TW201925944A - Power wheel and cooperative carrying method thereof - Google Patents

Abstract

A power wheel including a positioning device, a wireless communication module, and a controller is provided, where the controller is configured to operate in an active mode or a passive mode. When operating in the passive mode, the controller is configured to: acquire route information and moving information from the power wheel operating in the active mode, and acquire relative position information with the other power wheels; and determine a rotation strategy of the power wheel according to the route information, the moving information and the relative position information. When operating in the active mode, the controller is configured to: acquire the route information, and transmit the route information to the other power wheels; determine a rotation strategy of the power wheel according to the route information. In addition, a cooperative carrying method of the power wheel is also provided.

Description

Power wheel and its co-transport method

The present disclosure relates to a handling element, and more particularly to a modular power wheel and co-transporting method therefor.

In the field of automatic control technology, there are more and more related developments and research on Auto Guided Vehicles (AGVs). However, the handling operation of the conventional unmanned carrier must depend on the weight and size of the unmanned carrier to determine the size and shape of the object to be carried. That is to say, if the carrying object has a special appearance, the conventional unmanned carrier will not be able to carry it. Therefore, how to design a mechanism to make unmanned handling operations more flexible is one of the important topics in this field.

The present invention provides a power wheel and a co-transport method thereof, which can be adapted to conveyed articles of various shapes and cooperatively carried, and has extremely high elasticity.

The power wheel of the disclosed embodiment is configured to cooperate with a plurality of power wheels to carry articles, each of the power wheels including a positioning component, a wireless communication module, and a controller. The controller is coupled to the positioning component and the wireless communication module for operating in one of an active mode and a passive mode. When the controller is in the passive mode, the controller is configured to: obtain the path information and the movement information from the power wheel operating in the active mode by using the wireless communication module, and obtain the relative position between itself and the other power wheels by using the positioning component. Information; and determine the rotation strategy based on path information, mobile information, and relative location information. When the controller is operating in the active mode, the controller is configured to: obtain path information, and transmit path information and move information to other power wheels; and determine a rotation strategy according to the path information.

In an embodiment of the present disclosure, when the controller is operated in the active mode, the method further generates: generating movement information according to a rotation strategy of the power wheel; and transmitting the movement information to the plurality of power wheels operating in the passive mode. .

In an embodiment of the present disclosure, the rotation strategy described above includes a rotational speed and a rotational direction.

In an embodiment of the present disclosure, each of the power wheels includes a fixing member for fixing to the object to be transported.

In an embodiment of the present disclosure, each of the power wheels includes an identification tag and an image sensing component. The identification tag is placed on the side of each power wheel. The image sensing component is coupled to the controller for acquiring the identification tags of the other power wheels to identify the other power wheels.

In an embodiment of the present disclosure, the positioning component is an optical ranging component.

In an embodiment of the disclosure, the positioning component is a global positioning system module.

The cooperative handling method of the disclosed embodiments is applicable to a plurality of power wheels to cooperatively transport articles. The first one of the plurality of power wheels operates in an active mode, and the plurality of second power wheels of the plurality of power wheels operate in a passive mode. The carrying method includes: the first power wheel acquires the path information, and transmits the path information to the second power wheel; the second power wheel respectively obtains the relative position information with the first power wheel and the other second power wheel; The wheel determines a rotation strategy of the first power wheel according to the path information; the first power wheel generates movement information according to the rotation strategy of the first power wheel, and transmits the movement information to the second power wheel; and the second power wheel respectively receives the path information and The information is moved, and the rotation strategy of each second power wheel is determined according to the path information, the movement information, and the relative position information.

In an embodiment of the present disclosure, the step of obtaining the relative position information of the second power wheel and the first power wheel and the other second power wheel respectively includes: the second power wheel is driven by the first power wheel and the other second power The identification tag of the wheel identifies the first power wheel and the other second power wheel; and the second power wheel uses the optical ranging component to obtain relative position information with the first power wheel and the other second power wheel, respectively.

In an embodiment of the present disclosure, the rotation strategy described above includes a rotational speed and a rotational direction.

