PATENT PRIOR ART SEARCH REPORT
AUTOMATED STORAGE AND RETRIEVAL SYSTEM- WAREHOUSE FORK BOT
PATENT PATENT TITLE ABSTRACT
CODE
CN107343 Method and system for Embodiments of the present application
382B robotic manipulation for relate to technical features related to the
executing domain-specific ability to create complex robot activities,
applications in an actions, and interactions with tools and
instrumented instrumentation environments by
environment with an automatically constructing humanoid
electronic micro- activities, humanoid actions, and behaviors
manipulation library based on a set of computer-coded robot
activity and action primitives. Primitives are
defined by joint motion/motion degrees of
freedom, which range from simple to
complex, and can be combined in any form in
serial/parallel fashion. These action primitives
are called micro-manipulations, each with a
well-defined time-indexed command input
structure and output behavior/performance
profile, intended to implement a certain
function. Micromanipulation includes a new
approach to creating a universal, exemplary
programmable platform for humanoid robots.
CN106030 Method and system for The present disclosure relates to a method, a
427B preparing food in a computer program product, and a computer
robotic cooking kitchen system for instructing a robot to prepare a
food dish instead of the activities and actions
of a human chef. In an instrumented
application specific environment, in this
example a standardized robotic kitchen,
monitoring of the human chef is performed,
involving the use of sensors and computers to
observe, monitor, record and interpret the
movements and actions of the human chef to
develop a set of robot executable commands
that are robust to variations and changes in
the environment, which can allow the robot
or automation system in the robotic kitchen
to prepare a dish that is the same in standard
and quality as the dish prepared by the
human chef.
JP691113 Order completion system - Pg 2, Description, Para 2 The present
1B2 and method
CLAIM/ DESCRIPTION REMARKS
Pg 29, Fig. 18C The robot arm 70 and robot Vision
hand 72 perform a rigid grabbing and Sensor/
transferring activity to pick up an object and Robot Arms
transfer it to a target location by means of for Lifting
an immovable grab without a forced Objects of
interaction. Non-
Standard/
Pg 31, Fig. 26 At step 928, the computer 16 Different
detects non-standard objects, e.g., food Dimensions/
materials that may have different sizes, Shapes/
different physical dimensions, and/or Position.
different weights, via the sensors. At step
930, the computer 16 identifies non-
standard objects with the three-dimensional
modeling sensor that captures shape, form
factor, orientation, and position information,
and the robot arm makes real-time
adjustments to perform appropriate food
preparation tasks.
Pg 22. Fig. 9A, 2nd Para, the robot hand 72 Sensors to
has an RGB-D sensor 500 placed at or near detect shape
the center of the palm to detect the distance and grasp
and shape of the object and the distance of objects.
the object and is used to manipulate the
kitchen tool. The RGB-D sensor 500 provides
guidance to the robot 72 in moving the
robot 72 toward the object and making the
necessary adjustments to grasp the object.
Second, sonar sensors and/or tactile
pressure sensors are placed near the palm of
the robot hand 72 to detect the distance and
shape of the object and subsequent contact.
Sonar sensor 502f may also direct the robot
hand 72 toward the object.
3D-
invention relates to the field of warehousing Coordinate
picking technology, especially to order positioning
completion systems and methods. system,
Tracking
Pg 5, Para 4, Line 10 The mobile device is sensor
 provided with a tracking sensor, acquires
landmark information, and determines
horizontal coordinates in its own three-
dimensional coordinate system. The
movable device has a length, a width, and a
height, but in a specific setting, the
coordinates of the movable device are set by
taking the center of the movable device.
That is, the tracking sensor can determine
the X-axis coordinates and the Y-axis
coordinates of the movable device.

Page 6, Para 1, Line 2 The fork for picking in

the movable device can extend into the
space formed by the plurality of support
legs, and the movable device makes it easy
to take out the product.

