Autonomous moving device, auxiliary positioning equipment and transportation system

Abstract

The utility model provides an autonomous moving device, an auxiliary positioning device and a transportation system, the autonomous moving device can be positioned through the auxiliary positioning device, the auxiliary positioning device is provided with a first plug-in structure, and the autonomous moving device comprises an autonomous moving vehicle body; the conveying mechanism is mounted on the autonomous moving vehicle body; and the second inserting structure is arranged on the autonomous moving vehicle body and / or the conveying mechanism and used for being in inserting fit with the first inserting structure when the autonomous moving device is positioned through the auxiliary positioning equipment. According to the structure, accurate positioning of the autonomous moving device can be achieved through insertion connection between the first insertion connection structure and the second insertion connection structure, so that the butt joint precision of the autonomous moving device and other conveying systems can be improved, and the autonomous moving device can be applied to occasions with higher butt joint precision requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transportation systems, in particular to an autonomous mobile device, an auxiliary positioning device and a transportation system. BACKGROUND

[0002] In intelligent transportation systems, autonomous mobile devices such as autonomous mobile robots (AMR) or automated guided vehicles (AGV) are often used to realize loading and unloading of materials. The autonomous mobile device is provided with a conveying mechanism to realize the conveying of materials. When loading and unloading materials, the conveying mechanism needs to be connected with other conveying systems to ensure the smooth transfer of materials between the autonomous mobile device and other conveying systems.

[0003] In related solutions, the connection between the conveying mechanism and other conveying systems is realized by the movement of the autonomous mobile device. This connection method has low connection accuracy and cannot be applied to situations where high connection accuracy is required. UTILITY MODEL CONTENT

[0004] The present application aims to at least solve the problem of low connection accuracy of the autonomous mobile device in the prior art or related art.

[0005] To this end, the first aspect of the present application provides an autonomous mobile device.

[0006] The second aspect of the present application provides an auxiliary positioning device.

[0007] The third aspect of the present application provides a transportation system.

[0008] The first aspect of the present application provides an autonomous mobile device which can be positioned by an auxiliary positioning device. The auxiliary positioning device is provided with a first plug-in structure. The autonomous mobile device comprises: an autonomous mobile vehicle body; a conveying mechanism installed on the autonomous mobile vehicle body; and a second plug-in structure provided on the autonomous mobile vehicle body and / or the conveying mechanism, for plug-in cooperation with the first plug-in structure when the autonomous mobile device is positioned by the auxiliary positioning device.

[0009] According to the autonomous mobile device provided in the application, the autonomous mobile device comprises an autonomous mobile vehicle body and a conveying mechanism capable of conveying materials. When the autonomous mobile device conveys the materials, the conveying mechanism needs to be connected with other conveying systems (such as conveying lines or trucks) to ensure that the materials can be smoothly transferred between the autonomous mobile device and the other conveying systems. When the conveying mechanism is connected with the other conveying systems, the auxiliary positioning device can be used to ensure the connection accuracy between the conveying mechanism and the other conveying systems. The first plug-in structure is arranged on the auxiliary positioning device, and the second plug-in structure is arranged on the autonomous mobile device. When the autonomous mobile device is connected and positioned, the first plug-in structure and the second plug-in structure can be plugged in, so that the accurate positioning of the autonomous mobile device can be realized through the plugging between the first plug-in structure and the second plug-in structure, thereby improving the connection accuracy of the autonomous mobile device and the other conveying systems, and enabling the autonomous mobile device to be applied to occasions with higher connection accuracy requirements, thereby solving the problem in the related art that the connection between the conveying mechanism and the other conveying systems is realized through the movement of the AGV transport vehicle, and the connection accuracy between the conveying mechanism and the other conveying systems is not high.

[0010] In any of the above embodiments, optionally, the autonomous mobile device further comprises a first detection device arranged on the autonomous mobile vehicle body and / or the conveying mechanism, and configured to detect whether the first plug-in structure enters the detection range of the first detection device.

[0011] In the technical scheme, when the autonomous mobile device is connected and positioned, the first detection device can be used to determine the position of the first plug-in structure. If the first detection device can detect the first plug-in structure, it indicates that the coarse positioning of the autonomous mobile device and the auxiliary positioning device is completed, and then the fine positioning of the autonomous mobile device can be performed.

[0012] In any of the above embodiments, optionally, the autonomous mobile device further comprises a second detection device arranged on the autonomous mobile vehicle body and / or the conveying mechanism, and configured to detect whether the first plug-in structure and the second plug-in structure are plugged in place.

[0013] In the technical scheme, when the autonomous mobile device is fine-positioned through the first plug-in structure and the second plug-in structure, the second detection device can be used to detect whether the first plug-in structure and the second plug-in structure are plugged in place. If both are plugged in place, the fine positioning is completed.

[0014] In any of the above embodiments, optionally, the first plug-in structure comprises one of a plug-in shaft and a plug-in hole, and the second plug-in structure comprises the other of the plug-in shaft and the plug-in hole.

[0015] In the technical solutions, the first plug-in structure and the second plug-in structure can be arranged as needed, and preferably, the first plug-in structure and the second plug-in structure are arranged in the form of a plug-in hole and a plug-in shaft, or in the form of a plug-in protrusion and a plug-in groove.

[0016] In any of the above embodiments, optionally, the autonomous mobile device further comprises a plug-in seat arranged on the autonomous mobile vehicle body and / or the conveying mechanism, and the plug-in hole is arranged on the plug-in seat.

[0017] In this embodiment, one plug-in seat is arranged to form one plug-in hole. The plug-in hole can be easily repaired and replaced through the separately arranged plug-in seat.

[0018] In any of the above embodiments, optionally, the top of the plug-in shaft is inserted into the plug-in hole from the first end of the plug-in hole, and the first end of the plug-in hole is in the form of a circular truncated cone, and the top of the plug-in shaft is in the form of a cone.

[0019] In the technical solutions, the top of the plug-in shaft is arranged in the form of a cone, and the bottom of the plug-in hole is arranged in the form of a circular truncated cone, so that the plug-in shaft can be better inserted into the plug-in hole, thereby reducing the installation precision requirement between the plug-in shaft and the plug-in hole, and ensuring that the plug-in shaft can be normally inserted into the plug-in hole even if there is a certain error during installation, so as to ensure that the autonomous mobile device can normally complete the fine positioning operation.

[0020] Exemplarily, the plug-in shaft is a plug-in pin shaft.

[0021] In any of the above embodiments, optionally, the autonomous mobile device further comprises a precision adjustment mechanism installed on the autonomous mobile vehicle body, the conveying mechanism is installed on the autonomous mobile vehicle body through the precision adjustment mechanism, the second plug-in structure is arranged on the autonomous mobile vehicle body through the precision adjustment mechanism, and / or the second plug-in structure is arranged on the conveying mechanism; the precision adjustment mechanism comprises a state adjusting device, the state adjusting device can lock and unlock the conveying mechanism, when the conveying mechanism is in an unlocked state, the conveying mechanism can be driven to move along the width direction of the autonomous mobile vehicle body through the second plug-in structure, so as to adjust the position of the conveying mechanism in the width direction of the autonomous mobile vehicle body, and / or the conveying mechanism can be driven to rotate around the height direction of the autonomous mobile vehicle body through the second plug-in structure.

