CN109895825A - Automatic carriage - Google Patents
Automatic carriage Download PDFInfo
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- CN109895825A CN109895825A CN201910220879.3A CN201910220879A CN109895825A CN 109895825 A CN109895825 A CN 109895825A CN 201910220879 A CN201910220879 A CN 201910220879A CN 109895825 A CN109895825 A CN 109895825A
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- Prior art keywords
- automatic carriage
- module
- information
- control module
- operation portion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of automatic carriages.The automatic carriage has the mode that folds and expansion mode, and including ontology, control module, drive module and multiple wheels.The ontology includes supporting part and operation portion, and the supporting part is formed with accommodating space and including top surface and bottom surface, and the top surface is suitable for bearing goods, and the bottom surface is relative to the top surface, and the operation portion is articulated in the supporting part.The control module is configured in the ontology, and the drive module is configured in the ontology and is electrically connected at the control module.The multiple wheel is coupled to the bottom surface, and including wheel body and motor.The wheel body is adapted for contact with ground.The motor is configured at the wheel in vivo and is electrically connected at the drive module, and the motivation is suitable for that the wheel body is driven to roll on the ground.
Description
Technical field
The present invention relates to a kind of automatic carriages, in particular to a kind of the automatic of operation portion with closing function
Transport device.
Background technique
Warehousing system is in logistics and commercially indispensable one of element.Based on examining for saving human cost
Consider, more and more warehousing systems introduce autonomous transport robot or automatic navigation vehicle, each other as in warehouse environment or warehouse
Between means of transport.However, general autonomous transport robot or automatic navigation vehicle only have basic loading platform, lack
Inconvenience when the case where accessory parts such as handle, display, video camera, not only user need to face Manual push-pull loading platform, and
Be difficult to warehousing system carry out it is online interact, more substantially limit the obstacle avoidance ability of transportation robot or navigation vehicle.Whereby, part
Manufacturer endeavours the autonomous transport robot or automatic navigation vehicle that research and development have the accessory parts such as interactive display or video camera.But
It is to integrate the operation portion of above-mentioned accessory part to be generally fixedly arranged on the side of transportation robot or navigation vehicle, not only cost is inclined
Height, and user is easy to collide in mobile cargo with operation portion, cargo can not also be loaded and unloaded in the side direction.
Summary of the invention
Therefore, the present invention provides a kind of automatic carriage of operation portion with closing function, to solve the above problems.
To solve the above problems, the present invention discloses a kind of automatic carriage.The automatic carriage, which has, folds mould
Formula and expansion mode, and including ontology, control module, drive module and multiple wheels.The ontology include supporting part with
And operation portion, the supporting part define accommodating space and including top surface and bottom surfaces, the top surface is suitable for bearing goods, the bottom
Face is relative to the top surface, and the operation portion is articulated in the supporting part.The control module is configured in the ontology, institute
Drive module is stated to be configured in the ontology and be electrically connected at the control module.The multiple wheel is coupled to the bottom
Face, and including wheel body and motor.The wheel body is adapted for contact with ground.The motor is configured at the wheel in vivo and is electrically connected
In the drive module, and the motivation is suitable for that the wheel body is driven to roll on the ground.When the automatic carriage
When folding mode described in switching to, the operation portion storage is in the accommodating space；When the automatic carriage switches to
When the expansion mode, the operation portion screws out from the accommodating space and has angle between the top surface.
In conclusion cargo is able in the side of operation portion when automatic carriage of the invention is in and folds mode
Direction loads and unloads and will not collide with operation portion, greatly improves convenience and the safety of handling goods.On the other hand, when
When automatic carriage switches to expansion mode, user is able to mention by the ontology of operation portion Manual push-pull automatic carriage
The mobility that high automatic carriage uses.In relation to aforementioned and other technology contents, feature and effect of the invention, in following cooperation
In detailed description with reference to accompanying drawings and embodiments, can clearly it present.
Detailed description of the invention
Fig. 1 is the block flow diagram using the warehousing system of the automatic carriage of one embodiment of the invention.
Fig. 2 is appearance diagram of the automatic carriage of one embodiment of the invention when mode is unfolded.
