WO2023097889A1 - 无人移动载具以及一环境场域中的导引避障方法 - Google Patents

无人移动载具以及一环境场域中的导引避障方法 Download PDF

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Publication number
WO2023097889A1
WO2023097889A1 PCT/CN2022/075968 CN2022075968W WO2023097889A1 WO 2023097889 A1 WO2023097889 A1 WO 2023097889A1 CN 2022075968 W CN2022075968 W CN 2022075968W WO 2023097889 A1 WO2023097889 A1 WO 2023097889A1
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Prior art keywords
unmanned mobile
lidar module
vehicle body
vehicle
lidar
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PCT/CN2022/075968
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English (en)
French (fr)
Inventor
萧家祥
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威刚科技股份有限公司
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Priority to CN202280000197.1A priority Critical patent/CN116745643A/zh
Priority to US17/641,434 priority patent/US20240053756A1/en
Publication of WO2023097889A1 publication Critical patent/WO2023097889A1/zh

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    • G05D1/242—
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
    • G05D1/246—
    • G05D1/622—
    • G05D1/661—
    • G05D1/69—
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G01C21/32—Structuring or formatting of map data
    • G05D2101/22—
    • G05D2105/28—
    • G05D2111/17—

Definitions

  • the invention relates to an unmanned mobile vehicle, in particular to an unmanned mobile vehicle capable of establishing map data and guiding and avoiding obstacles.
  • the cost with the highest proportion falls on the selection of Lidar.
  • the high-resolution lidar can easily create a complete image in an unfamiliar environment; however, the relatively low-resolution lidar often causes the markings to fail to be continuous due to excessive errors in the establishment of the image. An error occurred, and the image data could not be created. Therefore, reducing the cost of the unmanned mobile vehicle, and at the same time avoiding problems such as abnormal or impossible establishment of map data due to insufficient lidar resolution, are important issues to be solved in this technical field.
  • the invention provides an unmanned mobile vehicle and a method for guiding and avoiding obstacles in an environmental field.
  • the unmanned mobile vehicle dispatching station When first arriving at the environmental field, the unmanned mobile vehicle dispatching station is equipped with a high-resolution lidar on an unmanned mobile vehicle, so that the unmanned mobile vehicle can be easily established through the high-resolution lidar
  • the complete map data of the environmental field is uploaded to the cloud server, while other unmanned mobile vehicles can read the complete map data of the environmental field from the cloud server.
  • the unmanned mobile vehicle distribution platform disassembles the high-resolution lidar from the unmanned mobile vehicle, and the subsequent operation of the unmanned mobile vehicle and other unmanned mobile vehicles And in the case of having a complete map, it can guide based on the complete map and avoid obstacles through the low-resolution lidar it carries. In this way, the cost of the unmanned mobile vehicle can be reduced, and at the same time, there will be no problems such as abnormal or impossible establishment of map data due to insufficient lidar resolution.
  • the unmanned mobile carrier provided by the present invention is used for loading and unloading goods in an environmental field.
  • the unmanned mobile vehicle includes a vehicle body, a first lidar module and a second lidar module.
  • the car body is used to carry goods.
  • the first lidar module is fixed on the vehicle body.
  • the second LiDAR module is selectively installed on the vehicle body and detached from the vehicle body.
  • the unmanned mobile vehicle uses the second lidar module to establish the map data of the environmental field, and when the second lidar module is removed from the vehicle body, no one moves
  • the vehicle uses the first LiDAR module to be guided according to the image information to perform obstacle avoidance on the moving path.
  • the guidance and obstacle avoidance method in the environmental field provided by the present invention is applicable to an unmanned mobile vehicle, wherein the unmanned mobile vehicle includes a car body and a first laser module fixed on the car body.
  • the guidance and obstacle avoidance method includes: installing a second lidar module on the vehicle body of the first unmanned mobile vehicle; using the second lidar module to establish a map of the environmental field for the first unmanned mobile vehicle; The second lidar module is removed from the vehicle body of an unmanned mobile vehicle; the first unmanned mobile vehicle uploads the image data of the environmental field to the cloud server; the other unmanned mobile vehicles read the data of the environmental field from the cloud server map information; and multiple unmanned mobile vehicles use the first lidar module to guide according to the map information to perform obstacle avoidance on the action path.
  • the first lidar module is a low-resolution lidar module
  • the second lidar module is a high-resolution lidar module
  • the high-resolution lidar module further includes a bracket for carrying and electrically connecting the high-resolution lidar.
  • the bracket is connected to the vehicle body in the form of a contact electrical contact to perform power and signal transmission.
  • the bracket is fixed on the vehicle body in a magnetic attraction manner.
  • the unmanned mobile vehicle includes an autonomous mobile robot (AMR) and an unmanned guided vehicle (AGV).
  • AMR autonomous mobile robot
  • AGV unmanned guided vehicle
  • the present invention enables the unmanned mobile vehicle to establish the map data of the environmental field after the high-resolution LiDAR module is installed, and after the high-resolution LiDAR module is disassembled, it can be based on the complete Map information for guidance and obstacle avoidance through its own low-resolution lidar, so it can reduce the cost of unmanned mobile vehicles, and at the same time, it will not cause abnormal or impossible establishment of map information due to insufficient resolution of lidar. problem occurs.
  • Fig. 1 is a schematic diagram of an unmanned mobile carrier distribution platform provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of an unmanned mobile vehicle provided by an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart of a method for guiding and avoiding obstacles in an environmental field provided by an embodiment of the present invention.
