seating surface configured to support case units where a position of each case unit non-deterministic for each storage location on the storage racks, each case unit has a predetermined storage position and a controller is configured to determine the predetermined storage position, a picking aisle configured to provide access to the case units within the storage structure, and a seismic disturbance restorative system including seismic disturbance motions sensors disposed on the storage racks, a seismic disturbance control module in communication with the seismic disturbance sensors and configured to identify a seismic disturbance, and an automated case mapper configured to traverse the picking aisle, the automated case mapper being in communication with and initialized by the seismic disturbance control module to identify a seated position of at least one case unit within the storage structure. ## Claims ### Claim 1 An automated storage and retrieval system for cases in a case storage room, the automated storage and retrieval system comprising: a storage structure with storage racks configured to support case units; a controller, where each case unit has a predetermined storage position in which a case unit is seated on the storage racks and the controller is configured to determine the predetermined storage position; a picking aisle configured to provide access to the case is within the storage structure; and an automated case mapper configured to traverse the picking aisle, the automated case mapper being configured to identify a seated position of at least one case unit within the storage structure; wherein the controller is further configured to compare 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 identify a variance between the identified seated position and the predetermined storage position of the at least one case unit, and generate a command with formation for case unit position correction based on a variance type, where the controller is configured generate different case unit position correction commands corresponding to different variance types. ### Claim 2 (depends on 1) The automated storage and retrieval system of claim 1, where the controller is further configured to dynamically allocate the predetermined storage position of each case unit within the storage structure. ### Claim 3 (depends on 1) The automated storage and retrieval system of claim 1, where the controller is further co figured to effect correction of a position of the at least one case unit by dynamically updating the predetermined storage position of the at least one case unit with a respective identified seated position of each case unit. ### Claim 4 (depends on 1) The automated storage and retrieval system of claim 1, where the case mapper comprises an automated guided vehicle configured to pick and place case units at storage locations within the storage structure. ### Claim 5 (depends on 1) The automated storage and retrieval system of claim 1, where the controller is further configured to effect correction of a position of the at least one cine unit by providing a location of the at least one case unit to an operator of the storage and retrieval system for manual removal or repositioning of the at least one case unit. ### Claim 6 (depends on 1) The automated storage and retrieval system of claim 1, further comprising an automated guided vehicle and the controller is further configured to effect correction of a position of the at least one case unit by commanding the automated guided vehicle to pick and reposition the at least one case unit at a respective storage location or move the at least one case unit to a respective different storage location. ### Claim 7 (depends on 6) The automated storage and retrieval system of claim 6, where the controller configured to dynamically update a case position database where the at least one case unit is moved to a respective different storage location. ### Claim 8 (depends on 1) The automated storage and retrieval system of claim 1, further comprising an automated guided vehicle and the controller is configured to effect correction of a position of the at least one case unit by commanding the automated guided vehicle to perform a gross pick operation for picking the at least one case unit from the storage structure for transport out of the storage structure. ### Claim 9 (depends on 1) The automated storage and retrieval system of claim 1, further comprising at least one movement detection device disposed in the storage structure and configured to detect movement of a respective portion of the storage structure and the controller is further configured to receive movement detection signals from the at least one movement detection device and issue a command to the automated case mapper to identify a position of the case units within the storage structure. ### Claim 10 (depends on 1) The automated storage and retrieval system of claim 1, wherein at least one variance type is a case position within a path of an automated guided vehicle. ### Claim 11 (depends on 10) The automated storage and retrieval system of claim 10, wherein a case unit position correction command from the controller in response to the case position within a path of the automated guided vehicle is to signal an operator. ### Claim 12 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. ### Claim 13 (depends on 12) The warehouse automated storage and retrieval system of claim 12, wherein the disturbance control module is further configured to compare an identified ware case unit seated position type the s least one ware case unit, determined with the case mapper and the predetermined storage position of the at least one ware case unit, and identify a variance between the identified ware case unit seated position type of the at least one ware case unit and the predetermined storage position of the at least one ware case unit. ### Claim 14 (depends on 13) The warehouse automated storage and retrieval system of claim 13 wherein, the case mapper is resident in the automated guided vehicle. ### Claim 15 (depends on 12) The warehouse automated storage and retrieval system of claim 12, wherein the ware case units are positioned in the at least one storage shelf in a close packed spacing. ### Claim 15 (depends