US 2026/0264998 A1Published application

Object transporting method and cube storage system

AssigneeTAC Dynamics Inc.

InventorsZhenyu Song, Chuan Kai Lin, Hsuan Po Chen

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Abstract

Provided are an object transporting method and a cube storage system. The method includes: in response to a transport task for a target object stored in a vertical storage structure, determining whether there is a blocking object relative to the target object stored in the vertical storage structure, in which the transport task indicates to transport the target object from a current position to a target position; in response to determining that there is the blocking object relative to the target object stored in the vertical storage structure, controlling an assisting transport robot to remove the blocking object from the vertical storage structure; in response to determining that there is no blocking object relative to the target object stored in the vertical storage structure, controlling a first transport robot to move to the current position to transport the target object to the target position.

Claims17

Dependent claims

An object transporting method, executed by a cube system comprising a control system and a cube storage structure, wherein the cube storage structure comprises a first vertical storage structure, and the method comprises:

in response to a first transport task for a first target object stored in the first vertical storage structure, determining, by the control system, whether there is a blocking object relative to the first target object stored in the first vertical storage structure, wherein the first transport task indicates to transport the first target object from a current position to a first target position, the first vertical storage structure comprises a plurality of first object storage spaces arranged vertically, and the current position of the first target object corresponds to one of the first object storage spaces;
in response to determining that there is the blocking object relative to the first target object stored in the first vertical storage structure, controlling, by the control system, at least one assisting transport robot to move at a bottom of the cube storage structure to a bottom of the first vertical storage structure, directly climb vertically within a space of the first vertical storage structure from the bottom of the first vertical storage structure to a position below the blocking object, access the blocking object and then vertically descend within the first vertical storage structure to the bottom of the first vertical storage structure to remove the blocking object from the first vertical storage structure;
in response to determining that there is no blocking object relative to the first target object stored in the first vertical storage structure, controlling, by the control system, a first transport robot to move at the bottom of the cube storage structure to the bottom of the first vertical storage structure, climb vertically within the space of the first vertical storage structure from the bottom of the first vertical storage structure to the current position, access the first target object and then vertically descend within the first vertical storage structure to the bottom of the first vertical storage structure to transport the first target object to the first target position.

A cube storage system, comprising:

a cube storage structure comprising a first vertical storage structure, wherein the first vertical storage structure comprises a plurality of first object storage spaces arranged vertically;
and
a control system configured to:
in response to a first transport task for a first target object stored in the first vertical storage structure, determine whether there is a blocking object relative to the first target object stored in the first vertical storage structure, wherein the first transport task indicates to transport the first target object from a current position to a first target position, and the current position of the first target object corresponds to one of the first object storage spaces;
in response to determining that there is the blocking object relative to the first target object stored in the first vertical storage structure, control at least one assisting transport robot to move at a bottom of the cube storage structure to a bottom of the first vertical storage structure, directly climb vertically within a space of the first vertical storage structure from the bottom of the first vertical storage structure to a position below the blocking object, access the blocking object and then vertically descend within the first vertical storage structure to the bottom of the first vertical storage structure to remove the blocking object from the first vertical storage structure;
in response to determining that there is no blocking object relative to the first target object stored in the first vertical storage structure, control a first transport robot to move at the bottom of the cube storage structure to the bottom of the first vertical storage structure, climb vertically within the space of the first vertical storage structure from the bottom of the first vertical storage structure to the current position, access the first target object and then vertically descend within the first vertical storage structure to the bottom of the first vertical storage structure to transport the first target object to the first target position.

3 more elements

Dependencies are inferred from the claim text.