US 11,952,216 B2
Warehousing system, self-driving system and method of positioning a self-driving system
Ou Qi, Beijing (CN); and Guangpeng Zhang, Beijing (CN)
Assigned to LINGDONG TECHNOLOGY (BEIJING) CO. LTD, Beijing (CN)
Filed by LINGDONG TECHNOLOGY (BEIJING) CO. LTD, Beijing (CN)
Filed on Jun. 16, 2020, as Appl. No. 16/902,534.
Claims priority of application No. 202010496306.6 (CN), filed on Jun. 3, 2020.
Prior Publication US 2021/0380340 A1, Dec. 9, 2021
Int. Cl. B65G 1/137 (2006.01)
CPC B65G 1/1375 (2013.01) 20 Claims
OG exemplary drawing
 
11. A warehousing system for use with a self-driving system, comprising:
a storage rack disposed in a warehouse, wherein the storage rack extends in a direction and defines an aisle along the storage rack;
a first ground marking arranged on a ground surface of the aisle, the first ground marking comprising machine-readable characteristics representing a warehouse location identification number (ID), the machine-readable characteristics comprising:
one or more horizontal lines parallelly arranged, wherein the total number of the one or more horizontal lines corresponding to a first information of the warehouse location ID; and
one or more vertical lines parallelly arranged, wherein the total number of the vertical lines corresponding to a second information of the warehouse location ID that is different from the first information; and
a self-driving system, comprising:
one or more cameras configured to recognize the machine-readable characteristics;
a controller operable to:
project a field of view from the one or more cameras onto the ground surface of the aisle;
determine a location of the self-driving system on a predetermined map of the warehouse based on the first ground marking appeared in the field of view, and the predetermined map is installed in the controller of the self-driving system; and
navigate the self-driving system from a determined location to a destination.