Luggage transport device

Abstract

Provided is a device for transporting a load. The device comprises: a power source; one or more components for moving; a drive mechanism for moving the device by driving the one or more components for moving; a body that has a center wall, a first sidewall, and a second sidewall, the first sidewall and second sidewall extending away from the center wall, and the surface of the center wall, surface of the first sidewall, and surface of the second sidewall forming a boundary that demarcates a space for accommodating the load or part of the load; an attachment mechanism that is for attaching to the load and is provided with a pair of attachment members for engaging with the load, the pair of attachment members including a first attachment member attached to the surface of the first sidewall and a second attachment member attached to the surface of the second sidewall; and a processor configured so as to drive the drive mechanism, move the device, and transport the load to an intended location.

Description

[Technical field]

[0001] The present invention relates to a load-transporting device, which may be an autonomous mobile robot and the load may be an industrial payload. [Background technology]

[0002] Autonomous mobile robots are capable of performing tasks such as transporting packages (or payloads) and can be instructed to move between commanded locations.

[0003] For example, a payload can be towed as a trailer to the rear of a mobile robot, however, there is a safety concern that a payload towed to the rear of a mobile robot may collide with objects in the environment during transport.

[0004] Furthermore, in some cases, human labor is required to load the cargo to be transported onto each mobile robot and transport it. Manually loading cargo onto a mobile robot is a time-consuming process.

[0005] In order to allow the mobile robot to carry the load, the load may require modification. For example, the load may be attached or placed on a mobile cart or dolly, and the mobile robot may be configured to engage the mobile cart or dolly to transport the load. Making such modifications is cumbersome. Furthermore, different loads may have different shapes and sizes. It is quite difficult to adapt a standard design mobile robot to loads having different shapes and sizes. Summary of the Invention

[0006] According to an embodiment of the present disclosure, there is provided a load conveying device as set forth in the independent claims. Some optional features are defined in the dependent claims. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 illustrates a mobile robot for transporting luggage in accordance with a first embodiment of the present disclosure. [Diagram 2] FIG. 2 is a top view of the mobile robot of FIG. 1 without a load attached. [Diagram 3] FIG. 2 is a top view of the mobile robot of FIG. 1 with a load (or payload) attached. [Figure 4] FIG. 2 is a front perspective view of the mobile robot of FIG. [Diagram 5] FIG. 2 is a rear perspective view of the mobile robot of FIG. 1 showing examples of front and side clamps for engaging a load. [Figure 6] 4 illustrates an example of the package of FIG. 3 being engaged with and carried by the mobile robot of FIG. 1. [Figure 7] 7 illustrates the package of FIG. 6 being engaged with and carried by the mobile robot of FIG. 1. [Figure 8] FIG. 13 illustrates a mobile robot for carrying a load in accordance with a second embodiment of the present disclosure, with a front portion of the mobile robot facing a load. [Figure 9] 9 shows the mobile robot of FIG. 8 with a rear portion of the mobile robot moved into position facing the load of FIG. 8. FIG. [Figure 10] FIG. 9 is a front perspective view of the mobile robot of FIG. 8 flipped over to engage the load of FIG. 8. [Figure 11] FIG. 9 is a rear perspective view of the mobile robot of FIG. 8 flipped over to engage the load of FIG. 8, with parts of the load removed to reveal greater detail. [Figure 12] FIG. 9 is a front perspective view of the mobile robot of FIG. 8 fully inverted and engaged with the load of FIG. 8, with the cover purposely removed to reveal details of the locking mechanism. [Figure 13]FIG. 9 is a rear view of the mobile robot of FIG. 8 fully flipped over and engaged with the load of FIG. 8, showing the extended side clamps and charging port. [Figure 14] 13 is a close-up view of the inside of the locking mechanism of FIG. 12 for locking the load of FIG. 8 to the mobile robot of FIG. 8. FIG. [Figure 15] 9 is a rear view of the mobile robot of FIG. 8 and a close-up view showing a segment of a side clamp of the mobile robot. [Figure 16] 9 is a front view of the mobile robot of FIG. 8 and a close-up view of a power charging station docked to a charging port of the mobile robot of FIG. 8. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] An embodiment of the present disclosure relates to devices such as autonomous mobile robots. Each mobile robot may be configured to engage a payload, which may be a machine or a device. After engaging the payload, the mobile robot may transport the payload to an intended location according to instructions (software code) programmed for the mobile robot. Another equivalent term used in this disclosure to refer to such payload is a "payload." In one example, the payload may be the payload of a production line, a medical facility, an office environment, a restaurant, a warehouse, a retail store, a hospitality store, etc.

[0009] A mobile robot can deliver a payload in one of three ways: 1) The payload is mounted on top of the robot and the entire weight of the payload is carried by the robot. 2) The payload is mounted on the top surface of the robot and has caster wheels (or other similar movable parts such as tracks) that extend downward and contact the ground. The caster wheels move along the ground as the mobile robot carries the payload. Thus, the weight of the payload is supported by the mobile robot and the caster wheels. 3) The payload rests entirely on the ground and is pulled by the mobile robot. For example, the payload could be a trailer pulled behind the mobile robot.

[0010] Regarding item 1 above, payloads cannot be easily removed and replaced with another payload on a mobile robot: typically, such removal and replacement requires human intervention.

[0011] Regarding items 2 and 3 above, no human intervention is required and mobile robots may be configured to autonomously exchange payloads between each other depending on the application. The mobile robot may be programmed to exchange the payload engaged with the mobile robot for another payload. For users who wish to deploy mobile robots to handle various tasks, a mobile robot that can accommodate different payloads and can easily exchange or change the payloads that the mobile robot carries is desirable. An embodiment of the present disclosure aims to provide such a desirable mobile robot.

[0012] Referring to FIG. 1, an embodiment of the present disclosure provides an apparatus for transporting a load (or payload). The apparatus in this embodiment is a mobile robot 100. The mobile robot 100 has a unique shape. The mobile robot 100 is capable of autonomously navigating to a payload (e.g., 116, 118, 120, or 122), attaching to the payload, optionally providing power from the mobile robot 100 to the payload, and optionally controlling and detaching from the payload. The unique shape of the mobile robot 100 allows the payload to fit compactly within the footprint of the mobile robot 100 and fully utilizing the volume within the footprint.

[0013] The mobile robot 100 also includes a power source (e.g., a battery) present within the housing of the mobile robot 100, locomotion components such as one or more wheels 126 (or alternatively, tracks), and a drive mechanism (present within the housing) such as a motor for driving the one or more locomotion components 126 to move the mobile robot 100. The drive mechanism and the one or more locomotion components 126 may be configured to have differential drive type steering and / or may be implemented using other suitable drive / steering schemes such as four-wheel drive. The drive mechanism may be powered by a power source.