Fig. 3 is appearance diagram of the automatic carriage of Fig. 2 when folding mode.
Fig. 4 is appearance diagram of the automatic carriage of another embodiment of the present invention when mode is unfolded.
Fig. 5 is the operation portion of the automatic carriage of Fig. 4 and the partial enlarged view of display.
Fig. 6 is appearance diagram of the automatic carriage of another embodiment of the present invention when mode is unfolded.
Fig. 7 is the partial enlarged view of the photographing module of the automatic carriage of Fig. 6.
Signal of the Fig. 8 for the received environmental information of control module of the automatic carriage of one embodiment of the invention
Figure.
Fig. 9 is the schematic diagram for the automated path that the automatic carriage of Fig. 8 is calculated according to the environmental information.
Figure 10 is that the automatic carriage of one embodiment of the invention calculates the schematic diagram for following path.
Wherein, the reference numerals are as follows:
10 warehousing systems
1000,1000a, 1000b automatic carriage
1100 ontologies
1120 supporting parts
1140 operation portions
1142 shells
1144 operation ontologies
1200 control modules
1300 drive modules
1400 wheels
1420 wheel bodys
1500 sensors
1500a ultrasonic sensor
1500b laser radar
1600a display
1620a input interface
1640a display interface
1600b photographing module
1620b camera unit
1640b rotating electric machine
1660b articulated part
1600c aiding sensors
1700 communication modules
1800 memory modules
1900 locating modules
2000 servers
A1 first axle
The second axis of A2
The bottom surface B
Identifier is used in C positioning
H accommodating space
IEEnvironmental information
IMCartographic information
N normal
O barrier
P identification information
PEEnvironmental images
RAAutomated path
RFFollow path
The side S
The top surface T
V relay point
θ angle
Specific embodiment
Please refer to Fig. 1.Warehousing system 10 includes server 2000 and at least one automatic carriage 1000, wherein certainly
Dynamic transport device 1000 is electrically connected at server 2000, and including control module 1200 and drive module 1300, wherein controlling
Molding block 1200 to handle, control and operation automatic carriage 1000 needed for all signals for using and information, and drive
Module 1300 is electrically connected at control module 1200, to drive automatic carriage 1000 mobile.
Specifically, in the preferred embodiment of the present invention, automatic carriage 1000 further includes communication module 1700,
Wherein communication module 1700 is electrically connected at control module 1200, and automatic carriage 1000 passes through communication module 1700 and clothes
Business device 2000 transmits information.In another preferred embodiment, automatic carriage 1000 further includes memory module 1800, wherein depositing
Storage module 1800 is electrically connected at control module 1200 and communication module 1700, passes through to store automatic carriage 1000
Communication module 1700 is from the received various information of server 2000, such as environmental information, regular course information, mission bit stream, goods
Object puts information and identification information or control module 1200 is calculated as a result, such as routing information etc., these letters
Breath will be described in detail in content later.In addition to this, in another preferred embodiment of the invention, automatic carriage
1000 further include locating module 1900, and wherein locating module 1900 is electrically connected at control module 1200 and drive module
1300.In the present embodiment, locating module 1900 includes ultra-wideband transceiver (Ultra Wideband Transceiver), and
Warehousing system 10 includes at least one ultra wide band transmitting-receiving station, when ultra wide band transmitting-receiving station sends the ultra-broadband signal as location purposes
Afterwards, the ultra-wideband receiver of locating module 1900 will receive ultra-broadband signal and send out feedback signal, and ultra wide band is received and dispatched
It station can be according to the time difference of ultra-broadband signal and feedback signal, differential seat angle, difference in signal strength etc. after receiving feedback signal
Information, the accurate location of automatic carriage 1000 in the work environment is learnt in calculating, and is transferred to certainly by server 2000
Dynamic transport device 1000, corrects routing information in real time whereby.It is noted that positioning group included by locating module 1900
Part is not limited to ultra-wideband transceiver, such as hotspot (Wi-Fi) transceiver, less radio-frequency (RFID) transceiver, bluetooth are received
Device etc. is sent out, as long as can accurately learn the positioning component of the accurate location of automatic carriage 1000 in the work environment,
It is all protection scope of the present invention.
