# US 12,006,143 B2 · Handling robot

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- Number: US 12,006,143 B2
- Document ID: US12006143B2
- Status: Granted
- Kind: B2
- Application number: 17/882,119
- Filed: 2022-08-05
- Published: 2022-11-24
- Granted: 2024-06-11
- Earliest claimed: 2017-11-14
- Assignees: Hai Robotics Co., Ltd.
- Applicants: Hai Robotics Co., Ltd.
- Inventors: Jui-chun Cheng; Shengdong Xu; Yuqi Chen
- Web page: https://patentgrep.com/patent/US12006143B2

## CPC

- B65G 1/0435: {with pulling or pushing means on either stacking crane or stacking area}
- B25J 9/0009: {Constructional details, e.g. manipulator supports, bases}
- B25J 9/104: {with cables, chains or ribbons}
- B25J 9/1638: {compensation for arm bending/inertia, pay load weight/inertia}
- B25J 9/1679: {characterised by the tasks executed}
- B25J 9/1697: {Vision controlled systems}
- B25J 13/08: by means of sensing devices, e.g. viewing or touching devices
- B25J 15/0014: {having fork, comb or plate shaped means for engaging the lower surface on a object to be transported}
- B25J 19/023: {including video camera means}
- B65G 1/0492: {with cars adapted to travel in storage aisles}
- B65G 1/137: with arrangements or automatic control means for selecting which articles are to be removed
- B65G 1/1373: {for fulfilling orders in warehouses}
- B66F 9/063: {Automatically guided}
- B66F 9/07: Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
- B66F 9/08: Masts; Guides; Chains
- G05B 19/41895: {using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00)}
- G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- G06T 7/73: using feature-based methods
- B25J 5/007: {mounted on wheels}
- B65G 1/1375: {the orders being assembled on a commissioning stacker-crane or truck}
- B65G 2203/0216: Codes or marks on the article
- B65G 2203/041: Camera
- G05B 2219/50393: Floor conveyor, AGV automatic guided vehicle
- G06T 2207/30204: Marker
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00)
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.

## Claims

### Claim 1

A method for transporting an inventory item placed on a shelf, the method being performed by a handling robot, the handling robot comprising:
a movable chassis comprising a guiding device, the movable chassis being configured to move to a location in front of the shelf by using the guiding device;
a storage unit supported by the movable chassis; and
a material handling device supported by the movable chassis and configured to transport the inventory item from the shelf to the storage unit;
wherein the material handling device comprises:
a support bracket configured to move in a vertical direction;
a fork supported by the support bracket and configured to rotate around the vertical direction relative to the support bracket; and
a detection assembly configured to calculate a position offset reflecting a relative position between the material handling device and the inventory item in a travelling direction of the movable chassis;
wherein the fork comprises:
a temporary storage unit configured to temporarily store the inventory item on the temporary storage unit;
a telescopic arm coupled to the temporary storage unit and configured to extend or retract relative to the temporary storage unit; and
a manipulator installed to the telescopic arm, the telescopic arm being configured to drive the manipulator to move so as to transport the inventory item to the temporary storage unit, the manipulator being configured to pull the inventory item from the shelf to the temporary storage unit;
wherein the method comprises:
moving, by the movable chassis, to the location in front of the shelf;
acquiring, by the detection assembly, an image of the inventory item placed on the shelf;
based at least in part on the image of the inventory item, calculating, by the detection assembly, the position offset;
based at least in part on the position offset, controlling the movable chassis to move in the travelling direction;
retracting, by the telescopic arm, relative to the temporary storage unit;
in response to retraction of the telescopic arm, pulling, by the manipulator, the inventory item from the shelf to the temporary storage unit;
rotating, by the fork, around the vertical direction relative to the support bracket;
extending, by the telescopic arm, relative to the temporary storage unit; and
in response to extension of the telescopic arm, pushing the inventory item from the temporary storage unit to the storage unit.