[0014] An example of a load (or payload) carried by the mobile robot may be a dolly or mobile cart 116 for carrying one or more objects. The load may include a lifting device, such as a pallet lifter 118 (which may be a jack) for lifting the object. The load may include a cleaning device for cleaning the surfaces of the environment and may be towed by the mobile robot for cleaning the surfaces of the environment. As an example, the cleaning device may be a floor scrubber 120 for scrubbing floors. The load may include a UV lighting top 122 for disinfection using ultraviolet light. The load may have only the aforementioned features providing the described functions or may have a combination of features providing two or more of the described functions (i.e., transporting and lifting objects, cleaning and disinfecting). It should be understood that other types of loads suitable for use with the mobile robot 100, such as manufacturing machines having specific functions in a manufacturing process used in a production line, are also applicable, although not explicitly mentioned above.

[0015] Referring to Figure 6, an example of a load, such as a payload 302 (in this example, a dolly) that can cooperate with the mobile robot 100 shown in Figures 1-5, is shown. Figure 6 illustrates that the load may include one or more components for movement (e.g., wheels, tracks, etc.). Specifically, caster wheels 604 are attached to the payload 302 to facilitate transportation of the payload 302 by the mobile robot 100 of Figure 1.

[0016] 1, 4, and 5, the mobile robot 100 comprises a body having a central wall 130, a first side wall 128, and a second side wall 132. The first side wall 128 and the second side wall 132 extend away from the central wall 130, and a surface 518 of the central wall 130 in FIG. 5, a surface 404 of the first side wall 128 in FIG. 4, and a surface 520 of the second side wall 132 in FIG. 5 form a boundary that defines a space 102 for accommodating a load (e.g., 116, 118, 120, 122 in FIG. 1, or 302 in FIG. 6) or a portion of a load. In this manner, the central wall 130, the first side wall 128, and the second side wall 132 of the mobile robot 100 form a boundary that is open only on a side for a load to enter the enclosure so that the load fits into the footprint of the mobile robot 100. An upper portion 406 of the first sidewall 128 and an upper portion 406 of the second sidewall 132 in FIG. 4 may be configured as a platform for receiving a load or a portion thereof.

[0017] 1 to 5, as a specific example, surface 518 of central wall 130 in FIG. 5, surface 404 of first side wall 128 in FIG. 4, and surface 520 of second side wall 132 in FIG. 5 form a U (or C) shape.

[0018] 2 and 3, the U-shape is clearly shown in a top view of the mobile robot 100. FIG. 2 shows a space 102 (demarcated using dashed lines) within the footprint of the mobile robot 100. Referring to FIG. 3, the payload 302 of FIG. 6 can substantially fit within the space 102 with only a small portion 304 of the payload 302 not within the footprint of the mobile robot 100. In this way, even when the payload 302 is substantially within the footprint, and even when the payload is completely within the footprint, the footprint of the mobile robot 100 is said to be moving in the environment when delivering the payload 302, providing a highly compact centered towing scheme.

[0019] In this embodiment, the payload 302 is the same as the dolly or mobile cart 116 of FIG. 1. FIG. 7 is a rear perspective view of FIG. 3. The advantage of the compaction of the center towing method illustrated by FIG. 3 and FIG. 7 is that the mobile robot 100 with the payload 302 can navigate tighter spaces with less risk of hitting obstacles in the environment. This solves the problem when the payload is a trailer towed at the rear of the mobile robot. It should be understood that the advantage of the compaction depends on how much of the payload is outside the footprint of the mobile robot 100 when only a portion of the payload fits in the space. The less the amount of the payload that is outside the footprint, the more compact and the better the advantage.

[0020] As another specific example, surface 518 of central wall 130 in Fig. 5 may be perpendicular (approximately 90 degrees) to surface 404 of first sidewall 128 in Fig. 4. Surface 518 of central wall 130 in Fig. 5 may be perpendicular (approximately 90 degrees) to surface 520 in Fig. 5. Surface 404 of second sidewall 132 in Fig. 5 and surface 520 of second sidewall 132 in Fig. 5 are parallel to each other. Surface 404 of first sidewall 128 in Fig. 4 and surface 520 of second sidewall 132 in Fig. 5 extend in the same direction away from central wall 130.

[0021] Also, referring to FIG. 1, FIG. 4, and FIG. 5, the mobile robot 100 includes an attachment mechanism for attachment to a load (e.g., 116, 118, 120, 122 in FIG. 1, or 302 in FIG. 6). The attachment mechanism includes a pair of attachment members for engaging the load. Each of the pair of attachment members may be covered with a pad to prevent damage to the load and / or to hold the load firmly by friction. The pair of attachment members includes a first attachment member 402 attached to a surface 404 of the first side wall 128 in FIG. 4 and a second attachment member 502 attached to a surface 520 of the second side wall 132 in FIG. 5. Each of the pair of attachment members 402, 502 may have an elongated shape and extend across (in a direction parallel to the ground) the first side wall 128 and the second side wall 132, respectively, as shown in FIG. 5. Attachment actuators may be provided having the necessary electrical and / or mechanical components to move the attachment members to extend for engagement with a load or retract for removal from the load. For example, a linear actuator may cooperate with a motor on the mobile robot 100 to provide a pressure to push each attachment member to extend for engagement with a load and pull each attachment member to retract for removal from the load. A combination of pressure and friction may be applied to the load when engaged to hold it in place.

[0022] In this embodiment, the pair of attachment members can function as clamps, specifically, a right clamp 402 (i.e., a first attachment member) and a left clamp 502 (i.e., a second attachment member) for clamping a load (e.g., 116, 118, 120, 122 in FIG. 1 or 302 in FIG. 6). For example, when attaching to a load, first, the drive mechanism is actuated to move the mobile robot 100 and receive the load or a part of the load in the space 102. Then, the attachment mechanism is actuated to move the first attachment member 402 and the second attachment member 502, and the first attachment member 402 and the second attachment member 502 engage with opposing surfaces of the load or the part of the load present in the space 102 to attach to the load and hold the load or the part of the load in the space 102. In this way, the first attachment member 402 and the second attachment member 502 essentially clamp the load or the part of the load and hold the load in a predetermined position. Lateral (side) movement of the load is restricted in a direction perpendicular to surface 404 of first side wall 128 and surface 520 of second side wall 132. Additionally, longitudinal (front-to-rear) movement of the load is restricted in a direction perpendicular to surface 518 of central wall 130.

[0023] As an example, the attachment mechanism may be configured with more than one pair of attachment members, since different loads may have different shapes and contours. For example, there may be up to 10 pairs of attachment members or even more, depending on the type of load to be engaged. The first and second attachment members in each pair of attachment members are extendable upon actuation of the attachment mechanism, and can engage with the load or a portion of the load depending on the contour (or shape) of the load or portion of the load. Each attachment member may be elongated and may extend horizontally (parallel to the ground) across each of the first and second side walls 128 and 132, as shown in FIG. 5. This is the situation where there are multiple clamping segments (each attachment member is a clamping segment). For example, FIG. 5 shows a first clamping segment 506 and a second clamping segment 508, which can be individually extended and contracted to clamp or release the load at different distances. If a load to be carried by the mobile robot 100 has an irregular shape, such as a larger rear width and a smaller front width, the first pair of attachment members may extend a lesser distance from the first and second side walls of the mobile robot to engage with the larger rear width of the load. The second pair of attachment members may extend a greater distance from the first and second side walls 128, 132 of the mobile robot to engage with the smaller front width of the load. In this manner, the attachment mechanism is configured to accommodate different shapes and contours.

