CN115454043A - Autonomous mobile device - Google Patents
Autonomous mobile device Download PDFInfo
- Publication number
- CN115454043A CN115454043A CN202110638904.7A CN202110638904A CN115454043A CN 115454043 A CN115454043 A CN 115454043A CN 202110638904 A CN202110638904 A CN 202110638904A CN 115454043 A CN115454043 A CN 115454043A
- Authority
- CN
- China
- Prior art keywords
- detector
- autonomous mobile
- groove
- section
- tine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000007613 environmental effect Effects 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000004891 communication Methods 0.000 claims abstract description 4
- 239000000523 sample Substances 0.000 claims description 18
- 230000008602 contraction Effects 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 210000002421 cell wall Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
An autonomous mobile device is disclosed. Wherein the autonomous mobile device comprises: a device body comprising a main body and tines; wherein the body has autonomous travel capability, the tines being disposed on the body for carrying an object and moving with the body; a first detector disposed on the body; a second detector disposed on the tine; the second detector and the first detector are used for detecting environmental parameters around the equipment body; and the controller is in communication connection with the first detector and the second detector and is used for controlling the equipment body to move according to the environmental parameters detected by the second detector and the first detector. The technical scheme that this application provided can solve among the prior art that the laser radar at main part top bears the weight of article by on the autonomous mobile device and shelters from, and the obstacle avoidance potential safety hazard that the environmental parameter at unable detection fork truck rear leads to has improved the safe performance of keeping away the obstacle of autonomous mobile device.
Description
Technical Field
The present application relates to the field of relevant technologies for autonomous mobile devices, and more particularly, to an autonomous mobile device.
Background
Autonomous mobile devices, such as transfer robots, are widely used in a variety of transfer scenarios. A transfer robot may transfer an item from one location to another destination location. During the carrying process, ambient environmental parameters can be detected through a laser radar installed on the top of the carrying robot main body.
The transfer robot often need get article to going backward and put, but install the lidar at the main part top and can be sheltered from by the article that bear, and lidar can't detect the environmental parameter at transfer robot rear, leads to the unable safe obstacle avoidance of transfer robot.
Content of application
Embodiments of the present application provide an autonomous mobile device that can solve or improve the above-mentioned problems.
In one embodiment of the present application, an autonomous mobile device is provided. The apparatus includes:
a device body comprising a main body and tines; wherein the body has autonomous travel capability, the tines being disposed on the body for carrying an object and moving with the body;
a first detector disposed on the body;
a second detector disposed on the tine; the second detector and the first detector are used for detecting environmental parameters around the equipment body;
and the controller is in communication connection with the first detector and the second detector and is used for controlling the equipment body to move according to the environmental parameters detected by the second detector and the first detector.
Furthermore, a movable piece is arranged on the fork tooth;
the fork tine also has a space for accommodating the second detector;
the movable piece is provided with at least two movable positions;
when the movable piece moves to the first position, the second detector is shielded; when the movable piece moves to the second position, the second detector is exposed to the outside to detect the environmental parameter.
Further, the moving part is a lifting part of the fork tooth; the tine also having a securing portion;
the jacking part is positioned above the fixed part and forms a closed or semi-closed space with the fixed part.
Further, the second detector is arranged on the fixing part, and when the jacking part moves to the second position relative to the fixing part, the second detector is exposed through a lateral clearance between the jacking part and the fixing part; or
The second detector is arranged on the jacking portion, and when the second detector moves to the second position along with the jacking portion, the second detector is exposed outside through a lateral gap between the jacking portion and the fixing portion.
Further, the cross section of the jacking part is of a groove-shaped structure with one open end;
the cross section of the fixing part is of a groove-shaped structure with one open end;
the groove-shaped structure of the jacking part is oppositely buckled with the opening of the groove-shaped structure of the fixing part to form the space.
Furthermore, the first detector and the second detector are arranged in a diagonal position.
Further, along the length of the tine, the tine has a straight section and a constricted section, the constricted section being located at the end of the straight section and remote from the body;
the contraction section gradually narrows from the straight section;
the second detector is arranged at the joint of the straight section and the contraction section.
Furthermore, a first groove is formed in the main body, and two side groove walls of the first groove form a V shape;
the first detector is arranged at the joint of the two side groove walls, so that the first detector has a detection visual angle of 270 degrees.
