RU2789282C1 - Automatically steered vehicle for warehouse - Google Patents

Abstract

FIELD: loading operations.

SUBSTANCE: invention relates to loading operations. An automatically controlled vehicle for storing or taking storage units contains a drive unit, a multi-level frame, a device for loading and unloading materials, and a displacement detection device. The frame is mounted on the drive unit and contains one or more pallets for holding storage units and a lifting device. The device for loading and unloading materials contains a tray, a device for moving in the lateral direction, a retractable device. The vehicle is configured to move between two storage racks. The retractable device is designed to be extended and retracted. The automatic control is configured to extend the material handling device to adjust the location of the automatically guided vehicle if the location offset is unacceptable or goes beyond a predetermined threshold.

EFFECT: increased maneuverability, efficiency, fault tolerance and suitability for use in a warehouse equipped with racks.

8 cl, 12 dwg

Description

State of the art

Warehouses use machines to transport goods from a storage location to a loading platform or vice versa. At first, machines were mainly used to transport heavy loads or bulky products in order to free people from hard physical labor. The latest developments in artificial intelligence (AI) and robotics have made it possible to create advanced machines that should replace humans not only in industrial applications, but also in everyday life.

Despite numerous reports of advances in automation and artificial intelligence, precision and agility are still two areas where robotics lags behind humans. In a warehousing application, a fully automated machine that can take an order, move and pick up an item from a storage location and deliver it to a designated location is more science fiction than reality. Certain well-known systems, such as KIVA systems, can perform simple mechanical movements to transport bulky shelving from one predetermined location to another. However, warehouse robotic systems available on the market have not yet implemented the functions of a fully automated system, such as taking an inventory item from a specific rack and placing an inventory item in storage, as well as the ability of this system to move through a cramped warehouse filled with obstacles and perform loading and unloading storage units having offset locations.

The essence of the invention

Accordingly, one of the objectives of the present invention is to provide an intelligent self-guided vehicle that can store and collect inventory items as directed. The AGV systems described in this document are agile, efficient and fault-tolerant and are particularly suitable for use in a warehouse equipped with shelving.

In some embodiments, the described automatically guided vehicle (AGV) for storing and taking inventory items includes a drive unit, a multi-level frame, and a device for loading and unloading materials. The drive unit is configured to drive the AGV. In some embodiments, the drive unit may include a motor and one or more drive wheels. In some embodiments, the multi-level frame includes one or more pallets for holding one or more inventory items. The stacked frame also includes a lifting device for lifting the material handling device. The device for loading and unloading materials contains a tray, a retractable device and a device for moving in the lateral direction. The tray is configured to hold a stock keeping unit. The drawer is connected to the tray and is designed to be pulled out and retracted. The device for moving in the lateral direction is made with the possibility of moving the tray either to the right side or to the left side. When the drawer is pulled out, the drawer reaches the inside of the rack to either place an inventory item on the rack or take the inventory item off the rack. In an embodiment, when the retractable device is retracted, the lateral movement device returns to its original position. In another embodiment, the lateral mover may return with the SKU picked up from the rack and may place the SKU on one of the pallets of the tiered frame. The AGV is configured to move between storage racks and store or take inventory items from either of the two racks using a material handling device.

In some embodiments, the tiered frame is mounted to the drive unit and the tiered frame includes support legs to accommodate the lifting device. The lifting device can be configured to move along the support posts and stop at each level of the multi-level frame. The lifting device may be configured to raise the material handling device to a certain height for storage or for taking the inventory item from a storage rack. The height can be determined based on the location of the stock keeping unit. The height can also be determined based on the location of one of the pallets on the multilevel frame. When the material handling device is raised to the height of the pallet, the material handling device can place the inventory item on the pallet by retracting the drawer or withdraw the inventory item from the rack by pulling out the drawer. In some embodiments, the retractable device may be retractable in two or more positions. In an embodiment, the device for moving in the lateral direction of the device for loading and unloading materials is made with the possibility of turning the tray either to the right side or to the left side by 90°. In another embodiment, the device for moving in the lateral direction of the device for loading and unloading materials is made with the possibility of translational movement of the tray to the right side or left side. In some embodiments, the material handling device is retractable to a second position after being rotated 90° to reach the inside of the rack.

