WO2020192421A1 - 自动运输装置 - Google Patents

自动运输装置 Download PDF

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Publication number
WO2020192421A1
WO2020192421A1 PCT/CN2020/078744 CN2020078744W WO2020192421A1 WO 2020192421 A1 WO2020192421 A1 WO 2020192421A1 CN 2020078744 W CN2020078744 W CN 2020078744W WO 2020192421 A1 WO2020192421 A1 WO 2020192421A1
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WO
WIPO (PCT)
Prior art keywords
automatic
module
information
control module
transport device
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Application number
PCT/CN2020/078744
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English (en)
French (fr)
Inventor
唐杰
陈炯霖
Original Assignee
灵动科技（北京）有限公司
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Application filed by 灵动科技（北京）有限公司 filed Critical 灵动科技（北京）有限公司
Publication of WO2020192421A1 publication Critical patent/WO2020192421A1/zh

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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
    • 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

Definitions

  • the invention relates to an automatic transportation device, in particular to an automatic transportation device with an operating part with a folding function.
  • the warehousing system is one of the indispensable elements in the logistics industry and business. Based on the consideration of saving labor cost, more and more warehouse systems introduce automatic transportation robots or automatic navigation vehicles as transportation tools within the warehouse environment or between warehouses.
  • ordinary automatic transportation robots or automatic guided vehicles only have a basic cargo platform, lacking auxiliary components such as handles, displays, and cameras.
  • auxiliary components such as handles, displays, and cameras.
  • users have to face the inconvenience of manually pushing and pulling the cargo platform, but also it is difficult to communicate with the storage system.
  • Online interaction greatly limits the obstacle avoidance capabilities of transportation robots or navigation vehicles. In this way, some manufacturers are committed to developing automatic transportation robots or automatic navigation vehicles with auxiliary components such as interactive displays or cameras.
  • the operating unit integrating the above-mentioned auxiliary components is generally fixed on one side of the transportation robot or the navigation vehicle, not only the cost is high, but also the user is likely to collide with the operating unit when moving the goods, and the goods cannot be loaded and unloaded in this side direction.
  • the present invention provides an automatic transport device with an operating part with a folding function to solve the above-mentioned problems.
  • the present invention discloses an automatic transport device.
  • the automatic transportation device has a folding mode and an unfolding mode, and includes a body, a control module, a driving module, and a plurality of wheels.
  • the body includes a bearing portion and an operating portion, the bearing portion defines an accommodating space and includes a top surface and a bottom surface, the top surface is suitable for carrying goods, the bottom surface is opposite to the top surface, and the operating portion pivots Connected to the carrying part.
  • the control module is disposed in the main body, and the driving module is disposed in the main body and is electrically connected to the control module.
  • the multiple wheels are coupled to the bottom surface and include a wheel body and a motor. The wheel body is adapted to contact the ground.
  • the motor is disposed in the wheel body and electrically connected to the driving module, and the motive is suitable for driving the wheel body to roll on the ground.
  • the operating part is stored in the accommodating space; when the automatic transport device is switched to the unfolding mode, the operating part is self-contained
  • the setting space is screwed out and has an included angle with the top surface.
  • the automatic transport device of the present invention when the automatic transport device of the present invention is in the folding mode, the cargo can be loaded and unloaded in the side direction of the operating part without colliding with the operating part, which greatly improves the convenience and safety of loading and unloading cargo.
  • the automatic transportation device when the automatic transportation device is switched to the unfolding mode, the user can manually push and pull the body of the automatic transportation device through the operating part, which improves the mobility of the automatic transportation device.
  • Fig. 1 is a block flow diagram of a storage system of an automatic transport device applying an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of the appearance of the automatic transport device in an unfolded mode according to an embodiment of the present invention.
  • Fig. 3 is a schematic diagram of the appearance of the automatic transport device of Fig. 2 in a folded mode.
  • FIG. 4 is a schematic diagram of the appearance of the automatic transport device in the unfolded mode according to another embodiment of the present invention.
  • Fig. 5 is a partial enlarged view of the operation part and the display of the automatic transport device of Fig. 4.
  • Fig. 6 is a schematic diagram of the appearance of an automatic transport device in an unfolded mode according to another embodiment of the present invention.
  • Fig. 7 is a partial enlarged view of the camera module of the automatic transport device of Fig. 6.
  • FIG. 8 is a schematic diagram of environmental information received by the control module of the automatic transportation device according to an embodiment of the present invention.
  • Fig. 9 is a schematic diagram of an automatic route calculated by the automatic transportation device of Fig. 8 according to the environmental information.
  • FIG. 10 is a schematic diagram of the automatic transportation device calculating the following path according to an embodiment of the present invention.
  • the storage system 10 includes a server 2000 and at least one automatic transportation device 1000, wherein the automatic transportation device 1000 is electrically connected to the server 2000, and includes a control module 1200 and a driving module 1300, wherein the control module 1200 is used to process, control and calculate the automatic transportation device All the signals and information needed by the 1000, and the driving module 1300 is electrically connected to the control module 1200 to drive the automatic transport device 1000 to move.
  • the automatic transportation device 1000 further includes a communication module 1700, wherein the communication module 1700 is electrically connected to the control module 1200, and the automatic transportation device 1000 communicates information with the server 2000 through the communication module 1700 .
  • the automatic transportation device 1000 further includes a storage module 1800, wherein the storage module 1800 is electrically connected to the control module 1200 and the communication module 1700, and is used to store the information received by the automatic transportation device 1000 from the server 2000 through the communication module 1700.
  • Various information such as environmental information, general route information, task information, cargo placement information, and identification information, or the results calculated by the control module 1200, such as route information, etc., which will be detailed in the following content Description.
  • the automatic transportation device 1000 further includes a positioning module 1900, wherein the positioning module 1900 is electrically connected to the control module 1200 and the driving module 1300.
  • the positioning module 1900 includes an ultra-wideband transceiver (Ultra Wideband Transceiver), and the storage system 10 includes at least one ultra-wideband transceiver station. After the ultra-wideband transceiver station sends an ultra-wideband signal for positioning, the positioning module 1900 The ultra-wideband receiver will receive the ultra-wideband signal and send out the feedback signal, and the ultra-wideband transceiver station can calculate the UWB signal and the time difference, angle difference, signal strength difference and other information of the feedback signal after receiving the feedback signal.
