CN108313606A - A kind of method that robot transports goods - Google Patents
A kind of method that robot transports goods Download PDFInfo
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- CN108313606A CN108313606A CN201710033937.2A CN201710033937A CN108313606A CN 108313606 A CN108313606 A CN 108313606A CN 201710033937 A CN201710033937 A CN 201710033937A CN 108313606 A CN108313606 A CN 108313606A
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- container
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- storage unit
- robot
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000032258 transport Effects 0.000 title claims abstract description 33
- 238000003860 storage Methods 0.000 claims abstract description 86
- 238000012546 transfer Methods 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 238000000151 deposition Methods 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 241000208125 Nicotiana Species 0.000 description 1
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of methods that robot transports goods, and are related to warehouse logistics field, include the following steps：A kind of transfer robot and shelf are provided, transfer robot includes driving unit, container storage unit and container transmission unit, wherein driving unit carrying container storage unit and container transmission unit associated movement；Container storage unit and shelf respectively include one or more container memory spaces；Before transfer robot is autonomous mobile to purpose shelf according to pick-up instruction, container transmission unit obtains a container from the container memory space of shelf specified according to pick-up instruction, another container memory space specified according to pick-up instruction being then transmit in container storage unit；If instruction includes same shelf pick-up instruction, then repeatedly picking step；If instruction includes another shelf pick-up instruction, then it is autonomous mobile to another shelf, repeats picking step；After completing whole pick-up instructions, transfer robot carrying takes acquisition, is autonomous mobile to and picks up load bed.
Description
Technical field
The present invention relates to automated warehousing logistics field more particularly to a kind of methods that robot transports goods.
Background technology
Robot carry be it is a kind of applied to automated material carry field method for carrying, have high degree of automation,
Using it is flexible, safe and reliable, efficient and easy to maintenance many advantages, such as, thus widely apply and auto manufacturing, food
The logistics transportations such as industry, tobacco business, construction machinery industry place on all kinds of Public places such as airport, hospital, is done
Also it gains ground in public building.These advantages become but also transfer robot becomes the key equipment in modern logistics systems
One of the important member of " machine substitute human labor " in the works.
2011, KIVA companies proposed the method for carrying of " shelf to people " and obtain immense success, and in patent
Its structure and method are illustrated in US7850413B2；For this purpose, domestic also there is removing for many similar " shelf to people "
Transportation method, and achieve good effect.But there is also deficiencies for " shelf to people " method for carrying, to take a cargo, need
Entire shelf are transported to and pick up goods area domain, cause the great wasting of resources, and one time can only carry a kind of cargo.
Therefore, those skilled in the art is dedicated to developing a kind of method that robot transports goods, and can carry for single time
A variety of cargos improve the handling efficiency of transfer robot.
Invention content
In view of the drawbacks described above of the prior art, the technical problem to be solved by the present invention is to how improve transfer robot
Handling efficiency.Since carrying is container, volume and weight is much smaller than shelf, therefore single time can carry multiple containers.It is single
A container at least stores a kind of cargo, therefore single time can carry a variety of cargos.
To achieve the above object, the present invention provides a kind of method that robot transports goods, include the following steps：
Step 1, a kind of transfer robot of offer and shelf, the transfer robot include driving unit, container storage list
Member and container transmission unit, wherein the driving unit carries the container storage unit and container transmission unit associated movement；
The container storage unit and the shelf respectively include one or more container memory spaces；
Before step 2, the transfer robot are autonomous mobile to purpose shelf according to pick-up instruction, the container transmission unit
One container is obtained according to the container memory space that pick-up instruction is specified from the shelf, is then transmit to described
Another described container memory space specified according to pick-up instruction in container storage unit；
Step 3, described instruction include it is same as described in shelf pick-up instruction, then repeatedly step 2；
Step 4, if described instruction includes another shelf pick-up instruction, then be autonomous mobile to described in another shelf,
Repeat step 2；
Before step 5, the transfer robot are autonomous mobile to purpose shelf according to stock instruction, the container transmission unit
A container is obtained from the container memory space specified according to stock instruction of the container storage unit, is then passed
Transport to another described container memory space specified according to stock instruction in the shelf；
Step 6 includes that the same shelf stock is instructed such as described instruction, then repeatedly step 5；
Step 7, if described instruction includes another shelf stock instruction, then be autonomous mobile to described in another shelf,
Repeat step 5；
Further, the container storage unit can store multiple containers on different height layer；The shelf are not
With multiple containers can be stored on height layer.
