WO2019095803A1 - Automated guided vehicle designed for warehouse - Google Patents

Automated guided vehicle designed for warehouse Download PDF

Info

Publication number
WO2019095803A1
WO2019095803A1 PCT/CN2018/104652 CN2018104652W WO2019095803A1 WO 2019095803 A1 WO2019095803 A1 WO 2019095803A1 CN 2018104652 W CN2018104652 W CN 2018104652W WO 2019095803 A1 WO2019095803 A1 WO 2019095803A1
Authority
WO
WIPO (PCT)
Prior art keywords
inventory item
agv
material handling
inventory
warehouse
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/104652
Other languages
English (en)
French (fr)
Inventor
Jui-chun CHENG
Shengdong XU
Yuqi Chen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hai Robotics Co Ltd
Original Assignee
Shenzhen Hairou Innovation Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=66538872&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2019095803(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from CN201711141498.3A external-priority patent/CN108122016B/zh
Priority claimed from CN201711135812.7A external-priority patent/CN108069180A/zh
Priority to EP18878478.9A priority Critical patent/EP3710381A4/en
Priority to NZ765310A priority patent/NZ765310A/en
Priority to CN201880073998.4A priority patent/CN111433139A/zh
Priority to MYPI2020002359A priority patent/MY188417A/en
Priority to JP2020545419A priority patent/JP6970831B2/ja
Priority to CA3082510A priority patent/CA3082510C/en
Priority to KR1020207016862A priority patent/KR102332766B1/ko
Application filed by Shenzhen Hairou Innovation Technology Co Ltd filed Critical Shenzhen Hairou Innovation Technology Co Ltd
Priority to RU2020119331A priority patent/RU2751736C1/ru
Priority to AU2018368406A priority patent/AU2018368406B2/en
Priority to KR1020217038361A priority patent/KR102439052B1/ko
Priority to SG11202004492WA priority patent/SG11202004492WA/en
Priority to US16/476,126 priority patent/US11718472B2/en
Publication of WO2019095803A1 publication Critical patent/WO2019095803A1/en
Priority to CN201910703479.8A priority patent/CN110498172A/zh
Anticipated expiration legal-status Critical
Priority to JP2021177325A priority patent/JP7223099B2/ja
Priority to AU2022203237A priority patent/AU2022203237B2/en
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06K17/0022—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 arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0025—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 arrangements or provisions for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
    • 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
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • 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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • 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
    • 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
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/141—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements with shuttle-type movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/19—Additional means for facilitating unloading
    • B66F9/195—Additional means for facilitating unloading for pushing the load
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
    • G05D1/2446—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means the passive navigation aids having encoded information, e.g. QR codes or ground control points
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/667—Delivering or retrieving payloads
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1638—Program controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • 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
    • 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
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0216—Codes or marks on the article
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Definitions

