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1. 发明公开

EP4292881A2 SHELF MANAGEMENT METHOD AND SYSTEM, PICKUP AREA, AND STOCK PICKUP SYSTEM 审中-实审
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.

2. 发明公开

EP4169854A1 ROBOT AND ROBOT-BASED CONTAINER STORAGE AND REMOVAL METHOD 审中-实审
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.

3. 发明公开

EP4129865A1 THREE-DIMENSIONAL WAREHOUSE CARRYING AND DISPATCHING SYSTEM AND METHOD FOR ACHIEVING GOODS PICKING 审中-实审
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.

4. 发明公开

EP3851398A1 WAREHOUSE STORAGE ACCESS SYSTEM AND METHOD 有权
公开(公告)号：EP3851398A1
公开(公告)日：2021-07-21
申请号：EP19859782.5
申请日：2019-04-18
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LI, Hongbo
IPC分类号： B65G1/04
摘要： Provided are a warehousing access system and method. The system includes a control server, an access device, a carrying device, a storage container and a dock location; in response to an item operation request, the control server controls a first target access device to take a target storage container out from a current storage location and carry to a first target dock location, and controls a first target carrying device to carry a first target storage container from the first target dock location to a workstation for operation; in response to an operation complete instruction, the control server controls a second target carrying device to carry the target storage container from the workstation to a second target dock location and controls a second target access device to carry the target storage container from the second target dock location to a storage area and store at the target storage location.

5. 发明公开

EP3835236A1 DENSE STORAGE-BASED ARTICLE MOVING METHOD AND DEVICE, STORAGE MEDIUM AND DENSE STORAGE SYSTEM 审中-实审
公开(公告)号：EP3835236A1
公开(公告)日：2021-06-16
申请号：EP19847180.7
申请日：2019-08-08
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： SUN, Kai , WANG, Lei , FUNG, Ka Ho
IPC分类号： B65G1/04 , B65G1/137
摘要： Disclosed are a method and device for moving an article based on dense storage, a storage medium, and a dense storage system. The method includes: upon detecting that a target shelf is blocked by at least one blocking shelf, instructing a first self-driven robot to remove the blocking shelf and/or a blocking storage box to make the target shelf no blocked by the blocking shelf or make a target storage box on the target self not blocked by the blocking storage box; instructing the first self-driven robot to carry the blocking shelf and/or the blocking storage box and perform a circular movement along a robot travelling passage; and instructing a second self-driven robot to move the target shelf from its current position to a workstation, or instructing the second self-driven robot to remove the target storage box from the target shelf and move the target storage box to the workstation.

6. 发明公开

EP3598072A1 LABEL INCORPORATING SIMULTANEOUS LOCALIZATION AND MAPPING NAVIGATION METHOD, DEVICE AND SYSTEM 审中-实审
公开(公告)号：EP3598072A1
公开(公告)日：2020-01-22
申请号：EP18832973.4
申请日：2018-08-16
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： YU, Yufeng , LI, Hongbo , LIU, Kai , WANG, Zheng
IPC分类号： G01C21/32 , G01C21/34 , G01S17/06
摘要： Provided are a marker-combined simultaneous localization and mapping (SLAM) navigation method, device and system. The method includes: providing an initialization area for a located object, where at least one of the initialization area for a located object, a travelling path of a located object, and a docking device of the located object is provided with an marker including at least one of pose information, identification information and non-identification graphic information; controlling the located object to perform at least one of following operations: starting from the initialization area for a located object, and based on the marker, determining an initial pose of the located object; when the marker is passed on the travelling path, updating a current pose of the located object based on the marker; and when docking with the docking device, adjusting a relative pose between the located object and the docking device based on the marker.

7. 发明公开

EP4368540A1 BOX PICKING APPARATUS AND ROBOT 审中-实审
公开(公告)号：EP4368540A1
公开(公告)日：2024-05-15
申请号：EP22837066.4
申请日：2022-07-08
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LI, Xiaowei , WANG, Qiming , QIN, Zhihui , WANG, Pengfei , YUAN, Li , WANG, Haichao
IPC分类号： B65G1/10 , B65G1/04
CPC分类号： B65G1/04 , B65G1/10
摘要： Embodiments of the present application disclose a box picking apparatus and a robot. The box picking apparatus comprises a push plate assembly and a hooking assembly. The push plate assembly can move along a front-to-back direction. The hooking assembly is disposed on the push plate assembly and has a claw, and the hooking assembly can rotate forward and backward relative to the push plate assembly. The box picking apparatus has a first position and a second position. In the first position, a front end of the claw extends forward out of the push plate assembly, and in the second position, the hooking assembly rotates backward by a first predetermined angle relative to the push plate assembly, the push plate assembly being adapted to contact a product box, and the claw being adapted to fit with the product box. The box picking apparatus of the embodiments of the present application has high box picking precision and can reduce a minimum spacing between adjacent product boxes, thereby improving storage density and a warehouse utilization rate.

