Storage system, base, control device, program, and transport robot

Patent metadata

Field	Value
Publication number	US-12371264-B2
Application number	US-201917431764-A
Country	US
Kind code	B2
Filing date	Jun 28, 2019
Priority date	Feb 25, 2019
Publication date	Jul 29, 2025
Grant date	Jul 29, 2025

Abstract

The storage system includes a base that supports a container for accommodating articles and a transport robot for transporting the container. The transport robot has a load unit that can load the container and a lift unit for moving the load unit in the vertical direction. The transport robot has a switch unit for switching between a state in which the base restricts the vertical movement of the container and a state in which the base does not restrict the vertical movement of the container. When the storage system increases the number of containers supported by the base, the lift unit moves the container to be stored from a position below the support position on the base to the support position in a state in which the base does not restrict the vertical movement of the container. After the container to be stored reaches the support position, the switch unit switches from a state in which the base does not restrict the vertical movement of the container to a state in which the base restricts the vertical movement of the container.

First claim

The invention claimed is:

1. A control device for vehicle control, wherein the control device comprises:
at least one processor configured, when the control device is located within a transport vehicle that is in an environment having a storage rack with a frame formed by frame supports, to perform the following:
outputting control signals for causing the transport vehicle to perform a first movement operation in which the transport vehicle moves to a first position that is in a space between the frame supports;
outputting control signals for causing a first lift operation in which, after the first movement operation, a portion of the transport vehicle that provides a lift surface is raised vertically;
outputting control signals for causing a first rotation operation in which, after the first lift operation, the lift surface is rotated about a vertical axis, from a first orientation relative to the frame supports, to a second orientation relative to the frame supports, wherein the first rotation operation is for:
when a first container having a notch is on the transport vehicle, to switch the first container from being in the first orientation, in which the first container is not supported by the frame supports, to being in the second orientation, in which at least a portion of the frame supports is fitted into the notch so that the first container is supported by the frame supports, or
for switching the first container from the second orientation, in which the at least a portion of the frame supports is fitted into the notch so that the first container is supported by the frame supports, to the first orientation, in which the first container is not supported by the frame supports, to a state in which the frame supports do not restrict vertical movement of the first container when the first container is on the transport vehicle;
outputting control signals for causing a first lowering operation in which, after the first rotation operation, the lift surface is lowered vertically; and
outputting control signals for causing a second rotation operation in which, after the first lowering operation, the lift surface is rotated about the vertical axis from the second orientation to the first orientation; and
outputting control signals for causing a second movement operation in which, after the second rotation operation, the transport vehicle moves away from the storage rack to a second position that is outside of the space between the frame supports.

2. The control device of claim 1 , wherein the at least one processor is configured, when the first container having the notch is placed on the transport vehicle, to control the first rotation operation based on an angle between a surface of the first container and a surface of the frame supports.

3. The control device of claim 1 , wherein the at least one processor is configured, when the first container is supported by the frame supports, to further perform the following for retrieving the first container from the frame supports:
outputting control signals for causing the transport vehicle to perform a third movement operation in which, after the second movement operation, the transport vehicle moves to the first position in the space between the frame supports;
outputting control signals for causing a second lift operation in which, after the third movement operation, the portion of the transport vehicle that provides the lift surface is raised vertically to a position of the first container;
outputting control signals for causing a third rotation operation in which, after the second lift operation, the lift surface is rotated about the vertical axis to cause the first container to switch from being in the second orientation to being in the first orientation so that the first container is not supported by the frame supports;
outputting control signals for causing a second lowering operation in which, after the third rotation operation, the lift surface is lowered vertically; and
outputting control signals for causing a fourth movement operation in which, after the second lowering operation, the transport vehicle moves away from the storage rack to the second position outside of the space between the frame supports.

4. The control device of claim 1 , wherein the at least one processor is configured, when (i) a second container having a notch is placed on the transport vehicle and (ii) the first container is supported on by the frame supports, to perform the following for causing the second container to be stored on the storage rack:
outputting control signals for causing the transport vehicle to perform a third movement operation in which the transport vehicle moves to the first position in the space between the frame supports;
outputting control signals for causing a third rotation operation and a second lift operation in which the lift surface is rotated and lifted in a manner to cause the second container to be in the second orientation, and to cause an upper end of the second container to reach a lower end of the first container;
outputting control signals for causing a fourth rotation operation in which the lift surface is rotated in a manner to cause the first container and the second container to switch from being in the second orientation to being in the first orientation, so that the first container is not supported by the frame supports;
outputting control signals for causing a third lift operation in which the lift surface lifts the first container and the second container vertically and in which the notch of the second container is lifted to a position of the frame supports; and
outputting control signals for causing a fifth rotation operation in which, after the notch of the second container is lifted to the position of the frame supports, the lift surface is rotated in a manner to cause the first container and the second container to switch from being in the first orientation to being in the second orientation, so that the second container is supported by the frame supports.

5. The control device of claim 1 , wherein the at least one processor is configured, when the control device is located within the transport vehicle in the environment having the frame, to control a lift amount for the first lift operation based on a position of an upper surface of the frame.

6. The control device of claim 1 , wherein the control signals for causing the first movement operation are motor signals.

7. The control device of claim 1 , wherein the control signals for the first movement operation are configured to cause the transport vehicle to move to a center of a circumscribed circle which circumscribes the space between the frame supports.

8. The control device of claim 1 , wherein the first lift operation causes the lift surface to be lifted from a first position, and wherein the first lowering operation causes the lift surface to be lowered back to the first position.

9. A non-transitory computer-readable medium having instructions thereon which, when executed by at least one processor of a control device, causes the at least one processor to perform the following:
outputting control signals for causing, when the control device is located within a transport vehicle that is in an environment having a storage rack with a frame formed by frame supports, a first movement operation to be performed by the transport vehicle, in which the transport vehicle moves to a first position that is in a space between the frame supports;
outputting control signals for causing a first lift operation in which, after the first movement operation, a portion of the transport vehicle that provides a lift surface is raised vertically;
outputting control signals for causing a first rotation operation in which

Assignees

• Mujin Inc

Inventors

• Tendo Satoshi
• Arase Isamu

Classifications

• G05D1/667

  Delivering or retrieving payloads · CPC title

• B66F9/063

  Automatically guided · CPC title

• B65G1/0471 Primary

  with access from beneath · CPC title

• G05D1/0212

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title

• B65G57/302

  added articles being lifted to substantially stationary grippers or holders · CPC title