  • the present disclosure relates generally to warehouse automation systems, and more specifically to automated guided vehicle (AGV) designed to carry, store, and retrieve inventory items in a warehouse.
  • AGV automated guided vehicle
  • Machines have been used in warehouses to carry goods from storage to loading dock, or vice versa. At the beginning, machines were mostly used to carry heavy cargos or bulky items to free humans from exhaustive labor. Recent developments in Artificial Intelligence and robotics have produced advanced machines that are looking to replace humans not just in industrial settings but also in many areas of daily life.
  • one of the objectives of the present disclosure is to teach an intelligent automated guided vehicle that can store and retrieve inventory items as instructed.
  • the AGV systems disclosed herein are agile, efficient and error-tolerant, and are especially suited to be used in a warehouse lined with storage shelves.
  • the drive unit is configured to drive the AGV.
  • the drive unit may comprise a motor and one or more drive wheels.
  • the multi-level frame includes one or more plates for holding one or more inventory items.
  • the multi-level frame also includes a lifting device for lifting the material handling device.
  • the material handling device includes a tray, a retractable device, and a lateral device.
  • the tray is configured to hold an inventory item.
  • the retractable device is connected to the tray and is configured to extend and retract.
  • the lateral device is configured to move the tray to either the right side or the left side.
  • the retractable device As the retractable device extends, the retractable device reaches inside a shelf, to either place an item on the shelf or fetch an item from the shelf. In one embodiment, as the retractable device retracts, the lateral device returns to its original place. In another embodiment, the lateral device may return with a piece of inventory item picked up from the shelf and place the inventory item on one of the plates of the multi-level frame.
  • the AGV is configured to move between two warehouse shelves and to store or retrieve inventory items from either shelve using the material handling device.
  • the multi-level frame is installed on the drive unit and the multi-level frame comprises supporting columns to accommodate the lifting device.
  • the lifting device may be configured to move along the supporting columns and stop at each level of the multi-level frame.
  • the lifting device may be configured to lift the material handling device to a height to store or retrieve an inventory item at or from a warehouse shelf. The height may be determined based on the position of the inventory item. The height may also be determined based on the position of one of the plates on the multi-level frame.
  • the material handling device is lifted to the height of the plate, the material handling device is configured to place an inventory item on the plate through retraction of the retractable device, or to fetch an inventory item from a shelf through extension of the retractable device.
  • the retractable device can extend to two or more positions.
  • the lateral device of the material handling device is configured to rotate the tray to either the right or left side by 90°.
  • the lateral device of the material handling device is configured to translate the tray to the right side or the left side.
  • the material handling device is configured to extend to the second position after turning 90° in order to reach inside a shelf.
  • the AGV further comprises a transceiver for transmitting and receiving instructions to or from a warehouse server, and processors configured to control the AGV.
  • the transceiver is configured to receive an instruction to transport an inventory item.
  • the processors are configured to interpret the instruction to obtain a position of the inventory item.
  • the position of the inventory item comprises an x-coordinate, a y-coordinate, an orientation of the inventory item, and a height.
  • the AGV comprises a navigation unit configured to detect obstacles and determine a moving path for the AGV based on the position of the inventory item.
  • the navigation unit may be configured to read navigation signs posted inside the warehouse for navigation purpose. Examples of navigation signs may include barcodes, two-dimensional barcodes, and other identification codes.
  • the processors are configured to command the material handling device to move to the height specified in the position of the inventory item, before the AGV reaches the position of the inventory item.
  • the retractable device of the material handling device extends the tray to reach the inventory item when the AGV reaches the position of the inventory item.
  • the tray is configured to clamp the inventory item to move the inventory item onto or away from the tray.
  • the tray is configured to slide underneath the inventory item and lift the inventory item.
  • the tray may further comprise some mechanism to facilitate pushing or pulling of the inventory item.
  • the tray may be equipped with a mechanical arm or fork that can open or fold to clamp, pull, or lift the item.
  • the AGV further comprises a shift detection device configured to detect a position shift of the inventory item compared to the position obtained from the instruction received by the AGV. Based on the position shift, the processors are configured to adjust the position of the AGV or the position of the material handling device to allow the material handling device to reach the inventory item for transportation.
  • the shift detection device may use one or more of the following: a laser device, a radar device, a lighting device, a barcode reader, and a graph recognition device, for detecting the position shift.
  • an Automated Guided Vehicle (AGV) system for storing or retrieving an inventory item in a warehouse may comprise a drive unit configured to drive the AGV, a multi-level frame comprising one or more plates for holding one or more inventory items and a lifting device.
  • the AGV may further comprise a material handling device, a transceiver, and one or more processors.
  • the material handling device may further comprise a tray, a retractable device, and a lateral device.
  • the tray is for holding an inventory item.
  • the lateral device is configured to move the tray in a lateral direction, either to the right side or left side of the AGV system.
  • the retractable device is configured to extend and retract perpendicular to the lateral direction.
  • the lateral device rotates the tray either to the left or to the right. In some embodiments, the lateral device translates the tray parallelly either to the left or to the right.
  • the transceiver is configured for communicating with a warehouse server and the one or more processors are configured to control the AGV.
  • the AGV system is configured to navigate inside a warehouse between storage shelves and to reach inside storage shelves laterally.
  • the lifting device of the multi-level frame is configured to move the material handling device vertically and to stop at each level of the multi-level frame or at a specified height. In one embodiment, the lateral device of the material handling device is configured to rotate the lifting device by 90° to the right side or left side.
  • the transceiver is configured to receive an instruction of transporting an inventory item and the one or more processors are configured to obtain the position of the inventory item from the received instruction.
  • the AGV system may further include a shift detection device for detecting a position shift of the inventory item.
  • the one or more processors are configured to adjust, based on the position shift, the position of the AGV and the position of the lifting device to allow the material device to reach the inventory item for transportation.
  • the shift detection device may use one or more of the following devices: a laser device, a radar device, a lighting device, a barcode reader, and a graph recognition device, for detecting the position shift.
  • the present disclosure further discloses a method of controlling a warehouse robot to store or retrieve an inventory item on a shelf.
  • the method comprises the following steps. First, the warehouse robot receives an instruction to transport the inventory item. The robot obtains a position of the inventory item from the received instruction. The position of the inventory item comprises a location of the inventory item and an orientation of the inventory item. After interpreting the instruction, the warehouse robot moves to the location of the inventory item. Before reaching for the inventory item, the warehouse robot may try to detect a position shift of the inventory item away from the obtained position. The position shift may include a deviation in the location and/or a change of the orientation of the inventory item and/or a bias of height.
  • the processors are configured to report the position shift to a server.
  • the warehouse robot adjusts its position and/or the position of the material handling device.
  • the warehouse robot may adjust itself to compensate the orientation and/or position and/or height shift of the inventory item.
  • the warehouse robot reaches for the inventory item and retrieves it from storage shelf.
  • the warehouse robot then transports the inventory item to a destination.
  • the warehouse robot reaches inside the shelf to place or fetch the inventory item, the lateral device of the material handling device moves in a lateral direction, therefore the warehouse robot does not need to turn around to face the shelf before reaching for the inventory item.
  • the adjusting of the position of the warehouse robot to compensate for the position includes the following steps: comparing the position shift to a threshold; if the position shift is larger than the threshold, adjusting the position of the warehouse robot based on the position shift; re-measuring the position shift; and adjusting the position of the warehouse robot until the measured position shift is smaller than the threshold.
  • the shelves used in a warehouse may allow two or more rows of inventory items to be arranged on the shelves.
  • a warehouse robot and the position information stored for each inventory item are modified or adapted to accommodate double-row deep shelves.
  • the warehouse robot first receives an instruction to transport the first inventory item.
  • the instruction may include the position of the first inventory item such as the location, the depth, and the orientation of the first inventory item. If the depth of the first inventory item indicates that the item is in the front row of the shelf, the robot’s fetching process is the same as previously described.
  • the robot’s fetching process may require the robot to remove the inventory item in the front row in order to reach to the first inventory item in the back row.
  • the robot is configured to take the second inventory item in the front row and place it on one of its empty trays, and then fetch the first inventory item from the back row and place it on another of its empty trays. After that, the robot returns the front row item to the front row. Indeed, if the robot is instructed to fetch both the first and second inventory items and they happen to be at the same location but in different rows, the robot doesn’t need to return the second inventory item back to the shelf.
  • Fig. 1 is an illustration of an exemplary AGV designed for warehouses.
  • Fig. 2 is an exploded view of an exemplary warehouse AGV robot.
  • Fig. 3 is an exemplary illustration of the lifting device as part of the multi-level frame.
  • Fig. 4 is an exemplary illustration of the drive unit.
  • Fig. 5 is an exemplary illustration of the motor used in the drive unit.
  • FIG. 6a –Fig. 6d are illustrations of parts of an exemplary material handling device.
  • Fig. 7 is an illustration of a first embodiment of the lateral device in an exemplary material handling device.
  • Fig. 8 is an illustration of a second embodiment of the lateral device in an exemplary material handling device.
  • Fig. 9 is a flow chart illustrating a process of a warehouse AGV handling an order of retrieving an inventory item.
  • an exemplary AGV 100 comprises a drive unit 110, a multi-level frame 120, and a material handling device 130.
  • the drive unit 110 is configured to drive and propel the AGV 100.
  • the multi-level frame 120 comprises one or more plates 122 and a lifting device 124.
  • the lifting device 124 is connected to a material handling device 130 and can lift or lower the material handling device 130.
  • the material handling device 130 comprises a tray, a lateral device, and a retractable device that are illustrated in Figs. 6a –6d and will be explained in later sections of this disclosure.
  • Fig. 2 is an exploded view of an exemplary AGV 100.
  • Fig. 2 illustrates the interior components inside the covers 202.
  • the multi-level frame 120 is shown as comprising a standing frame 226, a shelf 228 holding the plates 122, and the lifting device 124.
  • Fig. 3 illustrates more details of the standing frame 226 and the lifting device 124.
  • the standing frame 226 includes two supporting columns 315 and multiple supporting bars 316.
  • the lifting device 124 includes two synchronous wheel drive sets 343 and a lifting drive mechanism 342.
  • the two synchronous wheel drive sets 343 are installed on the supporting columns 315.
  • the lifting device 124 may include more than two synchronous wheel drive sets 343.
  • each of the synchronous wheel drive set 343 includes a tension wheel 331, a driving synchronous wheel 330, and a synchronous belt 332.
  • the synchronous wheel drive set 343 is connected to a lifting drive mechanism 342.
  • the lifting drive mechanism 342 drives the driving synchronous wheel 330 to move the belt 332 in order to lift the material handing device 130 up and down the multi-level frame 120.
  • the exemplary lifting drive mechanism 342 includes an electric motor 320, a drive shaft 321, and a gearbox 322.
  • the electric motor 320 can be replaced with a hydraulic drive system or an air motor or any other type of motors.
  • the drive shaft 321 connects the driving synchronous wheel 330 to the electric motor 320 via the gearbox 322 and conveys the kinetic energy from the motor 320 to the driving synchronous wheel 330 to drive the lifting device 124.
  • the drive shaft 321 is connected to two driving synchronous wheels (not shown) and ensures that the two wheels are moving synchronously.
  • two counterweights 333 are installed at the top of the multi-level frame 120. The counterweights can move along the standing columns 315 and can control and buffer the movement and momentum of the lifting device 124 because of the weight carried by the counterweights 333.
  • the lifting device 124 is implemented as a synchronous wheel drive system. Other mechanisms using sprocket, rack and pinion, turbine worm, and/or lifting screw can be used to implement the lifting device 124 as well.
  • the drive unit 110 is laid open in Fig. 2 after shifting the material handling device 130 aside.
  • the details of the drive unit 110 are illustrated in an exploded view of the drive unit 110 in Fig. 4.
  • the drive unit 110 in Fig. 4 includes a base 422, a shaft seat 415, and a shock absorber bracket 425.
  • the standing columns 315 are fixated on the base 422 to allow the multi-level frame 120 to be installed on the drive unit 110.
  • the base 422 has two surfaces, an upper surface 421 and an under surface 420.
  • the shaft seat 415 and the shock absorber bracket 425 are used to accommodate two driving wheels 413 through the driving wheel socket 423 and the installation socket 424.
  • the installation socket 424 is in the middle of the base 422 and the two driving wheels 413 are underneath the installation socket 424 supporting the base 422.
  • Four driven wheels 412 are also installed in the four corners of the base 422 to provide support and ease of movement.
  • the four driven wheels 412 are installed in the driven wheel sockets 426. In some embodiments, there may be more than four or fewer than four driven wheels.
  • the driven wheels may be omni-directional wheels or other types of steering wheels.
  • Fig. 5 illustrates an embodiment of the driving wheel 413.
  • the driving wheel 413 comprises a driving wheel bracket 530, a driving wheel body 531, a hub driving device 532, and a hub reduction device 533.
  • the driving wheel bracket 530 comprises a pair of wheel brackets 534, an axle body 535, and a pair of shock absorbers 536.
  • the hub driving device 532 is installed in the middle of the driving wheel bracket 530 along the central axis S2.
  • the hub driving device 532 is connected to the driving wheel body 531 and provides the driving force to propel the driving wheel 413.
  • the hub driving device 532 sits between the wheel brackets 534.
  • the two shock absorbers 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 installation socket 424.
  • the wheel bracket 534 are connected to the axle body 535, which are connected to the shaft seat 415 also through the installation socket 424.
  • the shock absorber 536 and the wheel bracket 534 form an angle.
  • Such structure can be used to absorb shocks or eccentric force, especially when the AGV 100 is turning.
  • the hub driving device 532 may be an electric motor, a hydraulic drive system, an air motor, or other types of motors.
  • the exemplary AGV 100 comprises the multi-level frame 120 illustrated in Fig. 2 and Fig. 3, the drive unit 110 illustrated in Fig. 4, and the material handling device 130 illustrated in Figs. 6a –6d.
  • the material handling device 130 is shown to comprise a tray 633, arms 632, a support frame 631, two slides 610, a camera set 640, primary lighting equipment 641 and secondary lighting equipment 642.
  • the material handling device 130 is shown to comprise a tray 633, arms 632, a support frame 631, two slides 610, a camera set 640, primary lighting equipment 641 and secondary lighting equipment 642.
  • the material handling device 130 can retract or extend along S6 through movements of the slides 610.
  • the material handling device 130 can also move laterally in a transverse direction.
  • the material handling device 130 may be configured to rotate around S5.
  • the material handling device 130 is configured to turn the tray 633 either to the left side or right side by 90°.
  • the material handling device 130 may be configured to translate the tray 633 either to the left or to the right. To translate the tray 633, the material handling device 130 moves the tray 633 parallelly along S7.
  • the arm 632 is configured to retract or extend along the slides 610 and to move the tray 633 along the S6 axis.
  • the arm 632 comprises a telescopic arm 636 and a pusher assembly 637 that are used to accomplish the movements of retraction and extension.
  • Fig. 6b illustrates an exploded view of an exemplary material handling device 130. Five parts of the material handling device 130 are depicted in the exploded view in Fig. 6b to show the detailed components in each part.
  • the tray 633 is depicted on top of the slides 610. The tray 633 is moved aside to expose the structure of the slide 610 in Fig. 6b.
  • the slides 610 are connected to a rotation assembly 638 and a lift fork 639.
  • the rotation assembly 638 is configured to rotate the tray 633 around the axis S6.
  • the details of the rotational assembly 638 are illustrated in Fig. 7 and explained below.
  • the material handling device 130 translates the tray 633 instead of rotating the tray 633, as illustrated in Fig. 8.
  • the slides 610 are part of the retraction device mentioned in other sections of this disclosure.
  • the rotational assembly 638 is part of the lateral device mentioned in other sections of this disclosure. Another embodiment of the lateral device is shown in Fig. 8.
  • the pusher assembly 637 is shown to comprise a fixed push rod 670, a moving push rod 671, a driving device 672, and an inner arm section 662.
  • the inner arm section 662 can be fitted into the middle arm section 661, which can in turn be fitted onto the outer arm section 660.
  • the driving device 672 can drive the moving push rod 671 to open or close relative to the inner arm section 662.
  • the moving push rod 671 can be used to move an inventory item onto the tray 633 or away from the tray 633.
  • the protection board 635 shown in Fig. 6b is installed around the tray 633 and can prevent the content of the tray 633 from falling off.
  • Fig. 6c provides another enlarged view of the material handling device 130.
  • Two outer arm sections 660 are installed on either side of the tray 633.
  • the camera set 640 and the primary lighting device 641 are installed at the front of the material handling device 130.
  • Fig. 6c also depicts a first driving device 663 that is connected to the outer arm section 660.
  • Fig. 6d depicts a second driving device 664 that is connected to the middle arm section 661.
  • Each of the first driving device 663 and the second driving device 664 comprises a telescopic drive device (3631, 3641 respectively) and a sprocket chain device (3630, 3640 respectively) .
  • the first driving device 663 may include a sprocket chain device while the second driving device 664 may include a flat belt device (not shown) .
  • the first or second driving devices 663 or 664 may include an open loop flat belt device (not shown) to facilitate the extension or retraction movement of the material handling device 130.
  • the material handling device 130 can be configured to rotate the tray 633 or translate the tray 633 in order to achieve the lateral movement in the process of storing or retrieving an inventory item.
  • a material handling device 130 that can reach inside a storage shelf with lateral movements is particularly advantageous.
  • the material handling device 130 can either rotate the tray 633 or translate the tray 633 to either the right side or left side without turning the entire AGV 100.
  • the space between the shelves can be as narrow as the width of the AGV 100. In this way, the AGV 100 requires less space than regular warehouse robots as it moves in between the shelves and picks up or put away inventory items.
  • Fig. 7 and Fig. 8 illustrate two exemplary embodiments used to achieve lateral movements of the material handling device 130.
  • Fig. 7 illustrates the rotational assembly 638 shown in Fig. 6b.
  • the rotational assembly 638 includes a rotation driving device 712 and a positioning device 714.
  • the rotation driving device 712 comprises a driving motor (not shown) and a set of driving gears 724.
  • Examples of the driving motor include electric motor, hydraulic driving system, or air motor.
  • Examples of the driving gears may include turbine shaft, planetary wheel, or other types of gears.
  • the positioning device 714 comprises a first angle sensor 716, a second angle sensor 720, a first proximity switch 726, a second proximity switch 728, and a detection board 718.
  • the positioning device 714 further includes a rotation controller that is not shown in Fig. 7.
  • the first angle sensor 716 and the second angle sensor 720 are positioned on the circumference of the driving gear 724 and separated by some distance.
  • the two sensors are used to detect whether the tray 633 of the material handling device 130 has turned to a specific position. As the tray 633 is driven by the driving device 712, the first and second proximity switches 726, 728, move with the tray 633. By determining which of the first or second angle sensor 716 or 720 detects which of the first or second proximity switches 726 or 728 at what time, the amount of angle rotation by the tray 633 can be detected and controlled by the rotation controller.
  • the rotation controller of Fig. 7 controls the arm 632 and the tray 633 to rotate to the right or the left by 90°, providing the lateral movement of the material handling device 130 to reach laterally to the shelf either on the right side or the left side.
  • Fig. 8 illustrates a different mechanism than the rotational assembly 638, which can also be used to provide lateral movements to the tray 633.
  • the arm 632 comprises two sliding mechanisms, 852 for x-axis movement and 854 for y-axis movement.
  • the sliding mechanism 852 moves the arm 632 to allow the arm 632 extend or retract.
  • the sliding mechanism 854 moves the arm 632 laterally either to the left side or to the right side.
  • two camera sets 856 are installed on either side of the arm 632 for optical detection.
  • the material handling device 130 driven by the system shown in Fig. 8 does not rotate, but only slides to either the left side or the right side. Therefore, in Fig. 6a, only one camera set 640 is needed at the front of the material handling device 130, while in Fig. 8, two camera sets 856 are installed on both sides of the arm 632.
  • Figs 1 –8 illustrate an advanced AGV 100 that is agile and nimble.
  • Fig. 9 illustrates a flow chart of the process in which the AGV 100 stores or retrieves inventory items.
  • Fig. 9 shows only the process of retrieving an item.
  • the process of storing an inventory item is similar and for reasons of simplicity, is not described in detail.
  • a person skilled in the art would be able to derive the process of storing an inventory item from the process of retrieving an inventory item described in Fig. 9.
  • the AGV 100 receives an instruction to retrieve an inventory item from a warehouse shelf.
  • the instruction may simply include the identification code of the inventory item and the AGV 100 looks up the position information of the item using the identification code.
  • the instruction may include the position of the inventory item and the AGV 100 can extract the position information of the item to be retrieved based on the instruction.
  • the position information includes the location of the inventory item, for example, x and y coordinates, or row and column number, etc., and the orientation of the inventory item, and the height, e.g., at which level of the shelf the item is stored. With the position information of the item, the AGV 100 navigates around the warehouse and approaches the location of the inventory item.
  • the AGV 100 When the AGV 100 reaches the location (step 902) , it turns on the primary lighting equipment 641 (step 904) .
  • the AGV 100 attempts to read the identification code on the inventory item (step 906) .
  • the identification code may be a two-dimensional bar code. In other embodiments, the identification code can be any bar code.
  • the AGV 100 sends a report to the server and aborts the task (step 950) .
  • the AGV 100 When the AGV 100 is able to recognize the identification code, it calculates a position shift of the inventory item (step 908) .
  • the AGV 100 is configured to report the position shift it obtains for the inventory item to a server (step 910) .
  • the server is configured to use the position shift and the layout of the warehouse to determine the correct location of the inventory item (step 912) .
  • the server then updates its database with the correct location of the inventory item (step 914) .
  • the AGV 100 further determines whether the material handling device 130 can reach straight to the inventory item from where the AGV 100 stands (step 924) . If yes, the AGV 100 further adjusts or finetunes the position of the material handling device 130 (step 932) and then extends the material handling device 130 (step 934) while moving the AGV 100 to slightly adjust the position or orientation of the inventory item (step 936) . If yes, the AGV 100 also checks whether the tray 633 is within the pre-determined range (step 922) . If not, the AGV 100 slightly adjusts where the AGV stands (920) and attempts to read the identification code again (step 906) .
  • the AGV 100 adjusts the position of the material handling device 130 and rotates the tray 633 (step 926) . before reading the identification code again to determine whether the position shift is within a threshold (step 928) . If the shift is within the threshold, the AGV 100 extends the material handling device 130 to reach out to the inventory item (step 930) . If the position shift is not reasonable or within a pre-determined threshold, the AGV 100 extends the material handling device (step 934) to adjust the position of the AGV 100 and the position of the inventory item (step 936) .
  • the AGV 100 is configured to find and retrieve an inventory item that is hidden behind an object or another inventory item.
  • the AGV 100 may be configured to receive an instruction from a server indicating the position of a first inventory item to be fetched. The position includes the location, depth and orientation of the first inventory item.
  • the AGV 100 is configured to fetch the first inventory item from the back row of the shelf if there is no inventory item in the front row. If there is a second inventory item in the front row, the AGV 100 is configured to fetch the second inventory item and place the second inventory item on a first tray on the multi-level frame 120 that is empty.
  • the AGV 100 then fetches the first inventory item and places the first inventory item on a second tray on the multi-level frame 120 that is empty. Having retrieved the first inventory item, the AGV 100 returns the second inventory item where it is stored on the shelf.
  • the shelves used in a warehouse may allow two or more rows of inventory items to be placed or stored inside the shelves.
  • the AGV 100 and the position information stored for each inventory item are modified or adapted to accommodate double-row deep shelves.
  • the AGV 100 first receives an instruction to transport the first inventory item.
  • the instruction may include the position of the first inventory item such as the location, the depth, and the orientation of the first inventory item. If the depth of the first inventory item indicates that the item is in the front row of the shelf, the AGV 100’s fetching process is the same as previously described.
  • the AGV 100’s fetching process may require the AGV 100 to remove the inventory item in the front row in order to reach to the first inventory item in the back row.
  • the AGV 100 is configured to take the second inventory item in the front row and place it on one of its empty trays, and then fetch the first inventory item from the back row and place it on another of its empty trays. After that, the robot returns the front row item to the front row. Indeed, if the AGV 100 is instructed to fetch both the first and second inventory items and they happen to be at the same location but in different rows, the AGV 100 doesn’t need to return the second inventory item back to the shelf.
  • the AGV 100 is configured to detect a position shift of either the first or second inventory item and adjust the stance and position of the AGV 100, and also the position of the inventory item before reaching into the shelf to fetch the inventory item, first or second. In one embodiment, the AGV 100 may repeat the position adjustment process until the detected position shift is smaller than a threshold. In one embodiment, the AGV 100 is configured to report the position shift to a server to allow the server to update a map of the warehouse. The map of the warehouse may illustrate the layout, i.e., where the shelves are and where the inventory items are stored.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Economics (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Theoretical Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Marketing (AREA)
  • General Business, Economics & Management (AREA)
  • Tourism & Hospitality (AREA)
  • Strategic Management (AREA)
  • Development Economics (AREA)
  • Operations Research (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Human Resources & Organizations (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Handcart (AREA)
  • Vehicle Body Suspensions (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Manipulator (AREA)
PCT/CN2018/104652 2017-11-14 2018-09-07 Automated guided vehicle designed for warehouse Ceased WO2019095803A1 (en)

