FIELD: automated storage systems.
SUBSTANCE: invention relates to storage systems. Storage system comprises a shelf, a control module and a robot with a chassis and a device for gripping goods. Device comprises a mechanism for gripping goods, a sensor and a module for determining depth. Sensor is located on the mechanism and is configured to collect a measuring signal when the mechanism is extended. Measurement signal contains one of a default signal and a predetermined obstacle signal. Default signal is a signal if the sensor is not obstructed by the container, and the preset signal is if obstructed. Depth determination module is configured to determine the depth of the container in accordance with the measurement signal. Mechanism is configured to grip or place the container in accordance with the depth of this container. Depth is the length of the container in the direction of extension of the mechanism. Depth determining module is further configured to obtain a predetermined distance of the arm extension, to obtain a measurement signal transmitted to the output by the sensor, controlling the mechanism in order to grip the container and generate information on the error of the specified distance of the arm extension.
EFFECT: higher safety when putting product containers in place.
23 cl, 14 dwg