Please refer to Fig. 2 and Fig. 3.The automatic carriage 1000 of the present embodiment includes ontology 1100 and multiple wheels
1400, and control module 1200, drive module 1300, communication module 1700, memory module 1800 and locating module 1900 are equal
It is configured in ontology 1100.Specifically, ontology 1100 includes supporting part 1120 and operation portion 1140, wherein supporting part 1120
Including top surface T, therefore cargo can be placed in the top surface T of supporting part 1120 and be transported by automatic carriage 1000 by user,
And operation portion 1140 is articulated in supporting part 1120, and can be releasably fastened to the rotation of supporting part 1120.Still further, it carries
Portion 1120 defines accommodating space H, and the automatic carriage 1000 of the present embodiment has the mode that folds and expansion mode.At this
In embodiment, supporting part further includes bottom surface B, and wherein bottom surface B is relative to top surface T, and accommodating space H is depressed in top surface T.When automatic
Transport device 1000 switches to when folding mode, and operation portion 1140 can be accommodated in accommodating space H as shown in Figure 3；And when automatic
When transport device 1000 switches to expansion mode, operation portion 1140 can screw out as shown in Figure 2 from accommodating space H, and between the T of top surface
With angle theta.Whereby, when user needs front side (operation portion 1140 configures side) handling goods from automatic carriage 1000
When, automatic carriage 1000 can be switched to the mode of folding, top surface T, operation portion 1140 are limited to since accommodating space H is recessed
Height without departing from top surface T, therefore the handling of cargo will not be hindered；And when user needs Manual push-pull automatic carriage 1000
When, then automatic carriage 1000 can be switched to expansion mode, and operation portion 1140 is screwed out from accommodating space H, at this time
User can be by the mobile automatic carriage 1000 of push-and-pull operation portion 1140, therefore is able to ascend the convenience of manual transportation cargo
Property.
It is noted that in a preferred embodiment, operation portion 1140 includes shell 1142 and operation ontology 1144.
Specifically, operation portion 1140 is articulated in supporting part 1120 by shell 1142, and operates 1144 local sleeve of ontology and be set to shell
In 1142.When operation portion 1140 is screwed out from accommodating space H, operation ontology 1144 can be flexible relative to shell 1142, in Fig. 2
Shown in arrow.Configuration in this way, user can adjust the height of operation ontology 1144 according to self-demand, so that automatic transportation
Device 1000 is in use more for mobility.
On the other hand, wheel 1400 is coupled to bottom surface B, and including wheel body 1420 and motor (not being painted).Specifically,
Automatic carriage 1000 contacts ground by wheel body 1420, and electrical connection of motor is in drive module 1300.Work as control module
When 1200 transmission move, 1300 driving motor of drive module can control, and then wheel body 1420 is driven to roll on the ground.?
In the present embodiment, wheel 1400 has there are four and is arranged respectively at four corners of bottom surface B altogether, wherein two wheels of front side
1400 be driven wheel, only complies with the movement of automatic carriage 1000 and rolls, does not provide power；And two wheels of rear side
1400 be driving wheel, and engine can be rolled in response to the instruction tape driving wheel body 1420 that drive module 1300 issues at any time.It is worth mentioning
, the configuration of driving wheel and driven wheel is not limited thereto, and in other embodiments, is also possible to two wheels of front side
1400 be driving wheel, and two wheels 1400 of rear side are driven wheel or four wheels 1400 are all the master that can provide power
Driving wheel, as long as can achieve the effect that provide the mobile power of automatic carriage 1000 and can stablize mobile, this is not added in the present invention
With limitation.
