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

Claim 12:
13. A control method 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 control method comprising:
acquiring first data including information about the handling object and information about the shelf before storing the handling object on the shelf and/or retrieving the handling object from the shelf;
selecting the shelf having the handling object thereon or targeted to have the handling object thereon;
controlling transport of 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 or retrieving the handling object on or from the shelf; and
based on the control sequence, (1) instructing the transport robot to execute a task of transporting the shelf to the access position and (2) instructing the handling robot to execute a task of storing the handling object on the shelf and/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 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.