Priority Applications (15)

Application Number Priority Date Filing Date Title
KR1020217038361A KR102439052B1 (ko) 2017-11-14 2018-09-07 창고에 사용되는 자동 가이드 차량
SG11202004492WA SG11202004492WA (en) 2017-11-14 2018-09-07 Automated guided vehicle designed for warehouse
US16/476,126 US11718472B2 (en) 2017-11-14 2018-09-07 Automated guided vehicle designed for warehouse
AU2018368406A AU2018368406B2 (en) 2017-11-14 2018-09-07 Automated guided vehicle designed for warehouse
CN201880073998.4A CN111433139A (zh) 2017-11-14 2018-09-07 用于仓库的自动引导车
MYPI2020002359A MY188417A (en) 2017-11-14 2018-09-07 Automated guided vehicle designed for warehouse
JP2020545419A JP6970831B2 (ja) 2017-11-14 2018-09-07 倉庫用自動ガイド車両
CA3082510A CA3082510C (en) 2017-11-14 2018-09-07 Automated guided vehicle designed for warehouse
KR1020207016862A KR102332766B1 (ko) 2017-11-14 2018-09-07 창고에 사용되는 자동 가이드 차량
EP18878478.9A EP3710381A4 (en) 2017-11-14 2018-09-07 AUTOMATIC GUIDED VEHICLE DESIGNED FOR A WAREHOUSE
RU2020119331A RU2751736C1 (ru) 2017-11-14 2018-09-07 Автоматически управляемое транспортное средство, предназначенное для склада
NZ765310A NZ765310A (en) 2017-11-14 2018-09-07 Automated guided vehicle designed for warehouse
CN201910703479.8A CN110498172A (zh) 2017-11-14 2019-07-31 一种控制仓库机器人存取库存物料的方法
JP2021177325A JP7223099B2 (ja) 2017-11-14 2021-10-29 倉庫用自動ガイド車両
AU2022203237A AU2022203237B2 (en) 2017-11-14 2022-05-13 Automated guided vehicle designed for warehouse

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201711135812.7 2017-11-14
CN201711141498.3A CN108122016B (zh) 2017-11-14 2017-11-14 自动存取货物的方法和装置
CN201711135812.7A CN108069180A (zh) 2017-11-14 2017-11-14 机器人
CN201711141498.3 2017-11-14

Publications (1)

Publication Number Publication Date
WO2019095803A1 true WO2019095803A1 (en) 2019-05-23

Family

ID=66538872

Family Applications (3)

Application Number Title Priority Date Filing Date
PCT/CN2018/104652 Ceased WO2019095803A1 (en) 2017-11-14 2018-09-07 Automated guided vehicle designed for warehouse
PCT/CN2018/104654 Ceased WO2019095804A1 (zh) 2017-11-14 2018-09-07 一种搬运机器人以及基于搬运机器人的取货方法
PCT/CN2020/105514 Ceased WO2021018193A1 (zh) 2017-11-14 2020-07-29 一种控制仓库机器人存取库存物料的方法

Family Applications After (2)

Application Number Title Priority Date Filing Date
PCT/CN2018/104654 Ceased WO2019095804A1 (zh) 2017-11-14 2018-09-07 一种搬运机器人以及基于搬运机器人的取货方法
PCT/CN2020/105514 Ceased WO2021018193A1 (zh) 2017-11-14 2020-07-29 一种控制仓库机器人存取库存物料的方法

Country Status (13)

Country Link
US (5) US11718472B2 (enExample)
EP (4) EP3712815B1 (enExample)
JP (10) JP6838178B2 (enExample)
KR (8) KR102385397B1 (enExample)
CN (6) CN111433139A (enExample)
AU (5) AU2018368406B2 (enExample)
CA (3) CA3152890C (enExample)
DE (3) DE202018006724U1 (enExample)
MY (2) MY189257A (enExample)
NZ (2) NZ765306A (enExample)
RU (3) RU2751736C1 (enExample)
SG (2) SG11202004495PA (enExample)
WO (3) WO2019095803A1 (enExample)

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021018193A1 (zh) * 2017-11-14 2021-02-04 深圳市海柔创新科技有限公司 一种控制仓库机器人存取库存物料的方法
WO2021098778A1 (zh) * 2019-11-19 2021-05-27 丰豪物流（北京）有限公司 搬运装置、搬运机器人、盘点方法及盘点系统
JP2022506001A (ja) * 2019-09-30 2022-01-17 ハイ ロボティクス カンパニー リミテッド 運搬ロボット、ピックアップ方法、及び知能倉庫システム
CN114445971A (zh) * 2021-11-04 2022-05-06 湖南开放大学(湖南省干部教育培训网络学院) 一种用于网络销售的智能化快递屋
KR20220061141A (ko) * 2019-09-17 2022-05-12 하이 로보틱스 씨오., 엘티디. 팰릿 포크 및 운송 로봇
EP3919411A4 (en) * 2019-02-01 2022-07-06 Hai Robotics Co., Ltd. TRANSFER ROBOT
US11396424B2 (en) 2017-11-14 2022-07-26 Hai Robotics Co., Ltd. Handling robot
US11465840B2 (en) 2017-11-14 2022-10-11 Hai Robotics Co., Ltd. Handling robot
KR20220137974A (ko) * 2020-03-09 2022-10-12 하이 로보틱스 씨오., 엘티디. 운반 로봇 제어 방법, 장치, 수직형 브라켓 및 운반 로봇
US11542135B2 (en) 2019-02-01 2023-01-03 Hai Robotics Co., Ltd. Handling robot
US11597598B2 (en) 2019-02-01 2023-03-07 Hai Robotics Co., Ltd. Handling robot
US11655099B2 (en) 2017-11-14 2023-05-23 Hai Robotics Co., Ltd. Handling robot
US11718473B1 (en) 2019-09-17 2023-08-08 Hai Robotics Co., Ltd. Fork and carrying robot
EP4049961A4 (en) * 2019-10-23 2023-11-29 Shanghai Quicktron Intelligent Technology Co., Ltd TELESCOPIC DEVICE AND TRANSPORT ROBOT
WO2024021395A1 (zh) * 2022-07-25 2024-02-01 上海快仓智能科技有限公司 搬运装置、搬运机器人及仓储系统
EP4155236A4 (en) * 2020-06-12 2024-04-24 Hai Robotics Co., Ltd. Image capturing method for product pick-up/loading, image capturing module, and transfer robot
US12103833B2 (en) 2020-08-25 2024-10-01 Grupo Bimbo, S.A.B. De C.V. Automatic guided vehicle (AGV)
US12103771B2 (en) 2017-11-14 2024-10-01 Hai Robotics Co., Ltd. Handling robot
US12330870B2 (en) 2017-11-14 2025-06-17 Hai Robotics Co., Ltd. Handling robot
US12630360B2 (en) 2017-11-14 2026-05-19 Hai Robotics Co., Ltd. Handling robot