Further, the container on the container storage unit different height layer can be stored in by container supply unit
On shelf different height layer；Container on the shelf different height layer can be stored in container storage by container supply unit
On unit different height layer.
Further, the container of a certain layer in container storage unit can be placed into container storage unit by the robot
On another layer.
Further, the automatic arranging function can carry out in traveling or when stopping.
Further, the transfer robot can be stored the container of the random layer on shelf by container supply unit
To the designated layer of container storage unit, then another layer of container on same shelf is stored in by container supply unit again
Another designated layer of container storage unit.
Further, the transfer robot can be stored the container of the random layer on shelf by container supply unit
To the designated layer of container storage unit, then the container of the random layer on another shelf is stored in by container supply unit again
The designated layer of container storage unit.
Further, the container for depositing in random layer in container storage unit can be passed through container by the transfer robot
Supply unit is stored in the designated layer on shelf, then again conveys another layer of container in container storage unit by container
Unit is stored in another designated layer on same shelf.
Further, the container for depositing in random layer in container storage unit can be passed through container by the transfer robot
Supply unit is stored in the designated layer on shelf, then again conveys another layer of container in container storage unit by container
Unit is stored in the designated layer on another shelf.
Further, the transfer robot can but take executing pick-up instruction less than container, execute stock instruction
But when purpose memory space is occupied, warning information is sent out.
The present invention also provides a kind of methods that robot transports goods, and include the following steps：
Before the transfer robot is autonomous mobile to purpose shelf according to pick-up instruction, the container transmission unit is from described
Shelf obtain a container according to the container memory space that pick-up instruction is specified, and are then transmit to the container and deposit
Another described container memory space specified according to pick-up instruction in storage unit；
Alternatively,
Before the transfer robot is autonomous mobile to purpose shelf according to stock instruction, the container transmission unit is from described
The container memory space specified according to stock instruction of container storage unit obtains a container, is then transmit to institute
State another container memory space specified according to stock instruction in shelf.
Further, the container storage unit can store multiple containers on different height layer；The shelf are not
With multiple containers can be stored on height layer.
Further, the container on the container storage unit different height layer can be stored in by container supply unit
On shelf different height layer；Container on the shelf different height layer can be stored in container storage by container supply unit
On unit different height layer.
Further, the container of a certain layer in container storage unit can be placed into container storage unit by the robot
On another layer.
Further, the automatic arranging function can carry out in traveling or when stopping.
Further, the transfer robot can be stored the container of the random layer on shelf by container supply unit
To the designated layer of container storage unit, then another layer of container on same shelf is stored in by container supply unit again
Another designated layer of container storage unit.
Further, the transfer robot can be stored the container of the random layer on shelf by container supply unit
To the designated layer of container storage unit, then the container of the random layer on another shelf is stored in by container supply unit again
The designated layer of container storage unit.
Further, the container for depositing in random layer in container storage unit can be passed through container by the transfer robot
Supply unit is stored in the designated layer on shelf, then again conveys another layer of container in container storage unit by container
Unit is stored in another designated layer on same shelf.
Further, the container for depositing in random layer in container storage unit can be passed through container by the transfer robot
Supply unit is stored in the designated layer on shelf, then again conveys another layer of container in container storage unit by container
Unit is stored in the designated layer on another shelf.
Further, the transfer robot can but take executing pick-up instruction less than container, execute stock instruction
But when purpose memory space is occupied, warning information is sent out.
Further, the step further includes：
If described instruction includes that the same shelf picking or stock instruct, then repeatedly picking or stock process；And
If described instruction includes that another shelf picking or stock instruct, then another described shelf are autonomous mobile to, are repeated
Picking or stock process.