In addition to this, in the present embodiment, there are multiple side S, wherein on the S of these sides between top surface T and bottom surface B
Configured with multiple sensors 1500, and these sensors 1500 are electrically connected at control module 1200, to detect automatic transportation
The Obstacle Position that may be touched in 1000 traveling process of device, or with the distance between objects in front or personnel.Specifically
For, in the present embodiment, sensor 1500 include ultrasonic sensor (Ultrasonic Transducer) 1500a and
Laser radar (LIDAR) 1500b, wherein ultrasonic sensor 1500a configuration is relative to 1000 side of advance of automatic carriage
To the left and right sides side S on, and on the side S that laser radar 1500b then configured in front and rear sides.By in different sides
Different sensors 1500 is configured on the S of face, automatic carriage 1000 can accurately calculate and front or behind object or person person
The distance between, and when automatic carriage will touch personnel or barrier, sensor 1500 can transmit signals to
Control module 1200, control module 1200 assign halt instruction to drive module 1300, so that drive module 1300 be made to stop wheel
Son 1500 continues to thereby ensure that automatic carriage 1000 will not touch in moving process towards personnel or barrier movement
It hits.
Please refer to Fig. 2 and Fig. 4.1000 phase of automatic carriage of automatic carriage 1000a and Fig. 2 of the present embodiment
Seemingly, the main difference of the two is: automatic carriage 1000a further includes detachable device, wherein detachable device is matched
It is placed on operation portion 1140 and is electrically connected at control module 1200.Specifically, in the present embodiment, detachable device is
Display 1600a is interacted to provide user with automatic carriage 1000.Still further, as shown in figure 4, it is aobvious
Show that device 1600a is configured on the operation ontology 1144 of operation portion 1140, therefore display 1600a can be adjusted according to the demand of user
Height, or from operation ontology 1144 on remove.In addition to this, in this example it is shown that the normal N direction of device 1600a
It is parallel to the moving direction of automatic carriage 1000a, therefore when automatic carriage 1000a is moved to user at one's side, used
Family does not need the both sides for walking to automatic carriage 1000a again that can directly operate display 1600a, is further promoted in operation
Convenience.
In a preferred embodiment, when operation portion 1140 is not installed at detachable device and automatic carriage 1000
When folding mode, communication module 1700 obtains information from server 2000 and (believes including but not limited to environmental information, regular course
Breath, mission bit stream, cargo put information and identification information) after, control module 1200 according to aforementioned information determine path, then by
Drive module 1300 drives wheel body 1420 to move along aforesaid paths；When automatic carriage 1000 switches to expansion mode, drive
Dynamic model block 1300 stops driving wheel body 1420, passes through the mobile automatic carriage 1000 of push-and-pull operation portion 1140 by user.
In a preferred embodiment, when operation portion 1140 installed detachable device (such as display 1600a) and from
For dynamic transport device 1000a in when folding mode, communication module 1700 obtains information (including but not limited to ring from server 2000
Border information, regular course information, mission bit stream, cargo put information and identification information) after, control module 1200 is according to aforementioned
Information determines first path, then drives wheel body 1420 to move along aforementioned first path by drive module 1300；When automatic transportation fills
When setting 1000a and switching to expansion mode, the second path is set by display 1600a by user, then driven by drive module 1300
Driving wheel body 1420 is moved along aforementioned second path.
Fig. 4 and Fig. 5 is please referred to, display 1600a includes input interface 1620a and display interface 1640a, wherein inputting
Interface is adapted to provide for user and inputs information, such as the nature of goods loaded and unloaded, the volume residual for inquiring specific goods, either
Switch the mode instruction etc. of automatic carriage 1000a.After user inputs above- mentioned information, display 1600a can be by information
It is transferred to control module 1200, control module 1200 can have access to relevant storage information from memory module 1800, or by logical
The information of module 1700 and the inquiry of 2000 clearing house of server is interrogated, and corresponding information is exported to display 1600a, then by showing
Show that above-mentioned corresponding informance is shown in display interface 1640a by device 1600a, after user just can learn the interior perhaps information input of inquiry
As a result, substantially enhancing the function of automatic carriage 1000a.It is emphasized that input interface 1620a and display circle
The configuration mode of face 1640a is not limited in the form that Fig. 5 is presented, such as display 1600a is also possible to full screen touch-control and puts down
Plate computer, and full screen is provided simultaneously with the function of input interface 1620a and display interface 1640a.
As shown in figure 4, the shape of accommodating space H corresponds to operation portion 1140 and detachable device (display
1600a).Therefore, when automatic carriage 1000a, which is switched to, folds mode, operation portion 1140 and detachable device can
It is accommodated in accommodating space H together, and because the shape of accommodating space H corresponds to detachable device, not in storage
Can there are excessive gaps with the wall surface of accommodating space H, and detachable device is damaged because of collision.