8. 发明公开

EP4180359A1 PICKING SCHEDULING SYSTEM, METHOD AND APPARATUS 审中-实审
公开(公告)号：EP4180359A1
公开(公告)日：2023-05-17
申请号：EP21838490.7
申请日：2021-05-21
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LIU, Kai
IPC分类号： B65G1/04 , B65G1/137 , G06Q10/06
摘要： A picking and dispatching system includes: a control center (100), a plurality of terminals (102) each carried by a user, and a plurality of handling devices (104). The control center (100) is configured to: determine an item storage space of a to-be-picked item, and plan paths for each user and each handling device (104) to reach the item storage space; match a user and a handling device (104) for picking from the item storage space, to determine a plurality of to-be-selected tasks, and determine a moment at which a user and a handling device (104) cooperate to pick; determine a target task, and send the target task to a terminal and a handling device; assign a to-be-picked order to the handling device, and update the stored assignment result of the to-be-picked orders.

9. 发明公开

EP4160347A1 INVENTORY MANAGEMENT METHOD AND SYSTEM 审中-实审
公开(公告)号：EP4160347A1
公开(公告)日：2023-04-05
申请号：EP21811869.3
申请日：2021-05-18
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LIU, Kai
IPC分类号： G05D1/02 , B66F9/06
摘要： An inventory management method and system (600). The method comprising: scheduling, according to task information, a first autonomous mobile robot (102, 602) and a second autonomous mobile robot (105, 603) to travel to a same target workstation (103) to execute tasks (502); controlling the first autonomous mobile robot (102, 602) to fetch one or more inventory containers from an inventory area (201) and carry same to a first working point (1031) in the target workstation (103) (504); and controlling the second autonomous mobile robot (105, 603) to fetch one or more inventory containers from the inventory area (201) according to an instruction and carry same to a second working point (1032) in the target workstation (103) (506). The first working point (1031) and the second working point (1032) are two adjacent working points of the same station, and therefore, after a worker finishes picking from the inventory container carried by the first autonomous mobile robot (102, 602), the worker can continue picking from the inventory container carried by the second autonomous mobile robot (105, 603), thereby avoiding time waste caused in the robot switching process, and improving the working efficiency of inventory management work.

10. 发明公开

EP4152229A1 INVENTORY SYSTEM AND METHOD 审中-实审
公开(公告)号：EP4152229A1
公开(公告)日：2023-03-22
申请号：EP21804916.1
申请日：2021-05-12
申请人： Beijing Geekplus Technology Co., Ltd.
发明人： LI, Hongbo , LU, Honghan , WANG, Kun , LIU, Kai , LI, Kaozhun
IPC分类号： G06Q10/08
摘要： Disclosed are an inventory system and method. The system (100) includes: a control system (110), storage and retrieval equipments (120), and handling equipments (130). The storage and retrieval equipments (120) operate in a storage area (150) of the inventory system (100). The control system (110) is configured to: determine a target inventory receptacle from inventory receptacles in the storage area (150); and determine a target storage and retrieval equipment and a target handling equipment, and send a dispatching instruction to the target storage and retrieval equipment and the target handling equipment. The target storage and retrieval equipment is configured to: drive, in response to the dispatching instruction, to a position specified in the dispatching instruction, take out the target inventory receptacle, and directly or indirectly undertake the target inventory receptacle to the target handling equipment. The target handling equipment is configured to: drive, in response to the dispatching instruction, to a position specified in the dispatching instruction, undertake the target inventory receptacle, and transport the target inventory receptacle from the storage area (150) to a workstation (140). By adopting this solution, it is not necessary to waste a lot of time and handling resources in the horizontal handling operation, and the equipment costs caused by the increase of storage and retrieval equipments can be reduced.

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