Page 6, Para 8, Line 3 The coordinates of the

designated position are known in the three-
dimensional coordinate system. When the
movable device arranges the product in the
tray 14, the movable device senses the
deviation between the positioning mark 141
on the tray 14 and its own position. At this
time, the movable device combines the
coordinates of the designated position and
the coordinates of the tray 14 and transmits
the coordinates to the control center.

CN111620 Carrying robot, goods box The invention belongs to the technical field of Page 8, Para 10, Line 3 The identification Barcode
024A taking method and goods warehouse logistics, and particularly discloses module is used for identifying external Identification
box placing method a transfer robot, a warehouse logistics system information and converting the external / Lifting
and a container transfer method, wherein the information into an information form which Robot
transfer robot comprises a mobile chassis can be processed by the controller, such as
which can move along a channel between identifying bar code information attached to
adjacent inventory containers; the temporary the bottom surface to realize path
storage frame is arranged on the movable navigation of the mobile chassis 1,
chassis and used for temporarily storing the identifying label code information attached
target container; get the case subassembly, to the target container 20, and acquiring
set up on moving the chassis, get the case information of goods in the target container
subassembly and can stretch out and draw 20, wherein the label code information can
back in order to get between warehouse be a two-dimensional code, a bar code or an
storage container and temporary storage RFID radio frequency code.
frame and put the target packing box for
moving the chassis level, get the direction
that the case subassembly level is flexible
perpendicular with the direction of removal.
The warehouse logistics system comprises the
carrying robot, and the container carrying
method adopts the carrying robot to carry the
target container. The transfer robot, the
warehouse logistics system and the container
transfer method disclosed by the invention
can reduce the occupied space of the transfer
robot on a warehouse channel, improve the
 utilization rate of the warehouse and
simultaneously improve the transfer
efficiency of the target container.
RU276539 Automatically controlled Inventions relate to devices and systems for
6C2 vehicle designed for transporting goods from storage to
warehouse warehouses using a method for controlling an
automatically guided vehicle. Automatically
guided cart (AGV) system designed for
transportation, storage and taking of
inventory units from racks. AGV (100) can
move between racks and reach the inside of
the rack without turning. AGV (100) is
equipped with a device (130) for loading and
unloading materials. The device (130) for
loading and unloading materials contains a
device for moving the tray in the lateral
direction, configured to move in the lateral
direction or to the right side or to the left
side. The movement of the device for moving
the tray in the lateral direction can be either
rotational or translational. The device (130)
for loading and unloading materials also
includes a retractable device that retracts or
extends in a direction perpendicular to the
lateral direction. The retractable device
allows the material loading and unloading
device (130) to slide into the rack to pick up
or place a stock control unit.
EP246867 Industrial truck with a - Pg 2, Description, Para 1, The invention
8B1 sensor for detecting the
surroundings and method
for operating such an
industrial truck
US202000 Systems and methods for Methods, devices, and systems for tracking an
74398A1 active supply chain asset are provided. A device is provided that
monitoring includes an array of sensors and
communications modules configured to
detect tracking information, including
environmental conditions and physical
Page 6, Para 2, Line 1 In such a warehouse, Double Deep
the AGV 100 and the location information Storage
stored for each stock keeping unit are Method/
modified or adapted to accommodate Automated
double row deep racks. According to the Guided
control method of the AGV 100 for storing Vehicle
or picking up an SKU placed on such a rack,
the AGV 100 first receives an instruction to
transport the first SKU. The indication may
include the location of the first inventory
control, such as the location, location depth,
and orientation of the first inventory
control. If the depth of the first SKU
indicates that the SKU is in the back row of
the rack, the pick process performed by the
AGV 10 may require the AGV 100 to remove
the SKU in the front row to reach the first
SKU in the back row. In some embodiments,
the AGV 100 is configured to take the
second SKU in the front row and place it on
one of the empty pallets, and then take the
first SKU from the back row and place it on
another of the empty pallets.
