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1. 发明公开

EP4266142A1 ROBOT AND LOCALIZATION METHOD 审中-公开
公开(公告)号：EP4266142A1
公开(公告)日：2023-10-25
申请号：EP21905470.7
申请日：2021-11-24
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： WANG, Huapei
IPC分类号： G05D1/02
摘要： A robot (100), comprising a robot processor (21), a recognition component (22) and a localization component (23), wherein the recognition component is configured to acquire, during a movement process of a robot and when localization reference objects on two sides have been detected, distance information between the recognition component and the localization reference object on each side, and to send the distance information to the robot processor; the localization component is configured to acquire, when the recognition component has recognized the localization reference objects, first location information corresponding to the current location of the robot, and to send the first location information to the robot processor; and the robot processor is configured to determine, according to the received distance information with the localization reference object on each side and the received first location information, central location information between the localization reference objects on two sides, to determine a movement control parameter according to the central location information and the first location information, and to control, on the basis of the movement control parameter, the robot to move along a central location between the localization reference objects on two sides. By means of such a robot, the deployment and maintenance costs of a two-dimensional code are saved on. The present disclosure further relates to a warehousing system and a localization method.

2. 发明公开

EP4019152A1 SORTING SYSTEM AND METHOD 审中-实审
公开(公告)号：EP4019152A1
公开(公告)日：2022-06-29
申请号：EP20854469.2
申请日：2020-03-16
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LIU, Kai
IPC分类号： B07C5/36
摘要： A sorting system and method. A sorting system (100) comprises: a control server (110), multiple sorting robots (120), and a sorting region (130). The sorting region is divided into multiple sub-regions (131). At least one supply station (140) and multiple delivery openings (150) 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.

3. 发明公开

EP3960692A1 INTELLIGENT FORKLIFT AND CONTAINER POSITION AND POSTURE DEVIATION DETECTION METHOD 审中-公开
公开(公告)号：EP3960692A1
公开(公告)日：2022-03-02
申请号：EP19926162.9
申请日：2019-12-24
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： GUO, Xiaoli , YANG, Ningning
IPC分类号： B66F9/075 , B66F17/00 , G01C11/00 , G01C11/04
摘要： An intelligent forklift (400) and a container position and posture deviation detection method. The intelligent forklift (400) comprises: a working state monitoring module (410) configured to monitor a working state of the intelligent forklift (400) transferring an inventory container to be transferred (120) and to, according to the working state, control a container image acquisition module (420) to acquire an image; the container image acquisition module (420) configured to respond to triggering by the working state monitoring module (410) to collect RGBD image frames of the inventory container to be transferred (120) and to transmit the RGBD image frames to a processing module (430); and the processing module (430) configured to receive the RGBD image frames fed back by the container image acquisition module (420), to detect the degree of position and posture deviation of the inventory container to be transferred (120) according to the RGBD images frames and to give an alarm according to a detection result of the degree of position and posture deviation so as to adjust the position and posture of the inventory container to be transferred on the intelligent forklift (400).

4. 发明公开

EP3904238A1 TRANSFER ROBOT, WAREHOUSE LOGISTICS SYSTEM AND ARTICLE TRANSFERRING METHOD 审中-公开
公开(公告)号：EP3904238A1
公开(公告)日：2021-11-03
申请号：EP19902811.9
申请日：2019-12-25
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LIU, Kai , SUN, Langlang , TANG, Yan , WANG, Kun , XIAO, Yuhui , LIU, Xiang
IPC分类号： B65G1/04
摘要： A transferring robot is disclosed in the disclosure. The transferring robot includes a movable chassis (1) configured to move along a path among adjacent warehouse storage containers; a temporary storage shelf (2) provided on the movable chassis (1), the temporary storage shelf (2) being configured to store a target case (20); a fetching assembly (3) provided on the movable chassis (1), the fetching assembly (3) being configured to extend or retract horizontally relative to the movable chassis (1), so as to realize fetching and placing of the target case (20) between the storage containers and the temporary storage shelf (2), where a direction along which the fetching assembly (3) extends or retracts horizontally is perpendicular to a moving direction. A warehousing and logistics system includes the foregoing transferring robot. The disclosure further discloses a warehousing system and an item transferring method.

5. 发明公开

EP3816919A1 ORDER PROCESSING METHOD AND DEVICE, SERVER, AND STORAGE MEDIUM 审中-公开
公开(公告)号：EP3816919A1
公开(公告)日：2021-05-05
申请号：EP19807104.5
申请日：2019-05-21
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LI, Hongbo , LIU, Yuanhang , PANG, Jinlong , LI, Jinguo , LIU, Xingguo
IPC分类号： G06Q30/06
摘要： The present disclosure discloses an order processing method. The method includes:
receiving at least one pending order and placing the at least one pending order in an order pool;
dividing part or all of pending orders in the order pool into at least one batch of task; for any of the at least one batch of task, allocating the batch of task to a corresponding target workstation, selecting a target inventory container matching an order item for a pending order in the batch of task, and selecting a target robot for carrying the target inventory container for the batch of task;
controlling the target robot to carry the target inventory container matching the order item to the target workstation corresponding to the batch of task. The present disclosure further discloses an order processing device, a server, and a storage medium.