On the other hand, as shown in figure 5, in a preferred embodiment, detachable device further include camera unit 1620b with
And aiding sensors 1600c.In the present embodiment, aiding sensors 1600c be range sensor, and camera unit 1620b with
And aiding sensors 1600c is configured on the screen of display 1600.Whereby, display 1600a can pass through camera unit 1620b
Confirm the identification informations such as the face of user, and show corresponding user interface whereby, or follows mobile (this function of specific user
It can will be described in detail in content later).In addition, by aiding sensors 1600c be passed back to control module 1200 away from
From information, the movement routine of automatic carriage 1000a can be further corrected, is avoided due to operation portion 1140 in expansion mode
The existing difference in height between the S of side, and automatic carriage 1000a is caused to pass according to the sensor 1500 configured on the S of side
The case where obstacle information returned is mobile, and operation portion 1140 or display 1600a is but caused to collide accidentally.
Please refer to Fig. 4 and Fig. 6.The automatic carriage 1000a's of the automatic carriage 1000b and Fig. 4 of the present embodiment
Main difference is: the detachable device that automatic carriage 1000b includes is photographing module 1600b, automatic to obtain
Environmental images or discriminating user around transport device 1000b are for the purposes such as interacting or follow.
Fig. 6 and Fig. 7 is please referred to, the photographing module 1600b of the automatic carriage 1000b of the present embodiment includes camera unit
1620b, rotating electric machine 1640b and articulated part 1660b, and camera unit 1620b is articulated in operation portion by articulated part 1660b
1140.When automatic carriage 1000b needs to obtain the image other than current camera unit 1620b image pickup scope, or needs
When the parameters such as height, the angle imaged in response to different user, cargo adjustment, control module 1200 will be issued and be instructed, control rotation
Motor 1640b drives camera unit 1620b to rotate relative to operation portion 1140.In the present embodiment, camera unit 1620b is ball
Shape video camera, and articulated part 1660b is holder, and holder can drive spherical camera to turn around first axle A1 and the second axis A2
It is dynamic, therefore spherical camera can be directed at any direction in three-dimensional space, but the present invention is not limited thereto, according to automatic transportation
Device 1000b in camera shooting mode and pivotably on different demands, camera unit 1620 and articulated part 1660b can also be with
It is the video camera or pin connected assembly of other forms.In a preferred embodiment, photographing module 1600b further includes aiding sensors
1600c, in the present embodiment, aiding sensors 1600c are Hall sensor, can detect rotating electric machine 1640b driving camera shooting
The angle of unit 1620b rotation is simultaneously back to control module 1200, therefore control module 1200 accurately controls camera unit
The camera shooting azimuth of 1620b is to obtain the image to be captured.
In a preferred embodiment, when operation portion 1140 installed detachable device (such as photographing module 1600b) and
Automatic carriage 1000b is in when folding mode, communication module 1700 from server 2000 obtain information (including but not limited to
Environmental information, regular course information, mission bit stream, cargo put information and identification information) after, control module 1200 is before
It states information and determines path, then drive wheel body 1420 to move along aforesaid paths by drive module 1300；As automatic carriage 1000b
When switching to expansion mode, control module 1200 recognizes specific user by photographing module 1600b, then is driven by drive module 1300
Driving wheel body 1420 follows aforementioned user mobile.
