US 12,269,684 B2
Method for controlling transport robot, vertical support, and transport robot
Ming Gao, Guangdong (CN); Zhe Kong, Guangdong (CN); and Zaijin Li, Guangdong (CN)
Assigned to HAI ROBOTICS CO., LTD., Guangdong (CN)
Filed by HAI ROBOTICS CO., LTD., Guangdong (CN)
Filed on Sep. 2, 2022, as Appl. No. 17/929,418.
Application 17/929,418 is a continuation of application No. PCT/CN2021/079571, filed on Mar. 8, 2021.
Claims priority of application No. 202010158838 (CN), filed on Mar. 9, 2020; application No. 202020281284 (CN), filed on Mar. 9, 2020; application No. 202020281914 (CN), filed on Mar. 9, 2020; application No. 202020281973 (CN), filed on Mar. 9, 2020; application No. 202020282146 (CN), filed on Mar. 9, 2020; application No. 202011205346 (CN), filed on Nov. 2, 2020; application No. 202022498181 (CN), filed on Nov. 2, 2020; application No. 202022500566 (CN), filed on Nov. 2, 2020; application No. 202022501920 (CN), filed on Nov. 2, 2020; application No. 202022860411 (CN), filed on Dec. 2, 2020; and application No. 202022866645 (CN), filed on Dec. 2, 2020.
Prior Publication US 2022/0411186 A1, Dec. 29, 2022
Int. Cl. B65G 17/12 (2006.01); B65G 1/127 (2006.01)
CPC B65G 1/127 (2013.01) [B65G 17/12 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for controlling a transport robot, wherein the transport robot comprises:
a vertical support,
a driving assembly; and
a carrying device, wherein the vertical support comprises a fixed column frame and a movable column frame, the carrying device is movably arranged on the movable column frame, the movable column frame is movably arranged on the fixed column frame, and the carrying device is configured to carry goods, the driving assembly comprises a traction assembly and a retractable assembly connected to the traction assembly, the traction assembly is connected to the carrying device, the retractable assembly is arranged on the fixed column frame; the retractable assembly is configured to drive, through the traction assembly, at least one of: the carrying device to move relative to the movable column frame, and the movable column frame to move relative to the fixed column frame; the traction assembly comprises two sets of traction assemblies located at two opposed sides of the carrying device respectively, the retractable assembly is configured to drive the two sets of the traction assemblies to synchronously drive the carrying device to ascend or descend; the method comprises:
receiving a movement instruction; and
driving, according to the movement instruction, at least one of: the carrying device to move relative to the movable column frame; and the movable column frame to move relative to the fixed column frame;
wherein the driving, according to the movement instruction, the carrying device to move relative to the movable column frame and/or the movable column frame to move relative to the fixed column frame comprises:
obtaining a first specified ascending height according to a first ascending instruction comprised in the movement instruction;
driving the carrying device to move upward relative to the movable column frame;
when the carrying device moves to the first specified ascending height before the carrying device moves to a top of the movable column frame, stopping lifting the carrying device; and
when the carrying device has not moved to the first specified ascending height after the carrying device moves to the top of the movable column frame, driving the carrying device and the movable column frame to simultaneously move upward relative to the fixed column frame until the carrying device reaches the first specified ascending height.