### Claim 2 (depends on 1)

The method according to claim 1, wherein a marker is arranged on the inventory item;
wherein the step of acquiring the image of the inventory item comprises:
acquiring an image of the marker arranged on the inventory item;
wherein the step of calculating the position offset comprises:
based at least in part on the image of the marker, calculating the position offset.

### Claim 3 (depends on 1)

The method according to claim 1, further comprising:
moving, by the movable chassis, in the travelling direction so that an update of the position offset is smaller than a preset value.

### Claim 4 (depends on 1)

The method according to claim 1, wherein the manipulator is further configured to push the inventory item from the temporary storage unit to the storage unit;
wherein the pushing the inventory item from the temporary storage unit to the storage unit comprises:
pushing, by the manipulator, the inventory item from the temporary storage unit to the storage unit.

### Claim 5 (depends on 4)

The method according to claim 4, wherein the manipulator is configured to fold or unfold relative to the telescopic arm.

### Claim 6 (depends on 1)

The method according to claim 1, wherein the fork further comprises a push rod fixedly installed to the telescopic arm;
wherein the push rod is configured to push the inventory item from the temporary storage unit to the storage unit;
wherein the pushing the inventory item from the temporary storage unit to the storage unit comprises:
pushing, by the push rod, the inventory item from the temporary storage unit to the storage unit.

### Claim 7 (depends on 1)

The method according to claim 1, wherein the telescopic arm comprises a first arm section coupled to the temporary storage unit and a second arm section movably connected to the first arm section;
wherein the fork further comprises a push rod fixedly installed to the second arm section, the push rod being configured to push the inventory item from the temporary storage unit to the storage unit;
wherein the manipulator is installed to the second arm section and configured to fold or unfold relative to the second arm section;
wherein the pushing the inventory item from the temporary storage unit to the storage unit comprises:
pushing, by the push rod, the inventory item from the temporary storage unit to the storage unit.

### Claim 8

A method for transporting an inventory item placed on a shelf, the method being performed by a handling robot, the handling robot comprising:
a movable chassis configured to move to a location in front of the shelf;
a storage unit supported by the movable chassis; and
a material handling device supported by the movable chassis and configured to transport the inventory item from the shelf to the storage unit;
wherein the material handling device comprises:
a support bracket configured to move in a vertical direction;
a fork installed to the support bracket and configured to rotate around the vertical direction relative to the support bracket; and
a detection assembly configured to calculate an angle deviation amount between the material handling device and the inventory item;
wherein the fork comprises:
a temporary storage unit configured to temporarily store the inventory item on the temporary storage unit;
a telescopic arm coupled to the temporary storage unit and configured to extend or retract relative to the temporary storage unit; and
a manipulator installed to the telescopic arm, the telescopic arm being configured to drive the manipulator to move so as to transport the inventory item to the temporary storage unit, the manipulator being configured to pull the inventory item from the shelf to the temporary storage unit;
wherein the method comprises:
moving, by the movable chassis, to the location in front of the shelf;
acquiring, by the detection assembly, an image of the inventory item placed on the shelf;
based at least in part on the image of the inventory item, calculating, by the detection assembly, the angle deviation amount;
based at least in part on the angle deviation amount, controlling the fork to rotate around the vertical direction relative to the support bracket;
retracting, by the telescopic arm, relative to the temporary storage unit;
in response to retraction of the telescopic arm, pulling, by the manipulator, the inventory item from the shelf to the temporary storage unit;
after the inventory item is pulled to the temporary storage unit, rotating, by the fork, around the vertical direction relative to the support bracket;
extending, by the telescopic arm, relative to the temporary storage unit; and
in response to extension of the telescopic arm, pushing the inventory item from the temporary storage unit to the storage unit.

### Claim 9 (depends on 8)

The method according to claim 8, wherein a marker is arranged on the inventory item;
wherein the step of acquiring the image of the inventory item comprises:
acquiring an image of the marker arranged on the inventory item;
wherein the step of calculating the angle deviation amount comprises:
based at least in part on the image of the marker, calculating the angle deviation amount.