Families Citing this family (147)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180330325A1 (en) 2017-05-12 2018-11-15 Zippy Inc. Method for indicating delivery location and software for same
WO2019117844A1 (en) 2017-12-11 2019-06-20 Daniel Theobald Autonomous device for transporting items
CN112512944B (zh) * 2018-05-22 2022-09-20 匹克八西普科技股份有限公司 货物容器和货物物流方法
FR3089751B1 (fr) * 2018-12-12 2022-08-12 Ynsect Atelier de production agricole comportant un véhicule à guidage automatique instrumenté
US11400599B2 (en) * 2019-01-30 2022-08-02 Lg Electronics Inc. Stock management robot
USD918281S1 (en) * 2019-03-13 2021-05-04 Shenzhen Hairou Innovation Technology Co., Ltd. Warehouse robot
CN111731729A (zh) * 2019-04-30 2020-10-02 北京京东乾石科技有限公司 货架穿梭车及货架系统
CN112116283B (zh) * 2019-06-21 2024-04-09 杭州海康威视数字技术股份有限公司 一种物流信息采集方法、视频搜索方法、装置及电子设备
EP4023570B1 (en) * 2019-08-30 2024-07-10 Hai Robotics Co., Ltd. Sorting robot and sorting method
CN111559536B (zh) * 2019-09-18 2024-09-20 深圳市今天国际物流技术股份有限公司 软包电池换盘与装盘方法，软包电池机械手和存储介质
EP4039618A4 (en) 2019-09-30 2022-11-23 Hai Robotics Co., Ltd. METHOD, DEVICE, HANDLING DEVICE AND HANDLING ROBOT FOR CONTROLLING CHARGE PICTURE AND PLACEMENT
CN111348361A (zh) * 2020-01-21 2020-06-30 深圳市海柔创新科技有限公司 取、放货控制方法、装置、搬运装置及搬运机器人
CN110775496B (zh) 2019-10-15 2020-12-15 北京极智嘉科技有限公司 一种集合订单合流处理系统、方法及装置
EP3815852B1 (de) * 2019-10-29 2025-05-07 IMS Gear SE & Co. KGaA Fahrerlose transportvorrichtung und fahrerloses transportsystem zum transportieren von gegenständen
US11164226B2 (en) * 2019-11-01 2021-11-02 AiFi Inc. Method and system for managing product items in a store
WO2021098782A1 (zh) * 2019-11-19 2021-05-27 深圳市海柔创新科技有限公司 搬运装置及搬运机器人
CN211197466U (zh) 2019-11-19 2020-08-07 深圳市海柔创新科技有限公司 一种搬运装置及具有此搬运装置的搬运机器人
CN111646082B (zh) * 2019-11-29 2022-11-11 北京极智嘉科技股份有限公司 容器存储系统、仓储系统、机器人控制方法和机器人
CN111003397A (zh) * 2019-12-04 2020-04-14 云南昆船智能装备有限公司 一种轻型多向堆垛agv
US11420823B1 (en) 2019-12-12 2022-08-23 Amazon Technologies, Inc. Consolidation and transportation of items
US11230435B1 (en) * 2019-12-12 2022-01-25 Amazon Technologies, Inc. Multi-asin consolidation and transportation system
CN111137610A (zh) * 2019-12-26 2020-05-12 北京极智嘉科技有限公司 一种基于密集存储的货箱搬运方法及装置
CN113697350B (zh) * 2020-03-09 2025-05-27 深圳市海柔创新科技有限公司 装卸货装置及装卸货方法
CN111232524B (zh) * 2020-03-09 2023-06-13 深圳市海柔创新科技有限公司 一种控制搬运机器人的方法、装置及搬运机器人
WO2021179993A1 (zh) 2020-03-09 2021-09-16 深圳市海柔创新科技有限公司 搬运机器人、系统、方法及其装卸货装置、系统及方法
CN113493171B (zh) * 2020-03-19 2023-05-02 深圳市泓腾生物科技有限公司 一种笼具智能夹持装置
CN120482588A (zh) * 2020-04-27 2025-08-15 北京极智嘉科技股份有限公司 一种取货箱设备
GB2594516A (en) * 2020-05-01 2021-11-03 Edwards Vacuum Llc Transport device and method of moving vacuum system components in a confined space
EP4151557B1 (en) 2020-05-12 2025-07-23 Hai Robotics Co., Ltd. Cargo box pull-out mechanism, device and method, and transfer robot
CN115417053B (zh) * 2020-05-12 2025-06-20 深圳市海柔创新科技有限公司 搬运机器人及转移货箱的方法
CN113657821B (zh) * 2020-05-12 2024-08-20 北京京东乾石科技有限公司 一种入库方法和装置
CN111605958A (zh) * 2020-06-10 2020-09-01 北京极智嘉科技有限公司 一种搬运机器人及仓储物流系统
CN111792570A (zh) * 2020-06-30 2020-10-20 京良(广州)科技股份有限公司 一种带信息溯源功能的叉车机器人
CN111824668B (zh) * 2020-07-08 2022-07-19 北京极智嘉科技股份有限公司 机器人以及基于机器人的容器存入、取出方法
CN111874511A (zh) * 2020-07-20 2020-11-03 南京音飞储存设备（集团）股份有限公司 一种带缓存位的存取货agv小车、货架组件及控制方法
JP7527888B2 (ja) * 2020-08-13 2024-08-05 株式会社東芝 制御装置、及び荷役システム
CN111908383B (zh) * 2020-08-18 2023-07-18 诺力智能装备股份有限公司 一种托盘联动校准装置及方法
CN112027472B (zh) * 2020-09-08 2021-12-31 北京极智嘉科技股份有限公司 一种仓库搬运调度系统及控制方法
CN114162577B (zh) * 2020-09-11 2025-04-04 上海大界机器人科技有限公司 一种施工接驳系统及方法
EP3971113B1 (en) 2020-09-17 2025-07-23 Cleveron AS Lift and loader -assembly, parcel terminal and method to fulfill online product orders
CN114275520A (zh) * 2020-09-27 2022-04-05 因格(苏州)智能技术有限公司 一种兼容多箱型的周转箱夹取装置、agv小车及夹取方法
CN114379969B (zh) * 2020-10-16 2023-06-27 北京极智嘉科技股份有限公司 库存容器操作系统和方法
US11887048B2 (en) 2020-10-28 2024-01-30 United Parcel Service Of America, Inc. Locating, identifying, and shifting objects in automated or semi-automated fashion including during transit
US12321889B2 (en) * 2020-10-28 2025-06-03 United Parcel Service Of America, Inc. Locating, identifying, and shifting objects in automated or semi-automated fashion including during transit
US11978012B2 (en) 2020-10-28 2024-05-07 United Parcel Service Of America, Inc. Locating, identifying, and shifting objects in automated or semi-automated fashion including during transit
CN112249117A (zh) * 2020-10-29 2021-01-22 付桂华 一种混凝土板转运装置及其转运方法
KR20220066714A (ko) * 2020-11-16 2022-05-24 삼성에스디에스 주식회사 무인 운반 장치 및 이를 이용한 전극 릴 코어 운반 방법
CN112499079B (zh) * 2020-11-17 2022-01-28 温州职业技术学院 一种基于互联网的仓储管理系统
CA3174323A1 (en) * 2020-11-18 2022-05-27 Tim Johnson Robotic apparatuses, systems, and methods for moving objects
CN112407724B (zh) * 2020-11-20 2022-04-19 深圳市海柔创新科技有限公司 空间分配方法、货物存放方法、装置、机器人和仓储系统
CN114516506B (zh) * 2020-11-20 2026-02-27 深圳市海柔创新科技有限公司 货物整理方法、设备、仓储系统及存储介质
CN112407727B (zh) * 2020-11-20 2022-12-27 深圳市海柔创新科技有限公司 货物存放方法、装置、机器人、仓储系统和存储介质
US11800855B2 (en) * 2020-12-09 2023-10-31 Todd Koertge Large animal lifting and moving apparatus
CN112659834A (zh) * 2020-12-23 2021-04-16 神华铁路装备有限责任公司 减震结构及自动导引运载车
CN112744498B (zh) * 2020-12-28 2022-09-06 上海快仓智能科技有限公司 搬运机器人、搬运控制方法、控制设备和仓储系统
CN114684744A (zh) * 2020-12-30 2022-07-01 深圳市海柔创新科技有限公司 货叉组件及搬运机器人
CN112720578B (zh) * 2020-12-30 2022-06-07 炬星科技（深圳）有限公司 一种机器人采集位置信息的方法、终端及存储介质
CN112830237A (zh) * 2021-01-13 2021-05-25 广东智源机器人科技有限公司 移动控制方法、装置、设备以及烹饪系统
DE202022002856U1 (de) * 2021-01-21 2023-10-05 Beijing Geekplus Technology Co., Ltd. System zur Handhabung von Frachtkisten
CN112757253A (zh) * 2021-01-27 2021-05-07 德鲁动力科技(成都)有限公司 一种智能搬运机器人
KR102937907B1 (ko) 2021-01-29 2026-03-11 삼성전자주식회사 서빙 로봇 장치
JP7528813B2 (ja) * 2021-02-16 2024-08-06 トヨタ自動車株式会社 搬送システム及び搬送方法
DE102021103799A1 (de) * 2021-02-18 2022-08-18 Jungheinrich Aktiengesellschaft Flurförderzeug mit erfassungseinrichtungen an gabelzinken
CN112975976A (zh) * 2021-03-03 2021-06-18 北京京东乾石科技有限公司 物品盘点方法和系统、机器人控制装置和机器人
CN113086467B (zh) * 2021-03-24 2023-05-23 北京极智嘉科技股份有限公司 机器人以及基于机器人的料箱检测方法
CN112875128A (zh) * 2021-03-26 2021-06-01 宁波智千智能工程有限公司 一种用于输送物料箱的agv
USD999798S1 (en) * 2021-04-07 2023-09-26 Hai Robotics Co., Ltd. Storage robot
US20240375871A1 (en) * 2021-04-13 2024-11-14 Beijing Geekplus Technology Co., Ltd. Goods sorting system and method, and robot
USD1044899S1 (en) 2021-05-12 2024-10-01 Hai Robotics Co., Ltd. Storage robot
KR102326542B1 (ko) * 2021-05-13 2021-11-12 공부식 아파트 자재 거래 시스템
CN113200275B (zh) * 2021-05-20 2023-02-28 深圳市库宝软件有限公司 货箱整理方法、装置、设备、仓储系统及存储介质
CN113247493B (zh) * 2021-06-08 2021-09-21 山东明基环境发展有限公司 垃圾车对接系统及其工作方法
CN113335827B (zh) * 2021-06-18 2023-03-14 深圳市海柔创新科技有限公司 物料调整方法及设备
EP4363365A1 (en) 2021-06-28 2024-05-08 Moog Inc. Autonomous load moving electric vehicle
CN215400972U (zh) * 2021-07-23 2022-01-04 杭州海康机器人技术有限公司 一种搬运机器人
CN113479822B (zh) * 2021-08-04 2023-02-10 杭州海康机器人股份有限公司 搬运装置
CN113734319A (zh) * 2021-09-03 2021-12-03 昆山合泰智能科技发展有限公司 一种掩膜版搬运车
USD995596S1 (en) * 2021-09-14 2023-08-15 Hai Robotics Co., Ltd. Warehouse robot
JP1717350S (ja) * 2021-09-14 2022-06-14 ストレージロボット
JP1717349S (ja) * 2021-09-14 2022-06-14 ストレージロボット
CN113788259B (zh) * 2021-09-18 2023-07-18 深圳市海柔创新科技有限公司 搬运机器人
JP2023045443A (ja) * 2021-09-22 2023-04-03 株式会社東芝 搬送計画生成方法、搬送計画生成装置、及びプログラム
USD1024156S1 (en) * 2021-09-23 2024-04-23 Hai Robotics Co., Ltd. Warehouse robot
USD1035733S1 (en) * 2021-09-23 2024-07-16 Hai Robotics Co., Ltd. Handling device of warehouse robot
WO2023061459A1 (zh) * 2021-10-15 2023-04-20 北京极智嘉科技股份有限公司 仓储系统及其控制方法
USD1009961S1 (en) * 2021-10-19 2024-01-02 Hai Robotics Co., Ltd. Warehouse robot
USD1015396S1 (en) * 2021-10-19 2024-02-20 Hai Robotics Co., Ltd. Warehouse robot
USD1058627S1 (en) * 2021-10-19 2025-01-21 Hai Robotics Co., Ltd. Fork
USD1032677S1 (en) * 2021-10-19 2024-06-25 Hai Robotics Co., Ltd. Loading and unloading device
USD1053232S1 (en) * 2021-10-19 2024-12-03 Hai Robotics Co., Ltd. Loading and unloading device
JP1735060S (ja) * 2021-10-20 2023-01-20 ストレージロボット
CA211322S (en) * 2021-10-20 2023-09-27 Hai Robotics Co Ltd Handling robot
CA211848S (en) * 2021-10-20 2023-12-07 Hai Robotics Co Ltd Carrying unit of a warehouse robot
CA211434S (en) * 2021-10-20 2023-11-21 Hai Robotics Co Ltd Supporting pillar for a warehouse robot
JP1724500S (ja) * 2021-10-20 2022-09-12 ストレージロボット
JP1738502S (ja) * 2021-10-28 2023-03-07 搬送ロボット
WO2023074957A1 (ko) * 2021-10-29 2023-05-04 엘지전자 주식회사 배송 로봇
USD995594S1 (en) * 2021-11-02 2023-08-15 Hai Robotics Co., Ltd. Warehouse robot
USD995595S1 (en) * 2021-11-02 2023-08-15 Hai Robotics Co., Ltd. Warehouse robot
USD1044900S1 (en) * 2021-11-19 2024-10-01 Hai Robotics Co., Ltd. Warehousing robot
CN114084564B (zh) * 2021-12-01 2024-02-27 合肥市极点智库智能装备有限公司 一种高精度窄巷道自然导航agv
CN116199155A (zh) * 2021-12-01 2023-06-02 泰科电子(上海)有限公司 托盘升降货架和托盘搬运系统
CN114291472B (zh) * 2021-12-31 2023-12-26 西安航天动力研究所 一种自动上下料的多层转运装置
USD1048129S1 (en) * 2022-01-07 2024-10-22 Beijing Geekplus Technology Co. Ltd. Robot
CN114261673B (zh) * 2022-01-18 2023-10-27 广东电网有限责任公司 一种agv轨道辅助装置
CN114408426B (zh) * 2022-01-19 2025-09-02 桂林电子科技大学 一种物流仓储机器人及其管理系统
JP7240038B1 (ja) 2022-01-27 2023-03-15 ユーピーアール株式会社 荷物位置管理システム
CN114379991B (zh) * 2022-01-28 2024-07-02 云南滇东雨汪能源有限公司 一种采煤机安装用零部件转运设备
USD1010702S1 (en) * 2022-02-28 2024-01-09 Hai Robotics Co., Ltd. Warehousing robot
USD1003961S1 (en) * 2022-03-30 2023-11-07 Shanghai Quicktron Intelligent Technology Co., Ltd Transfer robot
CN114701783A (zh) * 2022-04-01 2022-07-05 普罗格智芯科技(湖北)有限公司 一种智能仓储系统及其自动取放货的方法
USD1031807S1 (en) * 2022-04-01 2024-06-18 Hai Robotics Co., Ltd. Carrying unit of warehousing robot
CN114715591B (zh) * 2022-04-19 2024-02-23 深圳市海柔创新科技有限公司 仓储管理方法、装置、系统、设备和机器人
USD1024155S1 (en) * 2022-05-31 2024-04-23 Beijing Geekplus Technology Co., Ltd. Sorting machine for handling goods
US12552602B1 (en) * 2022-06-14 2026-02-17 Amazon Technologies, Inc. Inventory system with item retrieval
CN114988038A (zh) * 2022-06-20 2022-09-02 北京京东乾石科技有限公司 一种无人搬运设备
CN115123763A (zh) * 2022-06-27 2022-09-30 东风汽车集团股份有限公司 自动引导运输车及其控制方法、集配系统及集配方法
USD1070943S1 (en) * 2022-08-30 2025-04-15 Hai Robotics Co., Ltd. Warehousing robot
CN115464641B (zh) * 2022-08-31 2025-04-25 广东利元亨智能装备股份有限公司 取料及取料位置确定模型创建方法、装置及电子设备
USD1070942S1 (en) * 2022-09-01 2025-04-15 Hai Robotics Co., Ltd. Warehousing robot
KR102620930B1 (ko) * 2022-09-27 2024-01-08 현대글로비스 주식회사 무인택배함용 핸들러장치
USD1056980S1 (en) * 2022-09-29 2025-01-07 Hai Robotics Co., Ltd. Transportation robot
CN115489956B (zh) * 2022-09-30 2025-12-23 杭州海康机器人股份有限公司 一种运载货物的方法及装置
USD1029903S1 (en) * 2022-09-30 2024-06-04 Direct Cursus Technology L.L.C Industrial robot
CN115892809B (zh) * 2022-10-20 2026-05-01 苏州优斯托智能科技有限公司 一种智能仓储移载物料位移检测插臂及方法
USD1067953S1 (en) * 2022-10-20 2025-03-25 Hai Robotics Co., Ltd. Transportation robot
CN115357033B (zh) * 2022-10-21 2023-01-10 合肥焕智科技有限公司 一种面向于agv机器人的作业控制方法
CN115636210B (zh) * 2022-10-27 2026-02-03 未来机器人（深圳）有限公司 货物管理方法、搬运设备及计算机可读存储介质
USD1070941S1 (en) * 2022-11-09 2025-04-15 Hai Robotics Co., Ltd. Transportation robot
CN115520416A (zh) * 2022-11-09 2022-12-27 苏州鸿昱莱机电科技有限公司 一种三轴加料装钵机及其操作方法
USD1053922S1 (en) * 2022-11-15 2024-12-10 Hai Robotics Co., Ltd. Transportation robot
TWD229385S (zh) * 2022-11-15 2024-01-01 大陸商北京極智嘉科技股份有限公司 行動搬運機器人
GB2624722A (en) * 2022-11-23 2024-05-29 Shoalter Automation Ltd A modular automated retail store and system
CN118062450A (zh) * 2022-11-23 2024-05-24 北京极智嘉科技股份有限公司 搬运机器人、仓储系统和控制方法
CN115973639A (zh) * 2022-12-02 2023-04-18 北京航天智造科技发展有限公司 一种agv取放货装置及取放货控制方法
KR102945994B1 (ko) * 2023-01-17 2026-03-30 네이버 주식회사 서버 관리 로봇 및 이를 구비하는 서버 관리 시스템
KR20240145289A (ko) * 2023-03-27 2024-10-07 주식회사 알지티 퇴식기능제공단이 적용된 서비스 서빙 로봇
CN116331829B (zh) * 2023-05-29 2023-07-25 中国农业大学烟台研究院 一种基于计算机的工业运载机器人
USD1111069S1 (en) * 2023-08-16 2026-02-03 Hai Robotics Co., Ltd. Warehouse robot
CN116923944B (zh) * 2023-09-11 2024-01-05 北京大学 一种基于视觉识别的前置仓配货机器人
USD1120055S1 (en) * 2023-09-12 2026-03-24 Hai Robotics Co., Ltd. Warehouse robot
GB2633641A (en) * 2023-09-18 2025-03-19 Shoalter Automation Ltd A mobile automated container handling device and method
CN117088027B (zh) * 2023-09-25 2024-03-12 滁州赛迩斯数字技术有限公司 一种巷道堆垛机
CN117550274B (zh) * 2024-01-11 2024-03-22 天津联汇智造科技有限公司 一种半成品自动取放货系统及方法
US12467521B1 (en) 2024-05-10 2025-11-11 Yarro Studios, Inc. 3D-printed telescoping actuator
CN119841012A (zh) * 2024-09-24 2025-04-18 比亚迪股份有限公司 送料装置以及料箱机器人
CN119660215B (zh) * 2024-11-28 2025-11-11 西安航天赛能自动化科技有限公司 一种基于wcs系统多深度立体库中货物的快速移库方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130096713A1 (en) * 2011-10-17 2013-04-18 Kabushiki Kaisha Yaskawa Denki Robot system, robot, and sorted article manufacturing method
CN106379681A (zh) * 2016-07-11 2017-02-08 黄金刚 一种智能仓储机器人、系统及系统控制方法
CN106927179A (zh) * 2017-01-16 2017-07-07 黄金刚 一种智能仓储机器人、系统及控制方法、充电方法
CN107226310A (zh) * 2017-07-13 2017-10-03 武汉九州通物流有限公司 一种agv拆零拣选小车及方法
CN108069180A (zh) * 2017-11-14 2018-05-25 深圳市海柔创新科技有限公司 机器人
CN108122016A (zh) * 2017-11-14 2018-06-05 东莞市海柔智能科技有限公司 自动存取货物的方法和装置
CN108408316A (zh) * 2018-04-26 2018-08-17 北京极智嘉科技有限公司 搬运设备