Based on the above, the power wheel and the co-transport method thereof according to the embodiments of the present disclosure can make the power wheel according to the other power wheel through various components such as a controller, a positioning component, and a wireless communication module provided on the power wheel. Communication between them determines their own rotation strategy. According to this, it is possible to carry out an object of any shape by being convenient in use and free from space constraints.

The above described features and advantages of the present invention will be more apparent from the following description.

The term "coupled" as used throughout the specification (including the scope of the patent application) may be used in any direct or indirect connection. For example, if the first device is described as being coupled to the second device, it should be construed that the first device can be directly coupled to the second device, or the first device can be indirectly through other devices, wires or some means of connection. The ground is coupled to the second device. In addition, wherever possible, the elements and/ Elements/components/steps that use the same reference numbers or use the same terms in different embodiments may refer to the related description.

1A is a schematic block diagram of a power wheel according to an embodiment of the present disclosure; FIG. 1B is a first perspective view of the power wheel according to an embodiment of the present disclosure; FIG. 1C is a second view of the power wheel according to an embodiment of the present disclosure; Schematic diagram of the perspective.

Referring to FIG. 1A , FIG. 1B and FIG. 1C , the power wheel 100 of the embodiment includes a controller 110 , a positioning component 120 , a wireless communication module 130 , an image sensing component 140 , a power component 150 , and a power source 160 . The 110 is coupled to the optical ranging component 120 , the wireless communication module 130 , the image sensing component 140 , the power component 150 , and the power source 160 . In addition to this, the power wheel 100 of the present embodiment further includes a fixing member 170 and an identification tag 180.

In the present embodiment, the plurality of power wheels 100 are respectively implemented as an omnidirectional wheel or the like that can move in any direction on the plane without changing the posture, so that the plurality of power wheels 100 collectively perform the cooperative handling of the disclosed embodiment. In the method, it is possible to cooperatively carry the articles stably in accordance with specific requirements (for example, without rotating the conveyed articles). However, the disclosure does not limit the specific requirements described above. In other embodiments, the particular requirements described above may also be, for example, to rotate the item being transported in a particular manner in order to meet the constraints of the terrain or route.

In this embodiment, the controller 110 operates in an active mode or a passive mode to be responsible for the overall operation of the power wheel 100, which includes, for example, a central processing unit (CPU) composed of a single core or multiple cores, or Other programmable general purpose or special purpose microprocessors, digital signal processors (DSPs), programmable controllers, Application Specific Integrated Circuits (ASICs), Programmable Logic Device (PLD) or other similar device or a combination of these devices. In particular, the disclosed embodiment provides a controller 110 in a power wheel 100 to control the operation of the power wheel 100. Accordingly, when the plurality of power wheels 100 cooperatively transport the articles, each of the power wheels 100 can cooperate with the rotational direction at different rotational speeds according to the rotation strategy determined by the respective controllers 110, respectively. The operation of the controller 110 in the active mode and the passive mode, respectively, will be described in detail in the following paragraphs.

In one embodiment, the positioning component 120 is, for example, an optical ranging component that includes a laser transceiver module that can be used to obtain distance data within a field of view (FOV). For example, the optical ranging component includes, for example, a plurality of other power wheels 100 within a field of view of the optical ranging component, and the laser transceiver module emits a laser pulse, and the laser pulse reflects after the surface of the object is hit to the laser transmitting and receiving module. The group receives a reflected laser pulse. The time difference between the two time points at which the laser pulse is transmitted and received may correspond to the time-of-flight (TOF) of the photon. Accordingly, the distance between the laser transceiver module and the other power wheels can be calculated by combining the flight time of the photons with the speed of light. However, the disclosure does not limit the specific implementation and data type of the optical ranging component and the original data obtained therefrom. In other embodiments, the optical ranging component can also obtain distance data in the field of view, for example, using structured light or other different methods. Those skilled in the art can implement optical ranging components according to their needs. Get distance information. After the distance data between the power wheel 100 and the other power wheels, the relative position information between the other power wheels of the power wheel 100 can be obtained.