Further, the body has a plane of symmetry parallel to the direction of travel, the apex of the V-shape being located on the plane of symmetry.
Furthermore, a second groove is formed in the end portion of the fork tooth, and the groove walls on two sides of the second groove form a V shape;
the second detector is arranged at the joint of the two side groove walls of the second groove, so that the second detector has a detection visual angle of 270 degrees.
Further, along the length of the tine, the tine has a straight section and a constricted section, the constricted section being located at the end of the straight section and remote from the body;
the contraction section gradually narrows from the straight section;
the vertex of the V-shape formed by the groove walls at the two sides of the second groove is positioned at the joint of the straight section and the contraction section and is close to the outer edge of the straight section.
According to the technical scheme provided by each embodiment of the application, the main body and the fork teeth of the equipment body are respectively provided with a detector, and the detector comprises a first detector and a second detector, wherein the first detector is respectively arranged on the main body, and the second detector is arranged on the fork teeth; the first detector and the second detector are used for detecting environmental parameters around the equipment body; the controller can control the equipment body to move according to the first environmental parameter and the second environmental parameter detected at different angles. Set up the second detector on the prong, can solve among the prior art laser radar at main part top and bear the weight of article by independently moving equipment and shelter from, the obstacle avoidance potential safety hazard that the environmental parameter at unable detection fork truck rear leads to has improved the safe performance of keeping away the obstacle of independently moving equipment.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an autonomous mobile device for obstacle avoidance in the prior art;
fig. 2 is a schematic structural diagram of an autonomous mobile apparatus according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of another autonomous mobile apparatus according to an embodiment of the present application;
FIG. 4 (a) is a schematic view of a spatial structure provided in an embodiment of the present application;
FIG. 4 (b) is a schematic view of another spatial structure provided in an embodiment of the present application;
FIG. 5 (a) is a schematic view of another spatial structure provided in an embodiment of the present application;
FIG. 5 (b) is a schematic view of another spatial structure provided in an embodiment of the present application;
FIG. 6 is a schematic diagram of a detection assembly according to an embodiment of the present disclosure;
fig. 7 is a schematic view of another arrangement of the detection assembly according to an embodiment of the present disclosure.
Detailed Description
As shown in fig. 1, an autonomous moving apparatus is conventionally configured by a main body 11 and tines 12. Two inter-tine sensors 13 are provided on the tine 12, and the inter-tine sensors 13 are mounted in the tine and emit infrared light through holes in the tine to measure a distance. And the device cannot be used for detecting the parameters of the surrounding environment and provides 360-degree obstacle avoidance.
In addition, the obstacle avoidance in 360 degrees in the prior art is realized by a laser radar for 360-degree detection arranged at the top of the main body 11. However, the following problems may occur:
the first problem is that the goods lifted up may block the radar light at the rear, so that the radar data at the rear cannot be obtained, and obstacle avoidance and positioning are affected;
the second problem is that the 360-degree laser radar is high in arrangement position and cannot detect short obstacles.
The present application provides the following embodiments to solve or partially solve the problems of the above-described aspects. In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
In some of the flows described in the specification, claims, and above-described figures of the present application, a number of operations are included that occur in a particular order, which operations may be performed out of order or in parallel as they occur herein. The sequence numbers of the operations, e.g., 101, 102, etc., are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different. In addition, the embodiments described below are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 2 and 3 are schematic structural diagrams of an autonomous mobile device provided by an embodiment of the present application. As shown in fig. 2 and 3, the autonomous mobile apparatus includes: the device body 20, the first detector 211, the second detector 221, and the controller 23. The device body 20 includes a main body 21 and a fork 22. The main body 21 has autonomous traveling capability; tines 22 are provided on body 21 for carrying an object and moving with body 21. A first detector 211 provided on the main body 21; a second detector 221 disposed on the tine 22; the second detector 221 cooperates with the first detector 211 to detect an environmental parameter around the device body 20. And the controller 23 is in communication connection with the first detector 211 and the second detector 221 and is used for controlling the equipment body 20 to move according to the environmental parameters detected by the second detector 221 and the first detector 211.