[0022] In this embodiment, the precision adjustment mechanism is arranged between the autonomous mobile vehicle body and the conveying mechanism to adjust the position of the conveying mechanism. When the autonomous mobile device is docked with other conveying systems, the locking mechanism can be opened first to make the conveying mechanism movable. Then the first plug-in structure and the second plug-in structure can be guided to be plugged in. During the plugging process, the precision adjustment mechanism can follow the first plug-in structure to adjust the rotation angle and the lateral position of the conveying mechanism to ensure that the first plug-in structure and the second plug-in structure can be smoothly plugged in. This structure can finely adjust the position of the conveying mechanism based on the docking guidance of the first plug-in structure and the second plug-in structure, thereby ensuring the docking accuracy of the autonomous mobile device. Moreover, this docking method does not need to rely on excessive electrical control, so the docking method of the autonomous mobile device is relatively simple.

[0023] In any of the above embodiments, the autonomous mobile device can further comprise a first docking sensor mounted on the autonomous mobile vehicle body or the conveying mechanism, which is used to send a signal indicating that the first plug-in structure and the second plug-in structure have been plugged in.

[0024] In this embodiment, the autonomous mobile device comprises a first docking sensor for sending a docking-in-place signal to inform the conveying line or the like that it can perform loading or the like. A second docking sensor can be arranged on the auxiliary positioning device to receive the docking-in-place signal and forward the docking-in-place signal to the conveying line or the like.

[0025] Optionally, the first docking sensor is an optical sensor.

[0026] Optionally, the first plug-in structure comprises a plug-in shaft, and the second plug-in structure comprises a plug-in hole. When the autonomous mobile device moves straight, the position deviation of the plug-in hole in the width direction of the autonomous mobile device is greater than the design deviation of the plug-in hole. The straight-line walking accuracy of the autonomous mobile device is the left-right deviation of the second plug-in structure when the autonomous mobile device moves straight, which can be positive or negative 5 mm. The opening design deviation of the plug-in hole is positive or negative 15 mm. This design takes into account the straight-line walking accuracy of the autonomous mobile device, so that even if there is a certain error when the autonomous mobile device moves, the plug-in hole and the plug-in shaft can still be reliably plugged in.

[0027] The second aspect of the present application provides an auxiliary positioning device for assisting the positioning of the autonomous mobile device provided in any of the first aspect. The auxiliary positioning device comprises a seat assembly, a first plug-in structure mounted on the seat assembly for plug-in cooperation with a second plug-in structure.

[0028] The auxiliary positioning device provided in the application is provided with the first plug-in structure, and the autonomous mobile device is provided with the second plug-in structure. When the autonomous mobile device is docked and positioned, the first plug-in structure and the second plug-in structure are plugged in. Thus, the precise positioning of the autonomous mobile device is realized through the plugging between the first plug-in structure and the second plug-in structure. Thus, the precision of the docking of the autonomous mobile device and other conveying systems is improved, so that the autonomous mobile device can be applied to occasions with higher docking precision requirements. Thus, the problem in the related solutions that the docking between the conveying mechanism and other conveying systems is realized through the movement of the AGV transport trolley, so that the docking precision between the conveying mechanism and other conveying systems is not high is solved.

[0029] In any of the above embodiments, optionally, the auxiliary positioning device further comprises a second docking sensor mounted on the seat body assembly and configured to receive a docking-in-place signal, the docking-in-place signal being sent by the autonomous mobile device after the first plug-in structure and the second plug-in structure are plugged in.

[0030] In this embodiment, the autonomous mobile device comprises a first docking sensor, and the auxiliary positioning device comprises a second docking sensor. The first docking sensor is configured to send a docking-in-place signal, and the second docking sensor is configured to receive the docking-in-place signal and forward the docking-in-place signal to the conveying line or the like to inform the conveying line or the like that the loading or the like operation can be performed.

[0031] One of the first docking sensor and the second docking sensor is configured to send a docking process start signal, and the other is configured to receive the docking process start signal. When the autonomous mobile device or the auxiliary positioning device receives the docking process start signal, it indicates that the auxiliary positioning device and the autonomous mobile vehicle body are roughly aligned. Thereafter, the alignment work can be started.

[0032] Optionally, the second docking sensor is an optical sensor.

[0033] In any of the above embodiments, optionally, the seat body assembly comprises a fixed seat, a connecting frame mounted on the fixed seat, the mounting position of the connecting frame on the fixed seat in a first direction being adjustable, a positioning seat mounted on the end of the connecting frame away from the fixed seat, the first plug-in structure being mounted on the positioning seat, and a first locking device mounted on the positioning seat and configured to lock or release the positioning seat. When the first locking device releases the positioning seat, the positioning seat can rotate relative to the connecting frame to adjust the mounting angle of the positioning seat.

[0034] In the embodiment, the seat body assembly comprises a fixing seat, a connecting frame and a positioning seat. The connecting frame can move in the first direction (specifically, the width direction of the autonomous mobile device), and the positioning seat can rotate left and right, up and down, or front and back to adjust the installation angle. Through the adjustment of the connecting frame and the positioning seat, the installation position accuracy of the second plug-in structure can be ensured, and the situation that the autonomous mobile device cannot meet the docking accuracy after docking due to the position error of the second plug-in structure can be avoided.

[0035] In any of the above embodiments, optionally, the auxiliary positioning device further comprises a buffer pad installed on the side of the positioning seat facing the autonomous mobile device in the second direction. The second direction is the plug-in direction of the first plug-in structure and the second plug-in structure.

[0036] In the embodiment, the side of the auxiliary positioning device close to the autonomous mobile device is provided with a buffer pad. The buffer pad can play a buffering role after the auxiliary positioning device and the autonomous mobile device collide, thereby protecting the autonomous mobile device.

[0037] In any of the above embodiments, optionally, the rotation axis of the positioning seat relative to the connecting frame is arranged in the height direction of the autonomous mobile device. That is, the positioning seat can at least rotate left and right to enable the first plug-in structure to face the target direction. Of course, the positioning seat can also rotate up and down or front and back relative to the connecting frame.

[0038] In any of the above embodiments, optionally, the fixing seat is provided with anchor bolt holes, and the auxiliary positioning device further comprises anchor bolts. The fixing seat is fixed to the ground through the anchor bolts and the anchor bolt holes.

[0039] In the embodiment, the auxiliary positioning device can be installed at the end of the docking conveying line. In order to fix the auxiliary positioning device, the auxiliary positioning device can be directly fixed to the ground through a plurality of anchor bolts.

[0040] In any of the above embodiments, optionally, the connecting frame is provided with strip-shaped holes distributed in the first direction, and the connecting frame is bolted to the fixing seat through the strip-shaped holes. The connecting frame and the fixing seat are connected through first fixing bolts. The strip-shaped holes are used for the first fixing bolts to pass through.

