Granted Patent B2

US 12,630,364 · App. 18/320,412 · Granted May 19, 2026

Inventors: Han Lin (Shenzhen, CN); Jui-chun Cheng (Shenzhen, CN)

Assignee: HAI Robotics Co., Ltd.

B65G1/1373G05D1/0212G05D1/0238

Abstract

Claims (67)

1 . A goods storage method executed by a robot, the method comprising:

moving the robot to a position corresponding to a first target region according to a storage instruction of goods to be stored, wherein the first target region is a storage region corresponding to the goods to be stored, and the first target region is determined according to size information of the goods to be stored and a dynamic goods storage space on a rack corresponding to the goods to be stored;

moving the robot toward a direction of an unoccupied region in the first target region, in a case that the first target region is occupied; and

placing the goods to be stored in a second target region, wherein the second target region is a corresponding storage region after the robot moves, wherein placing the goods to be stored in the second target region comprises:

obtaining a storage condition of the goods to be stored; and

placing the goods to be stored in the second target region, in a case that the second target region meets the storage condition of the goods to be stored.

2 . The goods storage method according to claim 1 , further comprising:

detecting the first target region, to obtain a first detection result; and

determining that the first target region is occupied, according to the first detection result.

3 . The goods storage method according to claim 2 , wherein the determining that the first target region is occupied, according to the first detection result comprises:

determining whether a central axis, a first end or a second end of a carrying apparatus of the robot in a goods pick-and-place direction is obstructed, according to the first detection result; and

determining that the first target region is occupied, in a case that any one of the central axis, the first end and the second end is obstructed.

4 . The goods storage method according to claim 3 , further comprising:

determining whether there is an obstacle in the first target region, in a case that none of the central axis, the first end and the second end is obstructed; and

determining that the first target region is occupied, in a case that there is an obstacle in the first target region.

5 . The goods storage method according to claim 1 , wherein moving the robot toward the direction of the unoccupied region in the first target region, in the case that the first target region is occupied comprises:

determining a first unoccupied region in a first region and a second unoccupied region in a second region, in the case that the first target region is occupied, wherein the first region is a region in the first target region located on a left side of a central axis of a carrying apparatus, the second region is a region in the first target region located on a right side of the central axis of the carrying apparatus, and an orientation of the carrying apparatus is a goods pick-and-place direction; and moving the robot a target movement distance toward a direction of the first unoccupied region or the second unoccupied region;

determining, in the case that the first target region is occupied and the central axis of the carrying apparatus of the robot is obstructed by an obstacle, a first distance between a first edge of the obstacle and the central axis and a second distance between a second edge of the obstacle and the central axis, wherein the orientation of the carrying apparatus is the goods pick-and-place direction; and moving the robot the target movement distance toward a direction where the first edge of the obstacle is located, the first distance being less than or equal to the second distance; or

moving the robot, in the case that the first target region is occupied and a first end of the carrying apparatus of the robot is obstructed when a second end of the carrying apparatus is not obstructed, the target movement distance toward a direction where the second end is located, wherein the orientation of the carrying apparatus is the goods pick-and-place direction.

6 . The goods storage method according to claim 5 , wherein moving the robot the target movement distance toward the direction of the first unoccupied region or the second unoccupied region comprises:

moving the robot the target movement distance toward the direction of the first unoccupied region, an area of the first unoccupied region being greater than or equal to an area of the second unoccupied region; or

moving the robot the target movement distance toward the direction of the second unoccupied region, the area of the second unoccupied region being greater than or equal to the area of the first unoccupied region.

7 . The goods storage method according to claim 5 , wherein the target movement distance is determined according to an edge position of the obstacle on a robot moving direction side, wherein the obstacle is an object occupying the first target region.

8 . The goods storage method according to claim 1 , further comprising:

generating storage abnormal information, in a case that the second target region fails to meet the storage condition of the goods to be stored.

9 . The goods storage method according to claim 1 , wherein before placing the goods to be stored in the second target region, the method further comprises:

obtaining a second detection result of a current storage region after the movement is completed and during the movement, wherein the current storage region is a corresponding storage region after the movement of the robot is completed or during the movement of the robot; and

determining the current storage region as the second target region, in a case that the current storage region meets the storage condition of the goods to be stored.

10 . A robot, comprising:

a carrying apparatus;

a mobile chassis;

at least one sensor; and

at least one processor, wherein the at least one processor is configured to perform computer executable instructions, wherein the computer executable instructions comprise:

controlling the mobile chassis to move to a position corresponding to a first target region according to a storage instruction of goods to be stored, wherein the first target region is a storage region corresponding to the goods to be stored, and the first target region is determined according to size information of the goods to be stored and a dynamic goods storage space on a rack corresponding to the goods to be stored;

controlling the at least one sensor to detect the first target region, to obtain a first detection result;

determining that the first target region is occupied, according to the first detection result;

moving toward a direction of an unoccupied region in the first target region, in a case that the first target region is occupied; and

controlling the carrying apparatus to place the goods to be stored in a second target region, wherein the second target region is a corresponding storage region after the mobile chassis has moved.

