公开(公告)号：US12162736B2

公开(公告)日：2024-12-10

申请号：US16972003

申请日：2019-06-06

Applicant: BEIJING GEEKPLUS TECHNOLOGY CO., LTD.

Inventor： Kai Liu ,  Mengdi Wang

IPC: B66F9/06 ,  B65G1/04 ,  G06Q10/087

Abstract: A shelf management method includes predicting whether there is space in the station queue area of a station; if yes, selecting a shelf from among the shelves allocated to the station and have not yet been transported, and controlling a moving robot to transport the selected shelf; after the moving robot is engaged with the selected shelf, re-predicting whether there is space in the station queue areas of all the stations that need the selected shelf; if yes, controlling the moving robot to transport the selected shelf to the station queue area that has been predicted to have space, and when the moving robot has transported the selected shelf to the pre-set area around the station queue area that has been predicted to have space, determining whether there is newly available space in the station queue area; if yes, controlling the moving robot to enter the station queue area.

公开(公告)号：US11708217B2

公开(公告)日：2023-07-25

申请号：US17304837

申请日：2021-06-25

Applicant: BEIJING GEEKPLUS TECHNOLOGY CO., LTD.

Inventor： Kai Liu ,  Hongbo Li

IPC: B65G1/04 ,  B25J9/16 ,  B65G1/137

CPC classification number: B65G1/0485 ,  B25J9/162 ,  B65G1/1371 ,  B65G1/1378 ,  B65G2201/02 ,  B65G2203/0216 ,  B65G2203/0241 ,  B65G2209/02

Abstract: Provided is a relay goods picking system, the system includes: a plurality of carrying robots, a manual picking area, auxiliary pickup tools for manual goods picking which store goods for manual picking, a robot picking inventory container area provided with a plurality of inventory containers used for storing goods and being carried by the plurality of carrying robots, operating positions and a control system capable of communicating with the plurality of carrying robots and manual picking persons. For a mixed order which involves both goods in the manual picking area and goods in the robot picking rack area, under control of the control system, a person-to-goods picking mode and a goods-to-person picking mode are used to complete the goods picking.

公开(公告)号：US11691180B2

公开(公告)日：2023-07-04

申请号：US17636029

申请日：2020-03-16

Applicant: BEIJING GEEKPLUS TECHNOLOGY CO., LTD.

Inventor： Kai Liu

IPC: G06F7/00 ,  B07C3/00 ,  B65G1/04 ,  G05B19/4155 ,  G06Q10/087

CPC classification number: B07C3/006 ,  B65G1/0492 ,  G05B19/4155 ,  G06Q10/087 ,  G05B2219/45047 ,  G05B2219/50391

Abstract: A sorting system includes a control server, multiple sorting robots, and a sorting region. The sorting region is divided into multiple sub-regions. At least one supply station and multiple delivery openings are deployed in each sub-region. Delivery openings respectively correspond to paths. The control server determines, according to path information of an item to be sorted, a target delivery opening corresponding to a path of the item, determines, from the multiple sub-regions of the sorting region, a target sub-region in which the target delivery opening is located, and allocates a delivery task to a target sorting robot among the multiple sorting robots. In response to the delivery task, the target sorting robot acquires the item from the supply station where the item is located, carries the item to the target delivery opening in the target sub-region, and delivers the same.

公开(公告)号：US11724879B2

公开(公告)日：2023-08-15

申请号：US15734213

申请日：2019-05-30

Applicant: BEIJING GEEKPLUS TECHNOLOGY CO., LTD.

Inventor： Kai Liu ,  Haoyu Wang ,  Xun Wu ,  Kai Sun

IPC: G06F7/00 ,  B65G1/137 ,  G06F16/245 ,  G06F16/29 ,  B60S9/14 ,  G05D1/02 ,  G06Q10/0631 ,  G06Q10/0637 ,  G06Q30/0201 ,  G06Q50/28

CPC classification number: B65G1/1375 ,  B60S9/14 ,  G05D1/0217 ,  G06F16/245 ,  G06F16/29 ,  G06Q10/06313 ,  G06Q10/06315 ,  G06Q10/06375 ,  G06Q30/0201 ,  G06Q50/28

Abstract: A management method applied to the goods-to-person system includes: in response to a task of putting products on shelves, calculating popularity of a product to be put on shelf according to historical sales order data of the product to be put on shelf, and matching the popularity of the product to be put on shelf with popularity of a shelf to determine a shelf area; selecting a goods location with space randomly in the determined shelf area, Wherein the goods location is used for storing the product to be put on shelf; and controlling a mobile robot to transport a shelf where the goods location is located to a work station.

公开(公告)号：US11498771B2

公开(公告)日：2022-11-15

申请号：US16973860

申请日：2019-06-11

Applicant: BEIJING GEEKPLUS TECHNOLOGY CO., LTD.

Inventor： Hongbo Li ,  Fandi Yu ,  Kai Liu

IPC: B65G47/46 ,  B07C3/08 ,  B65G47/71 ,  B66F9/06

Abstract: Provided are a parcel sorting system and method. The parcel sorting system is arranged in layers and includes: a parcel sorting layer located on an upper layer of the parcel sorting system, a moveable container carrying layer located on a lower layer of the parcel sorting system, a parcel delivery robot and a control device. The parcel sorting layer includes a modular entity platform that is a physical platform formed by splicing multiple splicable units and used for sorting parcels. The modular entity platform includes multiple delivery lattices arranged in an array and a traveling area constituted by gaps between the lattices and used for the parcel delivery robot traveling. One delivery lattices corresponds to one or more delivery path directions. The moveable container carrying layer includes multiple moveable containers, and a part of the containers are located below the lattices and receive the parcel from the parcel sorting layer.