  • the positioning components included in the positioning module 1900 are not limited to ultra-wideband transceivers, such as wireless hotspot (Wi-Fi) transceivers, radio frequency (RFID) transceivers, Bluetooth transceivers, etc., as long as they can
  • Wi-Fi wireless hotspot
  • RFID radio frequency
  • Bluetooth transceivers etc.
  • the automatic transportation device 1000 of this embodiment includes a main body 1100 and a plurality of wheels 1400, and the control module 1200, the driving module 1300, the communication module 1700, the storage module 1800, and the positioning module 1900 are all disposed in the main body 1100.
  • the main body 1100 includes a bearing portion 1120 and an operating portion 1140, wherein the bearing portion 1120 includes a top surface T, so the user can place goods on the top surface T of the bearing portion 1120 and transport it by the automatic transport device 1000, while the operating portion 1140 is pivotally connected to the supporting portion 1120 and can freely rotate relative to the supporting portion 1120.
  • the carrying portion 1120 defines the accommodating space H, and the automatic transport device 1000 of this embodiment has a folded mode and an expanded mode.
  • the carrying portion further includes a bottom surface B, wherein the bottom surface B is opposite to the top surface T, and the accommodating space H is recessed in the top surface T.
  • the operating portion 1140 can be stored in the accommodating space H as shown in FIG. 3; and when the automatic transport device 1000 is switched to the unfolded mode, the operating portion 1140 can be shown in FIG. It rotates out from the containing space H and has an angle ⁇ with the top surface T.
  • the automatic transport device 1000 can be switched to the folding mode. Since the accommodating space H is limited to the top surface T, the operation The height of the part 1140 does not exceed the top surface T, so it will not hinder the loading and unloading of the goods; and when the user needs to push and pull the automatic transport device 1000 manually, the automatic transport device 1000 can be switched to the unfolding mode, and the operating part 1140 is self-contained The space H rotates out, and the user can move the automatic transport device 1000 by pushing and pulling the operating part 1140 at this time, so the convenience of manually transporting goods can be improved.
  • the operating portion 1140 includes a housing 1142 and an operating body 1144. Specifically, the operating portion 1140 is pivotally connected to the carrying portion 1120 through the housing 1142, and the operating body 1144 is partially sleeved in the housing 1142. When the operating portion 1140 is screwed out from the accommodating space H, the operating body 1144 can expand and contract with respect to the housing 1142, as shown by the arrow in FIG. 2. Through this configuration, the user can adjust the height of the operating body 1144 according to their own needs, so that the automatic transport device 1000 is more maneuverable in use.
  • the wheel 1400 is coupled to the bottom surface B and includes a wheel body 1420 and a motor (not shown).
  • the automatic transportation device 1000 contacts the ground through the wheel body 1420, and the motor is electrically connected to the driving module 1300.
  • the control module 1200 sends a movement instruction, it can control the driving module 1300 to drive the motor, thereby driving the wheel body 1420 to roll on the ground.
  • the two wheels 1400 on the front side are driven wheels, which only roll in response to the movement of the automatic transport device 1000, and do not provide power;
  • the two wheels 1400 on the rear side are driving wheels, and the power machine can drive the wheel body 1420 to roll in response to instructions issued by the driving module 1300 at any time.
  • the configuration of the driving wheel and the driven wheel is not limited to this.
  • the two wheels 1400 on the front side may be driving wheels, and the two wheels 1400 on the rear side may be slave wheels.
  • the driving wheel or the four wheels 1400 are all driving wheels that can provide power. As long as it can achieve the effect of providing the moving power of the automatic transport device 1000 and stably moving, the present invention is not limited thereto.
  • the sensor 1500 includes an ultrasonic sensor (Ultrasonic Transducer) 1500a and a lidar (LIDAR) 1500b, wherein the ultrasonic sensor 1500a is arranged on the side surfaces S on the left and right sides relative to the moving direction of the automatic transport device 1000 , And the lidar 1500b is arranged on the side S on the front and rear sides.
  • Ultrasonic Transducer Ultrasonic Transducer
  • LIDAR lidar
  • the automatic transport device 1000 can accurately calculate the distance to objects or persons in front or behind, and when the automatic transport device is about to touch a person or an obstacle, the sensor 1500 will The signal is transmitted to the control module 1200, and the control module 1200 issues a stop command to the driving module 1300, so that the driving module 1300 stops the wheels 1500 to continue moving toward people or obstacles, thereby ensuring that the automatic transport device 1000 does not collide during the movement .
  • the automatic transportation device 1000a of this embodiment is similar to the automatic transportation device 1000 of FIG. 2, and the main difference between the two is: the automatic transportation device 1000a also includes a detachable device, wherein the detachable device is configured on the operating part 1140 and is electrically Connected to the control module 1200.
  • the detachable device is the display 1600a, which is used to provide the user to interact with the automatic transport device 1000.
  • the display 1600a is disposed on the operating body 1144 of the operating portion 1140, so the height of the display 1600a can be adjusted according to the user's needs, or can be removed from the operating body 1144.
  • the normal N direction of the display 1600a is parallel to the moving direction of the automatic transport device 1000a, so when the automatic transport device 1000a moves to the user's side, the user does not need to walk to the automatic transport device 1000a.
  • the display 1600a can be directly operated on both sides of the, further enhancing the convenience of operation.
  • the communication module 1700 obtains information from the server 2000 (including but not limited to environmental information, conventional route information, task Information, cargo placement information, and identification information), the control module 1200 determines the path according to the foregoing information, and then the drive module 1300 drives the wheel 1420 to move along the foregoing path; when the automatic transport device 1000 switches to the unfolding mode, the drive module 1300 stops The driving wheel body 1420 is moved by the user through the push-pull operation part 1140 to move the automatic transport device 1000.
  • the server 2000 including but not limited to environmental information, conventional route information, task Information, cargo placement information, and identification information
  • the control module 1200 determines the path according to the foregoing information, and then the drive module 1300 drives the wheel 1420 to move along the foregoing path; when the automatic transport device 1000 switches to the unfolding mode, the drive module 1300 stops The driving wheel body 1420 is moved by the user through the push-pull operation part 1140 to move the automatic transport device 1000.
  • the communication module 1700 obtains information (including but not limited to environmental information, After the conventional route information, task information, cargo placement information, and identification information), the control module 1200 determines the first path based on the foregoing information, and then the driving module 1300 drives the wheel 1420 to move along the foregoing first path; when the automatic transport device 1000a switches In the unfolding mode, the user sets the second path through the display 1600a, and then the driving module 1300 drives the wheel body 1420 to move along the aforementioned second path.