Form Arm-
relates to an industrial truck with a mast, on Visual
which a load carrying means with two forks Sensor- 3
is guided adjustable in height, arranged on dimensional
the load supporting means sensor for Spatial
detecting a spatial environment and an System
evaluation, which is designed to support a
storage process from the detected by the
sensor data to determine a storage position,
and a method for operating such a truck.
Page 3, Para 11, Line 4, position of an object
detected by each pixel in space can be
determined in all three spatial directions.
With the time-of-flight camera system,
therefore, a three-dimensional "vision" of
the spatial area in the direction of the
camera system is possible.
Page 1, Claim 3 a time-of-flight camera
system (5) is arranged in each of the two tips
of the fork arms (4), the fields of vision of
which are directed diagonally forwards and
outwards.
Page 26, Column 1, [0053], Line 6, the cover Undulated
304 of the LTU 300 includes an Surface
environmental sensor aperture 312, an Detection/
ambient lighting sensor window 316, an Handling/Gri
indicator 320 (e.g., a light emitting diode pping/
(LED), display output, touchscreen, etc.), Wireless
 events, and report the tracking information
along with a geographical location of the
device to a control server across a wireless
network. Upon receiving the tracking
information, the control server interprets the
information and generates tracking reports
for the device configured to be displayed to a
graphical user interface of a third-party
communication device.
CN203889 Electro-adhesive gripping The utility model discloses an electro-
500U system adhesive gripping system which comprises a
shear gripper. The shear gripper can comprise
an electro-adhesive surface associated with
one or more electrodes and a load-bearing
structure connected with the electro-
adhesive surface. A power supply can be
configured to apply a voltage to each
electrode associated with the electro-
adhesive surface. A controller can be
configured to apply the voltage to each
electrode associated with the electro-
adhesive surface through the power supply to
thereby adhere a first shear gripper to an
item nearby the electro-adhesive surface. The
controller can be configured to apply a shear
force which is sufficient to move the adhered
item to the adhered item through the load-
bearing structure.
EP371038 Automated guided vehicle An Automated Guided Robot (AGV) system
1A1 designed for warehouse designed for carrying, storing and retrieving
inventory items to and from storage shelves.
The AGV (100) can move between warehouse
shelves and reach to the inside of a shelf
without turning. The AGV (100) is equipped
with a material handling device (130). The
material handling device (130) comprises a
lateral device that is configured to move in a
lateral direction either to the right side or to
the left side. The movement of the lateral
device can be either rotational or
translational. The material handling
device(130) further comprises a retractable
device that retracts or extends in a direction
perpendicular to the lateral direction. The
retractable device allows the material
handling device (130) to extend into the
storage shelf to fetch or place an inventory
item.
CN109814 A kind of air navigation The present invention provides air navigation
548 aid and AGV based on aids and AGV based on indoor microwave
indoor microwave base base station, the following steps are included:
station S1: powering on, S2: during startup, the
absolute position of AGV is obtained by the
and/or an optional physical port window Communicati
328. In some cases, the LTU 300 may include on
a number of features disposed around the
periphery of the device that provide
handling gripped areas 324. These areas 324
may be configured as protruding elements,
undulated surfaces, interrupted surfaces,
indentations in the cover 304, etc., and/or
some other irregular portion of the LTU 300
configured to provide a gripping surface for
a user of the LTU 300.
Page 16, 5e) vertical electricity adheres to Length
the length-adjustable Control arm that Adjustable
grabber is used Arm/
Retractable
Page 1, Claim 5, Can retraction arm, (Stretch &
connected to the first shearing grabber and Shrink)
be configured to and stretch and shrink
along the direction of the length that is Adjustable
parallel to described electric surface of Angles/ Side
adherence, lift Rough
Surface
Grabber
Page 17, Para 7, Line 3, hinge to allow the
relative angle between gripping surface
1812,1816 to may be adjusted to the angle
outside 90 degree.In some instances,
connecting 1820 can be adjustable, to allow
grabber 1810 being suitable for adhering to
by the flat grabber substantially of
manipulating objects sidewall and being
suitable for adhering between the rough
surface grabber in this subject side rough
surface and switching.