[0041] In the embodiment, in order to adjust the installation position of the connecting frame in the first direction, a strip-shaped hole can be arranged on the fixing seat. Thus, the installation position of the connecting frame can be adjusted through the strip-shaped hole. After the installation position of the connecting frame is adjusted, the connecting frame can be locked.

[0042] In any of the above embodiments, optionally, the auxiliary positioning device further comprises a second adjustment and locking device installed on the fixing seat, for adjusting the position of the connecting frame in the first direction on the fixing seat, and locking the connecting frame after the position of the connecting frame is adjusted.

[0043] In this embodiment, the second adjusting and locking device can be used to adjust the position of the connecting frame, and can also be used to lock the position of the connecting frame after the position of the connecting frame is adjusted, so that the adjusting and locking structure of the connecting frame can be integrated.

[0044] In any of the above embodiments, optionally, the second adjusting and locking device comprises two groups of bolt adjusting assemblies, one of the two groups of bolt adjusting assemblies is mounted on one side of the fixed seat along the first direction. The other of the two groups of bolt adjusting assemblies is mounted on the other side of the fixed seat along the first direction. In a specific embodiment, the second adjusting and locking device comprises a first adjusting seat mounted on the fixed seat and located on one side of the fixed seat along the first direction, a first adjusting bolt mounted on the first adjusting seat and arranged along the first direction, a second adjusting seat mounted on the fixed seat and located on the other side of the fixed seat along the first direction, and a second adjusting bolt mounted on the first adjusting seat and arranged along the first direction.

[0045] In this embodiment, one group of bolt adjusting assemblies is arranged on each side of the fixed seat along the first direction. The mounting position of the connecting frame can be adjusted by the bolt adjusting assemblies on both sides of the fixed seat. Specifically, the position of the connecting frame can be changed by screwing the first adjusting bolt and the second adjusting bolt.

[0046] Optionally, the first adjusting seat is further provided with a first reinforcing nut, and the first adjusting bolt is slidingly mounted on the first adjusting seat and passes through the first reinforcing nut. The second adjusting seat is further provided with a second reinforcing nut, and the second adjusting bolt is slidingly mounted on the second adjusting seat and passes through the second reinforcing nut. The reinforcing nuts at the two ends of the first adjusting bolt and the second adjusting bolt can increase the fixing strength of the first adjusting bolt and the second adjusting bolt.

[0047] In any of the above embodiments, optionally, the first locking device comprises a third adjusting bolt mounted on the positioning seat.

[0048] In this embodiment, after the position of the positioning seat is adjusted, the third adjusting bolt can be used to fix the positioning seat. When it is necessary to adjust the position of the positioning seat again, the third adjusting bolt can be loosened to ensure that the positioning seat can rotate to adjust the mounting angle of the positioning seat in the horizontal plane.

[0049] In any of the above embodiments, optionally, the first inserting structure comprises one of an inserting shaft and an inserting hole, and the second inserting structure comprises the other of the inserting shaft and the inserting hole.

[0050] In the technical solutions, the structures of the first inserting structure and the second inserting structure can be set as required, and preferably, the first inserting structure and the second inserting structure are set in the form of an inserting hole and an inserting shaft. Of course, the first inserting structure and the second inserting structure can also be set in the form of an inserting protrusion and an inserting groove.

[0051] In the technical solutions, the top of the plug-in shaft is conical, and the bottom of the plug-in hole is frustoconical, so that the plug-in shaft can be better inserted into the plug-in hole, thereby reducing the installation precision requirement between the plug-in shaft and the plug-in hole, so that the plug-in shaft can be normally inserted into the plug-in hole even if there is a certain error during installation, to ensure that the autonomous mobile device can normally complete the fine positioning operation.

[0052] Exemplarily, the plug-in shaft is a plug-in pin shaft.

[0053] The third aspect of the present application provides a transportation system, comprising the autonomous mobile device provided by any one of the technical solutions of the first aspect and / or the auxiliary positioning device provided by any one of the technical solutions of the second aspect.

[0054] The transportation system provided by the technical solutions of the present application comprises the autonomous mobile device provided by any one of the technical solutions of the first aspect and / or the auxiliary positioning device provided by any one of the technical solutions of the second aspect, so it has all the beneficial effects of the autonomous mobile device provided by any one of the technical solutions of the first aspect and / or the auxiliary positioning device provided by any one of the technical solutions of the second aspect, which will not be repeated here.

[0055] Additional aspects and advantages of the present application will become apparent from the following description, or will be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0056] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the description of the embodiments, given below, and the accompanying drawings, in which:

[0057] Figure 1 Fig. 1 shows a structural schematic diagram of an autonomous mobile device according to an embodiment of the present application;

[0058] Figure 2 Fig. 2 shows a structural schematic diagram of a precision adjustment mechanism according to an embodiment of the present application;

[0059] Figure 3 Fig. 3 shows a positioning state schematic diagram of an autonomous mobile device and an auxiliary positioning device according to an embodiment of the present application;

[0060] Figure 4 Fig. 4 shows another positioning state schematic diagram of an autonomous mobile device and an auxiliary positioning device according to an embodiment of the present application;

[0061] Figure 5 Fig. 5 shows a state schematic diagram of an auxiliary positioning device and a second plug-in structure during plug-in according to an embodiment of the present application;

[0062] Figure 6 A structural schematic view of the auxiliary positioning device of one embodiment of the present application is shown;

[0063] Figure 7 A structural schematic view of the autonomous mobile device of one embodiment of the present application is shown;

[0064] Figure 8 A structural schematic view of the autonomous mobile device of one embodiment of the present application is shown;

[0065] Figure 9 A structural schematic view of the autonomous mobile device of one embodiment of the present application is shown;

[0066] Figure 10 A structural schematic view of the connecting mechanism of one embodiment of the present application is shown;

[0067] Figure 11 A structural schematic view of the conveying mechanism of one embodiment of the present application is shown;

[0068] Figure 12 A structural schematic view of the conveying mechanism of one embodiment of the present application is shown;

[0069] Figure 13 A working flow chart of the conveying mechanism of one embodiment of the present application is shown;

[0070] Figure 14 A structural schematic view of the electromagnetic locking device of the autonomous mobile device of one embodiment of the present application is shown.