  • information including but not limited to environmental information
  • the control module 1200 determines the first path based on the foregoing information, and then the driving module 1300 drives the wheel 1420 to move along the foregoing first path
  • the automatic transport device 1000a switches In the unfolding mode, the user sets the second path through the display 1600a, and then the driving module 1300 drives the wheel body 1420 to move along the aforementioned second path.
  • the display 1600a includes an input interface 1620a and a display interface 1640a, wherein the input interface is suitable for providing user input information, such as the name of the goods being loaded and unloaded, query the remaining quantity of specific goods, or switch the automatic transport device 1000a The mode instructions and so on.
  • the display 1600a After the user inputs the above information, the display 1600a will transmit the information to the control module 1200, and the control module 1200 can retrieve related stored information from the storage module 1800, or exchange the queried information with the server 2000 through the communication module 1700, and The corresponding information is output to the display 1600a, and the display 1600a displays the corresponding information on the display interface 1640a, so that the user can know the content of the query or the result of the information input, which greatly enhances the function of the automatic transport device 1000a.
  • the configuration of the input interface 1620a and the display interface 1640a is not limited to the form presented in Figure 5.
  • the display 1600a can also be a full-screen touch tablet computer, and the overall screen has both an input interface 1620a and a display interface. 1640a function.
  • the shape of the accommodation space H corresponds to the operation portion 1140 and the detachable device (display 1600a). Therefore, when the automatic transport device 1000a is switched to the folded mode, the operating portion 1140 and the detachable device can be stored in the accommodating space H together, and because the shape of the accommodating space H corresponds to the detachable device, During storage, there is no excessive gap with the wall surface of the accommodating space H, so that the detachable device is damaged due to collision.
  • the detachable device further includes a camera unit 1620b and an auxiliary sensor 1600c.
  • the auxiliary sensor 1600c is a distance sensor, and the camera unit 1620b and the auxiliary sensor 1600c are disposed on the screen of the display 1600.
  • the display 1600a can confirm the user's face and other identification information through the camera unit 1620b, and thereby display the corresponding user interface, or follow the movement of a specific user (this function will be described in detail later).
  • the distance information transmitted back to the control module 1200 by the auxiliary sensor 1600c can further correct the movement path of the automatic transport device 1000a, avoiding the height difference between the operating portion 1140 and the side S in the unfolding mode, which may cause the automatic transport device 1000a Moving according to the obstacle information returned by the sensor 1500 arranged on the side S, but accidentally causing the operating unit 1140 or the display 1600a to collide.
  • the detachable device included in the automatic transportation device 1000b is a camera module 1600b to obtain an image of the environment around the automatic transportation device 1000b, or Identify users for interaction or follow-up purposes.
  • the camera module 1600b of the automatic transport device 1000b of this embodiment includes a camera unit 1620b, a rotating motor 1640b, and a pivot member 1660b, and the camera unit 1620b is pivotally connected to the operating portion 1140 through the pivot member 1660b.
  • the control module 1200 will issue an instruction to control the rotating motor 1640b to drive the camera unit 1620b It rotates with respect to the operation part 1140.
  • the camera unit 1620b is a spherical camera
  • the pivoting member 1660b is a pan-tilt
  • the pan-tilt can drive the spherical camera to rotate around the first axis A1 and the second axis A2, so the spherical camera can be aligned in a three-dimensional space
  • the camera unit 1620 and the pivot member 1660b can also be other forms of cameras or pivot components .
  • the camera module 1600b further includes an auxiliary sensor 1600c.
  • the auxiliary sensor 1600c is a Hall sensor, which can detect the rotation angle of the camera unit 1620b driven by the rotating motor 1640b and send it back to the control module 1200 Therefore, the control module 1200 can precisely control the camera orientation of the camera unit 1620b to obtain the image to be captured.
  • the communication module 1700 obtains information (including but not limited to environmental information) from the server 2000 , Conventional route information, task information, cargo placement information, and identification information), the control module 1200 determines the path based on the foregoing information, and then the drive module 1300 drives the wheel body 1420 to move along the foregoing path; when the automatic transport device 1000b switches to the unfolding mode At this time, the control module 1200 recognizes the specific user through the camera module 1600b, and the driving module 1300 drives the wheel body 1420 to move with the aforementioned user.
  • information including but not limited to environmental information
  • the control module 1200 determines the path based on the foregoing information, and then the drive module 1300 drives the wheel body 1420 to move along the foregoing path; when the automatic transport device 1000b switches to the unfolding mode
  • the control module 1200 recognizes the specific user through the camera module 1600b, and the driving module 1300 drives the wheel body 1420 to move with the aforementioned user.
  • the automatic transportation devices 1000, 1000a, and 1000b can receive various information from the server 2000 through the communication module 1700, for example: map information of the working environment spatial configuration of the automatic transportation devices 1000, 1000a, and 1000b I M is used to provide the automatic transportation device 1000, 1000a, 1000b to plan the route; in another embodiment, the automatic transportation device 1000, 1000a, 1000b can also receive regular route information from the server 2000, where the regular route information includes the server 2000 or The other automatic transportation devices 1000, 1000a, and 1000b are based on the space configuration of the working environment, and the information such as the best route, the shortcut route and the dead end established or calculated in advance; in another embodiment, the automatic transportation device 1000, 1000a, 1000b also The task information can be received from the server 2000, where the task information includes the types of goods required for individual orders, and the inventory of the required goods; in another embodiment, the automatic transport devices 1000, 1000a, and 1000b can also receive goods from the server 2000.
  • Placement information where goods placement information includes the distribution location of specific goods in the work environment.
  • the automatic transport devices 1000, 1000a, and 1000b can accurately calculate the place to go to perform the task, the type and quantity of cargo to be loaded and unloaded, and the regular route that can be followed, and the above information is fed back to the user through devices such as the display 1600 .
  • the automatic transport devices 1000, 1000a, and 1000b can also obtain information required for movement by themselves.
  • the map information I M is integrated into the environmental information I E of the working environment of the automatic transportation devices 1000, 1000a, 1000b; and in another embodiment, the environmental information I E further comprising a unit 1620b obtained by the imaging environment image P E, P E environment image which may occur in 1000, 1000a includes, 1000b obstacle O environment position, the working environment and appearance cargo automatic transport means; in another embodiment
  • the location of the obstacle O can also be sensed by multiple sensors 1500 of the automatic transport devices 1000, 1000a, and 1000b.