[0024] The mobile robot 100 includes a control panel 114, FIG. 1, for user input / control of the mobile robot 100 and / or for user control of a load attached to the mobile robot 100 (e.g., 116, 118, 120, 122, FIG. 1, or 302, FIG. 6). The mobile robot 100 also includes supports 124 extending from the body (e.g., center wall 130) to elevate the control panel 114 to a predetermined height for easy user access. The supports 124 may be part of the center wall 130 that extends upward to facilitate user access at the top of the mobile robot 100.

[0025] In addition to the attachment mechanism, the mobile robot 100 may include a locking mechanism, known as the front clamp 504 in FIG. 5. The locking mechanism includes a latch member having a configuration corresponding to one or more receiving members present on the load to facilitate the receiving member receiving the latch member to lock the mobile robot to the load. This locking mechanism is optional and may be added if the attachment mechanism is not configured to have a sufficiently strong attachment to the load. The mobile robot 100 is configured to be operated to move the latch member to lock the mobile robot 100 to the load. The locking mechanism restrains longitudinal (front-rear) movement of the load in a direction perpendicular to the surface 518 of the central wall 130. It also restrains lateral (side) movement of the load in a direction perpendicular to the surface 404 of the first side wall 128 and the surface 520 of the second side wall 132.

[0026] 5, the support 124 may include a locking mechanism on the surface 518 of the central wall 130. In this case, the locking mechanism may be configured to engage a load such that, when the mobile robot 100 is moved, the load or a portion of the load is received in the space 102 formed by the central wall 130 and the first and second side walls 128 and 132.

[0027] Specifically, FIG. 5 shows a locking mechanism having three latch members 510, 514, 512 attached to a recess 516. Each latch member 510, 514, 512 is a hook. In this example, referring to FIG. 6, a rod 602 is provided on the payload 302 as a receiving member to latch onto the latch members 510, 514, 512 to engage the payload 302 with the mobile robot 100. The latch members 510, 512 are hooked onto the rod 602 from the top of the rod 602, and the latch member 514 is hooked onto the rod 602 from the bottom of the rod 602. When the latching or hooking is completed, the locking is completed. The latch members 510, 514, 512 are movable by a drive mechanism built into the mobile robot 100. The drive mechanism may operate using the principle of magnetism. Each latch member 510, 514, 512 is hinged to pivot between a latched on or off configuration, and each latch member can be moved between the latched on or off configuration by using a magnet to push or pull a metal part.

[0028] The mobile robot 100 may include an electrical connector configured to connect to a load to provide electrical power to the load when the mobile robot 100 is attached to the load. The electrical connector may include one of the latch members of the locking mechanism. In this embodiment, one of the latch members 510, 514, 512 is configured to be the electrical connector, and when the one of the latch members 510, 514, 512 is received by the rod 602, an electrical connection is made to provide electrical power to the load.

[0029] The electrical connector is useful for loads that require power to operate, such as the pallet lifter 118 and floor scrubber 122 of FIG. 1. Data may be transmitted through the electrical connector by providing data communication wiring in addition to electrical wires. Data exchanged may include commands to raise or lower a pallet (in the case of the pallet lifter 118) or turn lights on or off (in the case of the UV top 122), as well as commands reporting the status of the load.

[0030] Furthermore, the mobile robot 100 is an autonomous mobile robot equipped with a self-navigation and / or self-mapping system and having a controller or processor for controlling its operation. The mobile robot 100 may be provided with a wireless communication device for enabling wireless communication over a communication network such as WIFI, 3G, 4G, 5G, etc. The antenna 134 of FIG. 1 is provided for enabling such wireless communication. Instructions for controlling the tasks of the mobile robot 100 may be wirelessly communicated. The controller or processor executes the instructions in the memory to operate the mobile robot 100. The controller or processor may be connected to a user input device and / or a display for displaying a graphical user interface to capture user input. User input provided via the user input device and / or the graphical user interface may include instructions for controlling the tasks of the mobile robot 100 and its movement. The control panel 114 of FIG. 1 includes such a display and user input device.

[0031] The mobile robot 100 may include a traffic control system to avoid collisions and optimize movement relative to other mobile robots operating with the mobile robot 100 in the same environment. Through execution of instructions by the processor, the mobile robot 100 may drive a drive mechanism to move the mobile robot 100 and deliver an attached payload (e.g., 116, 118, 120, 122 in FIG. 1 or 302 in FIG. 6) to an intended location as instructed. For example, the intended location may be a location in a production line for loading and unloading an object (e.g., payload) and / or for undertaking a particular task.

[0032] Additionally, the mobile robot 100 may include one or more sensors. A controller or processor of the mobile robot 100 may be configured to receive input from the one or more sensors and operate the mobile robot 100 to align the mobile robot 100 with a load before actuating an attachment mechanism for attaching to the load or a portion of the load. For example, referring to FIG. 1 , the mobile robot 100 includes a LiDAR sensor 104 and a side laser 106. A self-navigation and / or self-mapping system within the mobile robot, in cooperation with the LiDAR sensor 104 and the side laser 106, enables the mobile robot 100 to perform self-navigation and / or self-mapping functions for autonomous movement in a surrounding environment.

[0033] The one or more sensors may be part of an existing Cell Alignment Positioning System (CAPS) developed by Omron Corporation. CAPS uses a primary safety scanning laser (i.e., LiDAR sensor) to sense a shape in the environment and allows the mobile robot to drive to a specific location relative to that shape during alignment performed by the mobile robot. Specifically, CAPS can use point data information from a planar LiDAR sensor built into the mobile robot to perform alignment with a reference target based on geometric feature analysis such as triangulation. CAPS is just one method for a mobile robot to perform alignment with a load. Other suitable methods may also be used.

[0034] In other examples, the one or more sensors may be or include a camera that captures an image. Alignment may be established based on image processing of the captured image. The one or more sensors may also include a laser, infrared sensor, and / or ultrasonic sensor. There may also be visual or smart labels or markers provided on the mobile robot and / or the package to facilitate alignment.

[0035] Specifically, the one or more sensors may be configured to read a machine-readable optical code (e.g., a QR code or a barcode) and / or a radio frequency identification tag provided on the luggage and obtain information to facilitate attachment to the luggage. For example, if there are two or more pairs of attachment members (e.g., the example of FIG. 5 having a first clamp segment 506 and a second clamp segment 508), the obtained information may help determine which of the pair or pairs of attachment members to actuate to expand and contact to conform to the contour of the luggage or a portion of the luggage. The obtained information may include details for precisely configuring the pair or pairs of attachment members to match the contour of the luggage. Other information may include one or more of the following: luggage type, luggage function, parameters / instructions for controlling the luggage, luggage weight, luggage dimensions, etc.