公开(公告)号：US12293329B2

公开(公告)日：2025-05-06

申请号：US17914570

申请日：2021-05-12

Applicant: Beijing Geekplus Technology Co., Ltd.

Inventor： Hongbo Li ,  Honghan Lu ,  Kun Wang ,  Kai Liu ,  Kaozhun Li

IPC: G06Q10/00 ,  B65G1/04 ,  B65G1/137 ,  G06Q10/087

Abstract: Disclosed are a method, control system, storage and retrieval equipments, and handling equipments. The control system is configured to: determine a target inventory receptacle from inventory receptacles in a storage area of an inventory system; and determine a target storage and retrieval equipment and a target handling equipment, and send a dispatching instruction to the target storage and retrieval equipment and the target handling equipment. The target storage and retrieval equipment is configured to: drive, in response to the dispatching instruction, to a position specified in the dispatching instruction, take out the target inventory receptacle, and directly or indirectly undertake the target inventory receptacle to the target handling equipment. The target handling equipment is configured to: drive, in response to the dispatching instruction, to a position specified in the dispatching instruction, undertake the target inventory receptacle, and transport the target inventory receptacle from the storage area to a workstation.

公开(公告)号：US11365050B2

公开(公告)日：2022-06-21

申请号：US17271590

申请日：2019-09-11

Applicant: BEIJING GEEKPLUS TECHNOLOGY CO., LTD.

Inventor： Kai Liu ,  Mengdi Wang ,  Yixin Bai

IPC: B65G1/04 ,  B65G1/06 ,  G05B19/418 ,  B65G1/137 ,  B66F9/06 ,  G05D1/00 ,  G05D1/02

Abstract: Disclosed are a robot control system and method. The robot control system includes a storage region, a lifting machine, a control device, and at least one self-driven robot. The storage region includes a loft having at least two storeys and is configured to store a container, and there is provided a passage on the floor of each of the at least two storeys of the loft for the self-driven robot to move through. The lifting machine is configured to transport the self-driven robot or the container to a target storey corresponding to a transportation task. The control device is configured to assign the transportation task to the self-driven robot and plan a travel route on the target storey for the self-driven robot according to the transportation task, and dispatch the self-driven robot to travel according to the travel route to perform the transportation task.

公开(公告)号：US11340628B2

公开(公告)日：2022-05-24

申请号：US16315574

申请日：2018-08-16

Applicant: Beijing Geekplus Technology Co., Ltd.

Inventor： Yufeng Yu ,  Hongbo Li ,  Kai Liu ,  Zheng Wang

IPC: G05D1/02

Abstract: Provided are a marker-combined simultaneous localization and mapping (SLAM) navigation method, device and system. The method includes: providing an initialization area for a located object, where at least one of the initialization area for a located object, a travelling path of a located object, and a docking device of the located object is provided with an marker including at least one of pose information, identification information and non-identification graphic information; controlling the located object to perform at least one of following operations: starting from the initialization area for a located object, and based on the marker, determining an initial pose of the located object; when the marker is passed on the travelling path, updating a current pose of the located object based on the marker; and when docking with the docking device, adjusting a relative pose between the located object and the docking device based on the marker.

公开(公告)号：US20210316944A1

公开(公告)日：2021-10-14

申请号：US17304837

申请日：2021-06-25

Applicant: BEIJING GEEKPLUS TECHNOLOGY CO., LTD.

Inventor： Kai Liu ,  Hongbo Li

IPC: B65G1/04 ,  B25J9/16 ,  B65G1/137

Abstract: Provided is a relay goods picking system, the system includes: a plurality of carrying robots, a manual picking area, auxiliary pickup tools for manual goods picking which store goods for manual picking, a robot picking inventory container area provided with a plurality of inventory containers used for storing goods and being carried by the plurality of carrying robots, operating positions and a control system capable of communicating with the plurality of carrying robots and manual picking persons. For a mixed order which involves both goods in the manual picking area and goods in the robot picking rack area, under control of the control system, a person-to-goods picking mode and a goods-to-person picking mode are used to complete the goods picking.

公开(公告)号：US11052539B2

公开(公告)日：2021-07-06

申请号：US16848574

申请日：2020-04-14

Applicant: BEIJING GEEKPLUS TECHNOLOGY CO. LTD.

Inventor： Kai Liu

IPC: G05B19/18 ,  G05B19/04 ,  B25J9/16 ,  G05D1/02

Abstract: Method, server and storage medium for robot routing are provided. An operation area of the robot is gridded into a plurality of cells arranged in rows and columns. The method includes: planning, for the robot, a traveling path from a starting point to a destination point, where the traveling path is divided into a plurality of path segments; and reserving, one or more cells corresponding to a first path segment for the robot, where the first path segment is anyone of at least one among the plurality of path segments, in case that there is the deadlock phenomenon, refraining from reserving the cell for the robot, and re-checking whether the deadlock phenomenon is still present in the cell after a preset interval; and in case that there is no deadlock phenomenon, reserving the cell for the robot.