  • FIG. 1 and FIG. 2 are schematic diagrams of an unmanned mobile vehicle distribution platform and an unmanned mobile vehicle provided by an embodiment of the present invention.
  • the unmanned mobile vehicle distribution platform 1 of the embodiment of the present invention is used for dispatching tasks so that the unmanned mobile vehicle 2 can load and unload goods in the environmental field.
  • the unmanned mobile vehicle distribution station 1 includes at least one unmanned mobile vehicle 2 , a LiDAR module loading and unloading device 3 and a cargo loading and unloading device (not shown).
  • the unmanned mobile vehicle 2 may be a vehicle that can move autonomously, such as an autonomous mobile robot (AMR), an unmanned guided vehicle (AGV), or an unmanned aerial vehicle.
  • AMR autonomous mobile robot
  • AGV unmanned guided vehicle
  • the environmental field can be a closed space such as a warehouse, or an open space such as a city.
  • the unmanned mobile vehicle 2 includes a car body 21, a first LiDAR module 22 and a second LiDAR module 23, wherein the first LiDAR module 22 is fixed on the car body 21, and the second LiDAR module 23 can be selected Permanently installed on the vehicle body 21 and detached from the vehicle body 21.
  • the first LiDAR module 22 is a low-resolution LiDAR module
  • the second LiDAR module 23 is a high-resolution LiDAR module.
  • the second LiDAR module 23 includes a bracket 231 and a high-resolution LiDAR 232, wherein the bracket 231 is used to carry and electrically connect the high-resolution LiDAR 232, and is connected to the vehicle body 21 in the form of a contact electrical contact 233 To perform power and signal transmission, and magnetically fixed on the vehicle body 21 through the magnet 234 .
  • the present invention does not limit the components included in the first LiDAR module 22 and the second LiDAR module 23, that is, the components included in the first LiDAR module 22 may be the same as or different from the second LiDAR module.
  • the components included in the module 23 are intended to be fixed and/or fixed and electrically connected to the vehicle body 21. Therefore, the present invention does not limit the first LiDAR module 22 and the second LiDAR module 23 to be fixed and/or
  • the way of fixing on the vehicle body 21 is not limited to the way of being electrically connected to the vehicle body to perform power and signal transmission.
  • the LiDAR module loading and unloading device 3 can be coupled to at least one unmanned mobile vehicle 2, and is used to install the second LiDAR module 23 on the vehicle body 21 of the unmanned mobile vehicle 2 or remove the second LiDAR module 23 from the vehicle body 21.
  • Two LiDAR modules 23 can be noted that the mechanism for installing the second LiDAR module 23 on the vehicle body 21 of the unmanned mobile vehicle 2 or dismounting the second LiDAR module 23 from the vehicle body 21 of the LiDAR module loading and unloading device 3 can cooperate with the second LiDAR module 23.
  • the mechanism and components of the LiDAR module 23 are different, and it is intended to install and disassemble the second LiDAR module 23, so the present invention does not limit the LiDAR module loading and unloading equipment 3 to install and disassemble the second LiDAR module 23 institutions.
  • FIG. 3 is a schematic flowchart of a method for guiding and avoiding obstacles in an environment field provided by an embodiment of the present invention.
  • the guidance and obstacle avoidance method of the unmanned mobile vehicle 2 includes the following operations.
  • Step S1 The LiDAR module loading and unloading device 3 installs the second LiDAR module 23 on the vehicle body 21 of the first unmanned mobile vehicle 2 .
  • Step S3 The first unmanned mobile vehicle 2 uses the second lidar module 23 to establish a map of the environmental field.
  • Step S5 The LiDAR module loading and unloading device 3 disassembles the second LiDAR module 23 from the vehicle body 21 of the first unmanned mobile vehicle 2 .
  • Step S7 The first unmanned mobile vehicle 2 uploads the image data of the environmental field to the cloud server.
  • Step S9 The other unmanned mobile vehicles 2 read the map data of the environmental field from the cloud server.
  • Step S11 All the unmanned mobile vehicles 2 use the first LiDAR module 22 to be guided according to the map information to perform obstacle avoidance on the action path in the environment field.
  • the first unmanned mobile vehicle 2 uploads the map data of the environmental field to the cloud server, and the first unmanned mobile vehicle 2 can use the second lidar module 23 to establish the map data of the environmental field or
  • the LiDAR module loading and unloading device 3 is performed after dismounting the second LiDAR module 23 from the vehicle body 21 of the first unmanned mobile vehicle 2 , so the present invention does not limit that step S7 occurs after step S3 or step S5 .
  • the present invention provides an unmanned mobile vehicle and a method for guiding and avoiding obstacles in an environmental field.
  • the unmanned mobile vehicle dispatching station When first arriving in the environment field, the unmanned mobile vehicle dispatching station is equipped with high-level light to an unmanned mobile vehicle, so that the unmanned mobile vehicle can easily establish the environment through the high-resolution lidar
  • the complete map data of the field is uploaded to the cloud server, while other unmanned mobile vehicles can read the complete map data of the environmental field from the cloud server.
  • the unmanned mobile vehicle dispatching platform dismantles the high-level lidar from the unmanned mobile vehicle, and the unmanned mobile vehicle and other unmanned mobile vehicles are in subsequent operation and In the case of a complete map, it can be guided according to the complete map and avoid obstacles through the low-resolution lidar loaded on it. In this way, the cost of the unmanned mobile vehicle can be reduced, and at the same time, problems such as abnormal or impossible establishment of map information caused by insufficient lidar resolution will not occur.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种无人移动载具以及一环境场域中的导引避障方法，用于在环境场域中进行装卸载货品，无人移动载具（2）包括：车体（21）、第一光达模块（22）以及第二光达模块（23）。车体（21）用以承载货品，第一光达模块（22）固设于车体（21）上以及第二光达模块（23）选择性地装设于车体（21）上及从车体（21）上拆卸。当装设第二光达模块（23）于车体（21）上时，无人移动载具（2）使用第二光达模块（23）建立环境场域的图资。当从车体（21）上拆卸第二光达模块（23）时，无人移动载具（2）使用第一光达模块（22）来依据图资而被导引以便执行移动路径上的避障。

