Storage and retrieval machine control system having an encoder and an optical distance meter
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United States of America Patent
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Aug 25, 1998
Grant Date -
N/A
app pub date -
Nov 17, 1995
filing date -
Nov 17, 1995
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A storage and retrieval machine comprises a base, a carriage, and a control system. The control system is used to control the movement of the carriage in the vertical direction and/or the movement of the base in the horizontal direction. The control system includes at least one encoder and at least one optical distance meter. The encoder provides relative position information during a middle portion of the SRM trajectory, i.e., during the implementation of a feedback control scheme. The optical distance meter provides absolute position information to the control system at an endpoint of the SRM trajectory, i.e., to verify that the SRM has in fact reached its destination. If the control system controls both the movement of the carriage and the movement of the base, then two encoders and two optical distance meters are used.
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