| 主权项 |
1. A method for operating an automated storage and retrieval system, the method comprising:
providing an autonomous transport vehicle having a transfer arm including at least one finger and a movable finger support member, the at least one finger being movably coupled to the finger support member; moving the finger support member in a first direction relative to a reference frame of the autonomous transport vehicle and moving the at least one finger linearly relative to the finger support member in a second direction substantially perpendicular to both the first direction in the reference frame of the autonomous transport vehicle and a travel surface on which the autonomous transport vehicle travels; detecting, with at least one sensor, movement of the at least one finger in the second direction relative to the movable finger support member, where the at least one sensor includes a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be linearly movable with and by movement of a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger; and determining, with a controller in communication with the at least one sensor, a position of the at least one finger, along the second direction relative to the movable finger support member, based on a proximity of the registration member relative to the detection member. |