Description

无人移动载具以及一环境场域中的导引避障方法
本申请要求申请日为2021/12/1的美国专利申请63/284,651的优先权。本申请引用上述美国专利申请的全文。
技术领域
本发明涉及一种无人移动载具，尤其涉及一种可建立图资并导引避障的无人移动载具。
背景技术
针对无人移动载具的运用，其比重最高的成本落在光达(Lidar)的选用上。高分辨率的光达在运用上可以轻易地在陌生环场建立完整的图资；但相较低分辨率的光达常在建立图资时因误差过大，而造成其标示无法连续而产生错误，进而图资无法建立。因此降低无人移动载具的成本，同时不会因光达分辨率不足造成图资建立异常或无法建立等问题发生，为本技术领域所要解决的重要课题。
发明内容
本发明提供了一种无人移动载具以及一环境场域中的导引避障方法。在初到环境场域时，无人移动载具派发站台装配高分辨率的光达至一无人移动载具上，以使此无人移动载具可通过高分辨率的光达轻易建立出环境场域的完整图资并上传云端服务器，而其他无人移动载具可从云端服务器读取环境场域的完整图资。在建立完成环境场域的图资之后，无人移动载具派发站台从此无人移动载具上拆卸高分辨率的光达，以及此无人移动载具及其他无人移动载具在后续运转并在已有完整图资的情况下，可依据完整图资进行导引以及通过本身装载的低分辨率的光达进行避障。借此，可 降低无人移动载具的成本，同时不会因光达分辨率不足造成图资建立异常或无法建立等问题发生。
本发明所提供的无人移动载具，用于在一环境场域中进行装卸载货品。其中无人移动载具包括车体、第一光达模块以及第二光达模块。车体用以承载货品。第一光达模块固设于车体上。第二光达模块选择性地装设于车体上及从车体上拆卸。当装设第二光达模块于车体上时，无人移动载具使用第二光达模块建立环境场域的图资，以及当从车体上拆卸第二光达模块时，无人移动载具使用第一光达模块来依据图资而被导引以执行移动路径上的避障。
本发明所提供的在环境场域中的导引避障方法，适用于无人移动载具，其中无人移动载具包括车体以及固设于车体上的第一光达模块。导引避障方法包括：装设第二光达模块于第一无人移动载具的车体上；第一无人移动载具使用第二光达模块建立环境场域的图资；从第一无人移动载具的车体上拆卸第二光达模块；第一无人移动载具上传环境场域的图资至云端服务器；其他无人移动载具从云端服务器读取环境场域的图资；以及多台无人移动载具使用第一光达模块来依据图资而导引以执行动作路径上的避障。
在本发明的一实施例中，第一光达模块是低分辨率光达模块，以及第二光达模块是高分辨率光达模块。
在本发明的一实施例中，高分辨率光达模块更包括支架，用以承载并电性连接高分辨率光达。
在本发明的一实施例中，支架是以接触式电性接点的方式与车体连接以执行电源与信号的传输。
在本发明的一实施例中，支架是以磁吸式的方式固定于车体上。
在本发明的一实施例中，无人移动载具包括自主移动机器人(AMR)以及无人搬运车(AGV)。
本发明因采用可拆卸的高分辨率光达模块，使得无人移动载具装设高分辨率光达模块之后可建立环境场域的图资，以及拆卸高分辨率光达模块之后可依据完整图资进行导引以及通过本身装载的低分辨率的光达进行避障，因此可降低无人移动载具的成本，同时也不会因光达分辨率不足造成图资建立异常或无法建立等问题发生。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其他目的、特征和优点能够更明显易懂，以下特举较佳实施例，并配合附图,详细说明如下。
附图说明
图1为本发明一实施例所提供的无人移动载具派发站台的示意图；
图2为本发明一实施例所提供的无人移动载具的示意图；以及
图3为本发明一实施例所提供的在环境场域中的导引避障方法的流程示意图。
具体实施方式