Please refer to Fig. 8 and Fig. 9.In multiple preferred embodiments of the invention, automatic carriage 1000,1000a and
1000b can receive various information from server 2000 by communication module 1700, such as: automatic carriage 1000,1000a,
The cartographic information I of the working environment space configuration of 1000bM, to provide automatic carriage 1000,1000a, 1000b planning
Path；In another embodiment, automatic carriage 1000,1000a, 1000b can also receive regular course from server 2000
Information, wherein regular course information includes server 2000 or other automatic carriages 1000,1000a, 1000b according to work
The space configuration of environment, the information such as the preferable route established or be calculated in advance, quick route and dead end；In another implementation
In example, automatic carriage 1000,1000a, 1000b can also receive mission bit stream from server 2000, wherein mission bit stream packet
Include the information such as the demand goods type of individual orders and the storage of demand goods；In another embodiment, automatic carriage
1000,1000a, 1000b can also receive cargo from server 2000 and put information, and it includes specific goods that wherein cargo, which puts information,
Distributing position in working environment.Based on above- mentioned information, automatic carriage 1000,1000a, 1000b can be accurately calculated
The type of merchandize and quantity in execution required by task to be gone to out place, handling and the regular course that can be followed, and will be above-mentioned
Information feeds back to user by such as devices such as display 1600.
Other than receiving information from server 2000, automatic carriage 1000,1000a, 1000b can also be obtained voluntarily
Mobile required information.As shown in figure 8, in one embodiment, cartographic information IMBe integrated into automatic carriage 1000,
The environmental information I of working environment locating for 1000a, 1000bEIn；And in another embodiment, environmental information IEIt further include by taking the photograph
The environmental images P obtained as unit 1620bE, wherein environmental images PEIncluding possibly be present at automatic carriage 1000,
The position of the barrier O of 1000a, 1000b working environment and the cargo appearance of working environment；In another embodiment, obstacle
The position of object O can also be sensed by multiple sensors 1500 of automatic carriage 1000,1000a, 1000b and be learnt.Another
In embodiment, environmental images PEIt further include the positioning identifier C for being pre-configured in working environment, to provide automatic carriage
1000,1000a, 1000b are positioned for particular pallet position.
As shown in figure 9, automatic carriage 1000,1000a, 1000b can calculate automated path according to above- mentioned information
RA, and along automated path RAIt is mobile.Specifically, automatic carriage 1000,1000a, 1000b control module 1200 can
According to including cartographic information IMAnd the environmental information I of the position barrier OE, calculate automated path RA, and control drive module
1300 driving motors make motor drive wheel body 1420 along automated path RAAvoiding obstacles O when mobile.Therefore, automatic transportation fills
1000,1000a, 1000b are set without user's operation, can along particular path automatic moving without with the barrier in working environment
Object O is hindered to collide.
In another embodiment, control module 1200 can be according to cartographic information IM, environmental images PEOr positioning identifier C,
The relay point V that need to be stopped or pass through is calculated, and corrects or adjust automated path RA, make automated path RAPass through relay point V.By
This makes motor drive wheel body 1420 along automated path R when control 1300 driving motor of drive module of control module 1200AIt is mobile
When, automatic carriage 1000,1000a, 1000b can according to user demand, rest on the shelf close position that need to be loaded and unloaded or
It is the position specified by user, keeps user's handling goods more convenient.
In another embodiment, automatic carriage 1000,1000a, 1000b further include Inertial Measurement Unit
(Inertial Measurement Unit, IMU), wherein Inertial Measurement Unit is electrically connected at control module 1200, to detect
Survey the letter such as posture, angular velocity of rotation and translational acceleration of ontology 1100 of automatic carriage 1000,1000a, 1000b
Breath.When the posture of ontology 1100 not normal (such as will overturn), letter that control module 1200 is transmitted according to Inertial Measurement Unit
Number control driving unit 1300, make driving unit 1300 stop driving motor, wheel 1400 will not remain in operation at this time, therefore
It can avoid automatic carriage 1000,1000a, 1000b are overturned because of stall.In addition to this, if the light of working environment becomes
Secretly or positioning is blocked with identifier C, causes automatic carriage 1000,1000a, 1000b that can not pass through environmental images
PEWhen learning position, control module 1200 can angular velocity of rotation, translational acceleration according to Inertial Measurement Unit, and from
The current position of the dead reckoning that dynamic transport device 1000a, 1000b are previously located, avoids the error of positioning.