The autonomous moving apparatus in the present embodiment may be any apparatus capable of autonomously performing a spatial movement in its working environment, and for example, may be an unmanned vehicle (logistics distribution vehicle), a robot (such as a transfer robot, a goods sorting robot, and the like). Of course, the structure and external contour of the device body 20 may vary according to the specific work task, work environment, etc. of the autonomous mobile device. The present embodiment does not specifically limit the structure, the outer contour, and the like of the device body 20 of the autonomous moving device.
As shown in fig. 4 (a) and 4 (b), the tine 22 is provided with a moving member 222; the movable member 222 may be a jacking portion 222 of the tine 22; correspondingly, the tine 22 also has a fixing 223; the lifting portion 222 is located above the fixing portion 223, and forms a closed or semi-closed space with the fixing portion 223. The second detector 221 is accommodated in the space, so that the second detector 221 can be prevented from being collided by an obstacle, and the possibility that the second detector 221 is damaged is reduced.
The movable member 222 has at least two movable positions; when the movable member 222 moves to the first position, the second detector 221 is shielded. That is, when the raising portion 222 is lowered to a position overlapping the fork 22, the raising portion 222 and the fixing portion 223 form a closed space, and the second probe 221 is closed in the closed space. When the movable element 222 moves to the second position, the second detector 221 is exposed to detect the environmental parameter. That is, when the lifting portion 222 is lifted, the lifting portion 222 and the fixing portion 223 form a semi-closed space having an opening, and at this time, the second probe 221 is exposed through the opening. The movable member 222 moves between the first position and the second position according to the use requirement, so that the second detector 221 is exposed when in use and is located in the closed space when not in use, thereby protecting the second detector 221.
The second probe 221 may be provided on the fixing portion 223, or the second probe 221 may be provided on the lifting portion 222. As shown in fig. 5 (a) and 5 (b), the second probe 221 is disposed on the fixing portion 223, and when the lifting portion 222 moves to a second position relative to the fixing portion 223, the second probe 221 is exposed through a lateral gap between the lifting portion 222 and the fixing portion 223; or the second probe 221 is disposed on the lifting portion 222, and when the second probe 221 moves along with the lifting portion 222 and is lifted to the second position, the second probe 221 is exposed through a lateral gap between the lifting portion 222 and the fixing portion 223. Similarly, the movable member 222 moves between the first position and the second position according to the use requirement, so that the second detector 221 is exposed when in use and is located in the closed space when not in use, thereby protecting the second detector 221.
Further, the cross section of the jacking portion 222 may be a channel structure with one open end; correspondingly, the cross section of the fixing part 223 is also of a groove-shaped structure with one open end; the groove-shaped structure of the lifting part 222 is relatively buckled with the opening of the groove-shaped structure of the fixing part 223 to form a space. When the lifting portion 222 is fastened to the fixing portion 223, the lifting portion 222 may be fastened in the groove of the fixing portion 223, or the lifting portion 222 may be fastened outside the groove of the fixing portion 223.
Further, the shape of the tines 22 is varied, and for ease of docking tasks, the tines 22 have a straight section and a constricted section along the length of the tines 22, the constricted section being located at the end of the straight section and remote from the body 21; the contraction section gradually narrows from the straight section; a second detector 221 is disposed at the intersection of the straight section and the constricted section.
In the embodiment of the present application, the arrangement schemes of the first detector 211 and the second detector 221 include various schemes.
In an implementation, the first detector 211 and the second detector 221, if disposed on the surface of the apparatus body 20, are easily damaged by collision. In order to improve the use safety of the detector, a first groove is formed in the main body 21, and the groove walls on two sides of the first groove form a V shape; the first detector 211 is disposed at the junction of the two side cell walls such that the first detector 211 has a detection viewing angle of 270 degrees. The second detector 221 is disposed in the space formed by the channel formation of the raised portion 222 and the channel formation of the fixed portion 223 (i.e. no grooves need be provided on the tines 22). In this embodiment, the first detector 211 and the second detector 221 may be diagonally disposed, or may not be diagonally disposed, and the embodiment of the present application is not limited.
Specifically, the main body 21 has a symmetry plane parallel to the traveling direction on which the vertex of the V-shape is located, and the first detector 211 is disposed at the vertex of the V-shape.