In some embodiments, the AGV also includes a transceiver for transmitting and receiving instructions to and from the warehouse server, and processors configured to control the AGV. The transceiver is configured to receive an instruction to transport the storage unit. The processors are configured to interpret the indication to reach the location of the stock control unit. In an embodiment, the location of the stock control unit is determined by the x-coordinate and y-coordinate, the orientation of the stock control unit, and the height.

In some embodiments, the AGV includes a navigation unit configured to detect obstacles and determine the trajectory of the AGV based on the location of the stock control unit. The navigation unit may be configured to read navigation signs placed inside the warehouse for the purpose of navigation. Examples of navigation marks may include barcodes, two-dimensional barcodes, and other identification codes.

In an embodiment, when the AGV is moving towards the location of the inventory location, the processors may instruct the material handling device to move to a predetermined height corresponding to the location of the inventory location before the AGV reaches the location of the inventory location.

In an embodiment, the drawer of the material handler extends the tray to reach the stock control when the AGV reaches the stock control location. In an embodiment, the tray is configured to clamp the inventory control unit to move the inventory control unit to or from the tray. In another embodiment, the tray is configured to slide under the stock keeping unit and lift the stock keeping unit. The tray also includes a mechanism for facilitating pushing or pulling the stock keeping unit. For example, a tray may be equipped with a mechanical arm or fork that can be opened or bent to pinch, pull, or lift an inventory item.

In some embodiments, the AGV also includes a displacement detection device configured to detect a displacement of the location of the stock control unit compared to the location obtained from the indication received by the AGV. Based on the location offset, the processors may adjust the location of the AGV or the location of the material handling device so that the material handling device can reach the storage unit for transportation. To detect location shift, the shift detector may use one or more of the following devices: a laser device, a radar device, a lighting device, a barcode reader, and a graphics recognizer.

In an embodiment, an automated guided vehicle (AGV) system for placing or taking a SKU in a warehouse may include a drive unit configured to actuate the AGV, a multi-level frame containing one or more pallets for holding one or more SKUs. accounting, and lifting device. The AGV may also include a material handling device, a transceiver, and one or more processors. The device for loading and unloading materials may also include a tray, a drawer and a device for moving in a lateral direction. The tray is designed to hold a stock control unit. The lateral movement device is configured to move the tray laterally either to the right side or to the left side of the AGV system. The retractable device is designed to be extended and retracted perpendicularly to the lateral direction. In some embodiments, the side-moving device rotates the tray either to the left or to the right. In some embodiments, the side-moving device translates the tray in parallel or to the left or right. The transceiver is configured to communicate with the warehouse server, and one or more processors are configured to control the AGV. The AGV system is configured to navigate within the warehouse between the racks and reach the inside of the racks laterally. The lifting device of the multi-level frame is configured to vertically move the device for loading and unloading materials and stop it at each level of the multi-level frame or at a specific height. In an embodiment, the device for moving in the lateral direction of the device for loading and unloading materials is made with the possibility of rotation of the lifting device by 90° to the right side or left side.

In some embodiments, the transceiver is configured to receive an indication to transport the SKU, and one or more processors are configured to provide the location of the SKU with the received instruction.

In some embodiments, the AGV system may also include a displacement detection device for detecting displacement of a stock keeping unit location. Based on the location offset, one or more processors are configured to adjust the location of the AGV and the location of the lifting device so that the material handling device can reach the storage unit for transportation. To detect location shift, the shift detector may use one or more of the following devices: a laser device, a radar device, a lighting device, a barcode reader, and a graphics recognizer.

