CN109895825B - Automatic conveyer - Google Patents
Automatic conveyer Download PDFInfo
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- CN109895825B CN109895825B CN201910220879.3A CN201910220879A CN109895825B CN 109895825 B CN109895825 B CN 109895825B CN 201910220879 A CN201910220879 A CN 201910220879A CN 109895825 B CN109895825 B CN 109895825B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
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Abstract
The invention discloses an automatic conveying device. The automatic transportation device has a folding mode and an unfolding mode, and comprises a body, a control module, a driving module and a plurality of wheels. The body comprises a bearing part and an operating part, wherein the bearing part is provided with an accommodating space and comprises a top surface and a bottom surface, the top surface is suitable for bearing goods, the bottom surface is opposite to the top surface, and the operating part is pivoted on the bearing part. The control module is arranged in the body, and the driving module is arranged in the body and electrically connected with the control module. The wheels are coupled to the bottom surface and include a wheel body and a motor. The wheel body is suitable for contacting the ground. The motor is arranged in the wheel body and is electrically connected with the driving module, and the motive machine is suitable for driving the wheel body to roll on the ground.
Description
Technical Field
The present invention relates to an automatic transport device, and more particularly, to an automatic transport device having a foldable operation portion.
Background
Warehousing systems are one of the indispensable elements in the logistics industry as well as in commerce. In view of saving labor costs, more and more warehousing systems have introduced automated transport robots or automated guided vehicles as transportation means within the warehouse environment or between warehouses. However, a general automatic transport robot or an automatic navigation vehicle only has a basic cargo platform, and lacks auxiliary components such as a handle, a display, a camera and the like, so that a user is not only inconvenienced when needing to manually push and pull the cargo platform, but also is difficult to perform online interaction with a storage system, and the obstacle avoidance capability of the transport robot or the navigation vehicle is further greatly limited. Accordingly, some manufacturers have made efforts to develop an automatic transport robot or an automatic navigation vehicle having an auxiliary component such as an interactive display or a camera. However, the operation part integrated with the above-mentioned auxiliary assembly is generally fixed on one side of the transportation robot or the navigation vehicle, which not only has a high cost, but also the user is easy to collide with the operation part when moving the goods, and the goods cannot be loaded or unloaded in the side direction.
Disclosure of Invention
Therefore, the present invention provides an automatic transportation device having a foldable operation portion to solve the above problems.
In order to solve the above problems, the present invention discloses an automatic transport device. The automatic transportation device has a folding mode and an unfolding mode, and comprises a body, a control module, a driving module and a plurality of wheels. The body comprises a bearing part and an operating part, wherein the bearing part defines an accommodating space and comprises a top surface and a bottom surface, the top surface is suitable for bearing goods, the bottom surface is opposite to the top surface, and the operating part is pivoted on the bearing part. The control module is arranged in the body, and the driving module is arranged in the body and electrically connected with the control module. The wheels are coupled to the bottom surface and include a wheel body and a motor. The wheel body is suitable for contacting the ground. The motor is arranged in the wheel body and is electrically connected with the driving module, and the motive machine is suitable for driving the wheel body to roll on the ground. When the automatic transportation device is switched to the folding mode, the operation part is contained in the containing space; when the automatic conveying device is switched to the unfolding mode, the operating part is screwed out from the accommodating space and forms an included angle with the top surface.
In summary, when the automatic transporting device of the present invention is in the folding mode, the goods can be loaded and unloaded in the side direction of the operating portion without colliding with the operating portion, so that the convenience and safety of loading and unloading the goods are greatly improved. On the other hand, when the automatic transport device is switched to the unfolding mode, a user can manually push and pull the body of the automatic transport device through the operation part, and the using maneuverability of the automatic transport device is improved. The foregoing and other technical matters, features and effects of the present invention will be apparent from the following detailed description of the embodiments, which is to be read in connection with the accompanying drawings.
Drawings
Fig. 1 is a block flow diagram of a warehousing system of an automated transporter according to an embodiment of the present invention.
Fig. 2 is an external view of the automatic transportation device in the unfolding mode according to an embodiment of the present invention.
