WO2006059676A1 - 自動倉庫 - Google Patents
自動倉庫 Download PDFInfo
- Publication number
- WO2006059676A1 WO2006059676A1 PCT/JP2005/022073 JP2005022073W WO2006059676A1 WO 2006059676 A1 WO2006059676 A1 WO 2006059676A1 JP 2005022073 W JP2005022073 W JP 2005022073W WO 2006059676 A1 WO2006059676 A1 WO 2006059676A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- data
- articles
- reader
- tag
- hand
- Prior art date
Links
- 238000003860 storage Methods 0.000 claims description 15
- 238000007689 inspection Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000003068 static effect 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
-
- 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
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
-
- G06Q50/40—
-
- 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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
Definitions
- This invention relates to an automatic warehouse.
- Patent Document 1 discloses that data of an ID tag is read and automatically inspected upon arrival of an article. However, Patent Document 1 does not consider the application of an ID tag to an automatic warehouse, in particular, managing the ID of articles stored in a carrier such as a package, pallet, or tray. Also, when taking out an article, the carrier force also considers writing data corresponding to the article to each article.
- Patent Document 1 JP-A-2002-104632
- An object of the present invention is to make it possible to grasp and manage IDs of individual articles stored in a carrier or taken out from the carrier.
- the present invention relates to an automatic storage system in which articles are stored and unloaded by a delivery apparatus provided with a hand for holding and delivering articles one by one to a carrier for storing a plurality of articles.
- the apparatus is characterized in that an ID reader for reading data of an ID tag of an article is attached to the hand.
- the ID reader is an ID reader / writer.
- a means for picking up an item for storage and determining its position, the hand is controlled according to the determined position to deliver the item to the carrier, and the hand places the storage goods on the carrier.
- an automatic warehouse in which articles are stored and unloaded by a delivery apparatus provided with a tool for holding and removing articles one by one from a carrier for storing a plurality of articles. And an ID writer for writing data to an ID tag of an article is attached to the hand.
- the ID reader is provided on the hand that delivers the articles one by one, it is possible to manage the force of storing the article of which ID at any position of the carrier. Also, at the time of leaving, it is possible to manage for each item the ID of the item that has been released. Furthermore, since the ID reader is attached to the hand that holds and delivers items one by one, it can read only the ID tag of the item being held, and read the data of the ID tag of other items. There is no
- the ID reader / writer is provided in a system that holds articles one by one and delivers or delivers the carrier power. Therefore, for example, when using this hand at the time of storage, it is possible to read the ID data for each item and write the data for each item, if any. In addition, when using this hand at the time of delivery, it is possible to inspect the articles to be delivered and to write data for each article.
- the hand is controlled according to the position obtained by imaging the goods to be received, the goods are delivered to the carrier, and the position at which the hand places the goods to be received on the carrier and the data of the ID tag read. And remember. This allows the hand to reliably deliver the goods to the carrier, and can control which ID's articles are present at which position on the carrier.
- the present invention it is possible to write data corresponding to each item in the ID tag of each item. For example, it is possible to write the expiration date, the destination, the wholesale price, the next transport destination, etc. for the goods, and the distribution management on a per-article basis becomes easy. Also in this case, since the ID writer is provided on the hand that delivers the articles one by one, interference does not occur with the ID tags of other articles.
- FIG. 1 A plan view schematically showing the layout of an automatic warehouse according to an embodiment
- FIG. 6 A flowchart showing the processing algorithm at the time of storage in the embodiment
- FIG. 7 A flowchart showing the processing algorithm at the time of delivery in the embodiment
- 2 is an automatic warehouse
- 4 is, for example, a pair of left and right shelves
- 5 is a stacker crane, and may be another intra-warehouse transfer device.
- Reference numeral 6 denotes a lift platform for the static car lane, which is provided with, for example, an ID reader 7 so that data of an ID tag provided on a carrier such as a packet, pallet or tray can be read.