11 . The robot according to claim 10 , wherein the computer executable instructions comprise:

determining whether a central axis, a first end or a second end of the carrying apparatus of the robot in a goods pick-and-place direction is obstructed, according to the first detection result; and

determining that the first target region is occupied, in a case that any one of the central axis, the first end and the second end is obstructed.

12 . The robot according to claim 11 , wherein the computer executable instructions further comprise:

determining whether there is an obstacle in the first target region, in a case that none of the central axis, the first end and the second end is obstructed; and

determining that the first target region is occupied, in a case that there is an obstacle in the first target region.

13 . The robot according to claim 11 , wherein the computer executable instructions comprise:

determining a first unoccupied region in a first region and a second unoccupied region in a second region, in the case that the first target region is occupied, wherein the first region is a region in the first target region located on a left side of a central axis of the carrying apparatus, the second region is a region in the first target region located on a right side of the central axis of the carrying apparatus, and an orientation of the carrying apparatus is a goods pick-and-place direction; and moving the robot a target movement distance toward a direction of the first unoccupied region or the second unoccupied region;

determining, in the case that the first target region is occupied, and the central axis of the carrying apparatus of the robot is obstructed by an obstacle, a first distance between a first edge of the obstacle and the central axis and a second distance between a second edge of the obstacle and the central axis, wherein the orientation of the carrying apparatus is the goods pick-and-place direction; and moving the robot the target movement distance toward a direction where the first edge of the obstacle is located, the first distance being less than or equal to the second distance; or

moving the robot, in the case that the first target region is occupied, and a first end of the carrying apparatus of the robot is obstructed when a second end of the carrying apparatus is not obstructed, the target movement distance toward a direction where the second end is located, wherein the orientation of the carrying apparatus is the goods pick-and-place direction.

14 . A non-transitory computer storage medium, comprising a computer program, wherein the computer program, when being executed by a processor, implements computer executable instructions, wherein the computer executable instructions comprise instructions to control a robot to:

move to a position corresponding to a first target region according to a storage instruction of goods to be stored, wherein the first target region is a storage region corresponding to the goods to be stored, and the first target region is determined according to size information of the goods to be stored and a dynamic goods storage space on a rack corresponding to the goods to be stored;

move toward a direction of an unoccupied region in the first target region, in a case that the first target region is occupied;

obtain a second detection result of a current storage region after the movement is completed and during the movement, wherein the current storage region is a corresponding storage region after the movement of the robot is completed or during the movement of the robot;

determine the current storage region as a second target region, in a case that the current storage region meets a storage condition of the goods to be stored, wherein the second target region is a corresponding storage region after the robot moves; and

place the goods to be stored in the second target region.

15 . The non-transitory computer storage medium according to claim 14 , wherein the computer executable instructions further comprise instructions to control the robot to:

detect the first target region, to obtain a first detection result; and

determine that the first target region is occupied, according to the first detection result.

16 . The non-transitory computer storage medium according to claim 15 , wherein the computer executable instructions comprise instructions to control the robot to:

determine whether a central axis, a first end or a second end of a carrying apparatus of the robot in a goods pick-and-place direction is obstructed, according to the first detection result; and

determine that the first target region is occupied, in a case that any one of the central axis, the first end and the second end is obstructed.

17 . The non-transitory computer storage medium according to claim 16 , wherein the computer executable instructions further comprise instructions to control the robot to:

determine whether there is an obstacle in the first target region, in a case that none of the central axis, the first end and the second end is obstructed; and

determine that the first target region is occupied, in a case that there is an obstacle in the first target region.

18 . The non-transitory computer storage medium according to claim 14 , wherein the computer executable instructions comprise instructions to control the robot to:

determine a first unoccupied region in a first region and a second unoccupied region in a second region, in the case that the first target region is occupied, wherein the first region is a region in the first target region located on a left side of a central axis of a carrying apparatus, the second region is a region in the first target region located on a right side of the central axis of the carrying apparatus, and an orientation of the carrying apparatus is a goods pick-and-place direction; and move the robot a target movement distance toward a direction of the first unoccupied region or the second unoccupied region;

determine, in the case that the first target region is occupied and the central axis of the carrying apparatus of the robot is obstructed by an obstacle, a first distance between a first edge of the obstacle and the central axis and a second distance between a second edge of the obstacle and the central axis, wherein the orientation of the carrying apparatus is the goods pick-and-place direction; and move the robot the target movement distance toward a direction where the first edge of the obstacle is located, the first distance being less than or equal to the second distance; or

move the robot, in the case that the first target region is occupied and a first end of the carrying apparatus of the robot is obstructed when a second end of the carrying apparatus is not obstructed, the target movement distance toward a direction where the second end is located, wherein the orientation of the carrying apparatus is the goods pick-and-place direction.

Assignments (2)

Priority Claims (1)

Continuity (2)

References Cited (24)