Intelligent warehousing system, processing terminal, warehouse robot and intelligent warehousing method

Patent metadata

Field	Value
Publication number	US-12319504-B2
Application number	US-202117451990-A
Country	US
Kind code	B2
Filing date	Oct 22, 2021
Priority date	Apr 24, 2019
Publication date	Jun 3, 2025
Grant date	Jun 3, 2025

Abstract

The technical field of intelligent warehousing is related, and an intelligent warehousing system, a processing terminal, a warehouse robot, and an intelligent warehousing method are disclosed. Where the intelligent warehousing system ( 100 ) includes: a warehouse robot ( 10 ) and a material fetching device ( 20 ); the warehouse robot includes a first warehouse robot ( 11 ) and/or a second warehouse robot ( 12 ); the first warehouse robot is configured to receive a first scheduling instruction, and handle a material box to a first target position according to the first scheduling instruction; the second warehouse robot is configured to receive a second scheduling instruction, and handle a portable shelf to a second target position according to the second scheduling instruction; and the material fetching device is configured to receive a material fetching instruction, and fetch a material from the material box and/or the portable shelf according to the material fetching instruction.

First claim

What is claimed is:

1. An intelligent warehousing system, wherein the intelligent warehousing system comprises: a warehouse robot and a material fetching device;
the warehouse robot comprises at least one of a first warehouse robot and a second warehouse robot;
the first warehouse robot is configured to receive a first scheduling instruction, and handle a material box to a first target position according to the first scheduling instruction;
the second warehouse robot is configured to receive a second scheduling instruction, and handle a portable shelf to a second target position according to the second scheduling instruction; and
the material fetching device is configured to receive a material fetching instruction, and fetch a material from at least one of the material box and the portable shelf according to the material fetching instruction;
wherein the first warehouse robot comprises at least one storage unit, or a handling component, or both the at least one storage unit and the handling component;
the handling component is configured to fetch the material box from the at least one storage unit, or the handling component is configured to place the material box in the at least one storage unit;
wherein the first warehouse robot comprises a lifting component:
the first warehouse robot is configured to receive a first material fetching instruction to control the lifting component, and the first material fetching instruction corresponds to the material box;
the lifting component is configured to drive the at least one storage unit to move, or the lifting component is configured to drive the handling component to move, so as to adjust the material box to the preset height; and
the material fetching device is configured to receive a second material fetching instruction to fetch the material from the material box;
wherein the first warehouse robot is further configured to place the material box back into one of the at least one storage unit corresponding to the material box after the material fetching device completes fetching of the material from the material box.

2. He intelligent warehousing system according to claim 1 , wherein the material fetching instruction comprises a third material fetching instruction;
the material fetching device is configured to receive a third material fetching instruction to fetch the material from the material box; or
the material fetching device is configured to receive the third material fetching instruction to fetch the material from the material box at one of the at least one storage unit corresponding to the material box.

3. The intelligent warehousing system according to claim 1 , wherein the material fetching instruction comprises a fourth material fetching instruction;
the material fetching device is configured to receive the fourth material fetching instruction to fetch the material from the portable shelf according to the fourth material fetching instruction;
or, wherein the material fetching instruction comprises a fifth material fetching instruction and a sixth material fetching instruction;
the second warehouse robot is configured to receive the fifth material fetching instruction to adjust at least one material to a preset height; and
the material fetching device is configured to receive the sixth material fetching instruction to fetch the material from the portable shelf.

4. The intelligent warehousing system according to claim 1 , wherein the material fetching device is configured to fetch the material from at least one of the material box and the portable shelf according to the material fetching instruction after detecting the material box is in a preset safe material fetching position;
wherein the material fetching device is configured to adjust a material fetching position before fetching the material from at least one of the material box and the portable shelf according to the material fetching instruction;
wherein the material fetching device is configured to send a material fetching completion instruction after completing material fetching, to enable the first warehouse robot to handle the material box to a third target position, and/or to enable the second warehouse robot to handle the portable shelf to a fourth target position.

5. The intelligent warehousing system according to claim 1 , wherein the material fetching device is provided with a material fetching mechanism, and the material fetching mechanism comprises at least one of a suction nozzle component and a gripper component; and
the material fetching device is configured to fetch the material from at least one of the material box and the portable shelf through the material fetching mechanism; or
the material fetching device comprises: a mechanical arm and a mechanical controller; and
the mechanical controller is built in or placed outside the mechanical arm, and the mechanical controller is connected to the mechanical arm; and
the mechanical controller is configured to control the mechanical arm to fetch the material from at least one of the material box and the portable shelf according to the material fetching instruction.

6. The intelligent warehousing method according to claim 5 , wherein the first warehouse robot comprises a handling component and a lifting component, the handling component is configured to handle the material box, and the lifting component is configured to drive the handling component to move, so as to adjust the handling component to a preset height;
the intelligent warehousing method further comprises:
sending a first material fetching instruction to the first warehouse robot to control the lifting component, with the first material fetching instruction corresponding to the material box, so that the first warehouse robot adjusts the material box to a preset height; and
sending the material fetching instruction to the material fetching device so that the material fetching device fetches the material from at least one of the material box and the portable shelf according to the material fetching instruction comprises:
sending a second material fetching instruction to the material fetching device, so that the material fetching device fetches the material from the material box.

7. The intelligent warehousing method according to claim 5 , wherein the material fetching instruction comprises a third material fetching instruction,
sending the material fetching instruction to the material fetching device so that the material fetching device fetches the material from at least one of the material box and the portable shelf according to the material fetching instruction comprises:
sending the third material fetching instruction to the material fetching device, so that the material fetching device fetches the material from the material box.

8. The intelligent warehousing method according to claim 5 , wherein the material fetching instruction comprises a third material fetching instruction,
sending the third material fetching instruction to the material fetching device so that the material fetching device fetches the material from the material box comprises:
sending the third material fetching instruction to the material fetching device, so that the material fetching device fetches the material from the material box at one of the at least one storage unit corresponding to the material box.

9. The intelligent warehousing method according to claim 5 , wherein the material fetching instruction comprises a fourth material fetching instruction;
sending the material fetching instruction to the material fetching device so that the material fetching device fetches the material from at least one of the material box and the portable shelf according to the material fetching instruction compri

Assignees

• Hai Robotics Co Ltd

Inventors

• Chen Yuqi

Classifications

• G05D1/69

  Coordinated control of the position or course of two or more vehicles · CPC title

• B25J9/1687

  Assembly, peg and hole, palletising, straight line, weaving pattern movement · CPC title

• B25J9/1682

  Dual arm manipulator; Coordination of several manipulators · CPC title

• G05D1/0287

  involving a plurality of land vehicles, e.g. fleet or convoy travelling (traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16) · CPC title

• B65G47/905

  Control arrangements · CPC title