Family Cites Families (185)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1068317A (en) 1913-07-22 Henry A Christy Metallic car-roof.
US3556329A (en) * 1969-09-18 1971-01-19 Dresser Ind Stacker crane with an extensible load support means
US3549025A (en) * 1969-10-09 1970-12-22 Clark Equipment Co Side loader device
US3727778A (en) * 1971-07-08 1973-04-17 Drexel Ind Inc Material handling system
JPS5316732Y2 (enExample) 1973-05-17 1978-05-04
JPS5160504A (ja) 1974-11-25 1976-05-26 Kazumi Maemoto Kikaishikijidohantenteepurekoodaa
SU867871A1 (ru) * 1979-08-06 1981-09-30 Центральный научно-исследовательский институт материалов и технологии тяжелого и транспортного машиностроения Кран-штабелер дл обслуживани много русных стеллажей
GB2080265A (en) * 1980-07-03 1982-02-03 Farr Kenneth Warehousing
US4458808A (en) * 1981-05-26 1984-07-10 Loomer Weston R Shuttle table drive mechanism
DE3279286D1 (en) 1981-10-08 1989-01-19 Atomic Energy Authority Uk Transducers for providing an electrical signal representative of physical movement
US4492504A (en) * 1981-12-07 1985-01-08 Bell & Howell Company Materials handling system
JPS6160504A (ja) * 1984-09-03 1986-03-28 Hitachi Ltd 移動体の移動停止制御方法
EP0235488B1 (fr) * 1986-09-19 1990-01-24 REDOUTE CATALOGUE Société Anonyme: Installation de manutention robotisée
SU1370017A1 (ru) * 1986-08-20 1988-01-30 Предприятие П/Я В-8733 Телескопический захват
GB2201938B (en) * 1987-03-11 1991-09-04 Honda Motor Co Ltd Automated loading/unloading equipment
DE3725795A1 (de) * 1987-08-04 1989-02-16 Messerschmitt Boelkow Blohm Fahrerloses foerderfahrzeug
JPH01111611A (ja) 1987-10-19 1989-04-28 Nippon Kinsen Kikai Kk 硬貨包装機
US5104277A (en) * 1989-04-06 1992-04-14 Hewlett-Packard Company Method and apparatus for automatically changing printed circuit board test fixtures
JPH03152007A (ja) * 1989-11-08 1991-06-28 Yonei:Kk 走行型入出庫クレーン
CH680212A5 (en) 1990-03-16 1992-07-15 Fritschi Ag Hugo Shelf service equipment for high level shelf storage - enables bundles to circulate on intermediate storage conveyor which allows access to other bundles behind them
JPH047509U (enExample) 1990-05-11 1992-01-23
JPH0747403B2 (ja) 1990-05-22 1995-05-24 インベストロニカ・ソシエダッド・アノニマ プログラム制御による箱、コンテナ等の操作・移送装置
JPH06239410A (ja) 1993-02-10 1994-08-30 Hitachi Ltd 入出庫作業用クレーンの制御方法
IT1266108B1 (it) 1993-07-15 1996-12-20 Nordica Spa Struttura di scarpone da sci a tenuta laterale migliorata
US5570990A (en) 1993-11-05 1996-11-05 Asyst Technologies, Inc. Human guided mobile loader stocker
CA2144886A1 (en) * 1995-03-17 1996-09-18 William J. Doherty Video camera guidance system for forklifts
DE19613386A1 (de) 1996-04-03 1997-10-09 Fiat Om Carrelli Elevatori Flurförderzeug, das wahlweise manuell oder automatisch betreibbar ausgebildet ist
JPH1111611A (ja) 1997-06-26 1999-01-19 Toyota Autom Loom Works Ltd ダブルリーチ式自動倉庫
JP3887904B2 (ja) * 1997-09-10 2007-02-28 株式会社豊田自動織機 スタッカクレーン用移載装置の制御装置
JPH11168185A (ja) 1997-12-03 1999-06-22 Rohm Co Ltd 積層基板体および半導体装置
JP3068546B2 (ja) * 1998-01-28 2000-07-24 山形日本電気株式会社 ロボットの制御方法及びその装置
DE29808762U1 (de) 1998-04-30 1998-11-05 Indumat GmbH & Co KG Transport- und Lagersysteme, 72770 Reutlingen Fahrerloses Transportfahrzeug
GB2336838B (en) * 1998-04-30 2001-11-21 Indumat Gmbh & Co Kg Driverless transport vehicle
CN2348704Y (zh) 1998-05-22 1999-11-17 张俊生 一种伸缩式货叉
JP3608950B2 (ja) * 1998-06-26 2005-01-12 村田機械株式会社 無人搬送車
US7096489B2 (en) 2000-08-28 2006-08-22 Sony Corporation System and method for interactive television
EP1361190B1 (en) 2001-02-16 2010-04-14 Kabushiki Kaisha Toyoda Jidoshokki Camera lifting device and load handling support device of industrial vehicle, and industrial vehicle
JP3682547B2 (ja) * 2001-07-16 2005-08-10 村田機械株式会社 無人搬送車システム
US20030116776A1 (en) 2001-11-12 2003-06-26 Hermann Oppermann Substrate stack
US7010404B2 (en) 2002-01-23 2006-03-07 Kabushiki Kaisha Toyota Jidoshokki Position control apparatus and position control method for cargo carrying apparatus in industrial vehicle
JP2003237908A (ja) 2002-02-15 2003-08-27 Murata Mach Ltd スタッカークレーン
US6923612B2 (en) * 2002-03-29 2005-08-02 TGW Transportgeräte GmbH & Co. KG Load-handling system and telescopic arm therefor
JP4029644B2 (ja) 2002-03-29 2008-01-09 株式会社ダイフク 物品保管設備
JP3702257B2 (ja) 2002-08-23 2005-10-05 ファナック株式会社 ロボットハンドリング装置
FR2844258B1 (fr) 2002-09-06 2005-06-03 Recif Sa Systeme de transport et stockage de conteneurs de plaques de semi-conducteur, et mecanisme de transfert
US10957569B2 (en) * 2002-10-11 2021-03-23 Murata Machinery Ltd. Access to one or more levels of material storage shelves by an overhead hoist transport vehicle from a single track position
US7344037B1 (en) * 2002-11-18 2008-03-18 Mi-Jack Products, Inc. Inventory storage and retrieval system and method with guidance for load-handling vehicle
US7386798B1 (en) 2002-12-30 2008-06-10 Aol Llc Sharing on-line media experiences
SE524818C2 (sv) 2003-02-13 2004-10-05 Abb Ab En metod och ett system för att programmera en industrirobot att förflytta sig relativt definierade positioner på ett objekt
FI20030748A0 (fi) 2003-05-20 2003-05-20 Jl Suunnittelu Lakome Oy Menetelmä ja laitteisto monikehävarastointiin
AT500228B1 (de) 2003-05-20 2007-07-15 Tgw Transportgeraete Gmbh Teleskopschubarm, insbesondere für eine lastaufnahmevorrichtung
US7991505B2 (en) 2003-08-29 2011-08-02 Casepick Systems, Llc Materials-handling system using autonomous transfer and transport vehicles
US7591630B2 (en) * 2003-08-29 2009-09-22 Casepick Systems, Llc Materials-handling system using autonomous transfer and transport vehicles
DE102004013353B4 (de) 2004-03-17 2007-12-13 Kht Kommissionier- Und Handhabungstechnik Gmbh Verfahren zur Übergabe quaderförmiger Packungseinheiten in einem automatischen Lager und Lager zur Durchführung des Verfahrens
JP2006088235A (ja) * 2004-09-21 2006-04-06 Hirata Corp 基板移載ロボット装置
CN2766681Y (zh) 2004-12-15 2006-03-29 郑善兴 具有存、取货暂存区的升降式立体货柜
US7336177B2 (en) 2005-08-25 2008-02-26 Kimberly-Clark Worldwide, Inc. RFID system and method for tracking individual articles
JP4857978B2 (ja) 2006-07-18 2012-01-18 株式会社デンソー スクリーン印刷装置
JP4756367B2 (ja) * 2006-08-17 2011-08-24 株式会社ダイフク 物品収納設備
FR2905886B1 (fr) * 2006-09-14 2008-11-21 Abb Mc Soc Par Actions Simplif Station de travail avec support de pieces multiface et procede de pilotage d'une telle station
JP5005311B2 (ja) 2006-10-06 2012-08-22 積水化学工業株式会社 塗膜保護用粘着シート
US7561008B2 (en) 2006-10-31 2009-07-14 Azure Dynamics, Inc. Filter package
JP5229442B2 (ja) * 2007-03-27 2013-07-03 いすゞ自動車株式会社 無人搬送車体
DE102007029887A1 (de) * 2007-06-28 2009-01-02 Still Wagner Gmbh Flurförderzeug, Lagersystem und Verfahren zur Zielfindung in Lagersystemen
CN101397118A (zh) 2007-09-28 2009-04-01 中国国际海运集装箱(集团)股份有限公司 堆垛机
DE102007063553A1 (de) * 2007-12-21 2009-07-16 Viastore Systems Gmbh Regalbediengerät und Verfahren zum Betreiben eines Regalbediengerätes
CA2720316A1 (en) 2008-04-01 2009-10-08 Beijing Shengtianyi Parking Management Co., Ltd. Multi-purpose load lifting working platform or/and composite bridge structure
JP5294450B2 (ja) * 2008-08-18 2013-09-18 住友重機械工業株式会社 ロール移載装置
KR101551997B1 (ko) 2008-10-27 2015-09-09 디마틱 어카운팅 서비시즈 게엠베하 자동 창고용 이동셔틀
CN101412491B (zh) 2008-11-24 2011-02-16 北京康拓红外技术有限公司 堆垛机货叉机构
JP2010208816A (ja) 2009-03-11 2010-09-24 Murata Machinery Ltd 移載装置
US9321591B2 (en) * 2009-04-10 2016-04-26 Symbotic, LLC Autonomous transports for storage and retrieval systems
US8594835B2 (en) * 2009-04-10 2013-11-26 Symbotic, LLC Control system for storage and retrieval systems
JP2011020794A (ja) 2009-07-15 2011-02-03 Murata Machinery Ltd 移載装置
EP2336838A1 (en) 2009-12-15 2011-06-22 Robert Bosch GmbH Method and control device for aligning a stage in an electro chemical pattern reproduction process
WO2011158422A1 (ja) * 2010-06-17 2011-12-22 村田機械株式会社 移載装置および移載方法
ES2351003B1 (es) * 2010-06-29 2011-08-12 Mecalux, S.A. Transelevador para la manipulación de paletas, dispositivo de extracción de paletas y sistema de almacenamiento de mercancías.
JP2012056661A (ja) 2010-09-07 2012-03-22 Toyota Industries Corp 荷物移送用ロボットと該ロボットの制御方法
JP2012093278A (ja) * 2010-10-28 2012-05-17 Toyota Industries Corp 寸法測定装置および寸法測定装置を備えた荷搬送ロボット
PL393225A1 (pl) 2010-12-13 2012-06-18 Piotr Garmulewicz Automat załadowczo - wyładowczy
TWI599530B (zh) * 2010-12-15 2017-09-21 辛波提克有限責任公司 自主式輸運車輛
TWI469902B (zh) 2011-04-11 2015-01-21 Univ Nat Kaohsiung Applied Sci 無人無軌式搬運車
DE102011002322B4 (de) 2011-04-28 2024-07-04 Hartmut Lang Regalbedienvorrichtung für ein Regallager und Verfahren zum Betrieb einer Regalbedienvorrichtung
JP5413413B2 (ja) * 2011-07-19 2014-02-12 村田機械株式会社 自動倉庫
US9327952B1 (en) 2011-11-10 2016-05-03 Amazon Technologies, Inc. Cart for moving items
KR20130064580A (ko) 2011-12-08 2013-06-18 정상권 운반 적재능력을 향상시킨 운반차
CN104137051B (zh) 2012-02-21 2017-06-16 亚马逊技术有限公司 用于材料处理设施中的产品自动拾取的系统和方法
EP2634115B1 (de) 2012-02-29 2014-09-03 CareFusion Germany 326 GmbH Verfahren zum Betreiben einer Apothekenkommissioniervorrichtung
WO2014003417A1 (ko) 2012-06-25 2014-01-03 한양대학교 산학협력단 액정 표시 장치
KR101806856B1 (ko) 2012-08-31 2017-12-08 무라다기카이가부시끼가이샤 이동 재치 장치
JP6003419B2 (ja) 2012-09-06 2016-10-05 村田機械株式会社 移載装置
WO2014038370A1 (ja) 2012-09-06 2014-03-13 村田機械株式会社 移載装置