This document also describes how to control the AGV to store or take an inventory item from a rack. The method includes the following steps. First of all, the AGV receives an instruction for the transport of the SKU. The robot provides the location of the stock control unit using the received indication. The SKU location contains the location of the SKU and the orientation of the SKU. After interpreting the instruction, the AGV moves to the storage unit location. Before reaching an SKU, the AGV may attempt to detect an offset of the SKU's location from the reached position. The location offset may include a location deviation and/or a reorientation of the stock keeping unit and/or a height offset. In some embodiments, the processors are configured to send a location offset message to the server. In the presence of a position offset, the AGV adjusts its position and/or the position of the material handling device. In some embodiments, the AGV may be self-adjusting to compensate for offset orientation and/or location and/or height of the stock keeping unit. After compensating for the location offset, the AGV reaches the inventory control and picks it up from the rack. The AGV then transports the stock control unit to its destination. When the AGV reaches the inside of the rack to place or pick up an SKU, the side mover of the material handling device moves laterally, and therefore the AGV does not have to face the rack before reaching the SKU.

In some embodiments, adjusting the location of an AGV for location compensation includes the steps of: comparing a location offset with a threshold; if the location offset is greater than a threshold, adjusting the location of the AGV based on the location offset; re-measurement of location offset; and adjusting the position of the AGV until the measured offset is less than a threshold.

In some embodiments, the racks used in the warehouse may accommodate storage units in two or more rows on the racks. In such a warehouse, the AGV and the location information stored for each stock keeping unit are modified or adapted to accommodate double row deep racks. According to the control method of the AGV for putting into storage or taking out an SKU placed on such a rack, the AGV is first instructed to transport the first SKU. The indication may include the location of the first inventory control, such as the location, location depth, and orientation of the first inventory control. If the location depth of the first SKU indicates that the SKU is in the front row of the rack, the picking process performed by the robot is the same as the above process. If the depth of the first SKU indicates that the SKU is in the back row of the rack, the pick process performed by the robot may require the robot to remove the SKU in the front row to reach the first SKU in the back row. In some designs, the robot is configured to pick up a second SKU in the front row and place it on one of the empty pallets, and then pick up the first SKU from the back row and place it on another of the empty pallets. The robot then returns the inventory item from the front row to the front row. In fact, if the robot is instructed to pick up the first and second inventory units, and it turns out that they are in the same place, but in different rows, the robot should not return the second inventory control back to the rack.

Brief description of the drawings

These and other features of the present invention will become apparent from the description below and the accompanying drawings. In the drawings, like reference numbers designate corresponding parts throughout the views. In addition, the components in the drawings are not necessarily drawn to scale, as the purpose is to clearly describe the principles of the present invention.

Fig. 1 - AGV, designed for use in warehouses;

fig. 2 – disassembled warehouse robot AGV;

fig. 3 - lifting device, which is part of a multi-level frame;

fig. 4 - drive unit;

fig. 5 - the engine used in the drive unit;

fig. 6a - 6d - components of the device for loading and unloading materials;

fig. 7 - the first embodiment of the device for moving in the lateral direction in the device for loading and unloading materials;

fig. 8 - the second embodiment of the device for moving in the lateral direction in the device for loading and unloading materials;

fig. 9 is a diagram of the process of loading and unloading using a warehouse AGV and the procedure for taking a warehouse unit.

Detailed description

Embodiments of the invention are described in detail below with reference to the accompanying drawings, which show preferred embodiments of the invention. However, various embodiments may be implemented in many other forms and should not be construed as being limited to the embodiments presented herein. On the contrary, these embodiments ensure that the present description will be exhaustive and complete and will fully convey the scope of the invention to those skilled in the art.

As shown in FIG. 1, an exemplary AGV 100 includes a drive unit 110, a tiered frame 120, and a material handling device 130. The drive unit 110 is configured to drive the AGV 100. The tiered frame 120 includes one or more pallets 122 and a hoist 124. The hoist 124 is connected to the material handling device 130 and can raise or lower the material handling device 130 . The material handling device 130 includes a tray, a sideways moving device, and a drawer, as shown in FIG. 6a-6d and are described in the following sections of this document.