The method that a kind of robot of the present invention transports goods, can transport a variety of cargos one time, work efficiency is high,
Low energy consumption.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the schematic diagram for the method that the robot of the preferred embodiment of the present invention transports goods；
Wherein,
1, driving unit；2, container storage unit；3, container supply unit；4, shelf；5, container.
Specific implementation mode
It is a kind of schematic diagram for the method that robot transports goods as shown in Figure 1.Include mainly：Driving unit 1, is installed on
Container storage unit 2 on driving unit 1 and container supply unit 3；Shelf 4；Container storage unit 2 and goods can be deposited in
Container 5 on frame 4.
Container storage unit 2 can store multiple containers 5 on different height layer；
Shelf 4 can store multiple containers 5 on different height layer；
It is different that container 5 on 2 different height layer of container storage unit can be stored in shelf 4 by container supply unit 3
On height layer；
It is different that container 5 on 4 different height layer of shelf can be stored in container storage unit 2 by container supply unit 3
On height layer.
The robot has the function of autonomous, can be moved to any position by driving unit 1；
The robot has the function of automatic arranging container 5, can be by the container 5 of a certain layer in container storage unit 2
Another layer being placed into container storage unit 2；
The robot at runtime, can be stored the container 5 of the random layer on shelf 4 by container supply unit 3
To the designated layer of container storage unit 2, then another layer of container 5 on same shelf 4 is deposited by container supply unit 3 again
It is put into another designated layer of container storage unit 2.
The robot at runtime, can be stored the container 5 of the random layer on shelf 4 by container supply unit 3
To the designated layer of container storage unit 2, then the container 5 of the random layer on another shelf 4 is deposited by container supply unit 3 again
It is put into the designated layer of container storage unit 2.
The robot at runtime, can be defeated by container by the container 5 for depositing in random layer in container storage unit 2
Unit 3 is sent to be stored in the designated layer on shelf 4, it is then again that another layer of container 5 in container storage unit 2 is defeated by container
Unit 3 is sent to be stored in another designated layer on same shelf 4.
The robot at runtime, can be defeated by container by the container 5 for depositing in random layer in container storage unit 2
Unit 3 is sent to be stored in the designated layer on shelf 4, it is then again that another layer of container 5 in container storage unit 2 is defeated by container
Unit 3 is sent to be stored in the designated layer on another shelf 4.
The transfer robot can but take executing pick-up instruction less than container, and executing stock instruction, but purpose stores
When space is occupied, warning information is sent out.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (21)
1. a kind of method that robot transports goods, which is characterized in that include the following steps：
Step 1 provides a kind of transfer robot and shelf, the transfer robot include driving unit, container storage unit and
Container transmission unit, wherein the driving unit carries the container storage unit and container transmission unit associated movement；It is described
Container storage unit and the shelf respectively include one or more container memory spaces；
Before step 2, the transfer robot are autonomous mobile to purpose shelf according to pick-up instruction, the container transmission unit is from institute
That states shelf obtains a container according to the container memory space that pick-up instruction is specified, and is then transmit to the container
Another described container memory space specified according to pick-up instruction in storage unit；
Step 3, described instruction include it is same as described in shelf pick-up instruction, then repeatedly step 2；
Step 4, such as described instruction include another shelf pick-up instruction, then are autonomous mobile to another described shelf, repeat step
2；
Before step 5, the transfer robot are autonomous mobile to purpose shelf according to stock instruction, the container transmission unit is from institute
The container memory space specified according to stock instruction for stating container storage unit obtains a container, is then transmit to
Another container memory space specified according to stock instruction in the shelf；
Step 6 includes that the same shelf stock is instructed such as described instruction, then repeatedly step 5；
Step 7, such as described instruction are instructed comprising another shelf stock, then are autonomous mobile to another described shelf, repeat step
5。
2. the method that robot as described in claim 1 transports goods, which is characterized in that the container storage unit is in difference
Multiple containers can be stored on height layer；The shelf can store multiple containers on different height layer.
3. the method that robot as described in claim 1 transports goods, which is characterized in that the container storage unit is different high
Container on degree layer can be stored in by container supply unit on shelf different height layer；On the shelf different height layer
Container can be stored in by container supply unit on container storage unit different height layer.