[0036] The one or more sensors may be configured to read the same machine-readable optical code and / or radio frequency identification tag as described above, or another machine-readable optical code and / or radio frequency identification tag provided on the luggage, to obtain location data of the luggage relative to the mobile robot and facilitate alignment of the luggage with the mobile robot. These one or more sensors may be used separately or together with the LiDAR sensor for CAPS. When using a machine-readable optical code to obtain location data, video / image processing techniques (e.g., including the use of computer vision algorithms) may be used. Video / image processing techniques may include the use of a camera to capture an image of the machine-readable optical code and applying image analysis to the captured image to determine the coordinates of the luggage relative to the mobile robot. Examples of video / image processing techniques are discussed in H. Zhang, C. Zhang, W. Yang and C. Chen, "QR Code-Based Localization and Navigation for Mobile Robots in Indoor Environments," 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), Zhuhai, China, 2015, pp. 2501-2506, doi:10.1109 / ROBIO.2015.7419715.

[0037] 1, the mobile robot 100 includes a charging port 108 for charging the mobile robot 100's power. The mobile robot 100 is configured to autonomously move and dock with a charging station 110 to begin charging. The charging station 110 may be connected to an alternating current (AC) mains power source that provides AC power, for example, via a wall socket.

[0038] 1, the mobile robot 100 is equipped with a light indicator 136 for warning and / or status notification purposes, such as to indicate that an error has occurred, to indicate a good or okay condition, and / or to indicate a warning for a particular situation.

[0039] The mobile robot 100 described with reference to Figures 1-7 relates to one embodiment of the present disclosure. The mobile robot 800 described with reference to Figures 8-16 relates to another embodiment of the present disclosure. The mobile robot 100 is similar to the mobile robot 800, except for features directed to the locking mechanism and mounting members. Reference numbers of components in Figures 1-7 that are similar to components in Figures 8-16 are purposely reused in Figures 8-16 to show the similarity. The same components are also present in the mobile robot 800, such as the antenna 134, wheels 126 for moving the mobile robot 800, the control panel 114, the LiDAR sensor 104, the side lasers 106, the light indicator 136, one or more cameras (optionally), the charging port 108, etc. In Figures 8-16, only the components that are different from the components in Figures 1-7 are given different reference numbers.

[0040] 9, a cargo 804 attached to a mobile robot 800 is configured to cooperate with a locking mechanism. The cargo 804 is a dolly having wheels 604, similar to the payload 302 of FIG. 6 described above. The cargo 804 is configured to carry multiple trays. Each tray is used to carry one or more items.

[0041] The locking mechanism of the mobile robot 800 includes a latch member having a configuration corresponding to one or more receiving members present on the cargo 804 to facilitate the one or more receiving members receiving the latch member to lock the mobile robot 800 to the cargo 804. This locking mechanism is optional and may be provided additionally if the attachment mechanism of the mobile robot 800 is not configured to have a sufficiently strong attachment to the cargo 804. The mobile robot 800 is configured to be operated to move the latch member to lock the mobile robot 800 to the cargo 804.

[0042] Specifically, referring to Figures 8, 12, and 14, the mobile robot 800 includes a support 802 having a locking mechanism 1400. Figure 12 is a front perspective view of the mobile robot 800 fully inverted and engaged with a load 804. The cover of the support 802 has been purposely removed to reveal the details of the locking mechanism 1400. Figure 14 is a close-up view of the inside of the locking mechanism 1400. The locking mechanism 1400 is configured to engage the load 804 as the mobile robot 100 is moved until the load 804, or a portion of the load 804, is received within the space 102 formed by the central wall 130, the first side wall 128, and the second side wall 132.

[0043] The support 802 has an opening 812 for receiving a plate 814 having a hole 822. The plate 814 is fixed to the load 804. Access to the locking mechanism 1400 is via the opening 812. Specifically, the locking mechanism 1400 has a latch member in the form of a locking pin 1406 and a locking pin actuator 1402 for extending the locking pin 1406 to a locked configuration and returning it to an unlocked configuration. The plate 814 on the load 804 is a receiving member having a hole 822 (which is a slot) for receiving the locking pin 1406 when the locking pin 1406 is extended to lock the mobile robot 800 to the load 804. The locking pin 1406 disengages from the hole 822 when the locking pin 1406 is pulled to unlock the mobile robot 800 from the load 804. The locking pin actuator 1402 may operate based on magnetic principles (e.g., a solenoid lock). The lock pin 1406 is actuated to move by, for example, a solenoid in the lock pin actuator 1402 .

[0044] In this embodiment, an actuator support guide 1408 is provided to guide the insertion of the plate 814 into the opening 812. Moving the mobile robot 800 to achieve an aligned configuration where the hole 822 coincides with the position of the locking pin 1406 is important for smooth locking and unlocking. The actuator support guide 1408 may be a structure such as a vertical pole or beam located on the support 802 that can form a side barrier to prevent the plate 814 from being inserted into the opening 812 in a misaligned configuration. If the plate 814 is misaligned, the plate 814 will be blocked by the actuator support guide 1408 and will not be able to be inserted into the opening 812 to achieve the misaligned configuration.

[0045] 8-12 are diagrams illustrating an example of an attachment process of a mobile robot 800 with a load (or payload) 804. This attachment process is also applicable to the mobile robot 100 of FIG. 1. Referring to FIG. 8, the mobile robot 800 receives wireless instructions from a central control system, attaches the load 804 according to the instructions, and transports the load 804 to an intended location. FIG. 8 illustrates the mobile robot 800 moving autonomously toward the load 804. The mobile robot 800 detects the presence of the load 804 through load information received from the central control system, the LiDAR sensor 104, and / or one or more on-board cameras that scan the environment for one or more visual markers of the load 804, such as a QR code 824. The QR code 824 is shown in FIG. 8 for illustration purposes only. Alignment of the mobile robot 800 with the load 804 may be initiated upon detecting the presence of the load 804. The mobile robot 800 then rotates 180 degrees so that its rear faces the load 804, as shown in FIG. 9. The mobile robot 800 turns around and begins moving toward the load 804 to accommodate the load 804 in the space 102 formed by the center wall 130, the first side wall 128, and the second side wall 132, as shown in the front perspective view of FIG. 10. Further alignment may be performed during the turning motion of the mobile robot 800 to ensure smooth engagement with the load 804. FIG. 11 is a rear perspective view of the mobile robot 800 of FIG. 10 in the process of turning around. Some trays carried by the load 804 have been purposefully removed in FIG. 11 to show the mobile robot 800 and details of the plate 814 on the load 804 for insertion into the opening 812. FIG. 12 shows the mobile robot 800 fully turned around and engaged with the load 804. 12, the mobile robot 800 actuates an attachment mechanism of the mobile robot 800 to engage the payload 804 and actuates a locking mechanism 1400 to lock the payload 804 to the mobile robot 800. The cover of the support 802 in FIG. 12 has been purposely removed to show details of the locking mechanism 1400.Once the mobile robot 800 is in the configuration of FIG. 12, the mobile robot 800 is prepared to deliver the payload 804 to its intended location.