[0071] Reference signs:

[0072] 100 autonomous mobile vehicle body, 200 precision adjustment mechanism, 210 electromagnetic locking device, 211 electromagnetic element, 212 magnetic guide element, 214 first connecting rod, 216 second connecting rod, 218 linear bearing, 219 sliding shaft, 220 lifting locking pin device, 300 conveying mechanism, 302 blocking mechanism module, 304 buffer module, 306 material detection sensor, 308 conveying track, 310 driving assembly, 400 connecting mechanism, 402 rear support, 404 front support, 406 rear connecting rod, 408 front shaft, 410 connecting shaft, 500 auxiliary positioning device, 510 first plug-in structure, 512 plug-in shaft, 520 second docking sensor, 530 seat assembly, 531 fixed seat, 5312 anchor bolt hole, 532 connecting frame, 5322 strip hole, 533 positioning seat, 5332 fixing hole, 540 first locking device, 542 third adjusting bolt, 550 buffer pad, 560 second adjusting locking device, 562 first adjusting seat, 564 first adjusting bolt, 566 second adjusting seat, 568 second adjusting bolt, 600 second plug-in structure, 610 plug-in seat, 612 plug-in hole, 700 first detection device, 800 second detection device, 900 first docking sensor. DETAILED DESCRIPTION

[0073] In order to enable anyone skilled in the art to better understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0074] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0075] The autonomous mobile device, the auxiliary positioning device 500 and the transportation system according to some embodiments of the present application will be described below with reference to the accompanying drawings. Figures 1 to 14 As shown in

[0076] , Figures 1 to 6 , Figure 3 , Figure 4 and Figure 5 , the first aspect of the present application provides an autonomous mobile device capable of being positioned by an auxiliary positioning device 500, the auxiliary positioning device 500 being provided with a first plug-in structure 510 (as shown in Figure 1 , Figure 3 , Figure 4 and Figure 5 , the autonomous mobile device comprising: an autonomous mobile vehicle body 100; a conveying mechanism 300 installed on the autonomous mobile vehicle body 100; a second plug-in structure 600 (as shown in Figure 1 , Figure 3 , Figure 4 and Figure 5 .As shown in FIG. 1, the autonomous mobile device further comprises a first detection device 700 arranged on the autonomous mobile vehicle body 100 and / or the conveying mechanism 300, configured to detect whether the first plug-in structure 510 enters the detection range of the first detection device 700.

[0077] According to the autonomous mobile device provided in the present application, the autonomous mobile device comprises an autonomous mobile vehicle body 100 and a conveying mechanism 300, and the conveying mechanism 300 is capable of conveying materials. When the autonomous mobile device conveys the materials, the conveying mechanism 300 needs to be connected with other conveying systems (such as conveying lines or trucks, etc.) to ensure that the materials can be smoothly transferred between the autonomous mobile device and the other conveying systems. When the conveying mechanism 300 is connected with the other conveying systems, the auxiliary positioning device 500 can be used to ensure the connection accuracy between the conveying mechanism 300 and the other conveying systems. The auxiliary positioning device 500 is provided with a first plug-in structure 510, and the autonomous mobile device is provided with a second plug-in structure 600. When the autonomous mobile device is connected and positioned, the first plug-in structure 510 and the second plug-in structure 600 can be plugged in. In this way, the first plug-in structure 510 and the second plug-in structure 600 can be used to accurately position the autonomous mobile device, so as to improve the connection accuracy between the autonomous mobile device and the other conveying systems. Therefore, the autonomous mobile device can be applied to occasions with higher connection accuracy requirements. Thus, the problem that the connection accuracy between the conveying mechanism 300 and the other conveying systems is not high in the related art is solved.

[0078] In any of the above embodiments, optionally, as shown in FIG. 1, the autonomous mobile device further comprises a first detection device 700 arranged on the autonomous mobile vehicle body 100 and / or the conveying mechanism 300, configured to detect whether the first plug-in structure 510 enters the detection range of the first detection device 700. Figure 5

[0079] In this embodiment, when the autonomous mobile device is connected and positioned, the first detection device 700 can be used to determine the position of the first plug-in structure 510. If the first detection device 700 can detect the first plug-in structure 510, it indicates that the coarse positioning of the autonomous mobile device and the auxiliary positioning device 500 is completed, and then the fine positioning of the autonomous mobile device can be performed.

[0080] In any of the above embodiments, optionally, as shown in FIG. 1, the autonomous mobile device further comprises a second detection device 800 arranged on the autonomous mobile vehicle body 100 and / or the conveying mechanism 300, configured to detect whether the first plug-in structure 510 and the second plug-in structure 600 are plugged in. Figure 4

[0081] ​​In this embodiment, when the autonomous mobile device is precisely positioned by the first plug structure 510 and the second plug structure 600, the second detection device 800 can be used to detect whether the first plug structure 510 and the second plug structure 600 are plugged in place. If both are plugged in place, the precise positioning is completed.

[0082] In any of the above embodiments, optionally, as shown in Figure 3 and Figure 5 the first plug structure 510 includes one of the plug shaft 512 and the plug hole 612, and the second plug structure 600 includes the other one of the plug shaft 512 and the plug hole 612.

[0083] In these embodiments, the structures of the first plug structure 510 and the second plug structure 600 can be set as needed, and preferably, the first plug structure 510 and the second plug structure 600 can be set in the form of the plug hole 612 and the plug shaft 512, and of course, can also be set in the form of the plug protrusion and the plug slot.

[0084] In any of the above embodiments, optionally, as shown in Figure 3 and Figure 5 the autonomous mobile device further includes a plug seat 610 arranged on the autonomous mobile vehicle body 100 and / or the conveying mechanism 300, and the plug hole 612 is arranged on the plug seat 610.

[0085] In this embodiment, one plug seat 610 can be arranged to form one plug hole 612. By arranging the plug seat 610 separately, the maintenance and replacement of the plug hole 612 can be facilitated.

[0086] In any of the above embodiments, optionally, as shown in Figure 3 and Figure 5 the top of the plug shaft 512 can be inserted into the plug hole 612 from the first end of the plug hole 612, the first end of the plug hole 612 is in the form of a circular truncated cone, and the top of the plug shaft 512 is in the form of a cone.

[0087] In these embodiments, by setting the top of the plug shaft 512 in the form of a cone and the bottom of the plug hole 612 in the form of a circular truncated cone, the plug shaft 512 can be better inserted into the plug hole 612, so that the installation precision requirement between the plug shaft 512 and the plug hole 612 can be reduced. Even if there is a certain error during installation, the plug shaft 512 can still be normally inserted into the plug hole 612, so as to ensure that the autonomous mobile device can normally complete the precise positioning operation.

[0088] Exemplarily, the plug shaft 512 is a plug pin shaft.

[0089] In any of the above embodiments, optionally, as shown in Figure 1 andFigure 7 , Figure 8 and Figure 9 As shown, the autonomous mobile device further includes: a precision adjustment mechanism 200, installed on the autonomous mobile vehicle body 100; a conveying mechanism 300, installed on the autonomous mobile vehicle body 100 via the precision adjustment mechanism 200; a second plug-in structure 600, disposed on the autonomous mobile vehicle body 100 via the precision adjustment mechanism 200; and / or the second plug-in structure 600, disposed on the conveying mechanism 300. The precision adjustment mechanism 200 includes a state adjustment device, which can lock and unlock the conveying mechanism 300. When the conveying mechanism 300 is in the unlocked state, the second plug-in structure 600 can drive the conveying mechanism 300 to move along the width direction of the autonomous mobile vehicle body 100 to adjust the position of the conveying mechanism 300 in the width direction of the autonomous mobile vehicle body 100, and / or the second plug-in structure 600 can drive the conveying mechanism 300 to rotate around the height direction of the autonomous mobile vehicle body 100.