Fig. 3 is an external view of the automatic transportation device of fig. 2 in a retracted mode.
Fig. 4 is an external view schematically showing an automatic transport apparatus according to another embodiment of the present invention in a deployed mode.
Fig. 5 is a partially enlarged view of an operation portion and a display of the automatic transport device of fig. 4.
Fig. 6 is an external view schematically showing an automatic transport apparatus according to another embodiment of the present invention in a deployed mode.
Fig. 7 is a partially enlarged view of a camera module of the automatic conveying apparatus of fig. 6.
Fig. 8 is a schematic diagram of environment information received by a control module of an automatic transportation device according to an embodiment of the present invention.
Fig. 9 is a schematic diagram of an automatic path calculated by the automatic transport device of fig. 8 according to the environment information.
Fig. 10 is a schematic diagram of calculating a following path by the automatic transportation device according to an embodiment of the present invention.
Wherein the reference numerals are as follows:
10 warehousing system
1000. 1000a, 1000b automatic transport device
1100 noumenon
1120 load bearing part
1140 operating part
1142 casing
1144 operating body
1200 control module
1300 driving module
1400 wheel
1420 wheel body
1500 sensor
1500a ultrasonic sensor
1500b laser radar
1600a display
1620a input interface
1640a display interface
1600b camera module
1620b image pickup unit
1640b rotating electric machine
1660b pivoting member
1600c auxiliary sensor
1700 communication module
1800 memory module
1900 positioning module
2000 server
A1 first axis
A2 second shaft
B bottom surface
Identifier for C positioning
H-shaped accommodating space
IEEnvironmental information
IMMap information
N normal
O obstacle
P identification information
PEEnvironmental image
RAAutomatic path
RFFollowing path
S side surface
T top surface
V Relay point
Angle theta
Detailed Description
Please refer to fig. 1. The warehousing system 10 includes a server 2000 and at least one automatic transporter 1000, wherein the automatic transporter 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 for processing, controlling and calculating all signals and information required by the automatic transporter 1000, and the driving module 1300 is electrically connected to the control module 1200 and is used for driving the automatic transporter 1000 to move.
Specifically, in a preferred embodiment of the present invention, 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 with the server 2000 through the communication module 1700. In another preferred embodiment, 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 for storing various information received by the automatic transportation device 1000 from the server 2000 through the communication module 1700, such as environment information, general route information, task information, cargo placement information and identification information, or results calculated by the control module 1200, such as path information, and the like, which will be described in detail later. In addition, in another preferred embodiment of the present invention, 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. In this embodiment, the positioning module 1900 includes an Ultra wide band Transceiver (Ultra wide band Transceiver), and the warehousing system 10 includes at least one Ultra wide band Transceiver station, when the Ultra wide band Transceiver station transmits an Ultra wide band signal for positioning, the Ultra wide band receiver of the positioning module 1900 will receive the Ultra wide band signal and transmit a feedback signal, and after the Ultra wide band Transceiver station receives the feedback signal, the exact position of the automatic transportation device 1000 in the working environment can be calculated according to the information of time difference, angle difference, signal strength difference, etc. of the Ultra wide band signal and the feedback signal, and transmitted to the automatic transportation device 1000 through the server 2000, so as to correct the path information in real time. It should be noted that the positioning components included in the positioning module 1900 are not limited to ultra-wideband transceivers, such as wireless hot spot (Wi-Fi) transceivers, Radio Frequency Identification (RFID) transceivers, bluetooth transceivers, etc., and any positioning components that can accurately know the exact position of the automatic transportation device 1000 in the working environment are all within the protection scope of the present invention.
