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NZ786624B2 - Automated guided vehicle designed for warehouse - Google Patents
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NZ786624B2 - Automated guided vehicle designed for warehouse - Google Patents

Automated guided vehicle designed for warehouse Download PDF

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Publication number
NZ786624B2
NZ786624B2 NZ786624A NZ78662418A NZ786624B2 NZ 786624 B2 NZ786624 B2 NZ 786624B2 NZ 786624 A NZ786624 A NZ 786624A NZ 78662418 A NZ78662418 A NZ 78662418A NZ 786624 B2 NZ786624 B2 NZ 786624B2
Authority
NZ
New Zealand
Prior art keywords
inventory item
agv
warehouse
inventory
position shift
Prior art date
Application number
NZ786624A
Other versions
NZ786624A (en
Inventor
Yuqi Chen
Jui Chun Cheng
Shengdong Xu
Original Assignee
Hai Robotics Co Ltd
Filing date
Publication date
Priority claimed from CN201711141498.3A external-priority patent/CN108122016B/en
Priority claimed from CN201711135812.7A external-priority patent/CN108069180A/en
Application filed by Hai Robotics Co Ltd filed Critical Hai Robotics Co Ltd
Priority claimed from NZ765310A external-priority patent/NZ765310A/en
Publication of NZ786624A publication Critical patent/NZ786624A/en
Publication of NZ786624B2 publication Critical patent/NZ786624B2/en

Links

Classifications

    • 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
    • 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
    • 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
    • B25J9/10—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
    • B25J9/1656—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
    • 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
    • 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
    • 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
    • B65G1/0492—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
    • B65G1/137—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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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
    • 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

Abstract

Automated Guided Vehicle (AGV) system designed for carrying, storing and retrieving inventory items to and from storage shelves. The AGV (100) can move between warehouse shelves and reach to the inside of a shelf without turning. The AGV (100) is equipped with a material handling device (130). The material handling device (130) comprises a lateral device that is configured to move in a lateral direction either to the right side or to the left side. The movement of the lateral device can be either rotational or translational. The material handling device (130) further comprises a retractable device that retracts or extends in a direction perpendicular to the lateral direction. The retractable device allows the material handling device (130) to extend into the storage shelf to fetch or place an inventory item.

Claims (17)

