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

Claim 11:
12. A computer-readable non-transitory media including instructions that, when executed by one or more processors, causes the one or more processors to perform a method, the method comprising:
acquiring 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;
selecting and transporting the shelf to an access position based on the first data before storing or retrieving the handling object,
creating or acquiring 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, instructing 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 for 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 on 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.