Please refer to fig. 2 and fig. 3. The automatic transportation device 1000 of the present embodiment includes a 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 body 1100. In detail, the body 1100 includes a carrying portion 1120 and an operating portion 1140, wherein the carrying portion 1120 includes a top surface T, so that a user can place goods on the top surface T of the carrying portion 1120 and transport the goods through the automatic transport device 1000, and the operating portion 1140 is pivoted to the carrying portion 1120 and can freely rotate relative to the carrying portion 1120. Further, the carrying portion 1120 defines an accommodating space H, and the automatic transportation device 1000 of the present embodiment has a folding mode and an unfolding mode. In this embodiment, the supporting 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. When the automatic transporting device 1000 is switched to the folding mode, the operation portion 1140 can be accommodated in the accommodating space H as shown in fig. 3; when the automatic transport device 1000 is switched to the unfolding mode, the operation portion 1140 can be unscrewed from the accommodating space H as shown in fig. 2, and has an included angle θ with the top surface T. Thus, when a user needs to load and unload goods from the front side (the side where the operation portion 1140 is disposed) of the automatic transport apparatus 1000, the automatic transport apparatus 1000 can be switched to the storage mode, and since the accommodation space H is limited to the top surface T, the height of the operation portion 1140 does not exceed the top surface T, so that the loading and unloading of the goods are not hindered; when the user needs to manually push and pull the automatic transportation device 1000, the automatic transportation device 1000 can be switched to the unfolding mode, and the operation part 1140 is screwed out from the accommodating space H, so that the user can move the automatic transportation device 1000 by pushing and pulling the operation part 1140, thereby improving the convenience of manually transporting goods.
It should be noted that, in a preferred embodiment, the operation portion 1140 includes a housing 1142 and an operation body 1144. Specifically, the operation portion 1140 is pivotally connected to the carrying portion 1120 through the housing 1142, and the operation body 1144 is partially sleeved in the housing 1142. When the operation portion 1140 is screwed out of the accommodating space H, the operation body 1144 can extend and retract relative to the housing 1142, as shown by the arrow in fig. 2. With such a configuration, the user can adjust the height of the operation body 1144 according to his/her own requirement, so that the automatic transportation device 1000 is more versatile in use.
On the other hand, the wheel 1400 is coupled to the bottom surface B and includes a wheel body 1420 and a motor (not shown). Specifically, the automatic transport device 1000 contacts the ground through the wheel 1420, and the motor is electrically connected to the driving module 1300. When the control module 1200 sends a moving command, the driving module 1300 may be controlled to drive the motor, so as to drive the wheel body 1420 to roll on the ground. In the present embodiment, the wheels 1400 are four in total and are respectively disposed at four corners of the bottom surface B, wherein the two wheels 1400 on the front side are driven wheels, and roll only in compliance with the movement of the automatic transportation 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 at any time in response to the instruction sent by the driving module 1300. It should be noted that the configuration of the driving wheel and the driven wheel is not limited thereto, and in other embodiments, the two wheels 1400 on the front side may be the driving wheel, the two wheels 1400 on the rear side may be the driven wheel, or all four wheels 1400 may be the driving wheels capable of providing power, as long as the effect of providing the moving power for the automatic transportation device 1000 and being capable of stably moving is achieved, which is not limited in the present invention.
In addition, in the embodiment, a plurality of side surfaces S are disposed between the top surface T and the bottom surface B, wherein a plurality of sensors 1500 are disposed on the side surfaces S, and the sensors 1500 are electrically connected to the control module 1200 for detecting positions of obstacles that the automatic transportation device 1000 may touch during the traveling process, or distances between the automatic transportation device and the front objects or people. Specifically, in the present embodiment, the sensor 1500 includes an Ultrasonic sensor (Ultrasonic Transducer)1500a and a laser radar (LIDAR)1500b, wherein the Ultrasonic sensor 1500a is disposed on the left and right side surfaces S with respect to the advancing direction of the automatic transport apparatus 1000, and the LIDAR 1500b is disposed on the front and rear side surfaces S. Through configuring different sensors 1500 on different sides S, the automatic transportation device 1000 can accurately calculate the distance between the automatic transportation device and the front or rear object or the person, and when the automatic transportation device is about to touch the person or the obstacle, the sensors 1500 will transmit signals to the control module 1200, and the control module 1200 issues a stop instruction to the driving module 1300, so that the driving module 1300 stops the wheels 1500 from moving continuously towards the person or the obstacle, thereby ensuring that the automatic transportation device 1000 does not collide during the moving process.