In another embodiment, the positioning component 120 is, for example, a Global Positioning System (GPS) module, and obtains positioning information of the power wheel 100 through the global positioning system GPS. In other embodiments, the positioning component 120 can also obtain the positioning information of the power wheel 100 by, for example, 3G network positioning, Wifi network positioning, or IP address location. By sharing the respective positioning information between the plurality of power wheels 100, the relative position information between the plurality of power wheels 100 can be obtained.

In this embodiment, the wireless communication module 130 is configured to communicate with other power wheels 100, for example, supporting Bluetooth, WiFi, Worldwide Interoperability for Microwave Access (WiMax), and Near Field Communication (Near Field Communication, The wireless communication module of various wireless communication standards such as NFC) and Long Term Evolution (LTE) is not limited in this disclosure. In an embodiment, when the controller 110 is operating in the active mode, the wireless communication module 130 can be further used to communicate with an external device to obtain path information from the external device.

In this embodiment, the image sensing component 140 is configured to obtain an image including the identification tag 180 disposed on the other power wheel, and the controller 110 can recognize the object to be transported according to the image obtained by the image sensing component 140. The other power wheels reuse the information obtained by the positioning component 120 to determine the relative position information of itself and other power wheels. The image sensing component 140 is, for example, a Charge Coupled Device (CCD) image sensor or a Complementary Metal-Oxide Semiconductor (CMOS) image sensor, and the like. The disclosure is not limited.

In the present embodiment, the power element 150 is controlled by the controller 110 to provide power when the power wheel 100 rotates according to a rotation strategy determined by the controller 110 and to control the direction of rotation, such as, but not limited to, a power motor system. In detail, the greater the power provided by the power component 150, the faster the rotational speed of the power wheel 100 can be rotated, or the greater the torque when rotating, and the greater the torque during rotation, the load of the power wheel 100. The ability is stronger. In the embodiment, the rotation strategy includes the rotation speed of the power wheel 100, the rotation direction, and the like, but is not limited thereto.

In the present embodiment, the power source 160 is used to provide power required by the power wheel 100, such as a lithium battery, a lithium ion battery, or an alkaline battery, etc., and the disclosure is not limited thereto. In particular, each of the modular power wheels 100 in this embodiment is provided with a power source 160, which further improves the flexibility in use.

In the present embodiment, the fixing member 170 is used for fixing to the object to be carried, which may be, for example, a carrying platform or a locking member (for example, a screw, a bolt, etc.), etc., and the disclosure is not limited thereto.

In the present embodiment, the identification tag 180 is disposed on the side of the power wheel 100, and may include, for example, information of the number information of the power wheel 100, the rotation strategy information, one of the operation modes, or a combination thereof, but the invention is not limited thereto. this. It should be noted that in order to enable the identification tag 180 to be included in the field of view of the image sensing component 140 of the other power wheel 100 as much as possible, the power wheel 100 may also include a plurality of identical identification tags 180 disposed on the power wheel 100. Multiple sides.

With the cooperation of the plurality of power wheels 100 in the above embodiment, the object of any shape or weight distribution can be carried without being rotated and stably on the plane. Hereinafter, a cooperative transportation method of the embodiment of the present disclosure will be described by way of embodiments.

2 is a schematic diagram of a cooperatively transported article in an embodiment of the present disclosure.

Referring to FIG. 2, the conveyed object OB is co-transported by a plurality of power wheels 100, and the plurality of power wheels 100 includes a power wheel 100_1, a power wheel 100_2, a power wheel 100_3, and a power wheel 100_4. In the present embodiment, the four corners of the object OB are fixed to the four power wheels 100_1, 100_2, 100_3, 100_4 through the fixing member 170. In particular, the object OB is an irregular quadrilateral, and thus the distance between the two power wheels 100_1, 100_2, 100_3, and 100_4 is different from the setting direction.

In the embodiment, when the four power wheels 100_1, 100_2, 100_3, and 100_4 are fixed on the object OB, the identification labels 180 of the power wheels are all disposed inward, so that the identification labels 180 of the respective power wheels can be included in other The image sensing component 140 of the power wheel is in the field of view. For example, the power wheel 100_1 can recognize the power wheels 100_2, 100_3, 100_4 that cooperate with the object OB by the identification tags 180 of the power wheels 100_2, 100_3, 100_4.