[0046] In this embodiment, one or more sensors of the mobile robot 800 may be in use when the mobile robot 800 is flipping itself to fully accommodate the load 804 within the space, such as the use of one or more cameras and video technology to detect when the load 804 is fully accommodated within the space, pressure sensors to detect the contact pressure of the load on the central wall 130, infrared sensors to detect the load distance from the central wall 130, the use of the locking mechanism 1400 in FIG. 14 on the central wall 130 to detect the load engagement with the mobile robot 800, etc. As another example, the mobile robot 800 may rely on information gathered from one or more visual markers (e.g., machine readable optical codes) of the payload, such as a QR code, to determine how far to flip and adjust itself to fully accommodate the load 804 within the space 102.

[0047] FIG. 13 is a rear view of the configuration of FIG. 12 with the mobile robot 800 fully inverted and engaged with a load 804. FIG. 13 shows details of the charging port 108. Specifically, the charging port 108 includes positive and negative charging terminals 1302. FIG. 13 also shows a pair of mounting members, consisting of a first mounting member in the form of a left clamp 826 and a second mounting member in the form of a right clamp 1304, which are extended to engage or contact opposite sides of the load 804 to clamp the load 804 between the first side wall 128 and the second side wall 132 to hold the load 804 in place.

[0048] FIG. 15 shows another example of an attachment mechanism different from that of the mobile robot 100 of FIG. 1. FIG. 15 shows a rear perspective view of the mobile robot 800 without a load attached and a close-up view of a clamp segment 1502 of the left clamp 826 of the mobile robot 800. A corresponding clamp segment (not shown in FIG. 15) is also provided on the right clamp 1304 of FIG. 13. Each of the clamp segments may be elongated in shape and may extend horizontally (in a direction parallel to the ground) across each of the first side wall 128 and the second side wall 132 as shown in FIG. 15. In this example, there are only two clamp segments attached to the mobile robot 800, one segment on the first side wall 128 and the other segment on the second side wall 132. In the example mobile robot 100, there are four clamping segments, two of which are disposed adjacent the first side wall 128 and two of which are disposed adjacent the second side wall 132. It should be understood that a plurality of such segments may be provided to accommodate attachment to different types of loads having different shapes and contours. Similar to the attachment mechanism of the mobile robot 100 of FIG. 1, an attachment actuator may be provided having the necessary electrical and / or mechanical components to move the attachment members to expand to engage the load or retract to remove from the load. For example, linear actuators and motors may be provided on the mobile robot 800 to provide a pushing force to push each attachment member to extend to engage the load and retract each attachment member to remove from the load. A combination of pressure and friction may be applied to the load when engaged to hold the load in place.

[0049] 16, the mobile robot 800 is configured to autonomously move and dock with a charging station 110 to charge the mobile robot 800. As with the mobile robot 100 of FIG 1, the charging station 110 may be connected, for example, via a wall socket, to an alternating current (AC) mains supply that provides AC power.

[0050] In another embodiment, a mobile robot (third embodiment) is provided having the same unique shape as described for the mobile robot 100 of FIG. 1 and the mobile robot 800 of FIG. 8. That is, similar to the mobile robots 100 and 800, the mobile robot (third embodiment) includes a body having a central wall, a first side wall, and a second side wall. The first side wall and the second side wall extend away from the central wall such that a surface of the central wall, a surface of the first side wall, and a surface of the second side wall form a boundary that defines a space for receiving a load or a portion of a load. In the mobile robot example (third embodiment), the load is a lifting device such as a jack that can be extended out of the space and stored in the space. The jack is used to lift a payload including objects (e.g., multiple boxes) placed on a pallet. The jack in this embodiment has a design similar to a hydraulic and / or pneumatic pallet jack and includes a pair of forks for sliding into gaps in the load placed on the pallet.

[0051] The mobile robot (third embodiment) includes an attachment mechanism having a pair of attachment members. A first attachment member of the pair of attachment members is present on a surface of a first side wall. A second attachment member is present on a surface of a second side wall. In this embodiment, the pair of attachment members function as attachment members for attachment to two opposite surfaces of a jack, unlike the mobile robots 100 and 800. The jack is disposed between the first and second side walls. Unlike the mobile robots 100 and 800, the mobile robot (third embodiment) does not include a locking mechanism such as the front clamp 504 in FIG. 5 and the locking mechanism 1400 in FIG. 14. In one embodiment, the mobile robot (third embodiment) does not include a control panel such as the control panel 114 and a support such as the support 124 in FIG. 1 and the support 802 in FIG. 8.

[0052] In another embodiment, the pair of mounting members of the mobile robot (third embodiment) may be mounting members like the mounting members described for the mobile robot 100 of FIG. 1 and the mobile robot 800 of FIG. 8, it should be noted that rather than mounting members that attach (or fasten) to opposite sides of the jack, they are configured like clamps to clamp (and not fasten) opposite sides of the jack.

[0053] The mounting mechanism of the mobile robot (third embodiment) further includes a pair of tracks. One of the pair of tracks is on the surface of the second side wall and extends horizontally (parallel to the ground) across the surface of the second side wall. The other of the pair of tracks is on the surface of the first side wall and extends horizontally (parallel to the ground) across the surface of the first side wall. The first mounting member and the second mounting member are configured to be mounted on the pair of tracks such that the first mounting member and the second mounting member are slidable along the pair of tracks. The first mounting member and the second mounting member are slidable along the pair of tracks to move the jack present in the space in a direction away from the central wall or toward the central wall. By moving the jack in a direction away from the central wall, the pair of forks of the jack move toward the payload and the forks enter the gap in the pallet. The movement of the jack away from the central wall may be automatically driven by the mobile robot (third embodiment) or may be achieved by human intervention. Once the forks are in position under the pallet, the jack may be configured to be driven by the mobile robot (third embodiment) or driven by a human such that the forks lift the pallet together with the object placed on the pallet. Once the payload has been lifted, the jack may be moved or retracted towards the centre wall by the mobile robot (third embodiment) or by human intervention. Once the jack is retracted towards the centre wall, the forks are lowered by the mobile robot (third embodiment) or by a human such that the payload is lowered, resting the payload on a platform of the mobile robot (third embodiment). In this embodiment, the platform is formed by the top edge of the first side wall and the top edge of the second side wall.