Please refer to fig. 2 and fig. 4. The automatic transport apparatus 1000a of the present embodiment is similar to the automatic transport apparatus 1000 of fig. 2, and the main difference therebetween is that: the automatic transportation device 1000a further includes a detachable device, wherein the detachable device is disposed on the operation portion 1140 and electrically connected to the control module 1200. Specifically, in the present embodiment, the detachable device is a display 1600a for providing user interaction with the automatic transportation device 1000. Furthermore, as shown in fig. 4, the display 1600a is disposed on the operation body 1144 of the operation portion 1140, so that the height of the display 1600a can be adjusted or the display can be taken down from the operation body 1144 according to the user's requirement. In addition, in the embodiment, the normal N direction of the display 1600a is parallel to the moving direction of the automatic transport device 1000a, so that when the automatic transport device 1000a moves to the user, the user can directly operate the display 1600a without walking to two sides of the automatic transport device 1000a, thereby further improving the convenience of operation.
In a preferred embodiment, when the operation portion 1140 is not equipped with a detachable device and the automatic transportation device 1000 is in the storage mode, the communication module 1700 obtains information (including but not limited to environmental information, general route information, task information, cargo placement information, and identification information) from the server 2000, the control module 1200 determines a path according to the information, and the driving module 1300 drives the wheel 1420 to move along the path; when the automatic transport apparatus 1000 is switched to the unfolding mode, the driving module 1300 stops driving the wheel 1420, and the user moves the automatic transport apparatus 1000 by pushing and pulling the operating portion 1140.
In a preferred embodiment, when the detachable device (e.g., the display 1600a) is installed on the operation portion 1140 and the automatic transportation device 1000a is in the folding mode, the communication module 1700 obtains information (including but not limited to environmental information, general route information, task information, cargo placement information, and identification information) from the server 2000, the control module 1200 determines a first path according to the information, and the driving module 1300 drives the wheel 1420 to move along the first path; when the automatic transporter 1000a is switched to the unfolding mode, the user sets a second path through the display 1600a, and the driving module 1300 drives the wheel body 1420 to move along the second path.
Referring to fig. 4 and 5, the display 1600a includes an input interface 1620a adapted to provide user input information such as the name of goods being loaded or unloaded, the remaining quantity of specific goods, or an instruction to switch the mode of the automatic transport apparatus 1000a, and a display interface 1640 a. After the user inputs the information, the display 1600a transmits the information to the control module 1200, the control module 1200 can retrieve the related stored information from the storage module 1800, or exchange the queried information with the server 2000 through the communication module 1700, and output the corresponding information to the display 1600a, and the display 1600a displays the corresponding information on the display interface 1640a, so that the user can know the queried content or the result of the information input, thereby greatly enhancing the function of the automatic transportation device 1000 a. It should be emphasized that the configuration of the input interface 1620a and the display interface 1640a is not limited to the form shown in fig. 5, for example, the display 1600a may also be a full-screen touch tablet computer, and the whole screen has the functions of both the input interface 1620a and the display interface 1640 a.
As shown in fig. 4, the shape of the accommodating space H corresponds to the operation portion 1140 and the detachable device (the display 1600 a). Therefore, when the automatic transport device 1000a is switched to the folding mode, the operation portion 1140 and the detachable device can be stored in the accommodating space H together, and since the shape of the accommodating space H corresponds to the detachable device, there is no excessive gap with the wall surface of the accommodating space H when the automatic transport device is stored, so that the detachable device is not damaged by collision.
On the other hand, as shown in fig. 5, in a preferred embodiment, the detachable device further includes a camera unit 1620b and an auxiliary sensor 1600 c. In the embodiment, the auxiliary sensor 1600c is a distance sensor, and the image capturing unit 1620b and the auxiliary sensor 1600c are disposed on the screen of the display 1600. Accordingly, the display 1600a can confirm the identification information of the face of the user 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). In addition, the distance information transmitted back to the control module 1200 by the auxiliary sensor 1600c can further modify the moving path of the automatic transport device 1000a, so as to avoid the situation that the automatic transport device 1000a moves according to the obstacle information transmitted back by the sensor 1500 arranged on the side surface S, but the operation part 1140 or the display 1600a collides due to the height difference existing between the operation part 1140 and the side surface S in the unfolding mode.