In the present embodiment, the power wheel 100_1 serves as a leading power wheel, and the power wheels 100_2, 100_3, 100_4 serve as auxiliary power wheels. The leadership power wheel is operated in an active mode. The driving power wheel 100_1 operating in the active mode obtains the path information, and determines the carrying direction and the carrying speed of the object OB according to the path information, and the auxiliary power wheel operates in the passive mode to match the leading power wheel on the plane. The object OB is carried on the premise that the object OB is not rotated.

In an embodiment, the path information is, for example, a preset path of the object OB from an external device (not shown). After the leader power wheel 100_1 is connected to the external device and receives the path information, the path information is determined according to the path information. Rotation strategy (for example, direction of rotation and speed of rotation). In addition, the leader power wheel 100_1 will also send this path information to the auxiliary power wheels 100_2, 100_3, 100_4. Accordingly, the auxiliary power wheels 100_2, 100_3, 100_4 can also determine their rotation strategy based on the path information.

In another embodiment, the path information may also be, for example, remote control information from an external device. The external device communicates with the leader power wheel 100_1 in real time, and directly transmits path information such as left turn and right turn to the lead power wheel 100_1 to control the rotation strategy of the lead power wheel 100_1. Similarly, the leader power wheel 100_1 transmits the received route information to the auxiliary power wheels 100_2, 100_3, 100_4.

In another embodiment, the lead power wheel 100_1 includes, for example, a laser scanner coupled to the controller 110. The laser scanner is used to scan the spatial distribution information around the leading power wheel 100_1 so that the controller 110 of the leading power wheel 100_1 can plan and obtain the path information according to the spatial distribution information.

However, the disclosure is not limited to this. In other embodiments, the path information may also be pre-loaded on the leader power wheel 100_1 or otherwise enabled to enable the lead power wheel 100_1 to obtain route information.

After the leader power wheel 100_1 determines the rotation strategy according to the path information, the rotation strategy is converted into the movement information, and the movement information is transmitted to the other auxiliary power wheels 100_2, 100_3, 100_4. For example, the leader power wheel 100_1 transmits the rotation direction and the rotation speed to the auxiliary power wheels 100_2, 100_3, 100_4 through the wireless communication module 130.

The auxiliary power wheels 100_2, 100_3, and 100_4 operating in the passive mode receive the relative position information between the driving power wheel 100_1 and the other auxiliary power wheels in addition to the path information and the movement information from the leading power wheel 100_1. . Taking the auxiliary power wheel 100_3 as an example, in the embodiment, the auxiliary power wheel 100_3 first uses the image sensing component 140 to recognize the cooperative object from the plurality of identification tags 180 of the other power wheels 100_1, 100_2, and 100_4. The power wheels 100_1, 100_2, 100_4 of the OB are further transmitted through the positioning element 120 (for example, an optical distance measuring element) to obtain the distance between the auxiliary power wheel 100_3 and the leading power wheel 100_1 and the auxiliary power wheels 100_2, 100_4.

In another embodiment, the auxiliary power wheel 100_3 can obtain the positioning component 120 of the leading power wheel 100_1 and the auxiliary power wheels 100_2, 100_4 from the leading power wheel 100_1 and the auxiliary power wheels 100_2, 100_4, for example, by the wireless communication module 130. Location information obtained (for example, GPS module). With this position information, the auxiliary power wheel 100_3 can calculate the relative position information between itself and the other power wheels 100_1, 100_2, 100_4.

The remaining power wheels 100_1, 100_2, and 100_4 can also obtain relative position information between themselves and other power wheels by a similar method, and details are not described herein again.

In an embodiment, the identification tag 180 can be, for example, a display screen or at least one LED light of a different color or pattern. In another embodiment, the identification tag 180 can be, for example, number information indicating the power wheel to which it belongs. When any of the auxiliary power wheels receives the movement information from the leading power wheel through the wireless communication module 130, the number information of the leader power wheel can be known from the middle, and the leader power wheel is recognized from the identification tag 180. In addition, the auxiliary power wheel can also obtain the number information of the other auxiliary power wheels through the wireless communication module 130 to identify other auxiliary power wheels in cooperation with it. In other words, the present disclosure does not limit the specific technical means for recognizing the power wheel of the cooperatively transporting object OB by the identification tag 180, and those skilled in the art can implement it according to their needs.