### Claim 10 (depends on 8)

The method according to claim 8, further comprising:
rotating, by the fork, around the vertical direction relative to the support bracket so that an update of the angle deviation amount is smaller than a preset value.

### Claim 11 (depends on 8)

The method according to claim 8, wherein the manipulator is further configured to push the inventory item from the temporary storage unit to the storage unit.

### Claim 12 (depends on 11)

The method according to claim 11, wherein the manipulator is configured to fold or unfold relative to the telescopic arm.

### Claim 13 (depends on 8)

The method according to claim 8, wherein the fork further comprises a push rod fixedly installed to the telescopic arm;
wherein the push rod is configured to push the inventory item from the temporary storage unit to the storage unit;
wherein the pushing the inventory item from the temporary storage unit to the storage unit comprises:
pushing, by the push rod, the inventory item from the temporary storage unit to the storage unit.

### Claim 14 (depends on 8)

The method according to claim 8, wherein the telescopic arm comprises a first arm section coupled to the temporary storage unit and a second arm section movably connected to the first arm section;
wherein the fork further comprises a push rod fixedly installed to the second arm section, the push rod being immovable relative to the second arm section, the push rod being configured to push the inventory item from the temporary storage unit to the storage unit;
wherein the manipulator is installed to the second arm section and configured to fold or unfold relative to the second arm section;
wherein the pushing the inventory item from the temporary storage unit to the storage unit comprises:
pushing, by the push rod, the inventory item from the temporary storage unit to the storage unit.

### Claim 15

A method for transporting an inventory item placed on a shelf, the method being performed by a handling robot, the handling robot comprising:
a movable chassis comprising a base and a standing frame installed to the base;
a storage unit supported by the movable chassis; and
a material handling device configured to move along the standing frame, the material handling device being configured to transport the inventory item from the shelf to the storage unit;
wherein the material handling device comprises:
a support bracket configured to move along the standing frame;
a fork installed to the support bracket and configured to rotate around a vertical direction relative to the support bracket; and
a detection assembly configured to calculate a position offset reflecting a relative position between the material handling device and the inventory item in the vertical direction;
wherein the fork comprises:
a temporary storage unit configured to temporarily store the inventory item on the temporary storage unit;
a telescopic arm coupled to the temporary storage unit and configured to extend or retract relative to the temporary storage unit; and
a manipulator installed to the telescopic arm, the telescopic arm being configured to drive the manipulator to move so as to transport the inventory item, the manipulator being configured to drag the inventory item from the shelf to the temporary storage unit;
wherein the method comprises:
moving, by the movable chassis, to a location in front of the shelf;
calculating, by the detection assembly, the position offset;
based at least in part on the position offset, controlling the material handling device to move along the standing frame;
dragging, by the manipulator, the inventory item from the shelf to the temporary storage unit when the telescopic arm is in a process of retracting;
after the inventory item is dragged to the temporary storage unit, rotating, by the fork, around the vertical direction relative to the support bracket; and
pushing the inventory item from the temporary storage unit to the storage unit when the telescopic arm is in a process of extending.

### Claim 16 (depends on 15)

The method according to claim 15, wherein a marker is arranged on the shelf, the detection assembly comprising a camera;
wherein the step of calculating the position offset comprises:
acquiring, by the camera, an image of the marker arranged on the shelf; and
based at least in part on the image of the marker, calculating the position offset so as to transport the inventory item from the shelf.

### Claim 17 (depends on 16)

The method according to claim 16, wherein the marker comprises a two-dimensional code label.

### Claim 18 (depends on 15)

The method according to claim 15, further comprising:
moving, by the material handling device, along the standing frame in the vertical direction so that an update of the position offset is smaller than a preset value.

### Claim 19 (depends on 15)

The method according to claim 15, wherein the manipulator is configured to pull the inventory item from the shelf to the temporary storage unit.

### Claim 20 (depends on 15)

The method according to claim 15, wherein the manipulator is further configured to push the inventory item from the temporary storage unit to the storage unit;
wherein the pushing the inventory item from the temporary storage unit to the storage unit comprises:
pushing, by the manipulator, the inventory item from the temporary storage unit to the storage unit.