Please refer to fig. 4 and fig. 6. The main differences between the automatic transport apparatus 1000b of the present embodiment and the automatic transport apparatus 1000a of fig. 4 are: the detachable device included in the automatic transport device 1000b is a camera module 1600b for obtaining an image of an environment around the automatic transport device 1000b, or for identifying a user for interaction or following.
Referring to fig. 6 and 7, the camera module 1600b of the automatic transportation device 1000b of the present embodiment includes a camera unit 1620b, a rotating motor 1640b, and a pivot assembly 1660b, wherein the camera unit 1620b is pivotally connected to the operation portion 1140 by the pivot assembly 1660 b. When the automatic transportation device 1000b needs to obtain an image outside the current shooting range of the shooting unit 1620b, or needs to adjust parameters such as shooting height and angle according to different users and goods, the control module 1200 will issue an instruction to control the rotation motor 1640b to drive the shooting unit 1620b to rotate relative to the operation portion 1140. In this embodiment, the camera 1620b is a dome camera, and the pivot 1660b is a pan-tilt head, and the pan-tilt head can drive the dome camera to rotate around the first axis a1 and the second axis a2, so that the dome camera can be aimed at any direction in a three-dimensional space, but the invention is not limited thereto, and the camera 1620 and the pivot 1660b can be other types of cameras or pivot assemblies according to different requirements of the automatic transportation device 1000b in a camera shooting mode and a pivot mode. In a preferred embodiment, the camera module 1600b further includes an auxiliary sensor 1600c, in this embodiment, the auxiliary sensor 1600c is a hall sensor, which can detect the rotation angle of the camera unit 1620b driven by the rotation motor 1640b and transmit the rotation angle back to the control module 1200, so that the control module 1200 can precisely control the camera orientation of the camera unit 1620b to obtain the image to be captured.
In a preferred embodiment, when the detachable device (e.g., the camera module 1600b) is installed on the operation portion 1140 and the automatic transportation device 1000b is in the folding mode, the communication module 1700 obtains information (including, but not limited to, environmental information, general route information, task information, cargo placement information, and identification information) from the server 2000, the control module 1200 determines a path according to the information, and the driving module 1300 drives the wheel 1420 to move along the path; when the automatic transporter 1000b is switched to the unfolding mode, the control module 1200 identifies a specific user through the camera module 1600b, and the driving module 1300 drives the wheel body 1420 to move along with the user.
Please refer to fig. 8 and fig. 9. In various preferred embodiments of the present invention, the automatic transporters 1000, 1000a and 1000b may receive various information from the server 2000 through the communication module 1700, such as: map information I for the spatial arrangement of the working environment of the automatic transport devices 1000, 1000a, 1000bMFor providing planned routes for the automated transporters 1000, 1000a, 1000 b; in another embodiment, the automatic transportation devices 1000, 1000a, 1000b may further receive regular route information from the server 2000, wherein the regular route information includes information such as a preferred route, a shortcut route, and a dead road, which are previously established or calculated by the server 2000 or other automatic transportation devices 1000, 1000a, 1000b according to the spatial configuration of the working environment; in another embodiment, the automatic transportation devices 1000, 1000a, 1000b may further receive task information from the server 2000, wherein the task information includes information such as the type of the required goods of the individual order and the stock of the required goods; in another embodiment, the automatic transporters 1000, 1000a, 1000b may also receive cargo placement information from the server 2000, wherein the cargo placement information includes the distribution locations of particular cargo within the work environment. Based on the information, the automated transportation devices 1000, 1000a, 1000b can accurately calculate the location to which the task needs to be performed, the type and quantity of goods being handled, and the general route that can be followed, and feed the information back to the user via a device such as the display 1600.
In addition to receiving information from the server 2000, the automatic transportation devices 1000, 1000a, 1000b may also obtain information required for movement by themselves.As shown in FIG. 8, in one embodiment, the map information IMEnvironmental information I integrated into the working environment of the automatic transportation devices 1000, 1000a, 1000bEPerforming the following steps; and in another embodiment, the environment information IEFurther comprises an environmental image P obtained by the camera 1620bEWherein the environment image PEIncluding the location of obstacles O that may be present in the working environment of the automated transporter 1000, 1000a, 1000b, and the appearance of cargo in the working environment; in another embodiment, the position of the obstacle O may also be sensed by a plurality of sensors 1500 of the automated transportation devices 1000, 1000a, 1000 b. In another embodiment, the environmental image PEFurther, a positioning identifier C previously arranged in the work environment is included to provide positioning of the automatic transport apparatus 1000, 1000a, 1000b for a specific shelf position.