4. the method that robot as described in claim 1 transports goods, which is characterized in that the robot can deposit container
The container of a certain layer is placed into another layer in container storage unit on storage unit.
5. the method that robot as claimed in claim 4 transports goods, which is characterized in that the automatic arranging function can be
It is carried out in traveling or when stopping.
6. the method that robot as described in claim 1 transports goods, which is characterized in that the transfer robot can be by goods
The container of random layer on frame is stored in the designated layer of container storage unit by container supply unit, then again by same shelf
On another layer of container another designated layer of container storage unit is stored in by container supply unit.
7. the method that robot as described in claim 1 transports goods, which is characterized in that the transfer robot can be by goods
The container of random layer on frame is stored in the designated layer of container storage unit by container supply unit, then again by another shelf
On the container of random layer the designated layer of container storage unit is stored in by container supply unit.
8. the method that robot as described in claim 1 transports goods, which is characterized in that the transfer robot can will be deposited
The container for being put in random layer in container storage unit is stored in designated layer on shelf by container supply unit, then again by goods
Another layer of container in case storage unit is stored in another designated layer on same shelf by container supply unit.
9. the method that robot as described in claim 1 transports goods, which is characterized in that the transfer robot can will be deposited
The container for being put in random layer in container storage unit is stored in designated layer on shelf by container supply unit, then again by goods
Another layer of container in case storage unit is stored in the designated layer on another shelf by container supply unit.
10. the method that robot as described in claim 1 transports goods, which is characterized in that the transfer robot can be
It executes pick-up instruction but to take less than container, when but purpose memory space is occupied for the instruction of execution stock, sends out warning information.
11. a kind of method that robot transports goods, which is characterized in that include the following steps：
Before the transfer robot is autonomous mobile to purpose shelf according to pick-up instruction, the container transmission unit is from the shelf
A container is obtained according to the container memory space that pick-up instruction is specified, it is single to be then transmit to the container storage
Another described container memory space specified according to pick-up instruction in member；
Alternatively,
Before the transfer robot is autonomous mobile to purpose shelf according to stock instruction, the container transmission unit is from the container
The container memory space specified according to stock instruction of storage unit obtains a container, is then transmit to the goods
Another container memory space specified according to stock instruction in frame.
12. the method that robot as claimed in claim 11 transports goods, which is characterized in that the container storage unit is not
With multiple containers can be stored on height layer；The shelf can store multiple containers on different height layer.
13. the method that robot as claimed in claim 11 transports goods, which is characterized in that the container storage unit is different
Container on height layer can be stored in by container supply unit on shelf different height layer；On the shelf different height layer
Container can be stored in by container supply unit on container storage unit different height layer.
14. the method that robot as claimed in claim 11 transports goods, which is characterized in that the robot can be by container
The container of a certain layer is placed into another layer in container storage unit in storage unit.
15. the method that robot as claimed in claim 14 transports goods, which is characterized in that the automatic arranging function can
It is carried out in traveling or when stopping.
16. the method that robot as claimed in claim 11 transports goods, which is characterized in that the transfer robot can incite somebody to action
The container of random layer on shelf is stored in the designated layer of container storage unit by container supply unit, then again by same goods
Another layer of container on frame is stored in another designated layer of container storage unit by container supply unit.
17. the method that robot as claimed in claim 11 transports goods, which is characterized in that the transfer robot can incite somebody to action
The container of random layer on shelf is stored in the designated layer of container storage unit by container supply unit, then again by another goods
The container of random layer on frame is stored in the designated layer of container storage unit by container supply unit.
18. the method that robot as claimed in claim 11 transports goods, which is characterized in that the transfer robot can incite somebody to action
The container for depositing in random layer in container storage unit is stored in designated layer on shelf by container supply unit, then again will
Another layer of container in container storage unit is stored in another designated layer on same shelf by container supply unit.
19. the method that robot as claimed in claim 11 transports goods, which is characterized in that the transfer robot can incite somebody to action
The container for depositing in random layer in container storage unit is stored in designated layer on shelf by container supply unit, then again will
Another layer of container in container storage unit is stored in the designated layer on another shelf by container supply unit.