In FIG. 2 shows an exemplary AGV 100 in a disassembled state. In FIG. 2 shows the internal components located inside the guards 202. FIG. 2 shows a tiered frame 120 including a vertical frame 226, a frame 228 that holds pallets 122, and a lift 124. FIG. 3 shows details of vertical frame 226 and hoist 124. Vertical frame 226 has support posts 315 and a plurality of support rods 316. Elevator 124 includes synchronized driven pulley sets 343 and hoist drive mechanism 342.

Two synchronized sets 343 of driven pulleys are mounted on support legs 315. In some embodiments, the lifting device 124 may include more than two synchronized sets 343 of driven pulleys. As shown in FIG. 3, each of the synchronized driven pulley sets 343 includes an idler pulley 331, a driven synchronized pulley 330, and a synchronized belt 332. The hoist drive mechanism 342 drives the synchronized driven pulley 330 to move the belt 332 and raise and lower the material handling device 130. over a tiered frame 120. In FIG. 3, an exemplary hoist drive mechanism 342 includes an electric motor 320, a drive shaft 321, and a gearbox 322. In some embodiments, the electric motor 320 may be replaced by a hydraulic drive system or an air motor, or any other types of motors. Drive shaft 321 connects timing drive pulley 330 to motor 320 via gearbox 322 and transfers kinetic energy from motor 320 to timing drive pulley 330 to drive hoist 124. In some embodiments, drive shaft 321 is coupled to two timing drive pulleys (not shown) and ensures the synchronous movement of the two wheels. In FIG. 3, two weights 333 are mounted on top of the tiered frame 120. The weights can move along the uprights 315 and can adjust and amplify the movement and moment of the elevator 124 by the weight of the weights 333. It should be noted that in FIG. 3, the lifting device 124 is in the form of synchronized driven pulley systems. Other mechanisms may also be used to provide the lifting device 124, including a sprocket, rack and pinion, a worm turbine, and/or a lifting jack.

In FIG. 2 shows the drive unit 110 after the material handling device 130 has been moved to the side. The drive unit 110 is shown exploded in detail in FIG. 4. Drive unit 110 in FIG. 4 includes a base 422, a shaft support 415, and a shock absorber bracket 425. The uprights 315 are attached to the base 422 to allow the stacked frame 120 to be mounted on the drive unit 110.

The base 422 has two surfaces, namely, a top surface 421 and a bottom surface 420. A shaft support 415 and a shock absorber bracket 425 are used on the top surface 421 of the base 422 to accommodate two drive wheels 413 through a drive wheel hole 423 and a mounting hole 424. Mounting hole 424 is located in the middle of the base 422, and two driving wheels 413 are located below the mounting hole 424, supporting the base 422. Four driven wheels 412 are also installed at the four corners of the base 422 to provide support and smooth running. Four driven wheels 412 are mounted in recesses 426 for driven wheels. In some embodiments, there may be more than four or less than four driven wheels. The driven wheels may be omnidirectional wheels or other types of steerable wheels.

In FIG. 5 shows an embodiment of a drive wheel 413. The drive wheel 413 includes a drive wheel bracket 530, a drive wheel body 531, a wheel drive device 532, and a wheel reduction device 533. The drive wheel bracket 530 includes a pair of wheel brackets 534, an axle body 535, and a pair of shock absorbers 536. The wheel drive device 532 is mounted in the middle of the drive wheel bracket 530 along the central axis S2. The wheel drive device 532 is connected to the drive wheel body 531 and generates a driving force to drive the drive wheel 413 forward. The wheel drive device 532 is disposed between the wheel brackets 534. Yes shock absorber 536 are located on the side of each of the wheel brackets 534, respectively. The shock absorbers 536 are connected to the shock absorber bracket 425 shown in FIG. 4 through the mounting hole 424. The wheel brackets 534 are connected to the axle body 535, which is also connected to the shaft support 415 through the mounting hole 424. The damper 536 and the wheel bracket 534 form an angle. Such a design can be used to absorb shocks or eccentrically applied forces, in particular when the AGV 100 is making a turn. In some embodiments, wheel drive 532 may be an electric motor, a hydraulic drive system, an air motor, or other types of motors.