  • the environmental image PE further includes a positioning identifier C pre-configured in the working environment to provide the automatic transport device 1000, 1000a, 1000b for positioning the specific shelf position.
  • automatic transport means 1000,1000a, 1000b may be based on the above information, the calculated R & lt automatic path A, and automatically moves along the path A R.
  • automatic transport means 1000,1000a, 1000b of the control module 1200 may include context information based on the map information I E I M and the position of the obstacle O, automatically calculates the path R A, and controls the driving motor driving module 1300, the motor avoiding obstacles 1420 when driving along a route R A to automatically move the wheel O. Therefore, the automatic transportation devices 1000, 1000a, and 1000b can move by themselves along a specific path without any user's operation without colliding with the obstacle O in the working environment.
  • control module 1200 can be based on the map information I M, P E or environment image positioning identifier C, or the calculated required travel through the relay point V, and correct or adjust the automatic route R A, so that automatic route R A through the relay point V.
  • control module 1200 controls the driving motor driving module 1300, the motor drive wheel is moved automatically route R A, automatic transport means 1000,1000a, 1000b may be based on user needs, the need to stay in a position adjacent the loading shelf 1420 along or It is through the location designated by the user to make it more convenient for users to load and unload goods.
  • the automatic transportation devices 1000, 1000a, 1000b further include an inertial measurement unit (IMU), wherein the inertial measurement unit is electrically connected to the control module 1200 for detecting the automatic transportation devices 1000, 1000a , 1000b body 1100 posture, rotational angular velocity, and movement acceleration and other information.
  • IMU inertial measurement unit
  • the control module 1200 controls the driving unit 1300 according to the signal transmitted by the inertial measurement unit to stop the driving unit 1300 from driving the motor. At this time, the wheel 1400 will not continue to run, thus avoiding automatic The transportation devices 1000, 1000a, and 1000b overturned due to a stall.
  • control module 1200 can be based on inertial The rotation angular velocity, movement acceleration of the measuring unit, and the previous positions of the automatic transport devices 1000a and 1000b are calculated to calculate the current position, so as to avoid positioning errors.
  • an automatic transport apparatus having an imaging unit 1000a to 1620b, 1000B can identify and follow a particular user.
  • the user has identification information P that can be identified by the camera unit 1620b.
  • the control module 1200 calculates according to the identification information P follow the path R F , and the control module 1200 controls the driving module 1300 to drive the motor so that the motor drives the wheel body 1420 to follow the user along the follow path R F.
  • the following path R F is not necessarily the path the user walks on.
  • the following path R F can be located on the left, rear left, directly behind the user, Rear right or right. In this way, the user does not need to manually push and pull the automatic transport devices 1000a, 1000b continuously, and the goods to be loaded and unloaded can be maintained at a distance that is available at any time and move together.
