Automated guided vehicle designed for warehouse

Patent metadata

Field	Value
Publication number	US-11718472-B2
Application number	US-201816476126-A
Country	US
Kind code	B2
Filing date	Sep 7, 2018
Priority date	Nov 14, 2017
Publication date	Aug 8, 2023
Grant date	Aug 8, 2023

Abstract

An Automated Guided Robot (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.

First claim

What is claimed is:

1. An automated guided vehicle (AGV) designed for storing or retrieving inventory items, said AGV comprising:
a drive unit configured to drive the AGV to travel between two warehouse shelves;
a multi-level frame installed on the drive unit and comprising a lifting device and one or more plates configured to hold one or more inventory items;
a material handling device, said material handling device comprising:
a tray configured to hold an inventory item of the one or more inventory items;
a lateral device configured to rotate the tray to the right side or the left side so that the tray is towards one of the two warehouse shelves; and
a retractable device configured to extend or retract;

a support frame, a camera set, a primary lighting device and two secondary lighting devices,
wherein the camera set and to primary lighting device are installed at the front of the material handling device, and the two secondary lighting devices are installed at the support frame and located on either side of the camera respectively,
wherein the retractable device comprises two arms installed on opposite sides of the tray, the two arms being extendable or retractable relative to the tray, and the two arms being configured to move the tray along a lateral direction to reach either one of the two warehouse shelves;
wherein the lifting device is configured to move the material handling device in a vertical direction; and
wherein the AGV is configured to transport the one or more inventory items.

2. The AGV of claim 1 , wherein the multi-level frame comprises supporting columns to accommodate the lifting device.

3. The AGV of claim 2 , wherein the lifting device is configured to move along the supporting columns and stop at each level of the multi-level frame.

4. The AGV of claim 3 , wherein the lifting device is configured to lift the material handling device to a height along a vertical shaft to store or retrieve an inventory item at or from a warehouse shelf.

5. The AGV of claim 4 , wherein the height is determined based on the position of the inventory item.

6. The AGV of claim 1 , wherein the material handling device is configured to place an inventory item on one of the plates of the multi-level frame through retraction of the retractable device.

7. The AGV of claim 6 . wherein the material handling device is further configured to place an inventory item onto a warehouse shelf through extension of the retractable device.

8. The AGV of claim 7 , wherein the retractable device is configured to retract or extend to two or more positions, the two or more positions including a first and a second position.

9. The AGV of claim 1 , further comprising:
a transceiver configured to transmit and receive instructions to and from a warehouse server; and
processors configured to interpret the instructions and to control the AGV.

10. The AGV of claim 9 , wherein the transceiver is configured to receive an instruction to transport an inventory item and wherein the processors are configured to interpret the instruction to obtain a position of the inventory item.

11. The AGV of claim 10 , wherein the position of the inventory item comprises an x-coordinate, a y-coordinate, an orientation of the AGV, and a height.

12. The AGV of claim 9 , further comprising a navigation unit to detect obstacles and determine a moving path for the AGV based on the position of the inventory item.

13. The AGV of claim 12 , wherein the navigation unit is configured to read navigation signs posted inside the warehouse for navigation purpose.

14. The AGV of claim 13 , wherein the navigation signs include barcodes, two-dimensional barcodes, and other identification codes.

15. The AGV of claim 12 , 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 a height before the AGV reaches the position of the inventory item.

16. The AGV of claim 15 , wherein the material handling device is configured to clamp the inventory item to move the inventory item onto or away from the tray.

17. The AGV of claim 15 , wherein the tray of the material handling device is configured to slide underneath the inventory item and lift the inventory item.

18. The AGV of claim 9 , further comprising a shift detection device, wherein the shift detection device is configured to detect a position shift of the inventory item compared to the position obtained from the instruction received by the AGV, and wherein, based on the position shift, the processors are configured to adjust the position of the AGV or the position of the material handling device to allow the material handling device to reach the inventory item for transportation.

19. The AGV of claim 18 , 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 recognition device configured to detect the position shift.

20. The AGV of claim 1 , wherein the drive unit comprises a motor and one or more drive wheels.

21. The AGV of claim 1 , wherein the lateral device of the material handling device is configured to rotate the tray to either the right or left side by 90°.

22. An automated guided vehicle (AGV) system for storing or retrieving an inventory item in a warehouse, said system comprising:
a drive unit configured to drive the AGV to travel in between two warehouse shelves;
a multi-level frame installed on the drive unit and comprising a lifting device and one or more plates configured to hold one or more inventory items;
a material handling device, said material handling device comprising;
a tray configured to hold an inventory item;
a lateral device configured to rotate the tray to the right side or the left side so that the tray is towards one of the two warehouse shelves; and
a retractable device configured to extend or retract;
a support frame, a camera set, a primary lighting device and two secondary lighting devices,

a transceiver configured to communicate with a warehouse server; and
one or more processors configured to control the AGV;
wherein the AGV system is configured to navigate inside a warehouse between warehouse shelves and to reach inside warehouse shelves laterally; wherein the camera set and the primary lighting device are installed at the front of the material handling device, and the two secondary lighting devices are installed at the support frame and located on either side of the camera respectively: and
wherein the retractable device comprises two arms installed on opposite sides of the tray, the two arms being extendable or retractable relative to the tray, and the two arms being configured to move the tray along a lateral direction to reach either one of the two warehouse shelves.

23. The AGV system of claim 22 , wherein the lifting device is configured to move the material handling device vertically and to stop at each level of the multi-level frame or a height.

24. The AGV of claim 22 , wherein the transceiver is configured to receive an instruction of transporting an inventory item and wherein the one or more processors are configured to obtain the position of the inventory item from the received instruction.

25. The AGV system of claim 22 , further comprising a shift detection device configured to detect a position shift of the inventory item, wherein the one or more processors are con

Assignees

• Hai Robotics Co Ltd

Inventors

• Cheng Jui-Chun
• Xu Shengdong
• Chen Yuqi

Classifications

• B65G1/04

  mechanical · CPC title

• G05D1/2446

  the passive navigation aids having encoded information, e.g. QR codes or ground control points · CPC title

• G05D1/667

  Delivering or retrieving payloads · CPC title

• G05D2105/28

  of freight · CPC title

• G05D2107/70

  Industrial sites, e.g. warehouses or factories · CPC title