As shown in FIG. 1, an exemplary AGV 100 includes a layered frame 120 shown in FIG. 2 and FIG. 3, the drive unit 110 shown in FIG. 4 and the material handling device 130 shown in FIG. 6a-6d.

In FIG. 6a shows that the device 130 for handling materials includes a tray 633, arms 632, a support frame 631, two rails 610, a chamber 640, a main lighting device 641 and an auxiliary lighting device 642. Two arms 632 are provided, one on each side of the tray. 633, but in FIG. 6a shows only one of them. In addition, in FIG. 6a shows only one of the two rails 610.

In FIG. 6a shows three axes S5, S6 and S7. The material handling device 130 can be retracted and extended by moving the rails 610. The material handling device 130 can also be moved laterally. In some embodiments, the material handling device 130 may be rotatable about an axis S5 for lateral movement. In an embodiment, the device 130 for loading and unloading materials is configured to rotate the tray 633 either to the left side or to the right side by 90°. In some other embodiments, the material handling device 130 may be configured to translate the tray 633 either to the right or to the left for lateral movement. To translate the tray 633, the material handling device 130 moves the tray 633 parallel to the axis S7.

The arm 632 is retractable or retractable along the guides 610 and the tray 633 can be moved along the axis S6. The arm 632 includes a retractable arm 636 and a pusher 637 that are used to perform retract and extend movements. In FIG. 6b shows an exemplary material handling device 130 exploded. In FIG. 6, five parts of the material handling apparatus 130 are exploded, so that the components of each part are visible. In FIG. 6a, the tray 633 is shown on top of the rails 610. In FIG. 6b, the tray 633 has been moved to the side so that the structure of the guide 610 in FIG. 6b.

In FIG. 6b, rails 610 are connected to swivel assembly 638 and lifting fork 639. The structural elements of swivel assembly 638 are shown in FIG. 7 and are described below. In some embodiments, material handler 130 translates tray 633 instead of rotating tray 633 as shown in FIG. 8. Guides 610 are part of the retraction device referred to elsewhere in this specification. The swivel assembly 638 is part of the lateral movement device referred to elsewhere in this specification. Another version of the device for moving in the lateral direction is shown in Fig. 8.

In FIG. 6b shows that the pusher assembly 637 includes a fixed pusher bar 670, a movable pusher bar 671, an actuator 672, and an inner arm section 662. The inner arm section 662 may be inserted into the middle arm section 661, which in turn may be inserted into the outer arm section 660. The drive device 672 may drive the push rod 671 to open or close relative to the inner arm section 662. The movable pusher section 671 can be used to move inventory items into chute 633 from chute 633. As shown in FIG. 6b, a protective cover 635 is installed around the tray 633, which prevents the contents and the tray 633 from falling.

In FIG. 6c shows another enlarged view of the device 130 for loading and unloading materials. Two outer arm sections 660 are installed on each side of the tray 633. A camera 640 and a main lighting device 641 are installed on the front side of the material handling device 130. In FIG. 6c also shows the first drive device 663 connected to the outer arm section. In FIG. 6d shows a second drive device 664 connected to the middle arm section 661. Each of the drive devices, which include the first drive device 663 and the second drive device 664, contains a retractable drive device (3631, 3641, respectively) and a device (3630, 3640, respectively) with a drive chain. In some embodiments, the first drive device 663 may include a chain drive device, while the second drive device 664 may include a flat belt device (not shown). In some embodiments, instead of a drive chain or flat belt device, the first or second drive devices 663 or 664 may comprise an open loop flat belt device (not shown) to assist movement of material handling device 130 to extend or retract. back.

As mentioned above, the material handling device 130 may be configured to rotate the chute 633 or translate the chute 633 to effect lateral movement during the storage or removal of an inventory item. In a cramped warehouse where the racks are arranged in rows, the use of a material handling device 130 that can reach the inside of the racks through lateral movement is particularly effective. When the AGV 100 moves between two racks, the material handling device 130 can either rotate the tray 633 or translate the tray 633 either to the right side or to the left without turning the entire AGV 100. the space between racks can be as narrow as the width of an AGV 100. Thus, the AGV 100 requires less space than conventional warehouse robots when it moves between racks and picks up or unloads storage units. In FIG. 7 and FIG. 8 shows two illustrative embodiments used to perform lateral movements of the device 130 for loading and unloading materials.

In FIG. 7 shows the pivot assembly 638 of FIG. 6b. In FIG. 7, the rotary assembly 638 includes a rotary actuator 712 and a positioning device 714. Rotary drive device 712 includes a drive motor (not shown) and a set of drive gears 724. Examples of a drive motor include an electric motor, a hydraulic drive system, or an air motor. Examples of drive gears may include a turbine shaft, a planetary wheel, or other types of gears. The positioning device 714 includes a first rotation angle sensor 716, a second rotation angle sensor 720, a first proximity switch 726, a second proximity switch 728, and a detection panel 718. The positioner 714 also includes a rotary controller, which is not shown in FIG. 7.

The first rotation angle sensor 716 and the second rotation angle sensor 720 are located on the periphery of the drive gear 724 at some distance from each other. These two sensors are used to determine whether the tray 633 of the material handling device 130 has rotated to a certain position. When the tray 633 is driven by the drive device 712, the first and second proximity switches 726, 728 move with the tray 633. By determining which of the first or second rotation angle sensors 716 or 720 and at what time the first or second proximity switches 726 or 728, the rotary controller can detect and adjust the rotation angle of tray 633.

In some embodiments, the rotary controller of FIG. 7 controls the arm 632 and the tray 633 to rotate to the right or left by 90°, allowing the lateral movement of the material handling device 130 to reach the rack laterally either from the right side or from the left side. In FIG. 8 shows a different mechanism than the swivel assembly 638, which can also be used to provide lateral movement of the tray 633.

In FIG. 8, arm 632 includes two movable mechanisms, 852 for movement along the X axis and 854 for movement along the Y axis. The movable mechanism 852 moves the arm 632 so that the arm 632 can be extended or retracted. The movable mechanism 854 moves the arm 632 laterally or to the left side or to the right side. In FIG. 8, two cameras 856 are mounted on each side of the arm 632 for the purpose of optical detection. Compared to the material handling device 130 shown in FIG. 6a, which can be rotatable by 90° either to the left side or to the right side, the material handling device 130 driven by the system shown in FIG. 8 does not turn, but only slides either to the left side or to the right side. Therefore, in FIG. 6a requires only one camera 640 at the front of the material handling device 130, while in FIG. 8, two cameras 856 are mounted on both sides of the arm 632.

In FIG. 1-8 shows the AGV 100, which is agile and manoeuvrable. FIG. 9 is a diagram of the process in which the AGV 100 deposits and retrieves inventory items. For explanatory purposes, in FIG. 9 shows only the process of taking a stock keeping unit. The process of putting a stock keeping unit into storage is similar and the simplification is not described in detail. One of ordinary skill in the art can derive the SKU deposit process from the SKU take-out process described with reference to FIG. 9.

In FIG. 9 The AGV is instructed to take the SKU from the warehouse rack. In some embodiments, the indication may simply include an SKU identification code, and the AGV retrieves the SKU location information using the identification code. In some embodiments, the indication may include the location of an SKU, and the AGV 100 may retrieve information about the SKU to be taken based on the indication. In an embodiment, the location information includes the location of the stock keeping unit, such as X and Y coordinates, or row and line number, and so on. and the SKU orientation and height, such as what level of rack the SKU is stored on. Based on the SKU information, the AGV 100 moves around the warehouse and approaches the location of the SKU.

When the AGV 100 reaches the location (step 902), it turns on the main lighting device 641 (step 904). The AGV 100 attempts to read the identification code on the SKU (step 906). In other embodiments, the identification code may be a two-dimensional barcode. In other embodiments, the identification code may be any barcode. When the AGV 100 cannot read the identification code, the AGV 100 sends a message to the server and cancels the task (step 950). When the AGV 100 is able to recognize the identification code, it calculates the stock keeping unit location offsets (block 908).

The AGV 100 is configured to report the location offset to the server that it calculates for the stock keeping unit (block 910). The server is configured to use the location offset and warehouse layout to determine the correct SKU location (block 912). The server then updates the database with the correct location of the stock control unit (step 914).

Based on the location offset, the AGV 100 determines whether the material handling device 130 can directly reach the SKU from where the AGV 100 is located (step 924). If yes, the AGV 100 adjusts or fine-tunes the location of the material handling device 130 (step 932) and extends the material handling device 130 (step 934) while the AGV 100 moves to slightly adjust the location or orientation of the stock keeping unit (step 936 ). If so, the AGV 100 also checks if the tray 933 is within a predetermined range (step 922). If not, the AGV 100 makes a minor adjustment at the location of the AGV (step 920) and attempts to read the identification code again (step 906). If the tray 633 is within a predetermined range, the AGV 100 adjusts the location of the material handling device 130 and rotates the tray 633 (step 926). Before reading the identification code, it is re-determined whether the location offset is within the threshold (block 928). If the location offset is within the threshold, the AGV 100 extends the material handling device 130 to reach the stock control unit (step 930). If the location offset is unacceptable or not within a predetermined threshold, the AGV 100 extends the material handling device 130 (step 934) to adjust the location of the AGV 100 and the location of the stock control unit (step 936).

In some embodiments, the AGV 100 is configured to locate and pick up a SKU that is hidden behind an object or other SKU. The AGV 100 may be configured to receive an indication from the server indicating the location of the first inventory item to be taken from the rack. Location specifies the placement location, location depth, and orientation of the stock keeping unit. The AGV 100 is configured to take the first SKU from the back row of the rack if there are no SKUs in the front row. If there is a second SKU in the front row, the AGV 100 may take the second SKU and place the second SKU on the first pallet on the tiered frame 120, which is empty. The AGV 100 picks up the first SKU and places the first SKU on the second pallet on the tiered frame 120, which is empty. After taking the first SKU, the AGV 100 returns to the second SKU, where it is stored on a rack.

In some embodiments, the warehouse racks allow two or more rows of inventory items to be placed and stored on them. In such a warehouse, the AGV 100 and the location information stored for each stock keeping unit are modified or adapted to accommodate double row deep racks. According to the control method of the AGV 100 for storing or picking up an SKU placed on such a rack, the AGV 100 first receives an instruction to transport the first SKU. The indication may include the location of the first inventory control, such as the location, location depth, and orientation of the first inventory control. If the depth of the first SKU indicates that the SKU is in the back row of the rack, the pick process performed by the AGV 10 may require the AGV 100 to remove the SKU in the front row to reach the first SKU in the back row. In some embodiments, the AGV 100 is configured to take the second SKU in the front row and place it on one of the empty pallets, and then take the first SKU from the back row and place it on another of the empty pallets. The robot then returns the inventory item from the front row to the front row. In fact, if the AGV 100 is instructed to pick up the first and second SKUs, and they appear to be in the same location but in different rows, the AGV 100 does not have to return the second SKU back to the rack.

In some embodiments, the AGV 100 is configured to detect a location offset or a first or second SKU and adjust the location of the AGV 100 as well as the SKU location before reaching the rack to pick up the first or second SKU. In an embodiment, the AGV 100 may repeat the location adjustment process until the detected location offset is less than a threshold. In an embodiment, the AGV 100 is configured to send a location offset message to the server so that the server updates the warehouse layout. A warehouse layout may indicate a layout, i.e. where the shelving is located and where inventory units are stored.

While the present invention has been illustrated and described with reference to specific embodiments, the present invention is not intended to be limited to the details provided herein. On the contrary, various modifications of the above embodiments may be made within the scope and range of equivalents of the claims without deviating from the present invention.

Claims (33)

1. Automatically guided vehicle designed to store or take storage units, containing: a drive unit configured to drive the automatically guided vehicle; a tiered frame mounted on the drive unit, containing one or more pallets for holding one or more storage units and a lifting device; a device for loading and unloading materials, and the specified device for loading and unloading materials contains: a tray for holding a stock control unit; a side-moving device configured to move the tray laterally or to the right side or to the left side; And a retractable device configured to be extended and retracted in a transverse direction perpendicular to the lateral direction; in which the lifting device is configured to lift the device for loading and unloading materials, and the automatically guided vehicle is configured to move between two storage racks and store or take one or more inventory items from either of the two racks using the device for loading and unloading of materials; in which the automatically guided vehicle also contains a displacement detection device, and the displacement detection device is configured to detect a displacement of the location of the storage unit compared to a location obtained from an indication received by the automatically guided vehicle, and based on the displacement of the location, the location of the automatically guided vehicle is adjusted the means or location of the material handling device so that the material handling device can reach the stock control unit; wherein the automatic control is also configured to extend the material handling device to adjust the position of the automatically guided vehicle if the position offset is unacceptable or outside a predetermined threshold. 2. Automatically guided vehicle according to claim 1, in which the multi-level frame contains support legs for accommodating a lifting device, and the lifting device is configured to move along the support posts and stop at each level or specific height of the multi-level frame, and the lifting device is configured to raise the device for loading and unloading materials to a certain height along the vertical shaft for storage or taking the inventory item from the storage rack, and the height is determined based on the location of the SKU to be stored or taken. 3. Automatically guided vehicle according to claim 1, in which the device for loading and unloading materials is configured to place the inventory unit on one of the pallets of the multi-level frame by retracting the retractable device, and placement of a warehouse accounting unit on a warehouse rack by pulling out a drawer, wherein the retractable device is retractable or retractable to two or more positions, the two or more positions including a first position and a second position. 4. Automatically guided vehicle according to claim 1, in which the device for moving in the lateral direction of the device for loading and unloading materials is made with the possibility of rotating the tray either to the right side or to the left side by 90 °, and then extending to a second position after turning 90° to reach the inside of the rack or translation of the tray either to the right or to the left. 5. Automatically controlled vehicle according to claim. 1, in which the device for moving in the lateral direction is made with the possibility of translational movement of the tray either to the right side or to the left side, and the device for loading and unloading materials includes a shoulder containing two movable mechanisms, and one movable mechanism is configured to move the arm so that the arm can be extended or retracted along the X axis, and the other movable mechanism is configured to move the arm laterally or to the left side or to the right side along the Y axis. 6. Automatically guided vehicle according to claim 1, also containing: a transceiver for transmitting and receiving instructions to and from the warehouse server, and processors configured to interpret instructions and control an automatically guided vehicle, in which the transceiver is configured to receive an instruction to transport the storage unit, and the processors are configured to interpret the instruction to reach the location of the storage unit, and the location of the stock control unit contains the X coordinate and the Y coordinate, the orientation of the automated guided vehicle and the height, the location of the stock control unit contains the X coordinate and the Y coordinate, the orientation of the automatically guided vehicle and the height, the automatically guided vehicle also contains a navigation unit for detecting obstacles and determining the trajectory of the automatically guided vehicle based on the location of the stock control unit, in which the navigation unit is configured to read navigation signs placed inside the warehouse for the purpose of navigation, and navigation marks include identification codes, including barcodes and two-dimensional barcodes. 7. The automated guided vehicle of claim 6, wherein when the automated guided vehicle travels towards a location of a stock keeping unit, the processors may instruct the material handling device to move to a predetermined height before the automated guided vehicle reaches location of the warehouse unit, the device for loading and unloading materials is configured to clamp the storage unit to move the storage unit to or from the tray, and the tray of the material handling device is operable to slide under the storage unit and lift the storage unit. 8. Automated vehicle according to Claim. 1, in which for detecting the displacement of the location, the displacement detection device contains one or more of the devices, which include a laser device, a radar device, a lighting device, a barcode reader and a graphic recognition device, and the drive unit includes a motor and one or more drive wheels.

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