  • the control module 1200 can also modify the following path R F according to the environmental information I E. For example, the control module 1200 can adjust the position of the obstacle O in the working environment sensed by the sensor 1500 and the map information IM. Following the path R F , so that the automatic transport devices 1000a and 1000b can avoid the obstacle O when moving along the following path R F to avoid damage to the automatic transport devices 1000a and 1000b.
  • the automatic transport device of the present invention has a folding mode and an unfolding mode.
  • the automatic transport device can be switched to the unfolding mode, and the operating part can be unscrewed from the containing space.
  • Manually operate the automatic transport device to improve the convenience of the operation of the automatic transport device; on the other hand, when the user needs to load and unload goods in the direction of the installation side of the operating part, the automatic transport device can be switched to the folding mode and the operating part can be stored in In the accommodating space, the collision between the goods and the operation part can be avoided, and the efficiency of logistics can be improved.

Abstract

一种自动运输装置，具有收合模式以及展开模式，且包括本体（1100）、控制模块（1200）、驱动模块（1300）以及多个轮子（1400）。所述本体（1100）包括承载部（1120）以及操作部（1140），所述承载部形成有容置空间H且包括顶面T以及底面B，所述顶面T适于承载货物，所述底面B相对于所述顶面T，且所述操作部(1140)枢接于所述承载部(1120)。所述控制模块(1200)配置于所述本体(1100)内，所述驱动模块(1300)配置于所述本体(1100)内且电性连接于所述控制模块(1200)。所述多个轮子(1400)耦接于所述底面B，且包括轮体(1420)以及电机。所述轮体(1420)适于接触地面。所述电机配置于所述轮体(1420)内且电性连接于所述驱动模块(1300)，且所述电机适于带动所述轮体（1420）在所述地面上滚动。该自动运输装置提高了自动运输装置使用的机动性。

Description

自动运输装置 技术领域
本发明涉及一种自动运输装置，特别是有关于一种具有收合功能的操作部的自动运输装置。
背景技术
仓储系统是在物流业以及商业上不可或缺的要素之一。基于节省人力成本的考虑，愈来愈多的仓储系统引进自动运输机器人或自动导航车，作为仓库环境内或仓库彼此之间的运输工具。然而，一般的自动运输机器人或自动导航车仅具备基本的载货平台，缺乏把手、显示器、摄像机等辅助组件，不仅用户需面临手动推拉载货平台的情况时的不便，且难以与仓储系统进行联机互动，更大幅限制了运输机器人或导航车的避障能力。藉此，部份厂商致力研发具有交互式显示器或摄像机等辅助组件的自动运输机器人或自动导航车。但是，整合上述辅助组件的操作部普遍固设于运输机器人或导航车的一侧，不仅造价成本偏高，且用户容易在移动货物时与操作部发生碰撞，货物也无法在该侧方向装卸。
发明内容
因此，本发明提供一种具有收合功能的操作部的自动运输装置，以解决上述问题。
为解决上述问题，本发明公开一种自动运输装置。所述自动运输装置具有收合模式以及展开模式，且包括本体、控制模块、驱动模块以及多个轮子。所述本体包括承载部以及操作部，所述承载部定义容置空间且包括顶面以及底面，所述顶面适于承载货物，所述底面相对于所述顶面，且所述操作部枢接于所述承载部。所述控制模块配置于所述本体内，所述驱动模块配置于所述本体内且电性连接于所述控制模块。所述多个轮子耦接于所述底面，且包 括轮体以及电机。所述轮体适于接触地面。所述电机配置于所述轮体内且电性连接于所述驱动模块，且所述动机适于带动所述轮体在所述地面上滚动。当所述自动运输装置切换至所述收合模式时，所述操作部收纳于所述容置空间内；当所述自动运输装置切换至所述展开模式时，所述操作部自所述容置空间旋出且与所述顶面间具有夹角。
综上所述，当本发明的自动运输装置处于收合模式时，货物得以在操作部的该侧方向装卸且不会与操作部发生碰撞，大幅提升了装卸货物的便利性及安全性。另一方面，当自动运输装置切换至展开模式时，用户得以通过操作部手动推拉自动运输装置的本体，提高自动运输装置使用的机动性。有关本发明前述及其他技术内容、特点与功效，在以下配合参考附图及实施例的详细说明中，将可清楚地呈现。
附图说明
图1为应用本发明的一实施例的自动运输装置的仓储系统的方块流程图。
图2为本发明的一实施例的自动运输装置在展开模式时的外观示意图。
图3为图2的自动运输装置在收合模式时的外观示意图。
图4为本发明的另一实施例的自动运输装置在展开模式时的外观示意图。
图5为图4的自动运输装置的操作部以及显示器的局部放大图。
图6为本发明的另一实施例的自动运输装置在展开模式时的外观示意图。
图7为图6的自动运输装置的摄像模块的局部放大图。
图8为本发明的一实施例的自动运输装置的控制模块所接收的环境信息的示意图。
图9为图8的自动运输装置依据所述环境信息计算的自动路径的示意图。
图10为本发明的一实施例的自动运输装置计算跟随路径的示意图。
其中，附图标记说明如下：
10                        仓储系统
1000、1000a、1000b        自动运输装置
1100                      本体
1120                      承载部
1140                      操作部
1142                      壳体
1144                      操作本体
1200                      控制模块
1300                      驱动模块
1400                      轮子
1420                      轮体
1500                      传感器
1500a                     超声波传感器
1500b                     激光雷达
1600a                     显示器
1620a                     输入界面
1640a                     显示界面
1600b                     摄像模块
1620b                     摄像单元
