Parent vehicle with laser distance detector assembly for transporting a satellite vehicle for automatically storing a load, position detection method, and automated warehouse

A method of detecting a relative position of a parent vehicle for transporting a satellite vehicle for automatically storing a load in a warehouse comprising storage aisles for the load, mutually parallel and arranged on multiple levels, and at least one transfer aisle arranged in an either incident or perpendicular direction with respect to the storage aisles, the parent vehicle comprising:

• a base frame onto which wheels suitable for allowing a translation of the parent vehicle along a transfer direction of the at least one transfer aisle are rotatably connected;
• a first actuator arranged inside the base frame and operatively connected to one or more of the wheels to achieve the translation of the parent vehicle,
• a parent vehicle seat suitable for transporting the load and the satellite vehicle and comprising a support surface for the load;
• wherein the parent vehicle further comprises a distance detector assembly comprising a laser device configured to emit a laser beam and detect a time of flight of the laser beam to generate a distance signal with respect to a reference point on the at least one transfer aisle, the laser device being mounted to the parent vehicle in a relatively movable manner with respect to the base frame;
• wherein the distance detector assembly further comprises a tilt detection device and a laser device actuator operatively connected to the laser device to move the laser device;
• and
• wherein the parent vehicle still further comprises an electronic processing unit configured to receive a parent vehicle tilt signal from the tilt detection device and to generate a control signal for the laser device actuator to move the laser device with respect to the base frame to compensate for a tilt of the parent vehicle detected by the tilt detection device as a function of the parent vehicle tilt signal received, the method comprising the following operating steps:
• (a) during the translation of the parent vehicle in the at least one transfer aisle by the tilt detection device detecting a current parent vehicle tilt signal, indicative of a change in the tilt of the parent vehicle with respect to a reference tilt;
• (b) generating the control signal for the laser device actuator as a function of the current parent vehicle tilt signal;
• and
• (c) during the translation of the parent vehicle by the control signal, moving the laser device actuator to compensate for the tilt change, so as to maintain the laser beam of the laser device parallel to the reference tilt.