After the auxiliary power wheels 100_2, 100_3, and 100_4 respectively obtain the relative position information between themselves and the other power wheels, they can be based on the path information, the movement information obtained from the leader power wheel 100_1, and between themselves and other power wheels. The relative position information determines the rotation strategy of the auxiliary power wheels 100_2, 100_3, 100_4, for example, determines the respective rotation speeds and rotation directions of the auxiliary power wheels 100_2, 100_3, 100_4. In this way, after the respective rotational speeds and rotational directions of the power wheels 100_1, 100_2, 100_3, and 100_4 are determined, the object OB can be cooperatively transported without rotating the object OB.

It is worth mentioning that when the shape of the carried object OB is irregular, the weight of each power wheel is also different. When the weight of some parts of the object OB is too heavy, causing the load bearing of at least one of the power wheels 100_1, 100_2, 100_3, 100_4 to exceed the load, the user may, for example, fix the additional power wheel to the object OB by itself (for example, increase A new auxiliary power wheel is between the power wheel 100_1 and the power wheel 100_2). In particular, the newly added power wheel can automatically adapt and cooperate with the existing power wheels 100_1, 100_2, 100_3, 100_4 to carry the object OB by the method in the above disclosed embodiment.

FIG. 3 is a flow chart of a cooperative handling method according to an embodiment of the present disclosure.

Referring to FIG. 3, the cooperative transport method introduced in this embodiment is applied to the power wheel 100 of the above embodiment. Therefore, the present embodiment will be described with reference to the power wheel of the foregoing embodiment. The same reference numerals will be used to refer to the same or similar elements, and the repeated steps will not be described again.

In step S310, the controller 110 of the power wheel 100 determines whether to operate in an active mode or a passive mode. In this embodiment, the controller 110 can be connected, for example, to an external device, receiving an indication from the external device to decide to operate in an active mode or a passive mode. In another embodiment, the side of the power wheel 100 is provided with a physical button for selecting an operating mode to be an active mode or a passive mode. In still another embodiment, the plurality of power wheels 100 communicate with each other through the wireless communication module 130, for example, and one of the power wheels 100 is determined according to the position of the power wheel 100 relative to the object OB or the remaining power of each power wheel 100. The power wheel 100 operates in an active mode while the other operates in a passive mode. In other words, the present disclosure does not limit the selection of one of the plurality of power wheels 100 to operate in the active mode.

If the power wheel 100 is operating in an active mode (eg, the power wheel 100_1), in step S320, the power wheel 100 will obtain path information and transmit the path information to other power wheels (eg, power) operating in the passive mode. Wheels 100_2, 100_3, 100_4). In step S330, the controller 110 of the power wheel 100 determines the rotation strategy of the power wheel 100 based on the acquired route information to operate the power wheel 100. Finally, in step S340, the power wheel 100 generates movement information according to its rotation strategy, and transmits the movement information to other power wheels (for example, the power wheels 100_2, 100_3, 100_4) operating in the passive mode.

If the power wheel 100 is operating in a passive mode (for example, the power wheels 100_2, 100_3, 100_4), in step S350, the power wheel 100 will obtain relative position information with other power wheels, respectively. In one embodiment, the power wheels 100 (eg, the power wheels 100_2, 100_3, 100_4) operating in the passive mode will first recognize the other power wheels by the identification tags 180 of the other power wheels. Subsequently, the optical ranging component is used to obtain relative position information between itself and the other power wheels. In another embodiment, the power wheel 100 (eg, the power wheels 100_2, 100_3, 100_4) operating in the passive mode can obtain the other power wheels from the other power wheels through the wireless communication module 130. Location information, then integrate all location information to get relative position information between itself and other power wheels.

In step S360, the power wheel 100 receives the path information and the movement information from the power wheel (for example, the power wheel 100_1) operating in the active mode by the wireless communication module 130. Finally, in step S370, the controller 110 of the power wheel 100 determines the rotation strategy of the power wheel 100 to operate the power wheel 100 according to the obtained path information, movement information, and relative position information.

