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

Claim 10:
11. A system comprising:
a transport robot configured to transport a shelf from a shelf storage location to a handling location;
a handling robot configured to handle an object for storage on or retrieval from the shelf at the handling location; and
a controller communicatively coupled to the transport robot and the handling robot, the controller including:
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 for retrieving the handling object from the shelf;

wherein:
the controller is further configured to (1) identify a region related to the transport robot and the handling robot, and (2) calculate tasks based on the control sequence; and
the tasks include (1) a task related to conveyance of the shelf and handling of the handling object done by the robot system and (2) a plurality of tasks executed by the robot system across adjacent regions, overlapping regions, or both;
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.