US9365347B2 (en) 2012-09-06 2016-06-14 Murata Machinery, Ltd. Transfer device
CN102825496A (zh) * 2012-09-13 2012-12-19 山东法因数控机械股份有限公司 一种工件的自动上下料机器人
CN103723421B (zh) 2012-10-11 2016-04-13 贵阳普天物流技术有限公司 多层穿梭存取搬运装置
NO335839B1 (no) * 2012-12-10 2015-03-02 Jakob Hatteland Logistics As Robot for transport av lagringsbeholdere
CN203229120U (zh) 2012-12-25 2013-10-09 云南昆船设计研究院 一种自动存取不同规格箱体的多层穿梭车
US8965561B2 (en) 2013-03-15 2015-02-24 Cybernet Systems Corporation Automated warehousing using robotic forklifts
TWI594933B (zh) * 2013-03-15 2017-08-11 辛波提克有限責任公司 自動化貯藏及取放系統
US9393686B1 (en) * 2013-03-15 2016-07-19 Industrial Perception, Inc. Moveable apparatuses having robotic manipulators and conveyors to facilitate object movement
WO2014154272A1 (de) 2013-03-27 2014-10-02 Ev Group E. Thallner Gmbh Aufnahmeeinrichtung, vorrichtung und verfahren zur handhabung von substratstapeln
US9785911B2 (en) * 2013-07-25 2017-10-10 I AM Robotics, LLC System and method for piece-picking or put-away with a mobile manipulation robot
CA2923474C (en) 2013-09-09 2022-06-21 Dematic Corp. Autonomous mobile picking
JP6523296B2 (ja) 2013-09-13 2019-05-29 シムボティック エルエルシー 自動保管および取出システム
US9002506B1 (en) 2013-09-25 2015-04-07 Amazon Technologies, Inc. Item retrieval using a robotic drive unit
CN105723285B (zh) 2013-11-29 2018-10-12 惠普发展公司，有限责任合伙企业 全息照相设备、利用全息照相实现对准的方法及系统
JP6245975B2 (ja) 2013-12-25 2017-12-13 トーヨーカネツソリューションズ株式会社 Ａｒ／ｖｒを利用した物品収納補助装置及びシステム
JP6141782B2 (ja) 2014-03-12 2017-06-07 株式会社豊田自動織機 無人搬送車と在庫管理システムの連動システムにおける地図情報更新方法
JP6416590B2 (ja) 2014-03-31 2018-10-31 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 物管理システムおよび運搬ロボット
DE102014007539A1 (de) * 2014-05-22 2015-11-26 Daimler Ag Vorrichtung und Verfahren zum Kommissionieren von Ladungsträgern, insbesondere Kleinladungsträgern
US9272417B2 (en) 2014-07-16 2016-03-01 Google Inc. Real-time determination of object metrics for trajectory planning
KR101676715B1 (ko) * 2014-12-04 2016-11-17 주식회사 에스에프에이 스토커 시스템 및 그 제어방법
US9850079B2 (en) * 2015-01-23 2017-12-26 Symbotic, LLC Storage and retrieval system transport vehicle
US9656806B2 (en) 2015-02-13 2017-05-23 Amazon Technologies, Inc. Modular, multi-function smart storage containers
JP6428367B2 (ja) * 2015-02-24 2018-11-28 村田機械株式会社 移載装置
CN104777835A (zh) 2015-03-11 2015-07-15 武汉汉迪机器人科技有限公司 一种全向自动叉车及3d立体视觉导航定位方法
GB201504172D0 (en) * 2015-03-12 2015-04-29 Translift Bendi Ltd Fork lift trucks
WO2016151505A1 (en) * 2015-03-23 2016-09-29 Manpat Rajesh Robotic drive unit with robotic inventory elevator
CA2980686A1 (en) * 2015-03-23 2016-09-29 Rajesh MANPAT Method and system for optimizing movement of products using robotic drive units (rdus) in a warehouse environment
JP6332115B2 (ja) 2015-04-06 2018-05-30 株式会社ダイフク 物品収納設備
AT516410B1 (de) 2015-04-22 2016-05-15 Tgw Mechanics Gmbh Verfahren zum Einlagern von Stückgütern in ein Lagerregal und Lagersystem
CN204588619U (zh) 2015-04-29 2015-08-26 张爱峰 新型叉装机伸缩臂
CN104875177B (zh) 2015-05-19 2017-03-22 上海交通大学 智能图书管理机器人
KR101677497B1 (ko) 2015-05-22 2016-11-21 주식회사 에스엠코어 스태커 크레인의 로딩장치
CN104966186A (zh) 2015-07-06 2015-10-07 苏州华拓信息技术有限公司 一种新型物联仓储方法
US10198706B2 (en) 2015-07-31 2019-02-05 Locus Robotics Corp. Operator identification and performance tracking
CN204873745U (zh) 2015-08-17 2015-12-16 西安航天自动化股份有限公司 用于智能仓储堆垛机的双向伸缩式货叉
EP3347780B1 (en) 2015-09-11 2023-06-07 Berkshire Grey Operating Company, Inc. Robotic systems and methods for identifying and processing a variety of objects
US10370201B2 (en) * 2015-11-13 2019-08-06 Kabushiki Kaisha Toshiba Transporting apparatus and transporting method
JP6485333B2 (ja) 2015-11-18 2019-03-20 株式会社ダイフク 物品移載装置及び物品搬送設備
CN205438526U (zh) 2015-12-31 2016-08-10 天津禹汀科技有限公司 一种搬运机器人
EP3192616B1 (en) 2016-01-14 2024-09-25 Jungheinrich AG Robot to pick up and transport objects and method using such a robot
JP7097071B2 (ja) 2016-01-20 2022-07-07 ソフト ロボティクス， インコーポレイテッド 散乱した握持環境、高加速移動、食品操作、および自動貯蔵および回収システムのためのソフトロボットグリッパ
US20170219793A1 (en) 2016-01-28 2017-08-03 AAC Technologies Pte. Ltd. Sealed module with glue guiding features and method for making same
CN105600253B (zh) 2016-01-29 2018-05-29 安徽工程大学 一种自助快递寄取装置
US9908702B2 (en) 2016-02-05 2018-03-06 Invia Robotics, Inc. Robotic navigation and mapping
EP3418221B1 (en) 2016-02-18 2024-03-13 Daifuku Co., Ltd. Article transport apparatus
JP6332324B2 (ja) 2016-04-27 2018-05-30 村田機械株式会社 搬送車
US20170322561A1 (en) 2016-05-03 2017-11-09 Bby Solutions, Inc. Robotic inventory dispensary operational enhancements
CN105774859B (zh) 2016-05-03 2018-07-06 哈尔滨工大服务机器人有限公司 一种用于两轮差动的悬挂结构和小车
CN105775544B (zh) 2016-05-11 2018-05-11 深圳普智联科机器人技术有限公司 具有简便定位功能的仓储系统和提取货物方法
CN105752888B (zh) 2016-05-11 2018-03-13 深圳普智联科机器人技术有限公司 具有简便定位功能的机器人叉车
CA3025297C (en) 2016-05-23 2019-09-24 Crown Equipment Corporation Systems and methods for use of a materials handling vehicle in a warehouse environment
CN105945935A (zh) * 2016-06-24 2016-09-21 山东交通学院 一种多单元直线驱动三活动度装载机器人
CN109328359A (zh) * 2016-06-30 2019-02-12 波萨诺瓦机器人知识产权有限公司 用于库存跟踪的多摄像机系统
CN106005866B (zh) 2016-07-19 2018-08-24 青岛海通机器人系统有限公司 一种基于移动机器人的智能仓储系统
US10071856B2 (en) * 2016-07-28 2018-09-11 X Development Llc Inventory management
CN106081455B (zh) * 2016-07-29 2018-08-07 深圳普智联科机器人技术有限公司 一种基于横梁式仓储货架的仓储机器人叉车
CN106044645B (zh) * 2016-08-02 2018-07-17 诺力机械股份有限公司 一种基于二维码定位的货物托盘存取系统、及其存取方法
CN106276011A (zh) * 2016-08-26 2017-01-04 无锡卓信信息科技股份有限公司 一种基于移动机器人的仓库货物查找控制系统
US10683171B2 (en) * 2016-09-30 2020-06-16 Staples, Inc. Hybrid modular storage fetching system
WO2018064639A1 (en) * 2016-09-30 2018-04-05 Staples, Inc. Hybrid modular storage fetching system
US10589931B2 (en) 2016-09-30 2020-03-17 Staples, Inc. Hybrid modular storage fetching system
WO2018064839A1 (zh) 2016-10-09 2018-04-12 浙江国自机器人技术有限公司 一种库存物品管理系统、搬运机器人及其搬运货架的方法
CN106426077A (zh) 2016-10-14 2017-02-22 苏州得尔达国际物流有限公司 一种智能仓库搬运机器人
CN106429148A (zh) * 2016-10-26 2017-02-22 长沙开元仪器股份有限公司 一种存储装置
CN206373907U (zh) 2016-12-08 2017-08-04 天津职业技术师范大学 一种基于rfid技术的智能物流配送机器人
CN108271291B (zh) 2017-01-16 2020-03-17 浙江国自机器人技术有限公司 一种基于can总线定位相机恒流自诊断红外频闪照明灯系统
CN206569571U (zh) 2017-01-16 2017-10-20 浙江国自机器人技术有限公司 一种搬运货箱的机器人
US11370107B2 (en) 2017-01-16 2022-06-28 Zhejiang Guozi Robot Technology Co., Ltd. Robot for transporting cargo boxes
US20180208398A1 (en) * 2017-01-24 2018-07-26 Oceaneering International, Inc. Automated guided vehicle and method of use
CN106892014B (zh) 2017-02-22 2019-08-13 华中科技大学 一种适用于旋转阶梯的行星轮式越障机器人
US10343881B2 (en) 2017-04-24 2019-07-09 Ching Qing Guo Automatic batch picking robot
JP6729491B2 (ja) 2017-05-25 2020-07-22 株式会社ダイフク 物品移載装置
CN107253201B (zh) * 2017-06-14 2023-03-10 电子科技大学 物料射击机器人
CN108750521A (zh) 2017-07-11 2018-11-06 浙江国自机器人技术有限公司 工作站台及订单完成系统
CN107336212A (zh) * 2017-07-25 2017-11-10 芜湖超源力工业设计有限公司 一种搬运机器人
US10668630B2 (en) 2017-08-22 2020-06-02 Emerging Acquisitions, Llc High speed manipulation of non-uniform ojects
DE102017219739A1 (de) 2017-11-07 2019-05-09 Vetter Industrie GmbH Heb- und senkbare Lastaufnahmemittel mit einer Kabelführung in teleskopierbaren Gabelzinken
KR102385397B1 (ko) 2017-11-14 2022-04-14 하이 로보틱스 씨오., 엘티디. 운반 로봇 및 운반 로봇에 기반한 픽업 방법
US11465840B2 (en) * 2017-11-14 2022-10-11 Hai Robotics Co., Ltd. Handling robot
US12006143B2 (en) * 2017-11-14 2024-06-11 Hai Robotics Co., Ltd. Handling robot
US11396424B2 (en) * 2017-11-14 2022-07-26 Hai Robotics Co., Ltd. Handling robot
CN207684811U (zh) 2017-11-27 2018-08-03 天津纳诺泰克科技有限公司 一种折叠升降式叉车辅助支架
US10613533B1 (en) * 2017-12-11 2020-04-07 Amazon Technologies, Inc. Autonomous delivery and retrieval of inventory holders at transfer locations
CN108190341A (zh) 2018-02-02 2018-06-22 尊道（上海）自动化设备有限公司 一种四向行走提升物流搬运仓储车
US11427405B1 (en) 2018-07-13 2022-08-30 Vecna Robotics, Inc. System and method of retrieving containers in a hybrid environment
US11030573B2 (en) 2018-07-24 2021-06-08 Staples, Inc. Automated guided vehicle control and organizing inventory items using predictive models for slow item types
CN209160601U (zh) * 2018-09-07 2019-07-26 深圳市海柔创新科技有限公司 一种搬运机器人
CN209023571U (zh) 2018-09-07 2019-06-25 深圳市海柔创新科技有限公司 一种搬运机器人
US11597598B2 (en) * 2019-02-01 2023-03-07 Hai Robotics Co., Ltd. Handling robot
CN209758195U (zh) * 2019-02-01 2019-12-10 深圳市海柔创新科技有限公司 一种搬运机器人
US11542135B2 (en) * 2019-02-01 2023-01-03 Hai Robotics Co., Ltd. Handling robot
EP3984918A4 (en) 2019-09-30 2022-11-30 Hai Robotics Co., Ltd. HANDLING ROBOT, GOODS PICK-UP PROCEDURE, GOODS REFILL OR RETURN PROCEDURE AND INTELLIGENT STORAGE SYSTEM
US12310900B2 (en) 2020-10-19 2025-05-27 James Leroy King Tractor driven assisted mobility system, device and method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130096713A1 (en) * 2011-10-17 2013-04-18 Kabushiki Kaisha Yaskawa Denki Robot system, robot, and sorted article manufacturing method
CN106379681A (zh) * 2016-07-11 2017-02-08 黄金刚 一种智能仓储机器人、系统及系统控制方法
CN106927179A (zh) * 2017-01-16 2017-07-07 黄金刚 一种智能仓储机器人、系统及控制方法、充电方法
CN107226310A (zh) * 2017-07-13 2017-10-03 武汉九州通物流有限公司 一种agv拆零拣选小车及方法
CN108069180A (zh) * 2017-11-14 2018-05-25 深圳市海柔创新科技有限公司 机器人
CN108122016A (zh) * 2017-11-14 2018-06-05 东莞市海柔智能科技有限公司 自动存取货物的方法和装置
CN108408316A (zh) * 2018-04-26 2018-08-17 北京极智嘉科技有限公司 搬运设备