[0090] In this embodiment, a precision adjustment mechanism 200 is disposed between the autonomous mobile vehicle body 100 and the conveying mechanism 300 to adjust the position of the conveying mechanism 300. When the autonomous mobile device docks with other conveying systems, the locking mechanism can be opened first, making the conveying mechanism 300 movable. Then, the first insertion structure 510 and the second insertion structure 600 can be guided to insert. During the insertion process, the precision adjustment mechanism 200 follows the movement of the first insertion structure 510 to adjust the rotation angle and lateral position of the conveying mechanism 300, ensuring smooth insertion of the first insertion structure 510 and the second insertion structure 600. This structure, based on the docking guidance of the first insertion structure 510 and the second insertion structure 600, enables fine adjustment of the position of the conveying mechanism 300, thereby ensuring the docking accuracy of the autonomous mobile device. Furthermore, this docking method does not require excessive electrical control, making the docking method of the autonomous mobile device relatively simple.

[0091] The structural diagram of the precision adjustment mechanism 200 is as follows: Figure 2 As shown.

[0092] The state adjustment device may specifically include an electromagnetic locking device 210. For example... Figure 14As shown, the electromagnetic locking device 210 includes an electromagnet 211 and a magnetic guide 212. The magnetic guide 212 can be a magnet, a metal sheet, etc. The electromagnet 211 can be energized to guide magnetism or de-energized to demagnetize. When the conveying mechanism 300 needs to be locked, the energization state of the electromagnet 211 can be changed, for example, the electromagnet 211 can be energized to demagnetize, so that the electromagnet 211 and the magnetic guide 212 can be disconnected from each other, thereby unlocking the conveying mechanism 300. After the conveying mechanism 300 is adjusted to the position, the electromagnet 211 can be de-energized to guide magnetism, so that the electromagnet 211 and the magnetic guide 212 can be magnetically attracted to each other, thereby achieving magnetic attraction locking of the connecting plate or the conveying mechanism 300.

[0093] The state adjusting device can specifically include a lifting locking pin device 220. By lifting and lowering the locking pin of the lifting locking pin device 220, the locking and unlocking of the conveying mechanism 300 can be achieved.

[0094] In any of the above embodiments, as shown in Figure 3 、 Figure 5 and Figure 6 , the autonomous mobile device further includes a first docking sensor 900 mounted on the autonomous mobile vehicle body 100 or the conveying mechanism 300, for sending a docking-in-position signal after the first plug-in structure 510 and the second plug-in structure 600 are plugged in position.

[0095] In this embodiment, the autonomous mobile device includes the first docking sensor 900, which is used to send a docking-in-position signal to inform the conveying line or the like that the loading or the like can be performed. The second docking sensor 520 can be provided on the auxiliary positioning device 500 to receive the docking-in-position signal and forward the docking-in-position signal to the conveying line or the like.

[0096] Optionally, the first docking sensor 900 is an optical sensor.

[0097] Optionally, the first plug-in structure 510 includes a plug-in shaft 512, and the second plug-in structure 600 includes a plug-in hole 612. When the autonomous mobile device moves linearly, the position deviation of the plug-in hole 612 in the width direction of the autonomous mobile device is greater than the design deviation of the plug-in hole 612. The accuracy of the autonomous mobile device moving linearly is the left-right deviation of the second plug-in structure when the autonomous mobile device moves linearly, and the specific deviation can be plus or minus 5 mm. The opening design deviation of the plug-in hole 612 is plus or minus 15 mm. With this design, when the plug-in hole 612 is designed, the accuracy of the autonomous mobile device moving linearly is considered, so that even if there is a certain error when the autonomous mobile device moves, the plug-in hole 612 and the plug-in shaft 512 can be reliably plugged in.

[0098] As shown in Figures 3 to 6As shown, the embodiment of the second aspect of the present application proposes an auxiliary positioning device 500 for assisting positioning of the autonomous mobile device provided by any of the embodiments of the first aspect, the auxiliary positioning device 500 comprises: a seat assembly 530; a first plug structure 510 mounted on the seat assembly 530, configured to be plugged with a second plug structure 600.

[0099] According to the auxiliary positioning device 500 provided by the present application, the first plug structure 510 is arranged on the auxiliary positioning device 500, and the second plug structure 600 is arranged on the autonomous mobile device. When the autonomous mobile device is docked and positioned, the first plug structure 510 and the second plug structure 600 can be plugged. In this way, the autonomous mobile device can be accurately positioned through the plugging between the first plug structure 510 and the second plug structure 600. In this way, the docking precision of the autonomous mobile device and other conveying systems can be improved, so that the autonomous mobile device can be applied to occasions with higher docking precision requirements. In this way, the problem that the docking precision between the conveying mechanism 300 and other conveying systems is not high in the related solution by moving the AGV transport trolley to realize the docking between the conveying mechanism 300 and other conveying systems is solved.

[0100] In any of the above embodiments, optionally, as shown in Figure 3 , Figure 5 and Figure 6 , the auxiliary positioning device 500 further comprises: a second docking sensor 520 mounted on the seat assembly 530, configured to receive a docking-in-place signal, the docking-in-place signal being sent by the autonomous mobile device after the first plug structure 510 and the second plug structure 600 are plugged in place.

[0101] In this embodiment, the autonomous mobile device comprises a first docking sensor 900, and the auxiliary positioning device 500 comprises a second docking sensor 520. The first docking sensor 900 is configured to send a docking-in-place signal, and the second docking sensor 520 is configured to receive the docking-in-place signal and forward the docking-in-place signal to a conveying line or the like to inform the conveying line or the like that the conveying line or the like can perform loading or the like.

[0102] Optionally, the second docking sensor 520 is an optical sensor.

[0103] In any of the above embodiments, optionally, as shown in Figure 5 and Figure 6As shown, the seat body assembly 530 comprises: a fixed seat 531; a connecting frame 532 installed on the fixed seat 531, the installation position of the connecting frame 532 on the fixed seat 531 is adjustable in a first direction; a positioning seat 533 installed on one end of the connecting frame 532 away from the fixed seat 531, the first plug-in structure 510 is installed on the positioning seat 533; and a first locking device 540 installed on the positioning seat 533, used for locking or releasing the positioning seat 533, when the first locking device 540 releases the positioning seat 533, the positioning seat 533 can rotate relative to the connecting frame 532 to adjust the installation angle of the positioning seat 533.

[0104] In this embodiment, the seat body assembly 530 comprises the fixed seat 531, the connecting frame 532 and the positioning seat 533. The connecting frame 532 can move along the first direction (specifically, the width direction of the autonomous mobile device), and the positioning seat 533 can rotate left and right, up and down, or front and back to adjust the installation angle thereof. Through the adjustment of the connecting frame 532 and the positioning seat 533, the installation position accuracy of the second plug-in structure 600 can be ensured, and the situation that the docking accuracy cannot be met after the autonomous mobile device is docked due to the position error of the second plug-in structure 600 can be avoided.