Please refer to Figure 10.In addition to calculating automated path RAExcept, the automatic carriage with camera unit 1620b
1000a, 1000b can also be recognized and be followed specific user.In the present embodiment, user has with it for camera unit 1620b
The identification information P of identification, when camera unit 1620b captures identification information P, and user starts automatic carriage 1000b's
When following function, control module 1200 follows path R according to identification information P calculatingF, and control module 1200 controls drive module
1300 driving motors make motor drive wheel body 1420 along following path RFFollow user mobile.It is noted that following path
RFThe not necessarily path of user's walking, as long as automatic carriage 1000a, 1000b can maintain certain distance with user, with
With path RFLeft, left back, dead astern, right back or the right of user can be located at.Whereby, user pushes and pulls without sustained manual
Automatic carriage 1000a, 1000b, and the cargo to be loaded and unloaded can be made to maintain the distance that can be taken at any time and move together.
In addition to this, control module 1200 can also be according to environmental information IEAmendment follows path RF, for example, control module 1200 can
Information I according to the mapMAnd the position adjustment of the barrier O of the working environment sensed by sensor 1500 follows path RF, make
Automatic carriage 1000a, 1000b are along following path RFEnergy avoiding obstacles O, avoids automatic carriage when mobile
1000a, 1000b damage.
There is the mode that folds and expansion mode based on above-mentioned, of the invention automatic carriage, when user needs manually
When pushing and pulling automatic carriage, automatic carriage can be switched to expansion mode, and by operation portion from after accommodating space back-out
It is manually operable automatic carriage, improves convenience when automatic carriage operation；On the other hand, when user needs
When operation portion installs side direction handling goods, automatic carriage can be switched to the mode of folding, and operation portion is stored to appearance
In emptying, it thus can avoid cargo and collide with operation portion, promote efficiency when logistics.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (17)
1. a kind of automatic carriage has the mode that folds and expansion mode characterized by comprising
Ontology, comprising:
Supporting part is formed with accommodating space, and the supporting part includes top surface and bottom surface, wherein the top surface is suitable for carrying goods
Object, and the bottom surface is relative to the top surface；And
Operation portion is articulated in the supporting part；
Control module is configured in the ontology；
Drive module is configured in the ontology and is electrically connected at the control module；And
Multiple wheels, are coupled to the bottom surface, and the multiple wheel includes:
Wheel body is adapted for contact with ground；And
Motor, is electrically connected at the drive module, and the motor drives the wheel body to roll on the ground；
Wherein, when the automatic carriage folds mode described in, the operation portion storage is in the accommodating space；
Wherein, when the automatic carriage switches to the expansion mode, the operation portion is screwed out from the accommodating space
And there is angle between the top surface.
2. automatic carriage as described in claim 1, which is characterized in that the operation portion includes shell and operates this
Body, wherein the shell is articulated in the supporting part, the operation ontology local sleeve is disposed in the housing, and works as the operation
When portion is screwed out from the accommodating space, the operation ontology can be flexible relative to the shell.
3. automatic carriage as described in claim 1, which is characterized in that the accommodating space is depressed in the top surface, and
When the automatic carriage folds mode described in, the height of the operation portion is without departing from the top surface.
4. automatic carriage as described in claim 1, which is characterized in that it further include detachable device, it is described detachable
Formula device is configured on the operation portion and is electrically connected at the control module, when the automatic carriage is in the receipts
When syntype, the detachable device storage is in the accommodating space.
5. automatic carriage as claimed in claim 4, which is characterized in that the detachable device includes display, takes the photograph
As module or range sensor.
6. automatic carriage as claimed in claim 5, which is characterized in that the display includes input interface and display
Interface, the input interface are adapted to provide for user and input the first information, and the first information is transferred to described by the display
Control module, control module second information of output to the display, and the display shows second information
In the display interface.
7. automatic carriage as claimed in claim 5, which is characterized in that the photographing module includes camera unit, rotation
Motor and articulated part, the camera unit is articulated in the operation portion by the articulated part, and the control module is suitable for
Controlling the rotating electric machine drives the camera unit to rotate relative to the operation portion.
8. automatic carriage as claimed in claim 5, which is characterized in that the control module foundation passes through the camera shooting mould
The identification information calculating of the user of block detecting follows path, and the control module controls the drive module and drives the motor,
Make the motor that the wheel body be driven to follow path that the user is followed to move described in.
