Patent ID: 11905116
Assignee: MUJIN, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A controller for a robot system including a handling robot adapted to handle a handling object for storage on a shelf, for retrieval from the shelf, or both and a transport robot adapted to transport the shelf, the controller comprising:
a data acquisition unit adapted to acquire first data including (1) information about the handling object and (2) information about the shelf before storing or retrieving the handling object on or from the shelf,
a data storage unit adapted to store the first data; and
a robot control unit adapted to:
select and transport the shelf to an access position based on the first data before storing or retrieving the handling object,
create or acquire a control sequence for storing the handling object on the shelf or for retrieving the handling object from the shelf, and
based on the control sequence, instruct the transport robot to execute a task of transporting the shelf to the access position and instruct the handling robot to execute a task of storing the handling object on the shelf or retrieving the handling object from the shelf;

wherein:
the shelf is configured such that the handling object is stored or retrieved in a lateral direction and a safety catcher for the handling object is installed in an end portion of the shelf;
the handling robot grips the handling object from the lateral direction; and
the robot control unit creates or acquires the control sequence such that the handling object moves over the safety catcher.