6. 发明公开

EP3816886A1 MANAGEMENT METHOD, APPARATUS, SYSTEM APPLIED TO GOODS-TO-PERSON SYSTEM, AND SERVER AND COMPUTER STORAGE MEDIUM 审中-公开
公开(公告)号：EP3816886A1
公开(公告)日：2021-05-05
申请号：EP19811701.2
申请日：2019-05-30
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LIU, Kai , WANG, Haoyu , WU, Xun , SUN, Kai
IPC分类号： G06Q10/04
摘要： Disclosed are a management method, device and system applied to a goods-to-person system. The disclosure relates to the field of logistics automation, wherein the management method applied to the goods-to-person system comprises: 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.

7. 发明公开

EP3650376A1 RELAY CARGO PICKING SYSTEM AND PICKING METHOD 审中-公开
公开(公告)号：EP3650376A1
公开(公告)日：2020-05-13
申请号：EP17916581.6
申请日：2017-07-03
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LIU, Kai , LI, Hongbo
IPC分类号： B65G1/137 , G05D1/02
摘要： A relay cargo picking system, comprising: a plurality of transfer robots (20); a manual picking shelf area (30); a manual picking and cargo consolidation auxiliary tool (60) for storing cargo for manual picking; a machine picking shelf area (40), arranged with a plurality of shelves, for storing cargo which are to be transferred by the transfer robots (20); an operating station; and a control system (10), which can communicate with the transfer robots (20) and a manual picking person. For a hybrid order which involves both cargo in the manual picking shelf area (30) and cargo in the machine picking shelf area (40), under the control of the control system, the picking of a mixed order is completed in a serial picking relay method of a picking method of person-to-cargo and a picking method of cargo-to-person, and for cargo in the manual picking shelf area (30), the picking is completed by the picking method of person-to-cargo, and for the cargo in the machine picking shelf area (40), the picking is completed by the picking method of cargo-to-person.

8. 发明公开

EP4292881A2 SHELF MANAGEMENT METHOD AND SYSTEM, PICKUP AREA, AND STOCK PICKUP SYSTEM 审中-公开
公开(公告)号：EP4292881A2
公开(公告)日：2023-12-20
申请号：EP23207305.6
申请日：2019-06-06
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LIU, Kai , WANG, Mengdi
IPC分类号： B60P1/00
摘要： The present application discloses a shelf management method and system, a pickup area, and a stock pickup system. The shelf management method comprises: predicting whether there is space in the station queue area of a station; when it is predicted that there is space in the station queue area, 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; when it is predicted that there is space, 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 that has been predicted to have space; when it is determined that there is newly available space in the station queue area that has been predicted to have space, controlling the moving robot to enter the station queue area that has been predicted to have space.

9. 发明公开

EP4169854A1 ROBOT AND ROBOT-BASED CONTAINER STORAGE AND REMOVAL METHOD 审中-公开
公开(公告)号：EP4169854A1
公开(公告)日：2023-04-26
申请号：EP21838770.2
申请日：2021-05-24
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LIU, Kai
IPC分类号： B65G1/137 , G06Q10/08
摘要： A robot and a robot-based container storage and removal method. The robot comprises: a master control processing unit (110), a pick-and-place mechanism (120) and a marker detection unit (130), wherein according to target storage and removal position information of a target inventory container, the master control processing unit (110) controls a robot body to move to a first horizontal position and controls the pick-and-place mechanism (120) to move to a first height position; when the robot body and the pick-and-place mechanism (120) stop moving, the marker detection unit (130) determines a target pick-and-place marker from a target inventory support to which the target inventory container belongs; and the master control processing unit (110) also calibrates the position of the pick-and-place mechanism (120) according to the position of the target pick-and-place marker, so as to control the calibrated pick-and-place mechanism (120) to perform a storage operation or a removal operation on the target inventory container. By means of the solution, a pick-and-place position of a pick-and-place mechanism (120) of the robot can be precisely positioned and moved, such that the pick-and-place mechanism (120) can quickly and accurately store or remove a target inventory container.

10. 发明公开

EP4129865A1 THREE-DIMENSIONAL WAREHOUSE CARRYING AND DISPATCHING SYSTEM AND METHOD FOR ACHIEVING GOODS PICKING 审中-公开
公开(公告)号：EP4129865A1
公开(公告)日：2023-02-08
申请号：EP21846940.1
申请日：2021-06-02
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LI, Hongbo , WANG, Jian
IPC分类号： B65G1/04 , B65G1/137
摘要： Disclosed are a three-dimensional warehouse handling and dispatching system and method for implementing item picking. The system includes: one or more control centers (100), one or more first handling equipments (102), one or more second handling equipments (104), at least one three-dimensional warehouse (106), and at least one lifting equipment (108), where the at least one three-dimensional warehouse (106) is provided with a plurality of floors, the floors of the three-dimensional warehouse are communicated by the at least one lifting equipment (108), and the control centers (100) communicate with the one or more first handling equipments (102) and the one or more second handling equipments (104). Through a combination of using first handling equipments and second handling equipments in a three-dimensional warehouse, in the system, a handling function of a lifting equipment in the three-dimensional warehouse is used, so that the first handling equipments and the second handling equipments can cooperate to transport items in a dense storage warehouse, which avoids laying rails on a bottom floor of the warehouse, the layout of the warehouse can be changed flexibly, a quantity of first handling equipments required can be reduced, the operating cost of the warehouse can be reduced, and the transport efficiency can be improved.

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