In this embodiment, the fork 22 may be a single fork or a double fork, and as shown in fig. 3, when the fork 22 is a single fork, if the single fork 22 does not carry the cargo, the detection angle of view of the second detector during detection is close to 360 degrees. If the single fork 22 carries the goods, the detection visual angle of the second detector 221 arranged on the single fork 22 can provide 360 degrees obstacle avoidance under the matching of the detection visual angle of 270 degrees provided by the first detector 211.
As shown in fig. 2, when the fork 22 is a double fork, the second detector 221 is disposed on one sub-fork 22 of the double fork 22; along the length of the sub-tine 22, the sub-tine 22 has a straight section and a contracted section, the contracted section is located at the end of the straight section and is far away from the main body 21; the contraction section gradually narrows from the straight section; the second detector 221 is disposed at the junction of the straight section and the contracted section, and near the outer edge of the straight section. At this time, if the sub-tine 22 does not carry the cargo, the detection view angle of the second detector during detection is close to 360 degrees. If the sub-fork 22 carries the goods, the detection visual angle of the second detector 221 arranged on the sub-fork 22 can also provide 360 degrees obstacle avoidance under the matching of the detection visual angle of 270 degrees provided by the first detector 211. In another realizable scheme, a first groove is arranged on the main body 21, a second groove is arranged at the end part of the fork tooth 22, and the groove walls of two sides of the second groove form a V shape; the second detector 221 is disposed at a connection portion of two side groove walls of the second groove, so that the second detector 221 has a detection viewing angle of 270 degrees. The first detector 211 and the second detector 221 may be disposed diagonally.
Specifically, along the length of the tine 22, the tine 22 has a straight section and a constricted section, the constricted section being located at the end of the straight section and away from the body 21; the contraction section gradually narrows from the straight section; the vertex of the V-shape formed by the groove walls at the two sides of the second groove is positioned at the joint of the straight section and the contraction section and is close to the outer edge of the straight section.
A group of front detectors and rear detectors which are distributed diagonally are adopted, so that the front and rear bidirectional operation of the autonomous mobile equipment can be safely and reliably realized, and the flexibility and convenience of the autonomous mobile equipment in the transportation process can be ensured.
At this time, a first groove is provided on the main body 21, and a first detector 211 is provided at the front left (or front right) of the first groove to provide a detection angle of view of 270 degrees; accordingly, providing the second detector 221 at the right rear (or left rear) of the tine 22 provides a detection view angle of 270 degrees, enabling the autonomous mobile device to achieve 360 degree obstacle avoidance.
In this embodiment, the tines 22 may likewise be single tines or double tines. As shown in fig. 6, when the fork 22 is a single fork, the second detector 221 is arranged at the right rear of the single fork, and the first detector 211 is arranged at the left front of the first groove of the main body 21; or the second probe 221 is disposed at the rear left of the single tine and the first probe 211 is disposed at the front right of the first groove of the body 21. The first detector 211 and the second detector 221 may constitute a 360-degree detection angle of view.
As shown in fig. 7, when the fork 22 is a single fork, the second probe 221 is disposed right behind the right fork, and the first probe 211 is disposed left ahead of the first groove of the body 21; or the second probe 221 is disposed to the left of and behind the left tine and the first probe 211 is disposed to the right of and in front of the first groove in the body 21.
In the embodiment of the present application, the first detector 211 and the second detector 221 located at a set of diagonal positions may be located at the same height or different heights. Preferably, the first detector 211 and the second detector 221 are disposed at the same height, so that the environmental parameters at the same height can be detected, and the obtained environmental parameters are more reliable.
The first detector 211 and the second detector 221 may be the same type of sensor or different types of sensors. For example, the first detector 211 and the second detector 221 are both lidar; or the first detector 211 is a laser radar and the second detector 221 is an ultrasonic sensor; alternatively, the first detector 211 may be a laser radar, and the second detector 221 may be a depth camera, which is not particularly limited in this embodiment.
According to the technical scheme provided by each embodiment of the application, the main body and the fork teeth of the equipment body are respectively provided with the detectors, and the detectors comprise first detectors respectively arranged on the main body and second detectors arranged on the fork teeth; the first detector and the second detector are used for detecting environmental parameters around the equipment body; the controller can control the equipment body to move according to the first environmental parameter and the second environmental parameter detected at different angles. Set up the second detector on the prong, can solve among the prior art laser radar at main part top and bear the weight of article by independently moving equipment and shelter from, the obstacle avoidance potential safety hazard that the environmental parameter at unable detection fork truck rear leads to has improved the safe performance of keeping away the obstacle of independently moving equipment.