20. the method that robot as claimed in claim 11 transports goods, which is characterized in that the transfer robot can be
It executes pick-up instruction but to take less than container, when but purpose memory space is occupied for the instruction of execution stock, sends out warning information.
21. the method that robot as claimed in claim 11 transports goods, which is characterized in that the step further includes：
If described instruction includes that the same shelf picking or stock instruct, then repeatedly picking or stock process；And
If described instruction includes that another shelf picking or stock instruct, then another described shelf are autonomous mobile to, picking is repeated
Or stock process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710033937.2A CN108313606A (en) | 2017-01-16 | 2017-01-16 | A kind of method that robot transports goods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710033937.2A CN108313606A (en) | 2017-01-16 | 2017-01-16 | A kind of method that robot transports goods |
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| CN108313606A true CN108313606A (en) | 2018-07-24 |
Family
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| CN201710033937.2A Pending CN108313606A (en) | 2017-01-16 | 2017-01-16 | A kind of method that robot transports goods |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109264283A (en) * | 2018-11-16 | 2019-01-25 | 北京艾瑞思机器人技术有限公司 | Sorting system and container method for sorting |
| CN109636269A (en) * | 2018-11-14 | 2019-04-16 | 深圳市海柔创新科技有限公司 | Cargo processing method, device, storage medium and computer equipment |
| CN109625747A (en) * | 2018-11-05 | 2019-04-16 | 上海快仓智能科技有限公司 | Cargo method for carrying and cargo movement system |
| WO2019154433A3 (en) * | 2018-11-05 | 2019-10-03 | 上海快仓智能科技有限公司 | Item transportation robot and control method therefor |
| CN110626691A (en) * | 2019-09-12 | 2019-12-31 | 深圳市海柔创新科技有限公司 | Sorting robot and sorting method |
| CN112265773A (en) * | 2019-12-16 | 2021-01-26 | 深圳市海柔创新科技有限公司 | Goods shelving method and device and carrying robot |
| CN112678707A (en) * | 2020-12-22 | 2021-04-20 | 上海开放大学 | Mill uses cargo handling robot |
| CN113879749A (en) * | 2021-11-07 | 2022-01-04 | 浙江科技学院 | Carrying device with intelligent counterweight adjustment function and using method |
| WO2022017396A1 (en) * | 2020-07-24 | 2022-01-27 | 深圳市海柔创新科技有限公司 | Robot, cargo handling method, server and warehousing system |
| WO2022142773A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市海柔创新科技有限公司 | Lifting apparatus and handling robot |
| USD959529S1 (en) | 2019-03-13 | 2022-08-02 | Hai Robotics Co., Ltd. | Warehouse robot |
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| CN109625747A (en) * | 2018-11-05 | 2019-04-16 | 上海快仓智能科技有限公司 | Cargo method for carrying and cargo movement system |
| WO2019154433A3 (en) * | 2018-11-05 | 2019-10-03 | 上海快仓智能科技有限公司 | Item transportation robot and control method therefor |
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| USD998013S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998011S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998012S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
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| CN112265773A (en) * | 2019-12-16 | 2021-01-26 | 深圳市海柔创新科技有限公司 | Goods shelving method and device and carrying robot |
| WO2022017396A1 (en) * | 2020-07-24 | 2022-01-27 | 深圳市海柔创新科技有限公司 | Robot, cargo handling method, server and warehousing system |
| CN112678707A (en) * | 2020-12-22 | 2021-04-20 | 上海开放大学 | Mill uses cargo handling robot |
| WO2022142773A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市海柔创新科技有限公司 | Lifting apparatus and handling robot |
| WO2022206375A1 (en) * | 2021-03-31 | 2022-10-06 | 深圳市库宝软件有限公司 | Material conveying method and device |
| CN113879749B (en) * | 2021-11-07 | 2023-08-04 | 浙江科技学院 | Handling device with counterweight intelligent adjustment function and use method |
| CN113879749A (en) * | 2021-11-07 | 2022-01-04 | 浙江科技学院 | Carrying device with intelligent counterweight adjustment function and using method |
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