As shown in fig. 9, the automatic transporters 1000, 1000a, 1000b can calculate the automatic route R based on the above informationAAnd along an automatic path RAAnd (4) moving. Specifically, the control module 1200 of the automatic transportation device 1000, 1000a, 1000b may include map information I according toMAnd environmental information I of the position of the obstacle OECalculating an automatic path RAAnd controls the driving module 1300 to drive the motor, so that the motor drives the wheel 1420 to follow the automatic path RAAvoiding the obstacle O when moving. Therefore, the automatic transportation devices 1000, 1000a, 1000b can move along a specific path without collision with the obstacle O in the work environment without user operation.
In another embodiment, the control module 1200 can be based on the map information IMThe environment image PEOr the identifier C for positioning, calculates the relay point V to be stopped or passed by, and corrects or adjusts the automatic path RAMake the automatic path RAThrough the relay point V. Thus, when the control module 1200 controls the driving module 1300 to drive the motor, the motor drives the wheel 1420 to follow the automatic path RAWhen moving, the automatic transportation device 1000, 1000a, 1000b can stay at the position adjacent to the goods shelf to be loaded or unloaded or through the position designated by the user according to the user's requirement, so that the user can load or unload the goods more convenientlyAnd (6) benefiting.
In another embodiment, the automatic transportation devices 1000, 1000a, 1000b further include an Inertial Measurement Unit (IMU), wherein the IMU is electrically connected to the control module 1200 for detecting information such as the posture, rotational angular velocity, and moving acceleration of the bodies 1100 of the automatic transportation devices 1000, 1000a, 1000 b. When the posture of the body 1100 is abnormal (e.g., about to turn over), the control module 1200 controls the driving unit 1300 according to the signal transmitted by the inertia measuring unit, so that the driving unit 1300 stops driving the motor, and the wheels 1400 will not continue to operate, thereby preventing the automatic transportation devices 1000, 1000a, 1000b from turning over due to stalling. In addition, if the light of the working environment is dark or the positioning identifier C is blocked, the automatic transportation devices 1000, 1000a, 1000b cannot pass through the environment image PEWhen the position is known, the control module 1200 can calculate the current position according to the rotation angular velocity and the moving acceleration of the inertial measurement unit and the previous positions of the automatic transportation devices 1000a and 1000b, so as to avoid the positioning error.
Please refer to fig. 10. Except that the automatic path R is calculatedAIn addition, the automatic transportation apparatus 1000a, 1000b having the camera unit 1620b may also recognize and follow a specific user. In this embodiment, the user has identification information P for the camera unit 1620b to recognize, and when the camera unit 1620b captures the identification information P and the user starts the following function of the automatic transportation device 1000b, the control module 1200 calculates the following path R according to the identification information PFAnd the control module 1200 controls the driving module 1300 to drive the motor, so that the motor drives the wheel 1420 to follow the path RFFollowing the user movement. It is worth mentioning that the path R is followedFIt is not necessary that the user walk, as long as the automatic transportation devices 1000a, 1000b can maintain a certain distance from the user, following the path RFMay be located to the left, rear left, right, rear right, or left of the user. Thus, the user does not have to continuously push or pull the automatic transport devices 1000a and 1000b by hand, and the goods to be loaded and unloaded can be moved together while maintaining a distance that can be accessed at any time. In addition, the control module 1200 can also be based onEnvironmental information IECorrecting following path RFFor example, the control module 1200 may be based on the map information IMAnd adjusting the following path R by the position of the obstacle O of the working environment sensed by the sensor 1500FThe automatic transporters 1000a, 1000b are made to follow the path RFThe obstacle O can be avoided during movement, and damage to the automatic transport devices 1000a and 1000b can be avoided.