请参阅图1及图2，为本发明一实施例所提供的无人移动载具派发站台及无人移动载具的示意图。本发明实施例的无人移动载具派发站台1用以派发任务以使无人移动载具2在环境场域中进行装卸载货品。无人移动载具派发站台1包括至少一无人移动载具2、光达模块装卸设备3以及货品装卸设备(未绘示)。可以注意的是，无人移动载具2可以是自主移动机器人(AMR)、无人搬运车(AGV)、无人飞行器等可以自主移动的载具。而环境场域可以是封闭式空间如仓库、或是开放式空间如都市等。
其中，无人移动载具2包括车体21、第一光达模块22以及第二光达模块23，其中第一光达模块22固定设置于车体21上，第二光达模块23可选 择性地装设于车体21上及从车体21上拆卸。另外，第一光达模块22是低分辨率光达模块，第二光达模块23是高分辨率光达模块。并且第二光达模块23包括支架231以及高分辨率光达232，其中支架231用以承载并电性连接高分辨率光达232，并以接触式电性接点233的方式与车体21连接以执行电源与信号的传输，以及通过磁铁234以磁吸式的方式固定于车体21上。可以注意的是，本发明并不限定第一光达模块22及第二光达模块23所包含的组件，亦即第一光达模块22所包括的组件可相同或不相同于第二光达模块23所包括的组件，其旨在固设及/或固定以及电性连接于车体21上，因此本发明并不限定第一光达模块22及第二光达模块23固设及/或固定于车体21上的方式，也不限定电性连接于车体以执行电源与信号的传输的方式。
另外，光达模块装卸设备3可耦接至少一无人移动载具2，并用以装设第二光达模块23于无人移动载具2的车体21上或从车体21上拆卸第二光达模块23。可以注意的是，光达模块装卸设备3装设第二光达模块23于无人移动载具2的车体21上或从车体21上拆卸第二光达模块23的机构可配合第二光达模块23的机构与组件的不同而有所不同，其旨在装设与拆卸第二光达模块23，因此本发明并不限定光达模块装卸设备3装设与拆卸第二光达模块23的机构。
请参阅图3，为本发明一实施例所提供的在环境场域中的导引避障方法的流程示意图。无人移动载具2的导引避障方法包括以下操作。步骤S1：光达模块装卸设备3装设第二光达模块23于第一无人移动载具2的车体21上。步骤S3：第一无人移动载具2使用第二光达模块23建立环境场域的图资。步骤S5：光达模块装卸设备3从第一无人移动载具2的车体21上拆卸第二光达模块23。步骤S7：第一无人移动载具2上传环境场域的图资至云端服务器。步骤S9：其他无人移动载具2从云端服务器读取环境场域的图资。步骤S11：所有无人移动载具2使用第一光达模块22来依据图资 而被导引以执行环境场域中动作路径上的避障。此外，可以注意的是，第一无人移动载具2上传环境场域的图资至云端服务器可在第一无人移动载具2使用第二光达模块23建立环境场域的图资或光达模块装卸设备3从第一无人移动载具2的车体21上拆卸第二光达模块23之后执行，因此本发明不限定步骤S7是在步骤S3或步骤S5之后发生。
综上所述，本发明提供的无人移动载具以及一环境场域中的导引避障方法。在初到环境场域时，无人移动载具派发站台装配高阶的光达至一无人移动载具上，以使此无人移动载具可通过高分辨率的光达轻易建立出环境场域的完整图资并上传至云端服务器，而其他无人移动载具可从云端服务器读取环境场域的完整图资。在建立完成环境场域的图资之后，无人移动载具派发站台从此无人移动载具上拆卸高阶的光达，以及此无人移动载具及其他无人移动载具在后续运转并在已有完整图资的情况下，可依据完整图资进行导引以及通过本身装载的低分辨率的光达进行避障。借此，可降低无人移动载具的成本，同时不会因光达分辨率不足造成图资建立异常或无法建立等问题发生。
以上所述，仅是本发明的较佳实施例而已，并非对本发明作任何形式上的限制，虽然本发明已以较佳实施例揭露如上，然而并非用以限定本发明,任何熟悉本专业的技术人员,在不脱离本发明技术方案范围内，当可利用上述揭示的方法及技术内容作出些许的更动或修饰为等同变化的等效实施例，但凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均仍属于本发明技术方案的范围内。