In summary, the power wheel and the co-transport method thereof according to the embodiments of the present disclosure can make the power wheel according to other powers through various components such as a controller, a positioning component, and a wireless communication module provided on the power wheel. The communication between the wheels determines the rotation strategy of the wheel. According to this, it is possible to carry out the convenience of use and carry the object of any shape without being limited by space.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and any one of ordinary skill in the art can make some changes and refinements without departing from the spirit and scope of the present invention. The scope of the invention is defined by the scope of the appended claims.

100, 100_1, 100_2, 100_3, 100_4‧‧‧ power wheels

110‧‧‧ Controller

120‧‧‧ Positioning components

130‧‧‧Wireless communication module

140‧‧‧Image sensing components

150‧‧‧Power components

160‧‧‧Power supply

170‧‧‧Fixed components

180‧‧‧ identification label

OB‧‧‧ objects

S310~S370‧‧‧Steps for cooperative handling method

FIG. 1A is a schematic block diagram of a power wheel in an embodiment of the present disclosure. FIG. 1B is a schematic view showing a first perspective view of a power wheel according to an embodiment of the present disclosure. FIG. 1C is a schematic view showing a second perspective view of a power wheel according to an embodiment of the present disclosure. 2 is a schematic diagram of a cooperatively transported article in an embodiment of the present disclosure. FIG. 3 is a flow chart of a cooperative handling method in an embodiment of the disclosure.

Claims (10)

A power wheel for cooperating with a plurality of power wheels for carrying articles, each of the power wheels comprising: a positioning component; a wireless communication module for communicating with the other power wheels; and a controller coupled to the The positioning component and the wireless communication module are configured to operate in one of an active mode and a passive mode, wherein when the controller operates in the passive mode, the controller is configured to: operate from the wireless communication module The power wheel of the active mode obtains path information and movement information, and obtains relative position information with the other power wheels by the positioning component; and determines rotation according to the path information, the movement information, and the relative position information. a strategy, wherein when the controller is in the active mode, the controller is configured to: obtain the path information, and transmit the path information and the movement information to the other power wheels; and determine the rotation strategy according to the path information. The power wheel of claim 1, wherein when the controller is operated in the active mode, the controller is further configured to: generate the movement information according to the rotation strategy of the power wheel; and send the movement information To the power wheels that operate in passive mode. The power wheel of claim 1, wherein the rotation strategy comprises a rotational speed and a rotational direction. The power wheel of claim 1, wherein each of the power wheels comprises: a fixing member for fixing to the object to be carried. The power wheel of claim 1, wherein each of the power wheels includes: an identification tag disposed on a side of each of the power wheels; and an image sensing component coupled to the controller for acquiring other The identification tags of the power wheels to identify other of the power wheels. The power wheel of claim 1, wherein the positioning element is an optical distance measuring element. The power wheel of claim 1, wherein the positioning component is a global positioning system module. A cooperative handling method is applicable to a plurality of power wheels for cooperatively transporting objects, wherein a first one of the power wheels operates in an active mode, and a plurality of the second power wheels of the power wheels operate in a passive mode, The cooperative driving method includes: the first power wheel acquires path information, and transmits the path information to the second power wheels; the second power wheels respectively obtain the first power wheel and the second power Relative position information of the wheel; the first power wheel determines a rotation strategy of the first power wheel according to the path information; the first power wheel generates movement information according to the rotation strategy of the first power wheel, and sends the movement information And the second power wheels respectively receive the path information and the movement information, and determine a rotation strategy of each of the second power wheels according to the path information, the movement information, and the relative position information. The cooperative handling method of claim 8, wherein the step of obtaining the relative position information of the second power wheel and the first power wheel and the second power wheels respectively comprises: the second power The wheel identifies the first power wheel and the second power wheels by the identification tags of the first power wheel and the second power wheels; and the second power wheels respectively obtain the first power wheel with the optical distance measuring component The relative position information of the power wheel and the second power wheels. The cooperative handling method of claim 8, wherein the rotation strategy comprises a rotational speed and a rotational direction.