- [0014] 8 is a loading station, 9 is a delivery station, and each station 8, 9 transfers articles between an external carrier such as a tray and a carrier in an automatic warehouse 2 such as a packet.
- a delivery device 10 is provided to 11 and 12 are hands that hold and move items one by one by suction or chucking. The difference between the hands 11 and 12 is that the hand 11 on the receiving station 8 side is equipped with an ID reader while the hand on the delivery station 9 side
- the terminal 12 is equipped with an ID reader / writer. Otherwise the hands 11, 12 are similar. In addition, it is power to pick up to deliver the goods and to put in and out of the carrier.
- Reference numerals 13 and 14 denote cameras such as CCD cameras, and images of the articles on the tray are taken by the camera 13 and articles on the packet are taken by the camera 14. These images are used to determine where to pick articles with hands 11 and 12 and where to unload articles from hands 11 and 12.
- 16 is a long distance competitor, which transports trays, etc. 17 is a sorter.
- a computer 20 controls the stations 8 and 9 in the automatic warehouse 2, controls the stacker crane 5, and manages the stock in the automatic warehouse 2.
- the long distance competitor 16 and the sorter 17 are not regarded as part of the automated warehouse 2 and are managed by another computer.
- Figures 2 and 3 show the configuration of the loading station 8.
- An appropriate frame 24 can move the arm 26 along the longitudinal direction (X direction) of the frame 24 and the hand 11 moves along the arm 26 in the Y direction.
- the hand 11 can be raised and lowered by an air cylinder or the like, holds the articles 34 one by one by suction or check, and delivers them between the packet 30 and the tray 32.
- an ID reader 22 is provided at the lower part of the hand 11, etc., and the data of the ID tag 36 provided at the upper part of the article 34 etc. is read.
- the suction surface and the chuck portion at the lower part of the hand 11 can move three-dimensionally in the frame 24 in XYZ, and can deliver an article.
- the structure of the delivery device 10 is the same, and the difference is that an ID reader / writer 23 not shown is provided at the lower end of the hand 12 and is not shown by the ID reader 22.
- the type of delivery device 10 and hands 11 and 12 are arbitrary, and the motion axes such as the three axes of hands 11 and 12 are not limited to the X axis, Y axis, Z axis, etc. , ⁇ axis may be used. Also, both ID 11 and 12 may be provided with an ID reader / writer.
- [0017] 28 is a compensator, which connects a long distance compensator 16 and stations 8, 9.
- a pair of lifters 29 is a transfer surface of the competitor 28 when transferring the packet 30 with the stacker crane. Raise the packet 30 more than.
- the ID tag 37 of the packet 30 can be read, for example, by using an ID reader provided on the elevator stand of a crane. Even if an ID reader / writer can be provided on the elevator stand of the stacker crane. It is not necessary to provide it. Also, at the stations 8 and 9, the ID tag 37 of the packet 30 may be made readable / writable.
- the data configuration of the ID tag 36 is shown in FIG. Name the place of origin, etc., and enter the part number that specifies the type of the item within the range of the manufacturer code in the item number column.
- the unique ID column data specifying an article, ie, a unique ID is described, which is data specifying an individual article within a range of manufacturer code and part number, for example.
- enter data for each item such as the expiration date, the next destination, the next destination, the next step, the ID of the final product that incorporates this item, or the wholesale value.
- Option information is written, for example, when the goods are delivered from the delivery station or when the goods are taken in at the receiving station.
- Option information is data related to the handling of the goods after leaving the goods, not the ID of the goods itself.
- FIG. 5 shows the relationship between the computer 20 and the cameras 13, 14, the ID reader 22, and the ID reader / writer 23.
- the articles on the tray and the packet are imaged by the cameras 13 and 14 and the positions thereof are recognized by the image recognition unit 40 to control the movement of the hands 11 and 12 in the X and Y directions.
- the ID reader 22 reads the ID data of the goods received and inputs it to the goods data calculation unit 42 together with the data of the hand on which position on the packet the goods are placed. As a result, data of which article of which ID is stored at which position of the packet is obtained. In this way, one packet worth of inventory data can be obtained.