Page 6, [0040], The material handling device AGV/
130 can retract or extend along S6 through Retractable
movements of the slides 610. arms/ Code
Identification
Page 7, [0051], the AGV 100 receives an
instruction to retrieve an inventory item
from a warehouse shelf. In some
embodiments, the instruction may simply
include the identification code of the
inventory item and the AGV 100 looks up the
position information of the item using the
identification code. In some embodiments,
the instruction may include the position of
the inventory item and the AGV 100 can
extract the position information of the item
to be retrieved based on the instruction
Page 1, last para, after starting AGV AGV/ Two-
completely, the instruction of dispatching dimensional
down distributing destination is specified Code System
destination path, is operated on AGV to two
dimensional code Tag label Side, AGV are
 UWB module of microwave base station in accurately obtained the absolute position of
indoor microwave office, S3: after starting AGV by visual sensor
AGV completely, the instruction of
dispatching down distributing destination, it is
manually operated above AGV to two
dimensional code Tag label, the accurate
absolute position for obtaining AGV, obtain
the location error d and angular error θ of
AGV, and synthesize fusion error e, S4: after
AGV obtains fusion error e on two
dimensional code Tag label, into the traveling
process of next two dimensional code Tag
label, position and angle adjustment are
carried out by inertial navigation system, until
reaching next two dimensional code Tag
label: When AGV deviation is excessive,
disengaging definitive orbit obtains the
absolute position of AGV using UWB module,
and dispatching down distributing instruction
is recovered, and the air navigation aid
registration, precision is high, and at low cost,
strong antijamming capability may be
implemented to position in real time in
working region, conveniently recover.
CN210236 Lifting AGV (automatic The utility model provides a lifting AGV Page 2, Description, Line 3 The utility model Vision
063U guided vehicle) matching matched material rack which can be matched belongs to the technical field of logistics Sensor
material rack with a lifting AGV trolley with camera storage technology and specifically relates to (Camera
equipment to automatically store and take in lift supporting work or material rest of AGV. Equipment),
a material box, wherein a material box storing Detection
and taking channel matched with the size of Page 2, Para 3/ Claim 9, The material rack Sensor
the AGV is arranged at the material box also comprises a material box in-place
storing and taking surface at the top of the detection sensor for detecting whether the
material rack; the center position of the material box is in place or not;
bottom of the material rack is provided with a
center positioning pattern mark, when the
AGV accesses the material box, the AGV
enters the bottom of the material rack along
the direction of the material box access
channel, and positioning information is
obtained by distinguishing the center
positioning pattern mark of the bottom of the
material rack through camera equipment, so
that the AGV stops at the center of the
bottom of the material rack; the utility model
discloses can realize lifting formula AGV dolly
unmanned on duty automatic material
loading and unloading case, can lead to and
fix a position the AGV dolly moreover.
CN214086 Carrying device and robot The application provides a handling device Page 2, Visual
118 and robot relates to intelligent storage Sensors,
technical field for solve the relative handling Claim 21, The handling device of claim 1, Handling/
device of goods that places on handling further comprising a load sensing device for Lifting
device and itself can not turn to the technical sensing at least one of a position, a weight, Device
problem, this handling device includes and a center of gravity of the load.
plummer and goods steering mechanism, but
one another relatively rotates in plummer
Claim 22, The handling device of claim 21,
and the goods steering mechanism, so that
wherein the cargo sensing device is at least
place the goods on plummer or goods
one of a visual sensors, a laser sensor, or a
steering mechanism and turn to. The robot
comprises the carrying device. The storage
direction of goods is adjusted according to the
storage space to this application to improve
the storage density in storage space, thereby
improve the space utilization in storage space,
and then reduce the storage cost.
pressure sensor.
Claim 23, A robot, comprising: a mobile base
for carrying the lifting mechanism and the
handling device, a lifting mechanism, and
the handling device of any one of claims 1 to