Cited By (58)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11718472B2 (en) 2017-11-14 2023-08-08 Hai Robotics Co., Ltd. Automated guided vehicle designed for warehouse
US12139335B2 (en) 2017-11-14 2024-11-12 Hai Robotics Co., Ltd. Handling robot
US12330870B2 (en) 2017-11-14 2025-06-17 Hai Robotics Co., Ltd. Handling robot
KR20220024865A (ko) * 2017-11-14 2022-03-03 하이 로보틱스 씨오., 엘티디. 재고 자재를 저장 및 인출하도록 창고 로봇을 제어하는 방법
US12291396B2 (en) 2017-11-14 2025-05-06 Hai Robotics Co., Ltd. Method for controlling warehouse robot to store and fetch inventory materials
US11794996B2 (en) 2017-11-14 2023-10-24 Hai Robotics Co., Ltd. Handling robot
US12630360B2 (en) 2017-11-14 2026-05-19 Hai Robotics Co., Ltd. Handling robot
US11465840B2 (en) 2017-11-14 2022-10-11 Hai Robotics Co., Ltd. Handling robot
WO2021018193A1 (zh) * 2017-11-14 2021-02-04 深圳市海柔创新科技有限公司 一种控制仓库机器人存取库存物料的方法
KR102735255B1 (ko) * 2017-11-14 2024-11-27 하이 로보틱스 씨오., 엘티디. 재고 자재를 저장 및 인출하도록 창고 로봇을 제어하는 방법
US11396424B2 (en) 2017-11-14 2022-07-26 Hai Robotics Co., Ltd. Handling robot
US12103771B2 (en) 2017-11-14 2024-10-01 Hai Robotics Co., Ltd. Handling robot
US11794995B2 (en) 2017-11-14 2023-10-24 Hai Robotics Co., Ltd. Handling robot
US11655099B2 (en) 2017-11-14 2023-05-23 Hai Robotics Co., Ltd. Handling robot
US12006143B2 (en) 2017-11-14 2024-06-11 Hai Robotics Co., Ltd. Handling robot
JP7606557B2 (ja) 2019-02-01 2024-12-25 ハイ ロボティクス カンパニー リミテッド 搬送ロボット
US11945706B2 (en) 2019-02-01 2024-04-02 Hai Robotics Co., Ltd. Handling robot
US11851278B2 (en) 2019-02-01 2023-12-26 Hai Robotics Co., Ltd. Handling robot
US11597598B2 (en) 2019-02-01 2023-03-07 Hai Robotics Co., Ltd. Handling robot
US11542135B2 (en) 2019-02-01 2023-01-03 Hai Robotics Co., Ltd. Handling robot
JP2023086738A (ja) * 2019-02-01 2023-06-22 ハイ ロボティクス カンパニー リミテッド 搬送ロボット
US12006196B2 (en) 2019-02-01 2024-06-11 Hai Robotics Co., Ltd. Handling robot
EP3919411A4 (en) * 2019-02-01 2022-07-06 Hai Robotics Co., Ltd. TRANSFER ROBOT
JP2023164756A (ja) * 2019-09-17 2023-11-10 ハイ ロボティクス カンパニー リミテッド フォーク及び搬送用ロボット
JP2022545523A (ja) * 2019-09-17 2022-10-27 ハイ ロボティクス カンパニー リミテッド フォーク及び搬送用ロボット
US11718473B1 (en) 2019-09-17 2023-08-08 Hai Robotics Co., Ltd. Fork and carrying robot
AU2020350944B2 (en) * 2019-09-17 2023-11-02 Hai Robotics Co., Ltd. Pallet fork and carrying robot
US11807451B2 (en) 2019-09-17 2023-11-07 Hai Robotics Co., Ltd. Fork and carrying robot
KR20220061141A (ko) * 2019-09-17 2022-05-12 하이 로보틱스 씨오., 엘티디. 팰릿 포크 및 운송 로봇
KR20240162601A (ko) * 2019-09-17 2024-11-15 하이 로보틱스 씨오., 엘티디. 팰릿 포크 및 운송 로봇
KR102729700B1 (ko) * 2019-09-17 2024-11-14 하이 로보틱스 씨오., 엘티디. 팰릿 포크 및 운송 로봇
US12509296B2 (en) 2019-09-17 2025-12-30 Hai Robotics Co., Ltd. Fork and carrying robot
KR102840884B1 (ko) * 2019-09-17 2025-08-01 하이 로보틱스 씨오., 엘티디. 팰릿 포크 및 운송 로봇
JP7360543B2 (ja) 2019-09-17 2023-10-12 ハイ ロボティクス カンパニー リミテッド フォーク及び搬送用ロボット
JP7561940B2 (ja) 2019-09-17 2024-10-04 ハイ ロボティクス カンパニー リミテッド フォーク及び搬送用ロボット
US11548770B2 (en) 2019-09-17 2023-01-10 Hai Robotics Co., Ltd. Fork and carrying robot
EP4032848A4 (en) * 2019-09-17 2022-11-30 Hai Robotics Co., Ltd. PALLET FORKS AND CARRIER ROBOTS
AU2024200110B2 (en) * 2019-09-17 2025-07-10 Hai Robotics Co., Ltd. Pallet fork and carrying robot
US12054339B2 (en) 2019-09-17 2024-08-06 Hai Robotics Co., Ltd. Fork and carrying robot
US12017854B2 (en) 2019-09-30 2024-06-25 Hai Robotics Co., Ltd. Handling robot, material fetching method, material replenishing or returning method, intelligent warehousing system
EP3984918A4 (en) * 2019-09-30 2022-11-30 Hai Robotics Co., Ltd. HANDLING ROBOT, GOODS PICK-UP PROCEDURE, GOODS REFILL OR RETURN PROCEDURE AND INTELLIGENT STORAGE SYSTEM
JP7237138B2 (ja) 2019-09-30 2023-03-10 ハイ ロボティクス カンパニー リミテッド 運搬ロボット、ピックアップ方法、及び知能倉庫システム
JP2022506001A (ja) * 2019-09-30 2022-01-17 ハイ ロボティクス カンパニー リミテッド 運搬ロボット、ピックアップ方法、及び知能倉庫システム
JP2023054322A (ja) * 2019-09-30 2023-04-13 ハイ ロボティクス カンパニー リミテッド 運搬ロボット
JP7606552B2 (ja) 2019-09-30 2024-12-25 ハイ ロボティクス カンパニー リミテッド 運搬ロボット
EP4049961A4 (en) * 2019-10-23 2023-11-29 Shanghai Quicktron Intelligent Technology Co., Ltd TELESCOPIC DEVICE AND TRANSPORT ROBOT
US12371262B2 (en) 2019-11-19 2025-07-29 DSC Logistics (Beijing) Co., Ltd. Carrying device, transport robot, inventory method, and inventory system
WO2021098778A1 (zh) * 2019-11-19 2021-05-27 丰豪物流（北京）有限公司 搬运装置、搬运机器人、盘点方法及盘点系统
US12269684B2 (en) * 2020-03-09 2025-04-08 Hai Robotics Co., Ltd. Method for controlling transport robot, vertical support, and transport robot
KR20220137974A (ko) * 2020-03-09 2022-10-12 하이 로보틱스 씨오., 엘티디. 운반 로봇 제어 방법, 장치, 수직형 브라켓 및 운반 로봇
KR102893568B1 (ko) * 2020-03-09 2025-12-02 하이 로보틱스 씨오., 엘티디. 운반 로봇 제어 방법, 장치, 수직형 브라켓 및 운반 로봇
JP2023515648A (ja) * 2020-03-09 2023-04-13 深▲せん▼市海柔▲創▼新科技有限公司 搬送ロボットを制御する方法及び装置、並びに立設架台、搬送ロボット
JP7402996B2 (ja) 2020-03-09 2023-12-21 ハイ ロボティクス カンパニー リミテッド 搬送ロボットを制御する方法及び装置、並びに立設架台、搬送ロボット
EP4155236A4 (en) * 2020-06-12 2024-04-24 Hai Robotics Co., Ltd. Image capturing method for product pick-up/loading, image capturing module, and transfer robot
US12605843B2 (en) 2020-06-12 2026-04-21 Hai Robotics Co., Ltd. Photographing method for picking or placing, photographing system, and transport robot
US12103833B2 (en) 2020-08-25 2024-10-01 Grupo Bimbo, S.A.B. De C.V. Automatic guided vehicle (AGV)
CN114445971A (zh) * 2021-11-04 2022-05-06 湖南开放大学(湖南省干部教育培训网络学院) 一种用于网络销售的智能化快递屋
WO2024021395A1 (zh) * 2022-07-25 2024-02-01 上海快仓智能科技有限公司 搬运装置、搬运机器人及仓储系统