[0054] The first and second side walls of the mobile robot (third embodiment) may be configured to have a height lower than the maximum height that the fork 1706 of the jack can lift. Compared to the mobile robot 100,800 embodiment, the mobile robot (third embodiment) is configured to carry a heavier load than the mobile robot 100,800. Therefore, the height of the first and second side walls of the mobile robot (third embodiment) is preferably lower (compared to the mobile robot 100,800) so that it takes less time and effort to lift a payload to place it on the mobile robot (third embodiment). The width of the first and second side walls of the mobile robot (third embodiment) may be sufficient to provide a stable base for placing an object on a platform formed by the top end of the first side wall and the top end of the second side wall. Additionally, compared to the mobile robot 100 and 800 embodiments, the width of the first and second side walls of the mobile robot (third embodiment) is preferably wider to provide a stable platform for carrying heavier loads.

[0055] The process of attaching a load (or payload) to the mobile robot (third embodiment) is described below.

[0056] In step 1, the mobile robot (third embodiment) receives an instruction to attach to the payload wirelessly from the central control system, and then moves toward the payload and delivers the payload to its intended location according to the instruction. The front side of the mobile robot (third embodiment) faces the payload when the mobile robot moves toward the payload.

[0057] In step 2, as the mobile robot (third embodiment) is moved into the area surrounding the payload, the mobile robot (third embodiment) detects the presence of the payload via cargo information received from the central control system, a lidar sensor mounted on the front of the mobile robot (third embodiment), and / or one or more cameras scanning the environment for one or more visual markers (e.g., machine-readable optical codes) on the payload, such as a QR code.

[0058] In step 3, upon detecting the presence of a payload, the mobile robot (third embodiment) begins aligning with the payload.

[0059] Next, in step 4, after the alignment in step 3, the mobile robot (third embodiment) rotates 180 degrees so that its rear faces the payload.

[0060] Next, in step 5, the mobile robot (third embodiment) flips closer to the payload to engage it. In this embodiment, once the mobile robot (third embodiment) has flipped itself sufficiently and detects contact with the payload, for example via a sensor (e.g., using one or more cameras and video technology, a pressure sensor to detect contact pressure, an infrared sensor to detect the distance of the load from the center wall, using a locking mechanism (e.g., 504 in FIG. 5 or 1400 in FIG. 14) on the center wall to detect the load engagement with the mobile robot (third embodiment), the mobile robot (third embodiment) autonomously moves the mounting member to push the jack such that the forks of the jack are moved under the pallet of the payload. In another example, the mobile robot (third embodiment) may rely on information gathered from one or more visual markers (e.g., machine-readable optical code) of the payload, such as a QR code, to determine how far to flip and adjust itself to engage the payload. In this embodiment, the jack is equipped with wheels to facilitate its movement.

[0061] In step 6, after the jack is fully extended to one end of the pair of tracks and the forks are moved sufficiently below the pallet, the mobile robot (third embodiment) drives the jack to raise the forks and lift the pallet together with the object placed on the pallet. The forks are said to be in a raised configuration when they are raised to lift the payload. When the forks are raised to a predetermined height, the mobile robot (third embodiment) moves and reverses its body so that the jack together with the payload is present in the space, and the jack remains stationary as the mobile robot (third embodiment) moves. This predetermined height may be determined from the cargo information provided by the central control system when the mobile robot (third embodiment) positions the payload, or from the cargo information sensed by the mobile robot (third embodiment), such as a machine-readable optical code provided on the payload. Both the jack and the payload will be present in the space after the mobile robot (third embodiment) reverses. In another embodiment, the mobile robot (third embodiment) may instead move the jack and payload through space, but this is a less preferred option since it must use more energy to move the jack and payload compared to moving itself.

[0062] In step 7, the mobile robot continues to drive the jack to lower the forks to a non-raised configuration and the pallet is placed on the platform formed by the top edge of the first side wall and the top edge of the second side wall of the mobile robot (third embodiment). The mobile robot (third embodiment) is then prepared to deliver the payload to its intended location.

[0063] The mobile robot 100 in Fig. 1, the mobile robot 800 in Fig. 8, and the mobile robot (third embodiment) are not limited to the specific configurations and operations described above. Mobile robots having similar configurations and operations may be applied to other embodiments.

[0064] In some examples of the present disclosure, for applications where the mobile robot requires additional sensing to perform its task, the payload attached to the mobile robot may be configured with sensors to detect the surrounding environment. For example, if the payload is a floor scrubber, there may be sensors such as a camera attached to the payload to detect floor conditions so that a processor or controller on board the mobile robot can determine when to turn on or off the vacuum cleaning function of the floor scrubber and when to adjust the strength of the vacuum cleaning.

[0065] The device of the embodiment of the present disclosure has the following advantages.

[0066] The unique configuration of the present device allows payloads that are configured to be movable (e.g., by being fitted with caster wheels) to be attached to the device while they are resting on the ground. Such movable payloads can be attached without first needing to be lifted above the top surface of the device in order to place the payload on the top surface of the device. In some conventional applications, the payload must be lifted (typically by human intervention) in order to be placed or attached to the mobile robot, with the entire weight of the payload being on the mobile robot. Such lifting is not necessary with some embodiments of the present disclosure.

[0067] Additionally, the mobile robot according to the embodiments of the present disclosure is capable of carrying heavier loads since the mobile robot does not need to carry the full weight of the payload, and time is saved in loading the payload onto the mobile robot since the payload does not need to be lifted to be placed on the top surface of the mobile robot.

[0068] Additionally, various payloads can be easily attached and detached to the mobile robot either manually (human intervention) or autonomously (machine initiated) depending on the application.

[0069] An embodiment of the apparatus of the present disclosure (eg, mobile robot 100, 800, and the mobile robot (third embodiment) described with reference to the previous figures) may include the following components in electronic communication via a bus: 1. Optionally, a display (e.g., display of control panel 114 of FIG. 1 or 808 of FIG. 8); 2. Non-volatile memory and / or non-transitory computer-readable media; 3. Random Access Memory ("RAM"); 4. N processing components (i.e., “one or more controllers,” “one or more processors,” or “one or more central processing units”); 5. A transceiver component having N transceivers for Internet / Intranet and / or wireless network communication; 6. Optionally, user controls, i.e. user input devices; 7. Optionally, an image capture component; 8. Optionally, an audio signal capture component (e.g., a microphone); 9. Optionally, an audio speaker or sound generating device, e.g., to indicate operating conditions; 10. Optionally, one or more sensors and / or components for alignment, obtaining information from machine-readable optical codes and / or radio frequency identification tags, and / or for navigation / area mapping; 11. Optionally, input / output interfaces for connecting to user input devices (such as a mouse, joystick, keyboard, sensors for detecting user gestures, etc.), audio speakers, a display, image capture components, and / or audio signal capture components; 12. Optionally, one or more electrical connectors for supplying power to or receiving power from the load and / or for data communication with the attached load (e.g., to control the operation of the load); 13. Optionally, indicator lights for warning and / or status notification.