on 12) The warehouse automated storage and retrieval system of claim 12, wherein the controller is configured to dynamically allocate each ware case unit into a respective predetermined dynamically allocated storage position. ### Claim 17 (depends on 16) The warehouse automated storage and retrieval system of claim 16, wherein the controller is further configured to effect correction of a position of the at least one ware case unit by dynamically updating the predetermined dynamically allocated storage position of the at least one ware case unit with a respective identified ware case unit seated position type of each ware case unit. ### Claim 18 (depends on 16) The warehouse automated storage and retrieval system of claim 16, wherein the controller is further configured to effect correction of a position of the at least one ware case unit by commanding the automated guided vehicle to pick and reposition the at least one ware case unit at a respective dynamically allocated storage position or move the at least one ware case unit to a respective different dynamically allocated storage position. ### Claim 19 (depends on 16) The warehouse automated storage and retrieval system of claim 16, wherein the disturbance control module is further configured to compare the identified ware case unit seated position type of the at least one ware case unit, determined with the automated guided vehicle and the predetermined dynamically allocated storage position of the at least one ware case unit, and identify a variance between the identified ware case unit seated position type of the at least one ware case unit and the predetermined dynamically allocated storage position of the at least one ware case unit. ### Claim 20 (depends on 12) The warehouse automated storage and retrieval system of claim 12, wherein the automated guided vehicle is configured to pick and place ware case units at storage locations within the storage structure. ### Claim 21 (depends on 12) The warehouse automated storage and retrieval system of claim 12, wherein the controller is further configured to effect correction of a position of the at least one ware case unit providing a location of the at least one ware case unit to an operator of the warehouse automated storage and retrieval system for manual removal or repositioning of the at least one ware case unit. ### Claim 22 (depends on 12) The warehouse automated storage retrieval s/stem of claim 12, wherein the automated guided vehicle traverses the storage structure to identify the ware case unit seated position type of the at least one ware case unit coincident with the automated guided vehicle traversing the storage structure relative to the at least one storage shelf for nicking and/or placing of another ware case unit at another storage location. ### Claim 23 (depends on 12) The warehouse automated storage and retrieval system of claim 12, wherein one of the at least one ware case unit seated position type of the different ware case unit seated position types is a case position within a path of an automated guided vehicle. ### Claim 24 (depends on 23) The automated storage and retrieval system of claim 23, wherein a ware case unit position correction command from the controller in response to the case position within a path of the automated guided vehicle is to signal an operator. ### Claim 25 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. ### Claim 26 (depends on 25) The method of claim 25, further comprising dynamically allocating, with the controller, the predetermined storage position of each case pit with the storage structure. ### Claim 27 (depends on 25) The method of claim 25, further comprising effecting correction, with the controller, of a position of the at least one case unit dynamically updating the predetermined storage position of the at least one case unit with a respective identified seated position of each case unit. ### Claim 28 (depends on 25) The method of claim 25, wherein the case mapper comprises an automated guided vehicle, the method further comprising picking and placing, with the automated guided vehicle, case units at storage locations within the storage structure. ### Claim 29 (depends on 25) The method of claim 25, further comprising effecting correction, with the controller, of a position of the at least one case unit by providing a location of the at least one case unit to an operator of the storage and retrieval system for manual removal or repositioning of the at least one case unit. ### Claim 30 (depends on 25) The method of claim 25, further comprising effecting correction, with the controller, of a position of the at least one case unit by commanding an automated guided vehicle to pick and reposition the at least one case unit at a respective storage location or move the at least one case unit to respective different storage location. ### Claim 31 (depends on 30) The method of claim 30, further comprising dynamically updating, with the controller, a case position database where the at least one case unit is moved to a respective different storage location. ### Claim 32 (depends on 25) The method of claim 25, further comprising effecting correction, with the controller, of a position of the at least one case unit by commanding an automated guided vehicle to perform a gross pick operation for picking the at least one case unit from the storage structure for transport out of the storage structure. ### Claim 33 (depends on 25) The method of claim 25, further comprising detecting, with at least one movement detection device disposed in the storage structure, movement of a respective portion of the storage structure and the con roller s further configured to receive movement detection signals from the at least one movement detection device and issue a command to the automated case mapper to identify position of the case units within the storage structure. ### Claim 34 (depends on 25) The method of claim 25, wherein at least one variance type is a case position within a path of an automated guided vehicle. ### Claim 35 (depends on 34) The method of claim 34, further comprising signaling an operator, with a case unit position correction command from the controller, in response to the case position within a path of the automated guided vehicle.