### Claim 21 (depends on 20)

The method according to claim 20, wherein the manipulator is configured to fold or unfold relative to the telescopic arm.

### Claim 22 (depends on 15)

The method according to claim 15, wherein the fork further comprises a push rod fixedly installed to the telescopic arm;
wherein the push rod is configured to push the inventory item from the temporary storage unit to the storage unit;
wherein the pushing the inventory item from the temporary storage unit to the storage unit comprises:
pushing, by the push rod, the inventory item from the temporary storage unit to the storage unit.

### Claim 23 (depends on 15)

The method according to claim 15, wherein the telescopic arm comprises a first arm section coupled to the temporary storage unit and a second arm section movably connected to the first arm section;
wherein the fork further comprises a push rod fixedly installed to the second arm section, the push rod being immovable relative to the second arm section, the push rod being configured to push the inventory item from the temporary storage unit to the storage unit;
wherein the manipulator is installed to the second arm section and configured to fold or unfold relative to the second arm section;
wherein the pushing the inventory item from the temporary storage unit to the storage unit comprises:
pushing, by the push rod, the inventory item from the temporary storage unit to the storage unit.

### Claim 24 (depends on 15)

The method according to claim 15, wherein the detection assembly comprises:
at least one of a camera, a laser sensor, an infrared sensor, and a radio frequency transmitter; and
a processor, the processor comprising at least one of a built-in processing unit, and a main controller of the handling robot.

### Claim 25

A method for transporting an inventory item placed on a shelf, the method being performed by a handling robot, the handling robot comprising:
a movable chassis;
a storage unit supported by the movable chassis; and
a material handling device supported by the movable chassis and configured to transport the inventory item from the shelf to the storage unit;
wherein the material handling device comprises:
a support bracket configured to move in a vertical direction; and
a fork installed to the support bracket and configured to rotate around the vertical direction relative to the support bracket;
wherein the fork comprises:
a temporary storage unit configured to temporarily store the inventory item on the temporary storage unit;
a telescopic arm coupled to the temporary storage unit and configured to extend or retract relative to the temporary storage unit; and
a manipulator installed to the telescopic arm, the telescopic arm being configured to drive the manipulator to move so as to transport the inventory item to the temporary storage unit, the manipulator being configured to drag the inventory item from the shelf to the temporary storage unit;
wherein the method comprises:
retracting, by the telescopic arm, relative to the temporary storage unit;
in response to retraction of the telescopic arm, dragging, by the manipulator, the inventory item from the shelf to the temporary storage unit;
rotating, by the fork, around the vertical direction relative to the support bracket;
extending, by the telescopic arm, relative to the temporary storage unit; and
in response to extension of the telescopic arm, pushing the inventory item from the temporary storage unit to the storage unit.

### Claim 26 (depends on 25)

The method according to claim 25, wherein the manipulator is configured to pull the inventory item from the shelf to the temporary storage unit.

### Claim 27 (depends on 25)

The method according to claim 25, wherein the manipulator is further configured to push the inventory item from the temporary storage unit to the storage unit.

### Claim 28 (depends on 27)

The method according to claim 27, wherein the manipulator is configured to fold or unfold relative to the telescopic arm.

### Claim 29 (depends on 25)

The method according to claim 25, wherein the fork further comprises a push rod fixedly installed to the telescopic arm;
wherein the push rod is configured to push the inventory item from the temporary storage unit to the storage unit.

### Claim 30 (depends on 25)

The method according to claim 25, wherein the telescopic arm comprises a first arm section coupled to the temporary storage unit and a second arm section movably connected to the first arm section;
wherein the fork further comprises a push rod fixedly installed to the second arm section, the push rod being immovable relative to the second arm section, the push rod being configured to push the inventory item from the temporary storage unit to the storage unit;
wherein the manipulator is installed to the second arm section and configured to fold or unfold relative to the second arm section.