[0070] The display generally operates to provide a presentation of graphical content (e.g., a graphical user interface) to a user and may be realized by any of a variety of displays (e.g., CRT, LCD, HDMI, micro-projector, and OLED displays). The display may be a touch screen.

[0071] In general, the non-volatile memory serves to store (e.g., persistently store) data and executable code, including code related to the functional components of the mobile robot. In some cases, the non-volatile memory includes, for example, boot loader code, modem software, operating system code, file system code, and other code familiar to those skilled in the art that is not depicted for simplicity. The mobile robot 100, 800 or mobile robot (third embodiment) may be programmed with, for example, self-navigation / mapping code, code to facilitate the docking / undocking process of the mobile robot 100, 800 or mobile robot (third embodiment) with a charging station (e.g., 110 in Figs. 1 and 16) to charge the mobile robot 100, 800 or mobile robot (third embodiment) power, code to control the alignment process between the mobile robot 100, 800 or mobile robot (third embodiment) and each load 116, 118, 120, 122, 302, or 804, code to provide power to each load from the mobile robot 100, 800 or mobile robot (third embodiment) power source, code to control the locking mechanism 1400 in Fig. 14 to lock onto each load, code to control or operate a particular load. In the case of the mobile robot (third embodiment), the jack may also be considered a load and power may be provided to the jack (if necessary) for jack operation. The mobile robot (third embodiment) may be programmed with code to drive a jack to lift and lower a load.

[0072] In many embodiments, the non-volatile memory is implemented by flash memory (e.g., NAND or NOR memory), although other types of memory could certainly be used. Although it is possible for code to be executed from the non-volatile memory, executable code in the non-volatile memory is typically loaded into RAM and executed by one or more of the N processing components.

[0073] The one or more computer programs may be stored on any machine or computer readable medium that is non-transient in nature. The computer readable medium may include storage devices such as magnetic or optical disks, memory chips, or other storage devices suitable for interfacing with a mobile robot. The machine or computer readable medium may also include wired media, such as exemplified in an Internet system, or wireless media, such as exemplified in a Wireless LAN (WLAN) system.

[0074] The N processing components (or "one or more processors") associated with the RAM generally operate to execute instructions stored in the non-volatile memory to enable the functional components. As will be appreciated by those skilled in the art, the N processing components may include video processors, modem processors, DSPs, graphic processing units (GPUs), and other processing components.

[0075] The transceiver component may include N transceiver chains, which may be used to communicate with external devices over a wireless network. Each of the N transceiver chains may represent a transceiver associated with a particular communication scheme. For example, each transceiver may support protocols specific to local area networks, cellular networks (such as WIFI networks, CDMA networks, GPRS networks, UMTS networks, etc.), and other types of communication networks. In some embodiments, the transceiver component may communicate with the communication network to determine the location of a connected device.

[0076] The embodiments of the present disclosure may have the following features.

[0077] An apparatus (e.g., 100 in FIG. 1, 800 in FIG. 8, and a mobile robot (third embodiment)) for transporting a load (e.g., 116, 118, 120, 122 in FIG. 1, 302 in FIG. 3, 804 in FIG. 8), Power supply, one or more moving parts (e.g., 126 in FIG. 1 ); a drive mechanism for driving the one or more moving parts to move the device; a body having a central wall (e.g., 130 in FIG. 1), a first side wall (e.g., 128 in FIG. 1), and a second side wall (e.g., 132 in FIG. 1), the first side wall and the second side wall extending away from the central wall and forming a boundary between a surface of the central wall (e.g., 404 in FIG. 4), a surface of the first side wall (e.g., 518 in FIG. 5), and a surface of the second side wall (e.g., 520 in FIG. 5) that defines a space (e.g., 102 in FIG. 1) for receiving a load or a portion of a load; an attachment mechanism for attachment to the load, the attachment mechanism comprising a pair of attachment members for engaging the load, the pair of attachment members comprising a first attachment member (e.g., 402 in FIG. 4 and 826 in FIG. 13) attached to a surface of the first side wall and a second attachment member (e.g., 502 in FIG. 5 and 1304 in FIG. 13) attached to a surface of the second side wall; a processor configured to execute instructions in the memory to operate the device; Equipped with The device drives the drive mechanism to move the device and transport the luggage to an intended location according to the instructions.

[0078] The apparatus comprises: During the installation of said luggage, Driving the drive mechanism to move the device to receive the load or a portion of the load into the space; By driving the attachment mechanism to move the first attachment member and the second attachment member, the attachment member engages with an opposite side of the luggage or an opposite side of a part of the luggage accommodated in the space, and is attached to the luggage, thereby holding the luggage or the part of the luggage in the space. It may be operable as follows.

[0079] The attachment mechanism may include two or more pairs of attachment members (e.g., 506, 508 in FIG. 5 and 1502 in FIG. 15), and the first and second attachment members of each pair of attachment members may be extendable when the attachment mechanism is actuated so as to engage with the luggage or a portion of the luggage in accordance with a contour of the luggage or a portion of the luggage.

[0080] The apparatus comprises: one or more sensors (e.g., 104 in FIG. 1 ); aligning the device with the load prior to actuating the attachment mechanism to attach to the load or portion of the load, said device receiving input from said one or more sensors; It may be operable as follows.

[0081] The one or more sensors may be configured to read a machine-readable optical code and / or a radio frequency identification tag provided on the luggage to obtain information for determining which of two or more pairs of mounting members should be extended to contact the luggage or a portion of the luggage and actuated to conform to a contour of the luggage or a portion of the luggage.

[0082] The one or more sensors may be configured to read a machine-readable optical code and / or a radio frequency identification tag provided on the luggage to obtain position data of the luggage relative to the device to facilitate alignment of the device with the luggage.

[0083] The apparatus comprises: a locking mechanism (e.g., 504 in FIG. 5 and 1400 in FIG. 14 ) including a latch member (e.g., 510, 514, 512 in FIG. 5 and 1406 in FIG. 14 ) having a configuration corresponding to one or more receiving members (e.g., 602 in FIG. 6 and 822 in FIG. 8 ) present on the load to facilitate receiving the receiving member, and It may be operable to move the latch member to lock the device to the load.

[0084] The latch member may include one or more hooks (e.g., 510, 514, 512 in FIG. 5), and the one or more receiving members may include one or more rods (e.g., 602 in FIG. 6) for hanging the one or more hooks.

[0085] The latch member may include one or more pins (e.g., 1406 in FIG. 14) and the one or more receiving members may include one or more slots (e.g., 822 in FIG. 8) for receiving the one or more pins to lock the device to the load.

[0086] The device may include an electrical connector configured to connect to a load to provide electrical power to the load when the device is attached to the load.

[0087] The electrical connector may include a latch member such that when the latch member is received by the one or more receiving members, an electrical connection is made for supplying power to the load.

