公开(公告)号：US11104003B2

公开(公告)日：2021-08-31

申请号：US16926457

申请日：2020-07-10

Applicant: BEIJING GEEKPLUS TECHNOLOGY CO., LTD.

Inventor： Kai Sun ,  Lei Wang ,  Ka Ho Fung

IPC: B25J9/16 ,  B65G1/04 ,  B25J5/00 ,  B65G1/06 ,  B65G1/10 ,  B65G1/12 ,  B65G1/137

Abstract: Disclosed are a method and device for moving an article based on dense storage, a storage medium, and a dense storage system. The method includes: upon detecting that a target shelf is blocked by at least one blocking shelf, instructing a first self-driven robot to remove the blocking shelf and/or a blocking storage box to make the target shelf not blocked by the blocking shelf or make a target storage box on the target self not blocked by the blocking storage box; instructing the first self-driven robot to carry the blocking shelf and/or the blocking storage box and perform a circular movement along a robot travelling passage; and instructing a second self-driven robot to move the target shelf from its current position to a workstation, or instructing the second self-driven robot to remove the target storage box from the target shelf and move the target storage box to the workstation.