[0105] In any of the above embodiments, optionally, as shown, Figure 6 The auxiliary positioning device 500 further comprises: a buffer pad 550 installed on one side of the positioning seat 533 along a second direction towards the autonomous mobile device. The second direction is the plug-in direction of the first plug-in structure 510 and the second plug-in structure 600.

[0106] In this embodiment, the side of the auxiliary positioning device 500 close to the autonomous mobile device is provided with the buffer pad 550, which can play a buffering role after the auxiliary positioning device 500 and the autonomous mobile device collide, thereby protecting the autonomous mobile device.

[0107] In any of the above embodiments, optionally, as shown, Figure 6 The rotation axis of the positioning seat 533 relative to the connecting frame 532 is arranged along the height direction of the autonomous mobile device. That is, the positioning seat 533 can at least rotate left and right to enable the first plug-in structure 510 to face the target direction. Of course, the positioning seat 533 can also rotate up and down or front and back relative to the connecting frame 532.

[0108] Exemplarily, the positioning seat 533 is provided with a plurality of fixing holes 5332, which are arc-shaped holes or waist-shaped holes. The positioning seat 533 and the connecting frame 532 are connected through a plurality of screws and a plurality of fixing holes 5332.

[0109] In any of the above embodiments, optionally, as shown, Figure 6As shown, the fixed base 531 is provided with anchor bolt holes 5312, and the auxiliary positioning device 500 also includes anchor bolts. The fixed base 531 is fixed to the ground by the anchor bolts and the anchor bolt holes 5312.

[0110] In this embodiment, the auxiliary positioning device 500 can be installed at the end of the docking conveyor line. To ensure the fixation of the auxiliary positioning device 500, it can be directly fixed to the ground using multiple anchor bolts.

[0111] In any of the above embodiments, optionally, the connecting frame 532 is provided with strip-shaped holes 5322 distributed along the first direction, and the connecting frame 532 is bolted to the fixing seat 531 through the strip-shaped holes 5322. The connecting frame 532 and the fixing seat 531 are connected by a first fixing bolt.

[0112] In this embodiment, to adjust the mounting position of the connecting bracket in the first direction, a slotted hole 5322 can be provided on the fixing base, so that the mounting position of the connecting bracket 532 in the first direction can be adjusted through the slotted hole 5322. After the mounting position of the connecting bracket is adjusted, the connecting bracket can be locked.

[0113] In this embodiment, to adjust the mounting position of the connecting bracket 532 in the first direction, a slotted hole 5322 can be provided on the fixing base 531, so that the mounting position of the connecting bracket 532 in the first direction can be adjusted through the slotted hole 5322. After the mounting position of the connecting bracket is adjusted, the connecting bracket 532 can be locked.

[0114] Optionally, such as Figure 6 As shown, the auxiliary positioning device 500 also includes: a second adjusting and locking device 560, which is installed on the fixed base 531 and is used to adjust the position of the connecting frame 532 on the fixed base 531 along the first direction, and lock the connecting frame 532 after the position of the connecting frame 532 is adjusted into place.

[0115] In this embodiment, the second adjusting and locking device 560 can be used to adjust the position of the connecting frame 532, or it can be locked after the position of the connecting frame 532 is adjusted, so that the adjustment and locking structures of the connecting frame 532 can be integrated together.

[0116] In any of the above embodiments, optionally, as Figure 6As shown, the second adjusting and locking device 560 comprises two sets of bolt adjusting assemblies, one of which is installed on the fixed seat 531 at one side along the first direction. The other of which is installed on the fixed seat 531 at the other side along the first direction. In one embodiment, the second adjusting and locking device 560 comprises a first adjusting seat 562 installed on the fixed seat 531 at one side along the first direction, a first adjusting bolt 564 installed on the first adjusting seat 562 along the first direction, a second adjusting seat 566 installed on the fixed seat 531 at the other side along the first direction, and a second adjusting bolt 568 installed on the first adjusting seat 562 along the first direction.

[0117] In this embodiment, one set of bolt adjusting assemblies is arranged on each side of the fixed seat 531 along the first direction. The installation position of the connecting frame 532 can be adjusted by the bolt adjusting assemblies on both sides of the fixed seat 531. Specifically, the position of the connecting frame 532 can be changed by screwing the first adjusting bolt 564 and the second adjusting bolt 568.

[0118] Optionally, as shown in Figure 6 The first adjusting seat 562 is further provided with a first reinforcing nut, and the first adjusting bolt 564 is slidingly installed on the first adjusting seat 562 and passes through the first reinforcing nut. The second adjusting seat 566 is further provided with a second reinforcing nut, and the second adjusting bolt 568 is slidingly installed on the second adjusting seat 566 and passes through the second reinforcing nut. The reinforcing nuts at the two ends of the first adjusting bolt 564 and the second adjusting bolt 568 can increase the fixing strength of the first adjusting bolt 564 and the second adjusting bolt 568.

[0119] In any of the above embodiments, optionally, the first locking device 540 comprises a third adjusting bolt 542 installed on the positioning seat 533.

[0120] In this embodiment, after the position of the positioning seat 533 is adjusted, it can be fixed by the third adjusting bolt 542. When it is necessary to re-adjust the position of the positioning seat 533, the third adjusting bolt 542 can be loosened to ensure that the positioning seat 533 can rotate to adjust its installation angle on the horizontal plane.

[0121] In any of the above embodiments, optionally, as shown in Figure 5 The first plug-in structure 510 comprises one of the plug-in shaft 512 and the plug-in hole 612, and the second plug-in structure 600 comprises the other of the plug-in shaft 512 and the plug-in hole 612.

[0122] In the embodiments, the structures of the first plug-in structure 510 and the second plug-in structure 600 can be set as required, and preferably, the first plug-in structure 510 and the second plug-in structure 600 are set in the form of the plug-in hole 612 and the plug-in shaft 512, and of course, can also be set in the form of the plug-in protrusion and the plug-in slot.

[0123] In the embodiments, the top of the plug-in shaft 512 is set in a conical shape, and the bottom of the plug-in hole 612 is set in a circular truncated cone shape, so that the plug-in shaft 512 can be better inserted into the plug-in hole 612, thereby reducing the installation precision requirement between the plug-in shaft 512 and the plug-in hole 612, so that even if there is a certain error during installation, the plug-in shaft 512 can be normally inserted into the plug-in hole 612, to ensure that the autonomous mobile device can normally complete the fine positioning operation.

[0124] For example, the plug-in shaft 512 is a plug-in pin shaft.

[0125] In any of the above embodiments, optionally, the opening width of the first end of the plug-in hole 612 is greater than the precision of the autonomous mobile device walking. In this way, it is not easy to occur that the plug-in shaft 512 is not inserted into the plug-in hole 612.

[0126] As shown in Figures 3 to 6 , the embodiment of the third aspect of the application proposes a transportation system, which includes the autonomous mobile device provided by any of the embodiments of the first aspect and / or the auxiliary positioning device 500 provided by any of the embodiments of the second aspect.