1640b                     旋转电机
1660b                     枢接件
1600c                     辅助传感器
1700                      通信模块
1800                      存储模块
1900                      定位模块
2000                               服务器
A1                                 第一轴
A2                                 第二轴
B                                  底面
C                                  定位用识别符
H                                  容置空间
I E                                 环境信息
I M                                 地图信息
N                                  法线
O                                  障碍物
P                                  识别信息
P E                                 环境影像
R A                                 自动路径
R F                                 跟随路径
S                                  侧面
T                                  顶面
V                                  中继点
θ                                 夹角
具体实施方式
请参考图1。仓储系统10包括服务器2000以及至少一个自动运输装置1000，其中自动运输装置1000电性连接于服务器2000，且包括控制模块1200以及驱动模块1300，其中控制模块1200用以处理、控制及运算自动运输装置1000所需使用的一切信号及信息，而驱动模块1300电性连接于控制模块1200，用以驱动自动运输装置1000移动。
具体而言，在本发明的一优选实施例中，自动运输装置1000还包括通信模块1700，其中通信模块1700电性连接于控制模块1200，且自动运输装置1000通过通信模块1700与服务器2000传递信息。在另一优选实施例中，自动运输装置1000还包括存储模块1800，其中存储模块1800电性连接于控制模块1200以及通信模块1700，用以存储自动运输装置1000通过通信模块1700从服务器2000接收的各种信息，例如环境信息、常规路线信息、任务信息、货物摆放信息以及识别信息，或是控制模块1200计算得出的结果，例如路径信息等等，这些信息将会在之后的内容中详细说明。除此之外，在本发明的另一优选实施例中，自动运输装置1000还包括定位模块1900，其中定位模块1900电性连接于控制模块1200以及驱动模块1300。在本实施例中，定位模块1900包括超宽带收发器(Ultra Wideband Transceiver)，且仓储系统10包括至少一个超宽带收发站，当超宽带收发站发送作为定位用途的超宽带信号后，定位模块1900的超宽带接收器将会接收到超宽带信号并送出回馈信号，而超宽带收发站接收到回馈信号后即可依据超宽带信号以及回馈信号的时间差、角度差、信号强度差等信息，计算得知自动运输装置1000在工作环境中的确切位置，并通过服务器2000传递至自动运输装置1000，藉此实时修正路径信息。值得一提的是，定位模块1900所包括的定位用组件并不限于超宽带收发器，例如无线热点(Wi-Fi)收发器、无线射频(RFID)收发器、蓝牙收发器等，只要是能够精确得知自动运输装置1000在工作环境中的确切位置的定位用组件，皆为本发明的保护范围。
请参考图2及图3。本实施例的自动运输装置1000包括本体1100以及多个轮子1400，且控制模块1200、驱动模块1300、通信模块1700、存储模块1800以及定位模块1900均配置于本体1100内。详细而言，本体1100包括承载部1120以及操作部1140，其中承载部1120包括顶面T，因此用户可将货物置放于承载部1120的顶面T并通过自动运输装置1000运输，而操作部1140枢接于承载部1120，且可自由地相对于承载部1120转动。更进一步而言，承载部1120定义容置空间H，且本实施例的自动运输装置1000具有收合模式以及展开模式。在本实施例中，承载部还包括底面B，其中底面B相对于顶面T，且容置空间H凹陷于顶面T。当自动运输装置1000切换至收 合模式时，操作部1140如图3所示可收纳于容置空间H内；而当自动运输装置1000切换至展开模式时，操作部1140如图2所示可自容置空间H旋出，且与顶面T间具有夹角θ。藉此，当用户需要从自动运输装置1000的前侧(操作部1140配置侧)装卸货物时，可将自动运输装置1000切换至收合模式，由于容置空间H凹限于顶面T，因此操作部1140的高度不超出顶面T，故不会阻碍货物的装卸；而当用户需要手动推拉自动运输装置1000时，则可将自动运输装置1000切换至展开模式，并将操作部1140自容置空间H内旋出，此时用户可通过推拉操作部1140移动自动运输装置1000，因此能够提升手动运输货物的便利性。
值得一提的是，在一优选实施例中，操作部1140包括壳体1142以及操作本体1144。具体而言，操作部1140通过壳体1142枢接于承载部1120，且操作本体1144局部套设于壳体1142内。当操作部1140自容置空间H旋出时，操作本体1144可相对于壳体1142伸缩，如图2中箭头所示。通过这样的配置，用户可依据自身需求调整操作本体1144的高度，使得自动运输装置1000在使用上更具备机动性。
另一方面，轮子1400耦接于底面B，且包括轮体1420以及电机(未绘示)。具体而言，自动运输装置1000通过轮体1420接触地面，而电机电性连接于驱动模块1300。当控制模块1200发送移动指令时，可控制驱动模块1300驱动电机，进而带动轮体1420在地面上滚动。在本实施例中，轮子1400一共有四个且分别配置在底面B的四个角落，其中前侧的两个轮子1400为从动轮，仅顺应自动运输装置1000移动而滚动，并不提供动力；而后侧的两个轮子1400为主动轮，动力机可随时因应驱动模块1300发出的指令带动轮体1420滚动。值得一提的是，主动轮与从动轮的配置并不以此为限，在其它的实施例中，也可以是前侧的两个轮子1400为主动轮，后侧的两个轮子1400为从动轮，又或者四个轮子1400皆为可提供动力的主动轮，只要能达到提供自动运输装置1000移动动力且可稳定移动的效果，本发明对此不加以限制。
除此之外，在本实施例中，顶面T以及底面B之间具有多个侧面S，其中这些侧面S上配置有多个传感器1500，且这些传感器1500电性连接于控制模块1200，用以侦测自动运输装置1000行进过程中可能碰触到的障碍物位置，或是与前方物体或人员之间的距离。具体而言，在本实施例中，传感器1500包括超声波传感器(Ultrasonic Transducer)1500a以及激光雷达(LIDAR)1500b，其中超声波传感器1500a配置在相对于自动运输装置1000前进方向的左右两侧的侧面S上，而激光雷达1500b则配置在前后两侧的侧面S上。通过在不同的侧面S上配置不同的传感器1500，自动运输装置1000能够精确计算与前方或后方物体或人员之间的距离，且当自动运输装置即将碰触到人员或障碍物时，传感器1500会将信号传递至控制模块1200，控制模块1200下达停止指令至驱动模块1300，从而使驱动模块1300停止轮子1500继续朝人员或障碍物移动，藉此确保自动运输装置1000在移动过程中不会发生碰撞。