Here, it should be noted that: in this embodiment, the autonomous mobile device may further implement the other functions, method steps, and the like mentioned above besides the functions described above, and specific contents may refer to corresponding contents in the above embodiments, which are not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (11)
1. An autonomous mobile device, comprising:
a device body comprising a main body and tines; wherein the body has autonomous travel capability, the tines being disposed on the body for carrying an object and moving with the body;
a first detector disposed on the body;
a second probe disposed on the tine; the second detector and the first detector are used for detecting environmental parameters around the equipment body;
and the controller is in communication connection with the first detector and the second detector and is used for controlling the equipment body to move according to the environmental parameters detected by the second detector and the first detector.
2. The autonomous mobile apparatus of claim 1 wherein the tines have moving members thereon;
the fork tine also has a space for accommodating the second detector;
the movable piece is provided with at least two movable positions;
when the movable piece moves to the first position, the second detector is shielded; when the movable piece moves to the second position, the second detector is exposed to the outside to detect the environmental parameter.
3. The autonomous mobile apparatus of claim 2 wherein the moving member is a raised portion of the tine; the tine also has a fixing;
the jacking part is positioned above the fixed part and forms a closed or semi-closed space with the fixed part.
4. The autonomous mobile device of claim 3,
the second detector is arranged on the fixed part, and when the jacking part moves relative to the fixed part to rise to the second position, the second detector is exposed outside through a lateral gap between the jacking part and the fixed part; or
The second detector is arranged on the jacking portion, and when the second detector moves to the second position along with the jacking portion, the second detector is exposed outside through a lateral gap between the jacking portion and the fixing portion.
5. The autonomous mobile device of claim 4,
the cross section of the jacking part is of a groove-shaped structure with one open end;
the cross section of the fixing part is of a groove-shaped structure with one open end;
the groove-shaped structure of the jacking part is oppositely buckled with the opening of the groove-shaped structure of the fixing part to form the space.
6. The autonomous mobile apparatus of any of claims 1 to 5, wherein the first probe is diagonally disposed from the second probe.
7. The autonomous mobile apparatus of claim 6 wherein along the length of the tine, the tine has a straight section and a constricted section, the constricted section being located at the end of the straight section and distal from the body;
the contraction section gradually narrows from the straight section;
the second detector is arranged at the joint of the straight section and the contraction section.
8. The autonomous mobile device of any of claims 1-5,
the main body is provided with a first groove, and the groove walls on two sides of the first groove form a V shape;
the first detector is arranged at the joint of the two side groove walls, so that the first detector has a detection visual angle of 270 degrees.
9. The autonomous mobile apparatus of claim 8 wherein the body has a plane of symmetry parallel to the direction of travel, the apex of the chevron being located on the plane of symmetry.
10. The autonomous mobile device of claim 1,
the end part of the fork tooth is provided with a second groove, and the groove walls on two sides of the second groove form a V shape;
the second detector is arranged at the joint of the two side groove walls of the second groove, so that the second detector has a detection visual angle of 270 degrees.