- the hand 12 is operated to pick target articles one by one by using position data on stock data of one packet or image data recognized by the image recognition unit 40 by image recognition unit 40 or the like. Do.
- the data of the ID tag of the picked item is read by the ID reader / writer 23 and compared with the ID of the item scheduled to be released, and inspection at the time of leaving is performed. Also, if there is data for each item such as the expiration date, the next destination, and the price, the ID reader writer 23 writes this data in the ID tag of the item.
- FIG. 6 shows the process at the time of storage, in which the tray is imaged for image recognition, and simultaneously the packet is imaged for image recognition, and the vacant position on the packet is determined to determine the position for storing the articles. It will Pick items on the tray one by one with the hand, read the data of the ID tag with the ID reader, and transfer it to a packet. Next, the packet is received, and the data of the ID tag provided on the packet is read by the ID reader provided on the elevator platform of the stacker crane, and stored, for example, at the shelf address described in the ID tag. At the same time, one packet worth of inventory data is stored on the computer.
- FIG. 7 shows the processing at the time of delivery. Recognize the tray of the delivery destination In order to determine the location for storing the goods to be delivered. Also, the packet is imaged and the position of the article is determined by image recognition. In addition, instead of imaging packets, the inventory data of one packet obtained at the time of storage contains the ID of the article and its position, so picking is performed using the position of the article on the inventory data. Also good. Pick the items on the packet one by one and write the data at the time of delivery to the ID tag. When only a part of a plurality of articles in a packet is to be shipped, data may be written only to the articles to be shipped. Also, the data to be written at the time of delivery is optional, and if such data does not exist, writing is unnecessary.
- the tray is taken out and the packet is re-stocked at the shelf address etc. described in the ID tag of the packet.
- a list of the ID of the goods sent out is created when the ID is read by the ID reader / writer, inspection at the time of leaving is performed, and inventory data in the packet is overwritten.
- an external computer that manages a long distance competitor, etc., outputs delivery data to a terminal, etc.
- an automatic storage may be provided in which a plurality of vertically movable shelves are provided, and when the shelves move up and down to a predetermined height, articles on the shelves can be taken in and out of the station.
- the articles may be delivered one by one as in the embodiment, and the data of the ID tag may be read out in the process of delivery.
- a force that indicates the loading station 8 and the unloading station 9 separately may be used as the same station.
- an ID reader / writer may be provided.
- one station may be provided which serves as the loading station and the delivery station, and an ID reader or an ID reader / writer may be provided.
- the cameras 13 and 14 may be provided in the delivery device 10 and may be attached to, for example, the hands 11 and 12 thereof.
- a plurality of automatic storages may be arranged in parallel to form an automatic storage system, or may be combined with a railed truck system or a long distance compensator to form a storage storage system.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05811421A EP1818284A4 (en) | 2004-12-02 | 2005-12-01 | AUTOMATIC WAREHOUSE |
CN2005800414913A CN101068730B (zh) | 2004-12-02 | 2005-12-01 | 自动仓库 |
US11/792,044 US8060241B2 (en) | 2004-12-02 | 2005-12-01 | Automatic warehouse |
JP2006547997A JP4582421B2 (ja) | 2004-12-02 | 2005-12-01 | 自動倉庫 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004-350201 | 2004-12-02 | ||
JP2004350201 | 2004-12-02 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006059676A1 true WO2006059676A1 (ja) | 2006-06-08 |
Family
ID=36565109
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/022073 WO2006059676A1 (ja) | 2004-12-02 | 2005-12-01 | 自動倉庫 |
Country Status (8)
Country | Link |
---|---|
US (1) | US8060241B2 (ja) |
EP (1) | EP1818284A4 (ja) |
JP (1) | JP4582421B2 (ja) |
KR (1) | KR100895999B1 (ja) |
CN (1) | CN101068730B (ja) |
SG (1) | SG157408A1 (ja) |
TW (1) | TW200619113A (ja) |
WO (1) | WO2006059676A1 (ja) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010150015A (ja) * | 2008-12-26 | 2010-07-08 | Toyo Tanso Kk | 倉庫の運用方法及び倉庫運用装置 |
JP2012197123A (ja) * | 2011-03-18 | 2012-10-18 | Fujitsu Advanced Engineering Ltd | 商品仕分システム及び商品仕分プログラム |
US9174343B2 (en) | 2008-08-27 | 2015-11-03 | Murata Machinery, Ltd. | Picking system and picking method |
KR20180056946A (ko) | 2016-11-21 | 2018-05-30 | 한국콘베어공업주식회사 | 픽킹로봇을 이용한 물품 분류 시스템 |
JP2021511221A (ja) * | 2018-01-17 | 2021-05-06 | トヨタ リサーチ インスティテュート,インコーポレイティド | ショッピングアプリケーション用ユーザ支援ロボット |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4756367B2 (ja) * | 2006-08-17 | 2011-08-24 | 株式会社ダイフク | 物品収納設備 |
TWI420271B (zh) * | 2011-01-21 | 2013-12-21 | Neo Solar Power Corp | 處理設備、處理系統及其操作方法 |
CN103517698B (zh) | 2011-06-27 | 2015-09-30 | 松下健康医疗控股株式会社 | 药品分配装置及容器识别装置 |
CN102902948A (zh) * | 2011-07-28 | 2013-01-30 | 国际商业机器公司 | 计算机、确定计算机位置的方法以及制造标签的系统 |
ITBO20110691A1 (it) * | 2011-12-02 | 2013-06-03 | Ativa | Linea e procedimento di imbottigliamento in ciclo continuo di contenitori in materiale termoplastico. |
US8849634B2 (en) * | 2012-02-01 | 2014-09-30 | Palo Alto Research Center Incorporation | Method for identifying the maximal packing density of shifting-tiles automated warehouses |
WO2015045182A1 (ja) * | 2013-09-30 | 2015-04-02 | 楽天株式会社 | 倉庫システム及び出庫作業案内方法 |
CN104669032B (zh) * | 2013-11-30 | 2017-12-12 | 东莞市远方物流设备有限公司 | 物流系统 |
CN104408489A (zh) * | 2014-11-05 | 2015-03-11 | 武汉钢铁(集团)公司 | 一种大罐定位系统 |
JP6806045B2 (ja) * | 2017-12-11 | 2021-01-06 | 株式会社ダイフク | 物品搬送設備 |
CN109607022A (zh) * | 2019-01-07 | 2019-04-12 | 昆山圣炬智能系统技术有限公司 | 一种化学品空桶存储系统 |
Citations (4)
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FR2512357A1 (fr) | 1981-09-10 | 1983-03-11 | Thibault Jacques | Procede, appareil et moyens d'utilisation permettant de faire un choix de colis parmi un lot de colis et de les manutentionner |
JPH02311979A (ja) * | 1989-05-26 | 1990-12-27 | Fuji Electric Co Ltd | パレット上の物品情報記憶装置 |
JP2002104632A (ja) | 2000-09-26 | 2002-04-10 | Taisei Corp | ピッキング・検品システム |
JP2002264060A (ja) | 2001-03-06 | 2002-09-18 | Think Laboratory Co Ltd | 被製版ロールの取り扱い方法、及びロボットハンド |
Family Cites Families (6)
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CN1042980C (zh) * | 1992-04-02 | 1999-04-14 | 欧林巴斯光学工业株式会社 | 购进物品结算及库存柔性管理系统 |
DE4332315C2 (de) * | 1993-09-23 | 1997-09-11 | Quelle Schickedanz Ag & Co | Verfahren zum Verteilen von Retouren im Versandhandel, insbesondere von Bekleidungsstücken |
JPH1166321A (ja) * | 1997-08-13 | 1999-03-09 | Ntn Corp | ワーク位置検出方法 |
EP1776207A1 (en) * | 2004-06-17 | 2007-04-25 | Truss Research Inc. | Systems and methods for the automated fabrication of trusses |
US20080172983A1 (en) * | 2007-01-23 | 2008-07-24 | Urmson James F | System and method for the automated assembly of trusses |
US8131008B2 (en) * | 2007-01-31 | 2012-03-06 | Building Component Verification Systems, Inc. | Methods, apparatuses, and systems for image-based measurement and inspection of pre-engineered structural components |
-
2005
- 2005-08-03 TW TW094126347A patent/TW200619113A/zh not_active IP Right Cessation
- 2005-12-01 CN CN2005800414913A patent/CN101068730B/zh not_active Expired - Fee Related
- 2005-12-01 JP JP2006547997A patent/JP4582421B2/ja not_active Expired - Fee Related
- 2005-12-01 KR KR1020077012088A patent/KR100895999B1/ko active IP Right Grant
- 2005-12-01 WO PCT/JP2005/022073 patent/WO2006059676A1/ja active Application Filing
- 2005-12-01 EP EP05811421A patent/EP1818284A4/en not_active Withdrawn
- 2005-12-01 SG SG200907755-3A patent/SG157408A1/en unknown
- 2005-12-01 US US11/792,044 patent/US8060241B2/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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FR2512357A1 (fr) | 1981-09-10 | 1983-03-11 | Thibault Jacques | Procede, appareil et moyens d'utilisation permettant de faire un choix de colis parmi un lot de colis et de les manutentionner |
JPH02311979A (ja) * | 1989-05-26 | 1990-12-27 | Fuji Electric Co Ltd | パレット上の物品情報記憶装置 |
JP2002104632A (ja) | 2000-09-26 | 2002-04-10 | Taisei Corp | ピッキング・検品システム |
JP2002264060A (ja) | 2001-03-06 | 2002-09-18 | Think Laboratory Co Ltd | 被製版ロールの取り扱い方法、及びロボットハンド |
Non-Patent Citations (1)
Title |
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See also references of EP1818284A4 |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9174343B2 (en) | 2008-08-27 | 2015-11-03 | Murata Machinery, Ltd. | Picking system and picking method |
JP2010150015A (ja) * | 2008-12-26 | 2010-07-08 | Toyo Tanso Kk | 倉庫の運用方法及び倉庫運用装置 |
JP2012197123A (ja) * | 2011-03-18 | 2012-10-18 | Fujitsu Advanced Engineering Ltd | 商品仕分システム及び商品仕分プログラム |
KR20180056946A (ko) | 2016-11-21 | 2018-05-30 | 한국콘베어공업주식회사 | 픽킹로봇을 이용한 물품 분류 시스템 |
JP2021511221A (ja) * | 2018-01-17 | 2021-05-06 | トヨタ リサーチ インスティテュート,インコーポレイティド | ショッピングアプリケーション用ユーザ支援ロボット |
US11453129B2 (en) | 2018-01-17 | 2022-09-27 | Toyota Research Institute, Inc. | User assisting robot for shopping applications |
JP7288448B2 (ja) | 2018-01-17 | 2023-06-07 | トヨタ リサーチ インスティテュート,インコーポレイティド | ショッピングアプリケーション用ユーザ支援ロボット |
Also Published As
Publication number | Publication date |
---|---|
SG157408A1 (en) | 2009-12-29 |
CN101068730A (zh) | 2007-11-07 |
CN101068730B (zh) | 2010-11-10 |
KR20070085517A (ko) | 2007-08-27 |
EP1818284A1 (en) | 2007-08-15 |
JPWO2006059676A1 (ja) | 2008-08-07 |
US20080118335A1 (en) | 2008-05-22 |
US8060241B2 (en) | 2011-11-15 |
EP1818284A4 (en) | 2009-12-23 |
KR100895999B1 (ko) | 2009-05-07 |
TWI332472B (ja) | 2010-11-01 |
JP4582421B2 (ja) | 2010-11-17 |
TW200619113A (en) | 2006-06-16 |
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