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1.发明公开
公开(公告)号：EP3984918A1
公开(公告)日：2022-04-20
申请号：EP20871802.3
申请日：2020-09-28
发明人： CHEN, Yuqi , KONG, Zhe
摘要： Disclosed are a handling robot, a material fetching method, a material replenishing or returning method, and an intelligent warehousing system. The handling robot comprises a vertical bracket (19); a pallet (22) for storing a material box; and a handling system installed to the vertical bracket (19), where the pallet (22) is installed to the handling system, and the handling system is used for fetching a material box from one of a warehouse shelf (24) and the pallet (22), storing it onto the other, and/or fetching out a material from a material box stored on the pallet (22). With the configuration of the handling system, a material can be fetched out from a material box stored on the pallet, and after the material is fetched out, the material box is placed back onto the warehouse shelf, such manner of material fetching is flexible, and has high efficiency.
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公开(公告)号：EP4389364A1
公开(公告)日：2024-06-26
申请号：EP22874720.0
申请日：2022-09-21
发明人： JIA, Wenna , LIN, Han , LI, Huixiang
IPC分类号： B25J9/16
CPC分类号： Y02P90/02 , G05D1/646 , G05D2107/7020240101 , G05D2109/1020240101 , G05D1/2446 , G05D1/622 , G05D1/242 , G05D2111/1720240101
摘要： The present disclosure provides a robot control method, a robot, a control terminal, and a control system. The method includes: obtaining an environment feature around the first robot when the first robot detects no positioning identifier; determining a deviation distance and a deviation angle between the first robot and a target traveling route of the first robot according to the environment feature and traveling information of the first robot; and controlling the first robot to perform route correction according to the deviation distance and the deviation angle, to cause the first robot to move to the target traveling route again. Through the method, a robot is enabled to automatically perform route correction, thereby improving route correction efficiency of the robot.
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公开(公告)号：EP4345567A1
公开(公告)日：2024-04-03
申请号：EP22827605.1
申请日：2022-06-22
发明人： HE, Jiawei , LI, Huixiang
IPC分类号： G05D1/02
摘要： This application provides an obstacle avoidance method and apparatus, an electronic device, and a storage medium. The obstacle avoidance method is applicable to a robot. The robot is configured to move along a track in a rack area, and the method includes: detecting whether a suspected obstacle exists in a traveling direction, where the suspected obstacle protrudes beyond an edge of a rack; determining a relative position relationship between the suspected obstacle and a target position that the robot is required to reach along a current traveling direction when the suspected obstacle exists in the traveling direction; determining that the suspected obstacle is an obstacle when the suspected obstacle is located between a current position of the robot and the target position; and replanning a traveling route to avoid the obstacle.
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公开(公告)号：EP4303154A1
公开(公告)日：2024-01-10
申请号：EP22762329.5
申请日：2022-01-19
发明人： KONG, Zhe
摘要： The present disclosure relates to the field of intelligent warehousing technologies, and provides a shelf and a warehousing system, to resolve a technical problem that it is difficult to control a spacing between adjacent goods on a shelf. The shelf includes a support frame and a first conveyor and a second conveyor arranged on the support frame. The first conveyor and the second conveyor form a goods conveying layer for conveying goods. The first conveyor is hinged with the support frame. The first conveyor is rotatably switched to a first limit position or a second limit position. When the first conveyor is at the first limit position, a second end of the first conveyor protrudes from an upper surface of the second conveyor, so that an end surface of the second end of the first conveyor is configured to block goods on the second conveyor. The warehousing system includes the above shelf. The present disclosure is intended to precisely control the spacing between adjacent goods on a shelf.
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公开(公告)号：EP4299476A1
公开(公告)日：2024-01-03
申请号：EP22778558.1
申请日：2022-03-15
发明人： ZHOU, Hongxia , ZHU, Kailei
摘要： This application provides a material conveying method and device, applicable to an unloading device including a robot and a conveyor. The robot includes at least one goods taking or placing apparatus and at least two first storage layers, and the conveyor includes a to-be-placed goods conveying layer and a to-be-taken goods conveying layer arranged in parallel from up to down. According to this application, the goods taking or placing apparatus is controlled to move in a direction perpendicular to the to-be-placed goods conveying layer and the to-be-taken goods conveying layer. When a material obtained from the to-be-taken goods conveying layer exists on the goods taking or placing apparatus, the goods taking or placing apparatus is controlled to place the material on an unoccupied storage layer reached by the goods taking or placing apparatus for the first time during the movement. This application can reduce a movement distance of the goods taking or placing apparatus.
