US 11,987,444 B2
Robot control system and method, computing device, and storage medium
Kai Liu, Beijing (CN); Mengdi Wang, Beijing (CN); and Yixin Bai, Beijing (CN)
Assigned to BEIJING GEEKPLUS TECHNOLOGY CO. LTD., Beijing (CN)
Filed by BEIJING GEEKPLUS TECHNOLOGY CO. LTD., Beijing (CN)
Filed on May 11, 2022, as Appl. No. 17/742,087.
Application 17/742,087 is a continuation of application No. 17/271,590, granted, now 11,365,050, previously published as PCT/CN2019/105382, filed on Sep. 11, 2019.
Claims priority of application No. 201811062251.7 (CN), filed on Sep. 12, 2018; and application No. 201910258694.1 (CN), filed on Apr. 1, 2019.
Prior Publication US 2022/0289480 A1, Sep. 15, 2022
Int. Cl. B65G 1/04 (2006.01); B65G 1/06 (2006.01); B65G 1/137 (2006.01); B66F 9/06 (2006.01); G05B 19/418 (2006.01); G05D 1/00 (2024.01)
CPC B65G 1/0492 (2013.01) [B65G 1/0435 (2013.01); B65G 1/06 (2013.01); B65G 1/065 (2013.01); B65G 1/1371 (2013.01); B65G 1/1373 (2013.01); B66F 9/063 (2013.01); G05B 19/41895 (2013.01); G05D 1/0061 (2013.01); G05D 1/021 (2013.01); B65G 2203/0216 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robot control system, comprising:
a storage region;
a lifting machine;
a control device; and
at least one self-driven robot;
wherein the control device is communicatively connected to the lifting machine and the at least one self-driven robot;
wherein the storage region comprises a loft having at least two storeys and is configured to store a container, and there is provided a passage on a floor of each of the at least two storeys of the loft for the at least one self-driven robot to move through;
wherein the lifting machine is configured to transport the at least one self-driven robot or the container to a target storey corresponding to a transportation task;
wherein the control device is configured to assign the transportation task to the at least one self-driven robot and plan a travel route on the target storey for the at least one self-driven robot according to the transportation task, and dispatch the at least one self-driven robot to travel according to the travel route to perform the transportation task;
wherein the at least one self-driven robot is configured to reach a location of a target container on the target storey corresponding to the transportation task according to the travel route corresponding to the transportation task, pick up the target container, and transport the target container to a destination of the transportation task according to the travel route;
wherein the container is a work bin stored in a container carrier located in the storage region; and
wherein the lifting machine is provided with a temporary storage position configured to temporarily store the at least one self-driven robot or the target container.
 
15. A computer-implemented method for robot control, comprising:
assigning a transportation task to at least one self-driven robot;
planning a travel route on a target storey corresponding to the transportation task for the at least one self-driven robot, controlling the at least one self-driven robot to move to a location of a target container corresponding to the transportation task according to the travel route, and pick up the target container;
controlling the at least one self-driven robot carrying the target container to move to a position where a lifting machine is located;
controlling the lifting machine to transport the at least one self-driven robot or the target container to a target storey where a destination of the transportation task is located; and
controlling the at least one self-driven robot to transport the target container to the destination of the transportation task;
wherein the lifting machine is provided with a temporary storage position configured to temporarily store the at least one self-driven robot or the target container.
 
17. A robot control method, performed by a self-driven robot, the method comprising:
receiving a transportation task assigned by a control device;
traveling to a location of a target container corresponding to the transportation task on a target storey corresponding to the transportation task according to a travel route planned by the control device, and picking up the target container; and
transporting the target container to a destination of the transportation task according to the travel route;
wherein the self-driven robot is transported by a lifting machine, and the lifting machine is provided with a temporary storage position configured to temporarily store the at least one self-driven robot or the target container.