请参考图2及图4。本实施例的自动运输装置1000a与图2的自动运输装置1000相似，两者的主要差异在于：自动运输装置1000a还包括可拆卸式装置，其中可拆卸式装置配置于操作部1140上且电性连接于控制模块1200。具体而言，在本实施例中，可拆卸式装置为显示器1600a，用以提供用户与自动运输装置1000进行互动。更进一步而言，如图4所示，显示器1600a配置于操作部1140的操作本体1144上，因此可依据用户的需求调整显示器1600a的高度，或是从操作本体1144上取下。除此之外，在本实施例中，显示器1600a的法线N方向平行于自动运输装置1000a的移动方向，因此当自动运输装置1000a移动至用户身边时，用户毋需再步行至自动运输装置1000a的两旁即可直接操作显示器1600a，进一步提升操作上的便利性。
在一优选实施例中，当操作部1140未安装可拆卸式装置、且自动运输装置1000处于收合模式时，通信模块1700自服务器2000取得信息(包含但不限于环境信息、常规路线信息、任务信息、货物摆放信息以及识别信息)后，控制模块1200根据前述信息决定路径，再由驱动模块1300驱动轮体1420沿前述路径移动；当自动运输装置1000切换至展开模式时，驱动模块1300停 止驱动轮体1420，由用户通过推拉操作部1140移动自动运输装置1000。
在一优选实施例中，当操作部1140已安装可拆卸式装置(例如显示器1600a)、且自动运输装置1000a处于收合模式时，通信模块1700自服务器2000取得信息(包含但不限于环境信息、常规路线信息、任务信息、货物摆放信息以及识别信息)后，控制模块1200根据前述信息决定第一路径，再由驱动模块1300驱动轮体1420沿前述第一路径移动；当自动运输装置1000a切换至展开模式时，由用户通过显示器1600a设定第二路径，再由驱动模块1300驱动轮体1420沿前述第二路径移动。
请参考图4及图5，显示器1600a包括输入界面1620a以及显示界面1640a，其中输入界面适于提供用户输入信息，例如正在装卸的货物品名、查询特定货物的剩余数量，或者是切换自动运输装置1000a的模式指令等等。当用户输入上述信息后，显示器1600a会将信息传递至控制模块1200，控制模块1200可从存储模块1800调阅相关的存储信息，或是通过通讯模块1700与服务器2000交换所查询的信息，并将对应的信息输出至显示器1600a，再由显示器1600a将上述对应信息显示于显示界面1640a，用户便能得知查询的内容或信息输入后的结果，大幅强化了自动运输装置1000a的功能。需要强调的是，输入界面1620a以及显示界面1640a的配置方式并不以图5呈现的形式为限，例如显示器1600a也可以是全屏幕触控平板电脑，且整体屏幕同时具备输入界面1620a以及显示界面1640a的功能。
如图4所示，容置空间H的形状对应于操作部1140以及可拆卸式装置(显示器1600a)。因此，当自动运输装置1000a切换至收合模式时，操作部1140以及可拆卸式装置可一并收纳于容置空间H内，且因为容置空间H的形状对应于可拆卸式装置，因此在收纳时不会与容置空间H的壁面存在过大的间隙，而使得可拆卸式装置因碰撞而损伤。
另一方面，如图5所示，在一优选实施例中，可拆卸式装置还包括摄像 单元1620b以及辅助传感器1600c。在本实施例中，辅助传感器1600c为距离传感器，且摄像单元1620b以及辅助传感器1600c配置于显示器1600的屏幕上。藉此，显示器1600a能通过摄像单元1620b确认用户的脸孔等识别信息，并藉此显示对应的用户界面，或是跟随特定的用户移动(此功能将会在之后的内容中详细说明)。另外，通过辅助传感器1600c传递回控制模块1200的距离信息，能够进一步修正自动运输装置1000a的移动路径，避免由于展开模式中操作部1140与侧面S之间存在的高度差，而导致自动运输装置1000a依据侧面S上配置的传感器1500传回的障碍物信息移动，却不慎造成操作部1140或显示器1600a碰撞的情况。
请参考图4及图6。本实施例的自动运输装置1000b与图4的自动运输装置1000a的主要差异在于：自动运输装置1000b包括的可拆卸式装置为摄像模块1600b，用以获得自动运输装置1000b周围的环境影像，或是辨识用户以供互动或跟随等用途。
请参考图6及图7，本实施例的自动运输装置1000b的摄像模块1600b包括摄像单元1620b、旋转电机1640b以及枢接件1660b，且摄像单元1620b通过枢接件1660b枢接于操作部1140。当自动运输装置1000b需要获得当前摄像单元1620b摄像范围以外的影像，或是需要因应不同用户、货物调整摄像的高度、角度等参数时，控制模块1200将发出指令，控制旋转电机1640b驱动摄像单元1620b相对于操作部1140转动。在本实施例中，摄像单元1620b为球形摄像机，而枢接件1660b为云台，且云台可带动球形摄像机绕第一轴A1以及第二轴A2转动，因此球形摄像机可对准三维空间中的任意方向，但本发明并不以此为限，依据自动运输装置1000b在摄像方式以及枢转方式上的不同需求，摄像单元1620以及枢接件1660b也可以是其它形式的摄像机或枢接组件。在一优选实施例中，摄像模块1600b还包括辅助传感器1600c，在本实施例中，辅助传感器1600c为霍尔传感器，可以侦测旋转电机1640b驱动摄像单元1620b旋转的角度并回传至控制模块1200，因此控制模块1200可精确控制摄像单元1620b的摄像方位以获得欲捕捉的影像。
在一优选实施例中，当操作部1140已安装可拆卸式装置(例如摄像模块1600b)、且自动运输装置1000b处于收合模式时，通信模块1700自服务器2000取得信息(包含但不限于环境信息、常规路线信息、任务信息、货物摆放信息以及识别信息)后，控制模块1200根据前述信息决定路径，再由驱动模块1300驱动轮体1420沿前述路径移动；当自动运输装置1000b切换至展开模式时，控制模块1200通过摄像模块1600b辨识特定用户，再由驱动模块1300驱动轮体1420跟随前述用户移动。
请参考图8及图9。在本发明的多个优选实施例中，自动运输装置1000、1000a以及1000b可通过通信模块1700从服务器2000接受各种信息，例如：自动运输装置1000、1000a、1000b的工作环境空间配置的地图信息I M，用以提供自动运输装置1000、1000a、1000b规划路径；在另一实施例中，自动运输装置1000、1000a、1000b还可自服务器2000接收常规路线信息，其中常规路线信息包括服务器2000或其它自动运输装置1000、1000a、1000b依据工作环境的空间配置，事先建立或计算得出的较佳路线、快捷路线以及死路等信息；在另一实施例中，自动运输装置1000、1000a、1000b还可自服务器2000接收任务信息，其中任务信息包括个别订单的需求货物种类，以及需求货物的存量等信息；在另一实施例中，自动运输装置1000、1000a、1000b还可自服务器2000接收货物摆放信息，其中货物摆放信息包括特定货物位于工作环境中的分布位置。基于上述信息，自动运输装置1000、1000a、1000b可精确计算出执行任务所需要前往的地点、装卸的货物种类与数量以及可遵循的常规路线，并将上述信息通过如显示器1600等装置回馈给用户。
除了从服务器2000接收信息之外，自动运输装置1000、1000a、1000b也可自行获得移动所需的信息。如图8所示，在一实施例中，地图信息I M被整合至自动运输装置1000、1000a、1000b所处工作环境的环境信息I E中；而在另一实施例中，环境信息I E还包括通过摄像单元1620b获得的环境影像P E，其中环境影像P E包括可能出现在自动运输装置1000、1000a、1000b工作环境的障碍物O的位置，以及工作环境的货物外观；在另一实施例中，障碍物O的位置也可通过自动运输装置1000、1000a、1000b的多个传感器1500感 测得知。在另一实施例中，环境影像P E还包括预先配置于工作环境的定位用标识符C，以提供自动运输装置1000、1000a、1000b针对特定货架位置进行定位。
如图9所示，自动运输装置1000、1000a、1000b可依据上述信息，计算出自动路径R A，并沿着自动路径R A移动。具体来说，自动运输装置1000、1000a、1000b的控制模块1200可依据包括地图信息I M以及障碍物O位置的环境信息I E，计算自动路径R A，并且控制驱动模块1300驱动电机，使电机带动轮体1420沿自动路径R A移动时避开障碍物O。因此，自动运输装置1000、1000a、1000b无需用户操作，即可沿着特定路径自行移动而不会与工作环境中的障碍物O发生碰撞。