[0127] The transportation system proposed by the embodiments of the application has all the beneficial effects of the autonomous mobile device provided by any of the embodiments of the first aspect and / or the auxiliary positioning device 500 provided by any of the embodiments of the second aspect, and details are not repeated here.

[0128] Next, a composite autonomous mobile device with high-precision docking effect is introduced. The whole includes four parts, which are autonomous mobile chassis (autonomous mobile vehicle body 100), connecting mechanism 400, precision adjustment mechanism 200 and conveying mechanism 300. Among them, the connecting mechanism 400 is installed on the autonomous mobile chassis, and the precision adjustment mechanism 200 is installed on the connecting mechanism 400. The main conveying mechanism 300 is installed on the precision adjustment mechanism 200.

[0129] The three views of the whole autonomous mobile device are shown in Figure 7 , Figure 8 and Figure 9 .

[0130] The autonomous mobile device also needs a set of tooling mechanisms to assist positioning during operation, as shown in Figure 6 The entire set of mechanisms is fixed to the ground through anchor bolts. The left and right adjustment fixing seats 531 are installed on the bottom plate. The left and right adjustment bolts are fixed on the adjustment fixing seats 531, and the two ends are increased in fixing strength through nuts. The main frame is fixed on the bottom plate, and the lower part is a strip-shaped hole that can be adjusted left and right. The latch installation plate is installed on the main frame, and the installation hole is distributed around the center, which can be adjusted in a circular direction. After adjusting the latch installation plate, it is fixed through the rotation adjustment bolt. The butt joint photoelectric sensor is fixed on the installation plate through a bracket. The latch is fixed on the latch installation plate through a screw. The buffer pad 550 is installed in front of the installation plate, which plays a buffering role in case of collision.

[0131] The entire set of tooling auxiliary mechanisms mainly rely on the latch to precisely position the autonomous mobile device. Accordingly, the position of the latch is required to be quite high, and the butt joint conveying line is required to have high-precision butt joint requirements. This set of tooling auxiliary mechanisms, the latch, can be adjusted in the transverse direction and can be rotated in the circumferential direction, so as to be adjusted to the ideal position.

[0132] As shown in Figure 1 and Figure 10 The autonomous mobile device also includes a connecting mechanism 400 for the chassis assembly, which connects the chassis and the upper assembly together through the connecting mechanism 400. The connecting mechanism 400 can solve the installation problem of the segmented autonomous mobile device chassis and upper assembly. If the chassis assembly uses a fixed support to support the upper assembly, the segmented chassis will lose the ability to rotate, thereby being unable to go uphill and downhill. This connecting mechanism 400 is to enable the upper assembly to have the ability to go uphill and downhill with the chassis when the chassis is a segmented chassis.

[0133] Specifically, the connecting mechanism 400 is composed of a rear bracket 402, a front bracket 404, a rear connecting rod 406, a front shaft 408, and a connecting shaft 410. The rear bracket 402 is connected with the front bracket 404 through the front shaft 408, so that the rear bracket 402 can rotate through the front shaft 408. The rear connecting rod 406 is fixed on the left and right two rear brackets 402, so as to ensure that the two rear brackets 402 always remain synchronous and increase the strength and stability of the entire set of mechanisms. The connecting shaft 410 is connected to the front bracket 404, and the entire set of mechanisms is connected to the chassis through the connecting shaft 410.

[0134] In some embodiments, the connecting mechanism 400 is connected to the chassis assembly by bottom screws. The rear support is mounted on the rear half of the chassis (rear chassis), and the front support is mounted on the front half of the chassis (front chassis). During operation, when going uphill or downhill, the front half of the chassis is lifted or lowered, and the front support is also lifted or lowered, so that when the upper part (the to-be-loaded part) is mounted on the connecting mechanism 400, it can always go uphill or downhill with the chassis.

[0135] As shown in Figure 1 , Figure 11 and Figure 12 , the autonomous mobile device also includes a conveying mechanism 300, including a conveying track 308 (which can be a double-speed chain module), a blocking mechanism module 302, a buffer module 304, a material detection sensor 306, an aluminum alloy profile frame, an oil nozzle, a transmission shaft, a servo motor, a coupling, a synchronous belt, and a non-powered support wheel. The servo motor, coupling, and synchronous belt form a driving assembly 310.

[0136] The transmission chain is placed on the aluminum alloy profile frame, which serves as a support. The oil nozzle is installed at the front end of the entire module for lubrication. The transmission shaft provides power for the rotation of the chains on both sides. The servo motor is connected to the synchronous wheel through the coupling. Power transmission is achieved through the synchronous belt. At the beginning and end of the entire module, two non-powered support wheels are provided, which serve as auxiliary support when materials are being conveyed onto or out of the module, preventing the materials from nodding before they come into contact with the chain.

[0137] The operation process of the entire conveying mechanism is shown in Figure 13 . Start conveying - blocking mechanism down - first sensor detects - second sensor detects - blocking mechanism rises - conveying process ends. After starting the conveying process, the blocking plate of the blocking mechanism (limiting assembly) is normally in the raised state. When docking is needed, the blocking plate is lowered first, and then the materials are conveyed to the double-speed chain module by the chain. They are detected by the first sensor and the second sensor in turn. After the materials hit the buffer, they will slow down under the action of the hydraulic buffer, preventing damage to the materials due to sudden stopping or direct ejection of the entire module due to excessive speed. When discharging, the autonomous mobile device is transported to the standby position, the blocking plate of the blocking mechanism is lowered first, and then the conveying line chain sends the materials out.

[0138] The entire mechanism is designed for single-sided loading and unloading, which can effectively load and unload materials and apply a certain buffer during the process to prevent damage to the materials.

[0139] As shown in Figure 2 and Figure 14As shown, the electromagnetic locking device 210 further comprises a first connecting rod 214 and a second connecting rod 216. The electromagnetic locking device 210 further comprises a linear bearing 218 and a sliding shaft 2121 installed in the linear bearing 218, and the magnetic conductor 212 is installed on the sliding shaft 2121 and can slide up and down together with the sliding shaft 2121, so as to realize adsorption and separation with the electromagnet 211.

[0140] The autonomous mobile device further comprises the electromagnetic locking device 210, which comprises a bottom plate, a linear bearing, a threaded shaft, an iron block, an electromagnet and a top plate.

[0141] The linear bearing is fixed on the bottom plate by a screw. The threaded shaft is fixed together with the iron block through the outer thread at the upper end. Then the shaft at the lower end of the threaded shaft is arranged in the linear bearing and can slide up and down. The electromagnet is fixed below the top plate, and the electromagnet and the iron block are spaced apart by 1mm.

[0142] The electromagnet is a power-on demagnetization type electromagnet. In normal times, the electromagnet is in a power-off state, and the electromagnet has magnetism, so that the iron block and the threaded shaft are attracted together from the linear bearing, thereby maintaining the relative fixed state of the top plate and the bottom plate. When working, the electromagnet is powered on and then demagnetized, and the iron block and the threaded shaft drop along the linear bearing, and a gap of 1mm is generated therebetween. At this time, the relative fixed state of the top plate and the bottom plate is released, and the top plate and the bottom plate can move relative to each other.