Also Published As

Publication number Publication date
SG11202004492WA (en) 2020-06-29
CN110498172A (zh) 2019-11-26
RU2021120451A (ru) 2021-07-26
JP2025015659A (ja) 2025-01-30
KR102568369B1 (ko) 2023-08-21
US20190352092A1 (en) 2019-11-21
CN114021680B (zh) 2024-05-14
CN111433139A (zh) 2020-07-17
WO2021018193A1 (zh) 2021-02-04
KR20200079544A (ko) 2020-07-03
CN210557157U (zh) 2020-05-19
RU2754121C1 (ru) 2021-08-26
JP6838178B2 (ja) 2021-03-03
DE202018006768U1 (de) 2022-09-12
KR102685497B1 (ko) 2024-07-17
KR20230125336A (ko) 2023-08-29
CA3084526A1 (en) 2019-05-23
JP7787274B2 (ja) 2025-12-16
US20220153522A1 (en) 2022-05-19
KR102332766B1 (ko) 2021-12-01
KR102488994B1 (ko) 2023-01-18
EP3712815A1 (en) 2020-09-23
KR20210148384A (ko) 2021-12-07
AU2018368407A1 (en) 2020-06-25
RU2021124014A3 (enExample) 2022-03-10
AU2023214308A1 (en) 2023-08-31
NZ786624A (en) 2024-11-29
NZ765310A (en) 2022-04-29
EP3712815A4 (en) 2021-01-13
JP7183317B2 (ja) 2022-12-05
JP2024055927A (ja) 2024-04-19
RU2021124014A (ru) 2021-10-06
JP2020525372A (ja) 2020-08-27
JP7590473B2 (ja) 2024-11-26
JP7223099B2 (ja) 2023-02-15
JP7826353B2 (ja) 2026-03-09
DE202018006724U1 (de) 2022-06-02
EP3710381A4 (en) 2021-01-13
JP2021502940A (ja) 2021-02-04
MY188417A (en) 2021-12-08
CN110537189A (zh) 2019-12-03
SG11202004495PA (en) 2020-06-29
CN110537189B (zh) 2021-12-17
KR102439052B1 (ko) 2022-09-02
US11104514B2 (en) 2021-08-31
US12291396B2 (en) 2025-05-06
JP7446394B2 (ja) 2024-03-08
EP4005948A4 (en) 2023-01-11
AU2023214308B2 (en) 2024-11-21
WO2019095804A1 (zh) 2019-05-23
AU2018368406B2 (en) 2022-02-17
KR102332706B1 (ko) 2021-12-01
CA3084526C (en) 2024-02-20
JP2023024449A (ja) 2023-02-16
KR20200031661A (ko) 2020-03-24
RU2765396C2 (ru) 2022-01-28
AU2018368406A1 (en) 2020-06-25
CA3152890A1 (en) 2019-05-23
CA3152890C (en) 2024-02-13
US20210354915A1 (en) 2021-11-18
JP7359940B2 (ja) 2023-10-11
RU2751736C1 (ru) 2021-07-16
EP4005948C0 (en) 2025-01-15
AU2022203237A1 (en) 2022-06-02
US12139335B2 (en) 2024-11-12
CN118410821A (zh) 2024-07-30
JP2023041865A (ja) 2023-03-24
EP4306478A3 (en) 2024-03-20
MY189257A (en) 2022-01-31
CA3082510A1 (en) 2019-05-23
JP2022009723A (ja) 2022-01-14
CN114021680A (zh) 2022-02-08
US11718472B2 (en) 2023-08-08
EP4005948A1 (en) 2022-06-01
JP2021091404A (ja) 2021-06-17
CA3082510C (en) 2023-07-04
EP4005948B1 (en) 2025-01-15
KR20220024865A (ko) 2022-03-03
KR102735255B1 (ko) 2024-11-27
KR102385397B1 (ko) 2022-04-14
NZ765306A (en) 2022-04-29
AU2021266330A1 (en) 2021-12-09
US20250229984A1 (en) 2025-07-17
KR20210145837A (ko) 2021-12-02
RU2021120451A3 (enExample) 2021-11-25
EP3710381A1 (en) 2020-09-23
DE202018006723U1 (de) 2022-06-08
AU2021266330B2 (en) 2023-05-11
US20200324972A1 (en) 2020-10-15
JP6970831B2 (ja) 2021-11-24
EP3712815B1 (en) 2024-01-10
KR20230012102A (ko) 2023-01-25
EP4306478A2 (en) 2024-01-17
JP2026040601A (ja) 2026-03-09
AU2022203237B2 (en) 2024-02-22
JP2022543040A (ja) 2022-10-07
KR20220044875A (ko) 2022-04-11
AU2018368407B2 (en) 2021-08-12

Similar Documents

Publication Publication Date Title
AU2022203237B2 (en) Automated guided vehicle designed for warehouse
US11794995B2 (en) Handling robot
US12006143B2 (en) Handling robot
US12330870B2 (en) Handling robot
RU2780641C1 (ru) Автоматически управляемое транспортное средство, предназначенное для склада
RU2796024C1 (ru) Автоматически управляемое транспортное средство, предназначенное для склада
RU2789282C1 (ru) Автоматически управляемое транспортное средство, предназначенное для склада
HK40022839A (en) Automated guided vehicle designed for warehouse
US20260008614A1 (en) Handling robot
NZ786624B2 (en) Automated guided vehicle designed for warehouse

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18878478

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 3082510

Country of ref document: CA

ENP Entry into the national phase

Ref document number: 2020545419

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20207016862

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2018878478

Country of ref document: EP

Effective date: 20200615

ENP Entry into the national phase

Ref document number: 2018368406

Country of ref document: AU

Date of ref document: 20180907

Kind code of ref document: A