9. automatic carriage as described in claim 1, a display is installed on the operation portion, which is characterized in that also
Including communication module, when the automatic carriage folds mode described in, the communication module obtains letter from server
Breath, the control module determines first path according to the information, and the drive module drives the wheel body along described first
Path is mobile, when the automatic carriage switches to the expansion mode, suitable for being set by user by the display
Second path, and the drive module drives the wheel body to move along second path.
10. automatic carriage as described in claim 1, a photographing module is installed on the operation portion, which is characterized in that
It further include communication module, when the automatic carriage folds mode described in, the communication module is obtained from server
Information, the control module determines path according to the information, and the drive module drives the wheel body to move along the path
Dynamic, when the automatic carriage switches to the expansion mode, the control module is used by photographing module identification
Family, and the drive module drives the wheel body to follow the user mobile.
11. automatic carriage as described in claim 1, which is characterized in that have between the top surface and the bottom surface
Multiple sides, and multiple sensors are configured on the multiple side, wherein the multiple sensor is electrically connected at the control
Molding block.
12. automatic carriage as claimed in claim 11, which is characterized in that the control module is calculated according to environmental information
Automated path, wherein the environmental information includes the cartographic information of the working environment of the automatic carriage and passes through described
The position of the barrier of the working environment of multiple sensor sensings, the control module control the drive module and drive institute
Motor is stated, makes the motor that the wheel body be driven to avoid the barrier when moving along the automated path.
13. automatic carriage as claimed in claim 12, which is characterized in that the environmental information further includes being taken the photograph by described
As the environmental images that module is detected, wherein the environmental images include the positioning identifier for being configured at the working environment, institute
It states control module and calculates relay point according to the cartographic information and the environmental images, and the automated path passes through in described
After point.
14. automatic carriage as claimed in claim 11, which is characterized in that the multiple sensor include laser radar or
Ultrasonic sensor.
15. automatic carriage as claimed in claim 5, which is characterized in that the normal direction of the display is parallel to institute
State the moving direction of automatic carriage.
16. automatic carriage as described in claim 1, which is characterized in that it further include locating module, the locating module packet
Include Inertial Measurement Unit or ultra-wide band sensor.
17. automatic carriage as described in claim 1, which is characterized in that further include communication module, when the automatic transportation
When device folds mode described in, the communication module obtains information from server, and the control module is according to the information
Path is determined, and the drive module drives the wheel body to move along the path, when the automatic carriage switches to institute
When stating expansion mode, the drive module stops driving the wheel body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910220879.3A CN109895825B (en) | 2019-03-22 | 2019-03-22 | Automatic conveyer |
| PCT/CN2020/078744 WO2020192421A1 (en) | 2019-03-22 | 2020-03-11 | Automatic transport device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910220879.3A CN109895825B (en) | 2019-03-22 | 2019-03-22 | Automatic conveyer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109895825A true CN109895825A (en) | 2019-06-18 |
| CN109895825B CN109895825B (en) | 2020-09-04 |
Family
ID=66953206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910220879.3A Active CN109895825B (en) | 2019-03-22 | 2019-03-22 | Automatic conveyer |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109895825B (en) |
| WO (1) | WO2020192421A1 (en) |
Cited By (4)
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| WO2020192421A1 (en) * | 2019-03-22 | 2020-10-01 | 灵动科技（北京）有限公司 | Automatic transport device |
| WO2021109890A1 (en) * | 2019-12-05 | 2021-06-10 | 灵动科技（北京）有限公司 | Autonomous driving system having tracking function |
| WO2023088365A1 (en) * | 2021-11-17 | 2023-05-25 | 深圳市普渡科技有限公司 | Robot |
| CN116671818A (en) * | 2023-07-27 | 2023-09-01 | 科沃斯家用机器人有限公司 | Self-moving device and handle assembly |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7327339B2 (en) * | 2020-10-02 | 2023-08-16 | トヨタ自動車株式会社 | Autonomous vehicles and their storage facilities |
| CN112918529A (en) * | 2021-02-06 | 2021-06-08 | 四川富美高电子有限公司 | Device convenient for moving transformer |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2020192421A1 (en) | 2020-10-01 |
| CN109895825B (en) | 2020-09-04 |
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