1. An automated Guided Vehicle (AGV) designed for storing or retrieving inventory items, said AGV comprising: 5 a drive unit configured to drive the AGV; a multi-level frame installed on the drive unit and comprising a lifting device and one or more plates for holding one or more inventory items; a material handling device, said material handling device comprising: a tray for holding the inventory item; 10 a lateral device configured to move the tray to either a right side or a left side of the AGV, wherein the lateral device is configured as a rotation assembly, the rotation assembly includes a rotation driving device; and a retractable device configured to extend or retract; wherein the lifting device is configured to lift the material handling device and 15 wherein the AGV is configured to move between two warehouse shelves and to store or retrieve the one or more inventory items at or from either warehouse shelf using the material handling device; wherein the AGV further comprises a shift detection device, the shift detection device is configured to detect a position shift of the inventory item compared to a 20 position of the inventory item obtained from an instruction received by the AGV, and wherein the AGV is configured to adjust a position of the AGV or a position of the material handling device based on the position shift such that the material handling device reaches the inventory item; wherein if the position shift is not reasonable or not within a pre-determined 25 threshold, the AGV is configured to extend the material handling device so as to adjust the position of the AGV and the position of the inventory item; wherein the AGV is further configured to report the position shift to a server to allow the server to update a map of a warehouse.
2. The AGV of claim 1, wherein the inventory item comprises a first inventory item in a back row of a warehouse shelf and a second inventory item in a front row of the warehouse shelf, and the AGV is configured to receive the instruction to transport the first inventory item, the instruction includes depth of the first inventory item to indicate that the first inventory item is in the back row of the warehouse shelf, the AGV 5 is configured to remove the second inventory item in the front row and reach to and retrieve the first inventory item in the back row.
3. The AGV of claim 1, wherein the multi-level frame comprises supporting columns configured to accommodate the lifting device, and the lifting device is configured to move along the supporting columns and stop at each level or a specific 10 height of the multi-level frame; and the lifting device is configured to lift the material handling device to a height along the supporting columns to store or retrieve the inventory item at or from the warehouse shelf, wherein the height is determined based on a position of the inventory item to be stored or retrieved.
4. The AGV of claim 1, wherein the material handling device is configured to 15 place the inventory item on one of the plates of the multi-level frame through extension of the retractable device, and to place the inventory item onto the warehouse shelf through extension of the retractable device; the retractable device is configured to retract or extend to two or more positions, the two or more positions including a first position and a second position. 20
5. The AGV of claim 1, wherein the lateral device of the material handling device is configured to rotate the tray to either the right side or left side by 90°, and then extend to a second position to reach inside the warehouse shelf.
6. The AGV of claim 1, wherein the shift detection device comprises one or more of a laser device, a radar device, a lighting device, a barcode reader, and a graph 25 recognition device, and the drive unit comprises a motor and one or more drive wheels.
7. The AGV of any one of claims 1-6, further comprising: a transceiver for transmitting and receiving instructions to or from a warehouse server; and one or more processors configured to interpret the instructions and to control the 30 AGV, wherein the transceiver is configured to receive an instruction to transport the inventory item and wherein the processors are configured to interpret the instruction to obtain a position of the inventory item, wherein the position of the inventory item comprises an x-coordinate, a y-coordinate, an orientation of the AGV, and a height; 5 the AGV further comprising a navigation unit configured to detect obstacles and determine a moving path for the AGV based on the position of the inventory item, wherein the navigation unit is configured to read navigation signs posted inside the warehouse to navigate, wherein the navigation signs include identification codes comprising barcodes. 10
8. The AGV of claim 7, wherein, when the AGV is navigating toward the position of the inventory item, the processors are configured to command the material handling device to move to the height before the AGV reaches the position of the inventory item, the material handling device is configured to clamp the inventory item to move the inventory item onto or away from the tray, and the tray of the material handling device 15 is configured to slide underneath the inventory item and lift the inventory item.
9. A method of controlling a warehouse robot to store or retrieve an inventory item on a warehouse shelf, said method comprising: receiving an instruction to transport the inventory item; obtaining a position of the inventory item from the received instruction, wherein 20 the position of the inventory item comprises a location of the inventory item and an orientation of the inventory item; directing the warehouse robot to move to the location of the inventory item; detecting a position shift of the inventory item away from the position of the inventory item obtained from the received instruction based on the location and the 25 orientation of the inventory item; adjusting a position of the warehouse robot to compensate for the position shift; retrieving the inventory item from storage; and transporting the inventory item to a destination.
10. The method of claim 9, wherein the adjusting of the position of the warehouse 30 robot to compensate for the position shift further comprises: 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 5 adjusting the position of the warehouse robot until the measured position shift is smaller than the threshold.
11. The method of claim 9, further comprising: sending the adjusted position of the warehouse robot to a server to report the position shift.
12. The method of claim 9, wherein the inventory items on the shelf are arranged 10 in two rows, a front row and a back row, the inventory item comprises a first inventory item in a back row of the warehouse shelf and a second inventory item in a front row of the warehouse shelf, and said method further comprises: receiving an instruction to transport the first inventory item; obtaining a position of the first inventory item from the received instruction to 15 transport the first inventory item, wherein the position of the first inventory item comprises a location, a depth and an orientation of the first inventory item, wherein the depth of the first inventory item indicates that the first inventory item is located in the back row; directing the warehouse robot to move to the location of the first inventory item; 20 removing the second inventory item from the front row; fetching the first inventory item from the back row; transporting the first inventory item to a destination.
13. The method of claim 12, wherein the removing the second inventory item from the front row and the fetching the first inventory item from the back row further 25 comprises: fetching the second inventory item from the front row and placing the second inventory item on a first tray that is empty; fetching the first inventory item from the back row and placing the first inventory item on a second tray that is empty; and 30 returning the second inventory item to the shelf.
14. The method of claim 12, wherein the fetching the first inventory item comprises: 5 detecting a position shift of the first inventory item based at least in part on at least one of the location, the depth and the orientation of the first inventory item; adjusting the position of the warehouse robot to compensate for the position shift of the first inventory item; and retrieving the first inventory item from the back row of the shelf. 10 15. The method of claim 14, wherein the adjusting of the position of the warehouse robot to compensate for the position shift of the first inventory item comprises: comparing the position shift of the first inventory item to a threshold; if the position shift of the first inventory item is larger than the threshold, adjusting the position of the warehouse robot based on the position shift of the first inventory
15. 15 item; re-measuring the position shift of the first inventory item; and adjusting the position of the warehouse robot until the measured position shift of the first inventory item is smaller than the threshold.
16. The method of claim 14, further comprising sending a position update to a 20 server to report the position shift of the first inventory item.
17. The method of claim 9, wherein the position shift is detected before the warehouse robot reaches the location of the inventory item.
NZ786624A 2018-09-07 Automated guided vehicle designed for warehouse NZ786624B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CN201711141498.3A CN108122016B (en) 2017-11-14 2017-11-14 Method and device for automatically storing and taking goods
CN201711135812.7A CN108069180A (en) 2017-11-14 2017-11-14 Robot
NZ765310A NZ765310A (en) 2017-11-14 2018-09-07 Automated guided vehicle designed for warehouse

Publications (2)

Publication Number Publication Date
NZ786624A NZ786624A (en) 2024-11-29
NZ786624B2 true NZ786624B2 (en) 2025-03-04

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