[0143] The locking mechanism provided by the present application can be applied to various types of turntables, especially vehicle-mounted turntables, for locking the rotating shaft, and has the characteristics of compact structure, repeatable locking and unlocking, and high locking reliability. At the same time, the installation direction of the magnet seat of the electromagnetic device can be adjusted according to different electromagnetic devices, and the tangential force of the rotating shaft will not be transmitted to the electromagnet, so that the locking reliability is high, and the locking mechanism has good environmental adaptability and broad application prospect.

[0144] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0145] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. An autonomous mobile device, characterized by, The autonomous mobile device can be positioned by an auxiliary positioning device, the auxiliary positioning device is provided with a first plug-in structure, and the autonomous mobile device comprises: an autonomous mobile vehicle body; a conveying mechanism mounted on the autonomous mobile vehicle body; a second plug-in structure provided on the autonomous mobile vehicle body and / or the conveying mechanism, used for plug-in cooperation with the first plug-in structure when the autonomous mobile device is positioned by the auxiliary positioning device; a first detection device provided on the autonomous mobile vehicle body and / or the conveying mechanism, used for detecting whether the first plug-in structure enters the detection range of the first detection device; and / or a second detection device provided on the autonomous mobile vehicle body and / or the conveying mechanism, used for detecting whether the first plug-in structure and the second plug-in structure are plugged in place.

2. The autonomous mobile device according to claim 1, wherein the first plug-in structure comprises one of a plug-in shaft and a plug-in hole, and the second plug-in structure comprises the other of the plug-in shaft and the plug-in hole.

3. The autonomous mobile device according to claim 2, wherein the autonomous mobile device further comprises a plug-in seat provided on the autonomous mobile vehicle body and / or the conveying mechanism, and the plug-in hole is provided on the plug-in seat; and / or a top of the plug-in shaft can be inserted into the plug-in hole from a first end of the plug-in hole, the first end of the plug-in hole is frustoconical, and the top of the plug-in shaft is conical.

4. The autonomous mobile device of any one of claims 1 to 3, wherein, Further comprising: a precision adjustment mechanism mounted on the autonomous mobile vehicle body, the conveying mechanism is mounted on the autonomous mobile vehicle body through the precision adjustment mechanism, the second plug-in structure is provided on the autonomous mobile vehicle body through the precision adjustment mechanism, and / or the second plug-in structure is provided on the conveying mechanism; the precision adjustment mechanism comprises a state adjustment device, the state adjustment device can lock and unlock the conveying mechanism, when the conveying mechanism is in an unlocked state, the conveying mechanism can be driven to move along the width direction of the autonomous mobile vehicle body through the second plug-in structure to adjust the position of the conveying mechanism in the width direction of the autonomous mobile vehicle body, and / or the conveying mechanism can be driven to rotate around the height direction of the autonomous mobile vehicle body.

5. The autonomous mobile device of any one of claims 1 to 3, wherein, Further comprising: a first docking sensor mounted on the autonomous mobile vehicle body or the conveying mechanism, used for sending a docking-in-place signal after the first plug-in structure and the second plug-in structure are plugged in place.

6. The autonomous mobile device of any one of claims 1 to 3, wherein, The first plug-in structure comprises a plug-in shaft, the second plug-in structure comprises a plug-in hole, and when the autonomous mobile device moves in a straight line, the position deviation of the plug-in hole in the width direction of the autonomous mobile device is greater than the design deviation of the plug-in hole.

7. An auxiliary positioning device, characterized by An auxiliary positioning device for the autonomous mobile device according to any one of claims 1 to 6, the auxiliary positioning device comprises: a seat body assembly; a first plug-in structure mounted on the seat body assembly, used for plug-in cooperation with the second plug-in structure.

8. The auxiliary positioning device of claim 7, wherein, Further comprising: A second docking sensor is installed on the seat body assembly to receive a docking-in-place signal, which is sent by the autonomous mobile device after the first plug-in structure and the second plug-in structure are plugged in place.

9. The auxiliary positioning device of claim 7, wherein, The seat body assembly comprises: a fixed seat; a connecting frame installed on the fixed seat, the installation position of the connecting frame on the fixed seat in a first direction is adjustable; a positioning seat installed on an end of the connecting frame away from the fixed seat, the first plug-in structure is installed on the positioning seat; a first locking device is installed on the positioning seat to lock or release the positioning seat, when the first locking device releases the positioning seat, the positioning seat can rotate relative to the connecting frame to adjust the installation angle of the positioning seat.

10. The auxiliary positioning device of claim 9, wherein, Further comprising: a buffer pad installed on a side of the positioning seat installed towards the autonomous mobile device in a second direction.

11. The auxiliary positioning device according to claim 9, wherein: an axis of rotation of the positioning seat relative to the connecting frame is arranged in a height direction of the autonomous mobile device; and / or a foundation bolt hole is arranged on the fixed seat, and the auxiliary positioning device further comprises a foundation bolt, and the fixed seat is fixed to the ground through the foundation bolt and the foundation bolt hole.

12. The auxiliary positioning device according to claim 9, wherein: a plurality of strip-shaped holes are arranged on the connecting frame in the first direction, and the connecting frame is bolted to the fixed seat through the strip-shaped holes.

13. The assisted positioning device according to any one of claims 9 to 12, characterized in that, Further comprising: a second adjustment and locking device installed on the fixed seat to adjust the position of the connecting frame on the fixed seat in the first direction and lock the connecting frame after the position of the connecting frame is adjusted in place.

14. The auxiliary positioning device of claim 13, wherein, The second adjustment and locking device comprises: two groups of bolt adjustment assemblies, one of the two groups of bolt adjustment assemblies is installed on one side of the fixed seat in the first direction, and the other of the two groups of bolt adjustment assemblies is installed on the other side of the fixed seat in the first direction.

15. The auxiliary positioning device of claim 14, wherein, The two groups of bolt adjustment assemblies comprise: a first adjustment seat installed on the fixed seat on one side of the fixed seat in the first direction; a first adjustment bolt installed on the first adjustment seat and arranged in the first direction; a second adjustment seat installed on the fixed seat on the other side of the fixed seat in the first direction; a second adjustment bolt installed on the first adjustment seat and arranged in the first direction.

16. The assisted positioning device according to any one of claims 9 to 12, characterized in that, The first locking device comprises a third adjustment bolt installed on the positioning seat.

17. The auxiliary positioning device according to any one of claims 7 to 12, wherein: the first plug-in structure comprises one of a plug-in shaft and a plug-in hole, and the second plug-in structure comprises the other of the plug-in shaft and the plug-in hole.

18. The auxiliary positioning device according to claim 17, wherein: a top of the plug-in shaft is capable of being inserted into the plug-in hole from a first end of the plug-in hole, the first end of the plug-in hole is in the shape of a truncated cone, and the top of the plug-in shaft is in the shape of a cone.

19. A transport system characterized in that, comprises: the autonomous mobile device according to any one of claims 1 to 6; and / or An auxiliary positioning device as claimed in any one of claims 7 to 18.

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