Based on the above, the automatic transportation device of the present invention has a folding mode and an unfolding mode, when a user needs to manually push and pull the automatic transportation device, the automatic transportation device can be switched to the unfolding mode, and the automatic transportation device can be manually operated after the operation portion is unscrewed from the accommodating space, so that convenience in operation of the automatic transportation device is improved; on the other hand, when the user needs to load and unload the goods in the installation side direction of the operation part, the automatic transportation device can be switched to the folding mode, and the operation part is stored in the accommodating space, so that the goods can be prevented from colliding with the operation part, and the logistics efficiency is improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (17)
1. An automatic transportation device having a folding mode and an unfolding mode, comprising:
a body, comprising:
the bearing part is provided with an accommodating space and comprises a top surface and a bottom surface, wherein the top surface is suitable for bearing goods, and the bottom surface is opposite to the top surface; and
the operating part is pivoted with the bearing part;
a control module disposed within the body;
the driving module is arranged in the body and is electrically connected with the control module; and
a plurality of wheels coupled to the bottom surface, the plurality of wheels comprising:
a wheel body adapted to contact the ground; and
the motor is electrically connected to the driving module and drives the wheel body to roll on the ground;
when the automatic transportation device is in the folding mode, the operation part is contained in the containing space;
when the automatic conveying device is switched to the unfolding mode, the operating part is screwed out of the accommodating space and forms an included angle with the top surface;
the automatic transportation device further comprises a communication module, when the automatic transportation device is in the folding mode, the communication module obtains information from a server, the control module determines a path according to the information, and the driving module drives the wheel body to move along the path.
2. The automatic conveying device according to claim 1, wherein the operating portion includes a housing and an operating body, wherein the housing is pivotally connected to the carrying portion, the operating body is partially sleeved in the housing, and when the operating portion is unscrewed from the accommodating space, the operating body can be extended and retracted relative to the housing.
3. The automatic transportation device as claimed in claim 1, wherein the accommodation space is recessed in the top surface, and the height of the operation portion does not exceed the top surface when the automatic transportation device is in the retracted mode.
4. The automatic transportation device as claimed in claim 1, further comprising a detachable device disposed on the operation portion and electrically connected to the control module, wherein the detachable device is received in the receiving space when the automatic transportation device is in the retracted mode.
5. The automated transportation device of claim 4, wherein the detachable device comprises a display, a camera module, or a distance sensor.
6. The automated transportation device of claim 5, wherein the display comprises an input interface and a display interface, the input interface adapted to provide user input of first information, the display communicating the first information to the control module, the control module outputting second information to the display, and the display displaying the second information on the display interface.
7. The automated transportation apparatus according to claim 5, wherein the camera module comprises a camera unit, a rotating motor and a pivot, the camera unit is pivoted to the operation portion through the pivot, and the control module is adapted to control the rotating motor to drive the camera unit to rotate relative to the operation portion.
8. The automatic transportation device as claimed in claim 5, wherein the control module calculates a following path according to the identification information of the user detected by the camera module, and the control module controls the driving module to drive the motor, so that the motor drives the wheel body to move along the following path to follow the user.
9. The automated transportation device according to claim 1, wherein a display is mounted on the operation portion, and when the automated transportation device is switched to the unfolding mode, another path is adapted to be set by a user through the display, and the driving module drives the wheel to move along the another path.
10. The automatic transportation device according to claim 1, wherein a camera module is mounted on the operation portion, and when the automatic transportation device is switched to the deployment mode, the control module identifies a user through the camera module, and the driving module drives the wheel body to move along with the user.
11. The automated transportation apparatus of claim 5, wherein a plurality of sides are disposed between the top surface and the bottom surface, and a plurality of sensors are disposed on the plurality of sides, wherein the plurality of sensors are electrically connected to the control module.
12. The automated transportation apparatus of claim 11, wherein the control module calculates an automatic path based on environmental information, wherein the environmental information includes map information of a working environment of the automated transportation apparatus and a position of an obstacle of the working environment sensed by the plurality of sensors, and the control module controls the driving module to drive the motor so that the motor drives the wheel body to move along the automatic path while avoiding the obstacle.