11. The autonomous mobile device of claim 10,
along its length, the tine has a straight section and a contracted section, the contracted section being located at the end of the straight section and distal to the body;
the contraction section gradually narrows from the straight section;
the vertex of the V-shape formed by the groove walls at the two sides of the second groove is positioned at the joint of the straight section and the contraction section and is close to the outer edge of the straight section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110638904.7A CN115454043A (en) | 2021-06-08 | 2021-06-08 | Autonomous mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110638904.7A CN115454043A (en) | 2021-06-08 | 2021-06-08 | Autonomous mobile device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115454043A true CN115454043A (en) | 2022-12-09 |
Family
ID=84294503
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110638904.7A Pending CN115454043A (en) | 2021-06-08 | 2021-06-08 | Autonomous mobile device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115454043A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208716796U (en) * | 2018-06-24 | 2019-04-09 | 巨化集团公司汽车运输有限公司 | A kind of special vehicle monitoring operation management system |
| CN110550579A (en) * | 2019-09-10 | 2019-12-10 | 灵动科技（北京）有限公司 | Automatic guide forklift |
| WO2020184752A1 (en) * | 2019-03-12 | 2020-09-17 | 엘지전자 주식회사 | Cart moving in parallel with installation, and moving method therefor |
| CN212669124U (en) * | 2020-05-27 | 2021-03-09 | 广州蓝胖子移动科技有限公司 | Forklift truck |
| CN213021712U (en) * | 2020-10-23 | 2021-04-20 | 浙江中技建设工程检测有限公司 | Multifunctional sensor |
| CN112830428A (en) * | 2020-06-18 | 2021-05-25 | 陈凤阳 | System for correcting forklift AGV (automatic guided vehicle) measurement fork tray posture and working method thereof |
| CN112849898A (en) * | 2019-11-27 | 2021-05-28 | 北京极智嘉科技股份有限公司 | Self-driven robot and carrying method thereof |
| CN215494706U (en) * | 2021-06-08 | 2022-01-11 | 灵动科技（北京）有限公司 | Autonomous mobile device |
-
2021
- 2021-06-08 CN CN202110638904.7A patent/CN115454043A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208716796U (en) * | 2018-06-24 | 2019-04-09 | 巨化集团公司汽车运输有限公司 | A kind of special vehicle monitoring operation management system |
| WO2020184752A1 (en) * | 2019-03-12 | 2020-09-17 | 엘지전자 주식회사 | Cart moving in parallel with installation, and moving method therefor |
| CN110550579A (en) * | 2019-09-10 | 2019-12-10 | 灵动科技（北京）有限公司 | Automatic guide forklift |
| CN112849898A (en) * | 2019-11-27 | 2021-05-28 | 北京极智嘉科技股份有限公司 | Self-driven robot and carrying method thereof |
| CN212669124U (en) * | 2020-05-27 | 2021-03-09 | 广州蓝胖子移动科技有限公司 | Forklift truck |
| CN112830428A (en) * | 2020-06-18 | 2021-05-25 | 陈凤阳 | System for correcting forklift AGV (automatic guided vehicle) measurement fork tray posture and working method thereof |
| CN213021712U (en) * | 2020-10-23 | 2021-04-20 | 浙江中技建设工程检测有限公司 | Multifunctional sensor |
| CN215494706U (en) * | 2021-06-08 | 2022-01-11 | 灵动科技（北京）有限公司 | Autonomous mobile device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10266351B2 (en) | Automated truck unloader for unloading/unpacking product from trailers and containers | |
| KR102495412B1 (en) | Materials handling vehicle path validation and dynamic path modification | |
| EP2945895B1 (en) | Automatic tire loader/unloader for stacking/unstacking tires in a trailer | |
| US8562277B2 (en) | System and method for automated truck loading | |
| JP2019168942A (en) | Moving body, management device, and moving body system | |
| CN215494706U (en) | Autonomous mobile device | |
| WO2023000944A1 (en) | Autonomous mobile device | |
| US20210078842A1 (en) | Vehicle comprising a surroundings monitoring device | |
| KR20210127075A (en) | Autonomous Forklift Truck | |
| JP7164085B2 (en) | Work transport method using moving body, computer program, and moving body | |
| WO2022116649A1 (en) | Control method and apparatus for carrying device, carrying device, and storage medium | |
| CN115454043A (en) | Autonomous mobile device | |
| Yoon et al. | Analysis of automatic through autonomous-unmanned ground vehicles (A-UGVs) towards performance standards | |
| CN216863543U (en) | Autonomous mobile transport vehicle | |
| Beinschob et al. | Strategies for 3D data acquisition and mapping in large-scale modern warehouses | |
| EP3269679B1 (en) | Floor conveyor | |
| Song et al. | Implementation of distributed architecture based on CAN networks for unmanned forklift | |
| CN211044013U (en) | Mobile robot | |
| CN115465810A (en) | Autonomous mobile transport vehicle and control method | |
| US20240061428A1 (en) | Systems and methods of guarding a mobile robot | |
| Bosio | How sensors are moving materials handling towards safe automation | |
| US11953908B2 (en) | Deployable safety fence for mobile robots | |
| EP4343361A1 (en) | A sensor system and a method for a mining vehicle | |
| WO2023192333A1 (en) | Automated identification of potential obstructions in a targeted drop zone | |
| Simon et al. | 3D camera augmented Autonomous Mobile Robot for intralogistics purposes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |