Method and apparatus for mapping a warehouse rack structure for a storage and retrieval machine
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United States of America Patent
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Dec 16, 1997
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N/A
app pub date -
Nov 17, 1995
filing date -
Nov 17, 1995
priority date (Note) -
Expired
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Abstract
A method of mapping a warehouse rack structure having a plurality of racks comprises the steps of creating a logical matrix and updating the logical matrix. The updating step further includes the steps of causing a moveable device to travel to a first one of the plurality of racks, and producing a first machine-readable distance measurement output. The machine-readable distance measurement output is produced using a first sensor and represents a distance between the first sensor and a first position on the warehouse rack structure. A system for mapping a warehouse rack structure comprises a storage and retrieval machine; a rack structure; a logical matrix; and a computer. The storage and retrieval machine has first and second ultrasonic sensors mounted thereon. The rack structure includes a plurality of racks. The logical matrix stores horizontal position information and vertical position information for each of the plurality of racks. The computer updates the logical matrix based on distance measurements made by the first and second ultrasonic sensors.
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