Robot position detection system

A method of identifying a remotely operated vehicle in an automated storage and retrieval system,

• the automated storage and retrieval system comprising:
• a plurality of remotely operated vehicles,
• a main grid in which the plurality of remotely operated vehicles operates,
• a service grid for placement of remotely operated vehicles for service,
• a control system for controlling the plurality of remotely operated vehicles, the control system comprising a data record for the status of a vehicle state for each vehicle,
• wherein the main grid comprises a main rail system comprising at least a first set of parallel rails arranged in a horizontal plane and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane and extending in a second direction (Y) which is orthogonal to the first direction (X), the first and second sets of rails together defining the main grid of main grid cells,
• wherein the service grid comprises a service rail system comprising at least a first set of parallel rails arranged in a horizontal plane and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane and extending in a second direction (Y) which is orthogonal to the first direction (X), the first and second sets of rails together defining the service grid of service grid cells, and
• wherein the main grid is connected to the service grid such that the plurality of remotely operated vehicles can enter or exit the service grid from the main grid,
• each remotely operated vehicle comprises at least one label comprising individual remotely operated vehicle information, and wherein the service grid comprises at least one reader for reading the at least one label of each remotely operated vehicle such as to identify each remotely operated vehicle,
• the method comprising the steps of:
• operating or moving the remotely operated vehicle on the main rail system towards the service grid,
• utilizing the at least one reader of the service grid, to read the vehicle information comprised in the at least one label of the remotely operated vehicle passing the at least one reader, wherein the control system is arranged for
• receiving a signal from the reader and, upon receipt, compare the data record with an observed vehicle state of the identified remotely operated vehicle and indicate to an operator that a difference exists between the observed vehicle state and the vehicle state on the control system.