Claims (12)

  1. 一种无人移动载具，其特征在于，用于在一环境场域中进行装卸载一货品，包括：
    一车体，用以承载该货品；
    一第一光达(Lidar)模块，固设于该车体上；以及
    一第二光达模块，选择性地装设于该车体上及从该车体上拆卸；
    其中当装设该第二光达模块于该车体上时，该无人移动载具使用该第二光达模块建立该环境场域的一图资；
    其中当从该车体上拆卸该第二光达模块时，该无人移动载具使用该第一光达模块来依据该图资而被导引以执行一移动路径上的避障。
  2. 如权利要求1所述的无人移动载具，其特征在于，该第一光达模块是低分辨率光达模块，该第二光达模块是高分辨率光达模块。
  3. 如权利要求2所述的无人移动载具，其特征在于，该高分辨率光达模块更包括一支架，用以承载并电性连接一高分辨率光达。
  4. 如权利要求3所述的无人移动载具，其特征在于，该支架是以接触式电性接点的方式与该车体连接以执行电源与信号的传输。
  5. 如权利要求3所述的无人移动载具，其特征在于，该支架是以磁吸式的方式固定于该车体上。
  6. 如权利要求1所述的无人移动载具，其特征在于，该无人移动载具包括自主移动机器人(AMR)以及无人搬运车(AGV)。
  7. 一种在一环境场域中的导引避障方法，其特征在于，适用于多台无人移动载具，其中每一该些无人移动载具包括一车体以及固设于该车体上的一第一光达(Lidar)模块，该导引避障方法包括：
    装设一第二光达模块于一第一无人移动载具的该车体上；
    该第一无人移动载具使用该第二光达模块建立该环境场域的一图资；
    从该第一无人移动载具的该车体上拆卸该第二光达模块；
    该第一无人移动载具上传该环境场域的该图资至一云端服务器；
    其他无人移动载具从该云端服务器读取该环境场域的该图资；以及
    该些无人移动载具使用该第一光达模块来依据该图资而导引以执行一移动路径上的避障。
  8. 如权利要求7所述的导引避障方法，其特征在于，该第一光达模块是低分辨率光达模块，该第二光达模块是高分辨率光达模块。
  9. 如权利要求8所述的导引避障方法，其特征在于，该高分辨率光达模块更包括一支架，用以承载并电性连接一高分辨率光达。
  10. 如权利要求9所述的导引避障方法，其特征在于，该支架是以接触式电性接点的方式与该车体连接以执行电源与信号的传输。
  11. 如权利要求9所述的导引避障方法，其特征在于，该支架是以磁吸式的方式固定于该车体上。
  12. 如权利要求7所述的导引避障方法，其特征在于，该无人移动载具包括自主移动机器人(AMR)以及无人搬运车(AGV)。
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