公开(公告)号：US20200165083A1

公开(公告)日：2020-05-28

申请号：US16686208

申请日：2019-11-18

申请人： Chau-Lin Huang ,  Yen-Wen Chen ,  Chun-Ying Yu

发明人： Chau-Lin Huang ,  Yen-Wen Chen ,  Chun-Ying Yu

IPC分类号： B65G67/04 ,  G05D1/02

摘要： The disclosure provides a transporting device, a transporting system, and a shelf transporting method. The method includes: estimating a device pose of the transporting device in a specific field; detecting a shelf pose of a shelf located in the specific field; in response to receiving a transporting request for the shelf, setting an entry point associated with the shelf based on the shelf pose of the shelf, and controlling the transporting device to move to the entry point; in response to determining that the transporting device has arrived at the entry point, rotating to align with the shelf, and entering an accommodating space beneath the shelf via an entrance of the shelf; raising a lift bar to dock with the shelf, and moving to transport the shelf.