在另一实施例中，控制模块1200可依据地图信息I M、环境影像P E或定位用标识符C，计算出需停留或经过的中继点V，并修正或调整自动路径R A，使自动路径R A通过中继点V。藉此，当控制模块1200控制驱动模块1300驱动电机，使电机带动轮体1420沿自动路径R A移动时，自动运输装置1000、1000a、1000b可依据用户需求，停留在需装卸的货架邻近位置或者是通过用户指定的位置，使用户装卸货物更加便利。
在另一实施例中，自动运输装置1000、1000a、1000b还包括惯性测量单元(Inertial Measurement Unit,IMU)，其中惯性测量单元电性连接于控制模块1200，用以侦测自动运输装置1000、1000a、1000b的本体1100的姿态、旋转角速度以及移动加速度等信息。当本体1100的姿态失常(例如即将翻覆)时，控制模块1200依据惯性测量单元传递的信号控制驱动单元1300，使驱动单元1300停止驱动电机，此时轮子1400将不会继续运转，因此可避免自动运输装置1000、1000a、1000b因失速而翻覆。除此之外，倘若工作环境的光线变暗，或者是定位用标识符C被遮挡，导致自动运输装置1000、1000a、1000b无法通过环境影像P E得知所在位置时，控制模块1200可依据惯性测量单元的旋转角速度、移动加速度，以及自动运输装置1000a、1000b先前所在的位 置推算当前的位置，避免定位的误差。
请参考图10。除了计算自动路径R A之外，具有摄像单元1620b的自动运输装置1000a、1000b也可辨识并跟随特定用户。在本实施例中，用户身上具有可供摄像单元1620b辨识的识别信息P，当摄像单元1620b捕捉到识别信息P，且用户启动自动运输装置1000b的跟随功能时，控制模块1200依据识别信息P计算跟随路径R F，且控制模块1200控制驱动模块1300驱动电机，使电机带动轮体1420沿跟随路径R F跟随用户移动。值得一提的是，跟随路径R F并不一定是用户步行的路径，只要自动运输装置1000a、1000b可与用户维持一定距离，跟随路径R F可位于用户的左方、左后方、正后方、右后方或右方。藉此，用户无须持续手动推拉自动运输装置1000a、1000b，且可使欲装卸的货物维持在随时可取用的距离并且一同移动。除此之外，控制模块1200还可依据环境信息I E修正跟随路径R F，举例来说，控制模块1200可根据地图信息I M以及通过传感器1500感测的工作环境的障碍物O的位置调整跟随路径R F，使自动运输装置1000a、1000b沿着跟随路径R F移动时能避开障碍物O，避免自动运输装置1000a、1000b损伤。
基于上述，本发明的自动运输装置具有收合模式以及展开模式，当用户需要手动推拉自动运输装置时，可将自动运输装置切换至展开模式，并将操作部自容置空间旋出后即可手动操作自动运输装置，提高自动运输装置操作时的便利性；另一方面，当用户需要在操作部安装侧方向装卸货物时，可将自动运输装置切换至收合模式，并将操作部收纳至容置空间内，如此一来可避免货物与操作部发生碰撞，提升物流时的效率。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (17)

  1. 一种自动运输装置，具有收合模式以及展开模式，其特征在于，包括：本体，包括：
    承载部，形成有容置空间，所述承载部包括顶面以及底面，其中所述顶面适于承载货物，且所述底面相对于所述顶面；以及
    操作部，枢接于所述承载部；
    控制模块，配置于所述本体内；
    驱动模块，配置于所述本体内且电性连接于所述控制模块；以及
    多个轮子，耦接于所述底面，所述多个轮子包括：
    轮体，适于接触地面；以及
    电机，电性连接于所述驱动模块，所述电机带动所述轮体在所述地面上滚动；
    其中，当所述自动运输装置处于所述收合模式时，所述操作部收纳于所述容置空间内；
    其中，当所述自动运输装置切换至所述展开模式时，所述操作部自所述容置空间旋出且与所述顶面间具有夹角。
  2. 如权利要求1所述的自动运输装置，其特征在于，所述操作部包括壳体以及操作本体，其中所述壳体枢接于所述承载部，所述操作本体局部套设于所述壳体内，且当所述操作部自所述容置空间旋出时，所述操作本体可相对于所述壳体伸缩。
  3. 如权利要求1所述的自动运输装置，其特征在于，所述容置空间凹陷于所述顶面，且当所述自动运输装置处于所述收合模式时，所述操作部的高度不超出所述顶面。
  4. 如权利要求1所述的自动运输装置，其特征在于，还包括可拆卸式装置，所述可拆卸式装置配置于所述操作部上且电性连接于所述控制模块，当所述自动运输装置处于所述收合模式时，所述可拆卸式装置收纳于所述容置空间内。
  5. 如权利要求4所述的自动运输装置，其特征在于，所述可拆卸式装置包括显示器、摄像模块或距离传感器。
  6. 如权利要求5所述的自动运输装置，其特征在于，所述显示器包括输入界面以及显示界面，所述输入界面适于提供用户输入第一信息，所述显示器将所述第一信息传递至所述控制模块，所述控制模块输出第二信息至所述显示器，且所述显示器将所述第二信息显示于所述显示界面。
  7. 如权利要求5所述的自动运输装置，其特征在于，所述摄像模块包括摄像单元、旋转电机以及枢接件，所述摄像单元通过所述枢接件枢接于所述操作部，且所述控制模块适于控制所述旋转电机驱动所述摄像单元相对于所述操作部转动。
  8. 如权利要求5所述的自动运输装置，其特征在于，所述控制模块依据通过所述摄像模块侦测的用户的识别信息计算跟随路径，所述控制模块控制所述驱动模块驱动所述电机，使所述电机带动所述轮体沿所述跟随路径跟随所述用户移动。
  9. 如权利要求1所述的自动运输装置，所述操作部上安装有一显示器，其特征在于，还包括通信模块，当所述自动运输装置处于所述收合模式时，所述通信模块自服务器取得信息，所述控制模块根据所述信息决定第一路径，且所述驱动模块驱动所述轮体沿所述第一路径移动，当所述自动运输装置切换至所述展开模式时，适于由用户通过所述显示器设定第二路径，且所述驱动模块驱动所述轮体沿所述第二路径移动。
  10. 如权利要求1所述的自动运输装置，所述操作部上安装有一摄像模块，其特征在于，还包括通信模块，当所述自动运输装置处于所述收合模式时，所述通信模块自服务器取得信息，所述控制模块根据所述信息决定路径，且所述驱动模块驱动所述轮体沿所述路径移动，当所述自动运输装置切换至所述展开模式时，所述控制模块通过所述摄像模块辨识用户，且所述驱动模块驱动所述轮体跟随所述用户移动。
  11. 如权利要求1所述的自动运输装置，其特征在于，所述顶面以及所述底面之间具有多个侧面，且所述多个侧面上配置有多个传感器，其中所述多个传感器电性连接于所述控制模块。
  12. 如权利要求11所述的自动运输装置，其特征在于，所述控制模块依据环境信息计算自动路径，其中所述环境信息包括所述自动运输装置的工作环境的地图信息以及通过所述多个传感器感测的所述工作环境的障碍物的位置，所述控制模块控制所述驱动模块驱动所述电机，使所述电机带动所述轮体沿所述自动路径移动时避开所述障碍物。
  13. 如权利要求12所述的自动运输装置，其特征在于，所述环境信息还包括通过所述摄像模块侦测的环境影像，其中所述环境影像包括配置于所述工作环境的定位用标识符，所述控制模块依据所述地图信息以及所述环境影像计算中继点，且所述自动路径通过所述中继点。
  14. 如权利要求11所述的自动运输装置，其特征在于，所述多个传感器包括激光雷达或超声波传感器。
  15. 如权利要求5所述的自动运输装置，其特征在于，所述显示器的法线方向平行于所述自动运输装置的移动方向。
  16. 如权利要求1所述的自动运输装置，其特征在于，还包括定位模块，所述定位模块包括惯性测量单元或超宽带传感器。
  17. 如权利要求1所述的自动运输装置，其特征在于，还包括通信模块，当所述自动运输装置处于所述收合模式时，所述通信模块自服务器取得信息，所述控制模块根据所述信息决定路径，且所述驱动模块驱动所述轮体沿所述路径移动，当所述自动运输装置切换至所述展开模式时，所述驱动模块停止驱动所述轮体。
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