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6.发明公开
公开(公告)号：EP4273071A1
公开(公告)日：2023-11-08
申请号：EP21914009.2
申请日：2021-12-20
发明人： LI, Bao , ZHOU, Hongxia , AI, Xin , WANG, Kun , YANG, Zhixing , QIU, Jie , CHEN, Meng , ZHANG, Bin
IPC分类号： B65G1/137
摘要： This application provides a material transferring method, a warehouse management device, a warehousing system, a medium, and a product. The method includes: controlling a first robot transferring materials to move to a first entrance of the M entrances; and controlling the first robot to place a first quantity of materials at the first entrance, the first quantity being less than or equal to a second quantity. During placement of materials by robots, the warehouse management device may control a quantity of the materials placed by the robots. That is, the warehouse management device may control the first robot to place all or part of the materials loaded therein, so that the first robot can place different quantities of materials at different first entrances to balance a material carrying capacity on a conveying path corresponding to each entrance, thereby preventing congestion of the robots and avoiding lockup of a conveyor line.
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公开(公告)号：EP4207012A1
公开(公告)日：2023-07-05
申请号：EP21868646.7
申请日：2021-09-15
发明人： YU, Runfang , AI, Xin
摘要： The present disclosure provides an order processing method, an outbound method, a device, a system, and a storage medium. A server obtains a slot capacity of each workstation and a preset virtual capacity, determines a to-be-processed order of each workstation according to the slot capacity and the virtual capacity, and generates an outbound instruction according to the to-be-processed order. A transfer device transfers goods in the to-be-processed order from the warehouse according to the outbound instruction. According to this solution, more orders can be assigned at a time, and thus more goods can be carried from the warehouse at a time, improving the outbound efficiency.
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公开(公告)号：EP4190719A1
公开(公告)日：2023-06-07
申请号：EP21849698.2
申请日：2021-06-29
发明人： CHEN, Yeguang
摘要： This application provides a transfer device, a robot, a sorting system, and sorting methods. The transfer device is applied to equipment on which multiple logistics crates are placed in a first direction. There are at least two transfer devices provided in the first direction of the equipment. The transfer device includes a supporting base and a first transmission assembly. The first transmission assembly is located on the supporting base. The first transmission assembly transports a logistics crate. The transfer device provided in this application can improve the work efficiency of the equipment.
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9.发明公开
公开(公告)号：EP4163231A1
公开(公告)日：2023-04-12
申请号：EP21824747.6
申请日：2021-06-16
发明人： ZHOU, Hongxia , CHEN, Yuqi
摘要： The present disclosure provides a warehousing system, a goods collection method and device, a goods-container-moving device, a control terminal, and a storage medium. In the warehousing system, a shelving unit is provided with storage spaces configured to place storage-goods container. When not all the storage spaces on the shelving unit store storage-goods container, or a storage-goods container is removed from a storage space by the goods-container-moving device, there may be a free storage space. In this case, in the collection process, under the control of the control terminal, the goods-container-moving device temporarily stores collection-goods containers that completes picking of goods in the free storage space of the shelving unit. That is, the storage spaces on the shelving unit can be used to both place the storage-goods container and temporarily store the collection-goods container. Therefore, in the collection process, it is not necessary to set a specific temporary storage area or temporary shelving unit to temporarily store goods, which effectively improves the space utilization of the warehousing system. In addition, there is no limitation on the size of the temporary storage area or the temporary shelving unit. Therefore, collection operations of a larger quantity of order tasks can be performed, thereby improving the efficiency of warehouse collection operations.
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10.发明公开
公开(公告)号：EP4155236A1
公开(公告)日：2023-03-29
申请号：EP21821841.0
申请日：2021-06-29
发明人： LIN, Han , CHENG, Jui-chun
摘要： The present disclosure provides a photographing method for picking or placing, a photographing module, and a transport robot, which are applied to the transport robot. The transport robot is provided with a handling apparatus for picking or placing, and the photographing module. The method includes: obtaining first multi-dimensional image information of a target shelf including a target position, where more than one storage positions are arranged in the target shelf along a depth direction of the shelf; and determining, according to the first multi-dimensional image information, whether there is a first item in the target position; and determining a photographing strategy of the photographing module according to a determining result, where the photographing strategy is configured to obtain target multi-dimensional image information of the target position, and the target position is a storage position in the target shelf where the handling apparatus performs picking or placing. The photographing in the depth direction of the shelf is implemented to obtain multi-dimensional image information, so that the safety of picking or placing of the transport robot, and the working efficiency are improved.
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