13. The automated transportation apparatus of claim 12, wherein the environment information further comprises an environment image detected by the camera module, wherein the environment image comprises a positioning identifier configured in the working environment, the control module calculates a relay point according to the map information and the environment image, and the automatic route passes through the relay point.
14. The automated transportation apparatus of claim 11, wherein the plurality of sensors comprises lidar or ultrasonic sensors.
15. The automated transportation apparatus of claim 5, wherein a normal direction of the display is parallel to a moving direction of the automated transportation apparatus.
16. The automated transportation apparatus of claim 1, further comprising a positioning module comprising an inertial measurement unit or an ultra-wideband sensor.
17. The automated transportation apparatus of claim 1, wherein the drive module stops driving the wheel when the automated transportation apparatus switches to the deployed mode.
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| CN201910220879.3A CN109895825B (en) | 2019-03-22 | 2019-03-22 | Automatic conveyer |
| PCT/CN2020/078744 WO2020192421A1 (en) | 2019-03-22 | 2020-03-11 | Automatic transport device |
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| CN201910220879.3A CN109895825B (en) | 2019-03-22 | 2019-03-22 | Automatic conveyer |
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| CN109895825B true CN109895825B (en) | 2020-09-04 |
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| CN109895825B (en) * | 2019-03-22 | 2020-09-04 | 灵动科技（北京）有限公司 | Automatic conveyer |
| CN111079607A (en) * | 2019-12-05 | 2020-04-28 | 灵动科技（北京）有限公司 | Automatic driving system with tracking function |
| JP7327339B2 (en) * | 2020-10-02 | 2023-08-16 | トヨタ自動車株式会社 | Autonomous vehicles and their storage facilities |
| CN112918529A (en) * | 2021-02-06 | 2021-06-08 | 四川富美高电子有限公司 | Device convenient for moving transformer |
| CN216657949U (en) * | 2021-11-17 | 2022-06-03 | 深圳市普渡科技有限公司 | Robot |
| CN116671818B (en) * | 2023-07-27 | 2023-11-21 | 科沃斯家用机器人有限公司 | Self-moving device and handle assembly |
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| JPH07285622A (en) * | 1994-04-19 | 1995-10-31 | Toshiba Corp | Picking device |
| KR20120062594A (en) * | 2010-12-06 | 2012-06-14 | (주)엘더스티앤엘 | Trolley for life saving |
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| CN204956556U (en) * | 2015-08-24 | 2016-01-13 | 太仓兴锋脚轮有限公司 | Folding dull and stereotyped shallow |
| US9440594B1 (en) * | 2015-09-22 | 2016-09-13 | Ford Global Technologies, Llc | Motor vehicle with integrated hybrid mechanic creeper/utility cart |
| CN205615554U (en) * | 2016-05-09 | 2016-10-05 | 上海晋欣检测技术有限公司 | Shallow is used in foldable environmental protection sampling |
| CN206475909U (en) * | 2017-01-18 | 2017-09-08 | 中国人民解放军军事交通学院 | A kind of logistics foldable type trolley |
| CN207128959U (en) * | 2017-08-21 | 2018-03-23 | 季伟伟 | Automatic logistics dolly |
| CN207141136U (en) * | 2017-08-28 | 2018-03-27 | 金陵科技学院 | A kind of Universal foldable automatic running dolly |
| CN107807652A (en) * | 2017-12-08 | 2018-03-16 | 灵动科技（北京）有限公司 | Merchandising machine people, the method for it and controller and computer-readable medium |
| CN207889764U (en) * | 2018-02-09 | 2018-09-21 | 姜德胜 | A kind of multifunction trailer |
| CN208469867U (en) * | 2018-05-10 | 2019-02-05 | 广西职业技术学院 | A kind of logistics trolley of automatic access goods |
| CN108860252A (en) * | 2018-06-24 | 2018-11-23 | 华北理工大学 | A kind of fruit conveying vehicle and its automatic follow pick people system |
| CN109895825B (en) * | 2019-03-22 | 2020-09-04 | 灵动科技（北京）有限公司 | Automatic conveyer |
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| CN109895825A (en) | 2019-06-18 |
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