[0088] The baggage is: A dolly or mobile cart (e.g., 116 in FIG. 1 and 302 in FIG. 3) for carrying one or more objects; Jacks for lifting and lowering objects (e.g., 118 in Fig. 1); a cleaning device (e.g., 120 in FIG. 1 ) that is towed by the device to clean surfaces in the environment; and UV lighting top for disinfection using ultraviolet light (e.g., 122 in Figure 1), may include one or more of: The cleaning device may be a floor scrubber (eg, 120 in FIG. 1) that is towed by the device to scrub a floor.

[0089] The attachment mechanism includes: a pair of tracks attached to a surface of the first side wall and a surface of the second side wall, the first mounting member and the second mounting member configured to be attached to the pair of tracks such that the first mounting member and the second mounting member are slidable along the pair of tracks; The first mounting member and the second mounting member may be slidable along the pair of tracks so as to move the luggage present in the space away from or towards the central wall.

[0090] When the load includes a jack (e.g., 118 in FIG. 1) for lifting an object, the jack includes one or more lifting forks, and the first mounting member and the second mounting member are attached to the load; The first mounting member and the second mounting member may be slidable along the pair of tracks such that, when the jack is actuated to raise or lower an object, one or more lifting forks of the jack can be moved beneath the object to raise or lower the object.

[0091] A surface of the central wall, a surface of the first side wall and a surface of the second side wall may form a U-shape.

[0092] In this specification and claims, unless the context clearly indicates otherwise, the term "comprising" has a non-exclusive meaning in the sense of "including at least" and not an exclusive meaning in the sense of "consisting only of". The same applies to grammatical modifications corresponding to other forms of this word, such as "comprise" and "comprises".

[0093] While this disclosure has described the invention with reference to several examples and embodiments, the invention is not so limited but is intended to cover various obvious modifications and equivalent arrangements that fall within the scope of the appended claims. Although features of the invention are expressed in certain combinations in the claims, it is contemplated that these features can be arranged in any combination and order.

Claims

1. An apparatus for transporting luggage, comprising: Power supply, One or more moving parts; a drive mechanism for driving the one or more moving parts to move the device; a body having a central wall, a first side wall, and a second side wall, the first side wall and the second side wall extending away from the central wall, and a surface of the central wall, a surface of the first side wall, and a surface of the second side wall forming a boundary defining a space for receiving a package or a portion of a package; an attachment mechanism for attachment to the luggage, the attachment mechanism comprising a pair of attachment members for engaging the luggage, the pair of attachment members comprising a first attachment member attached to a surface of the first sidewall and a second attachment member attached to a surface of the second sidewall; a processor configured to execute instructions in the memory to operate the device; Equipped with Driving the driving mechanism to move the device and transport the luggage to an intended location in accordance with the instructions; The apparatus comprises: One or more sensors; aligning the device with the load prior to actuating the attachment mechanism to attach to the load or portion of the load in response to input from the one or more sensors; It is possible to operate as follows: the one or more sensors are configured to read a machine-readable optical code and / or a radio frequency identification tag provided on the luggage to obtain information for determining which of two or more pairs of attachment members should be extended into contact with the luggage or a portion of the luggage and actuated to conform to a contour of the luggage or a portion of the luggage. Device.

2. During the installation of said luggage, Driving the drive mechanism to move the device to receive the load or a portion of the load into the space; by driving the mounting mechanism to move the first mounting member and the second mounting member, the first mounting member and the second mounting member are engaged with the opposing surface of the luggage or the opposing surface of a part of the luggage contained in the space, and the luggage or the part of the luggage is held in the space. The apparatus of claim 1 , operable to:

3. 3. The apparatus of claim 1 or 2, wherein the attachment mechanism may include two or more pairs of attachment members, and a first attachment member and a second attachment member of each pair of attachment members are extendable when the attachment mechanism is actuated so as to engage with the luggage or a portion of the luggage in accordance with a contour of the luggage or a portion of the luggage.

4. The apparatus of any one of claims 1 to 3, wherein the one or more sensors are configured to read a machine-readable optical code and / or a radio frequency identification tag provided on the luggage to obtain position data of the luggage relative to the apparatus to facilitate alignment of the apparatus with the luggage.

5. The apparatus comprises: a locking mechanism comprising a latch member having a configuration corresponding to one or more receiving members present on the luggage to facilitate receiving the one or more receiving members present on the luggage to lock the device to the luggage; An apparatus as claimed in any preceding claim, operable to move the latch member to lock the apparatus to the load.

6. The apparatus of claim 5 , wherein the latch member comprises one or more hooks, and the one or more receiving members comprise one or more rods for hanging the one or more hooks.

7. 7. The device of claim 5 or 6, wherein the latch member comprises one or more pins, and the one or more receiving members comprise one or more slots for receiving the one or more pins to lock the device to the load.

8. 8. The device of claim 1, further comprising an electrical connector configured to connect to a load for providing electrical power to the load when the device is attached to the load.

9. comprising an electrical connector configured to connect to the luggage to provide electrical power to the luggage when the apparatus is attached to the luggage; 6. The apparatus of claim 5, wherein the electrical connector includes a latch member such that when the latch member is received by the one or more receiving members, an electrical connection is made for providing power to the load.

10. The baggage is: A dolly or mobile cart for carrying one or more objects; Jacks for lifting objects, a cleaning device towed by the device to clean surfaces in the environment; and UV lighting top for disinfection using ultraviolet light, The apparatus according to any one of claims 1 to 9, comprising one or more of:

11. An apparatus for transporting luggage, comprising: Power supply, One or more moving parts; a drive mechanism for driving the one or more moving parts to move the device; a body having a central wall, a first side wall, and a second side wall, the first side wall and the second side wall extending away from the central wall, and a surface of the central wall, a surface of the first side wall, and a surface of the second side wall forming a boundary defining a space for receiving a package or a portion of a package; an attachment mechanism for attachment to the luggage, the attachment mechanism comprising a pair of attachment members for engaging the luggage, the pair of attachment members comprising a first attachment member attached to a surface of the first sidewall and a second attachment member attached to a surface of the second sidewall; a processor configured to execute instructions in the memory to operate the device; Equipped with Driving the driving mechanism to move the device and transport the luggage to an intended location in accordance with the instructions; The attachment mechanism includes: a pair of tracks attached to a surface of the first side wall and a surface of the second side wall, the first mounting member and the second mounting member configured to be mounted to the pair of tracks such that the first mounting member and the second mounting member are slidable along the pair of tracks; The apparatus, wherein the first mounting member and the second mounting member are slidable along the pair of tracks to move the cargo present in the space in a direction away from or toward the central wall.

12. When the load includes a jack for lifting an object, the jack includes one or more lifting forks, and the first mounting member and the second mounting member are attached to the load; 12. The apparatus of claim 11, wherein the first mounting member and the second mounting member are slidable along the pair of tracks such that, when the jack is actuated to raise or lower an object, one or more lifting forks of the jack can be moved under the object to raise or lower the object.

13. The apparatus of any one of claims 1 to 12, wherein the central wall surface, the first side wall surface and the second side wall surface form a U-shape.

Images