An obstacle position calculation method and a cargo-carrying device

Abstract

The present invention belongs to the technical field of goods transportation, and specifically relates to a method for calculating the position of an obstacle and a loading device, including the following steps: detecting the transportation center of gravity of the bearing plate; detecting the weight change of the bearing plate during the descent of the bearing plate. When the weight decreases during the descent of the bearing plate, the bearing plate stops descending; detecting the abnormal center of gravity of the bearing plate, comparing and calculating the transportation center of gravity and the abnormal center of gravity to obtain the position of the obstacle. By monitoring and detecting the center of gravity and weight of the bearing plate, the present invention can monitor whether the goods are overweight, whether the fixed position of the goods is standard, and whether the goods slide. During the preparation for loading or unloading when the bearing plate descends, it can be determined whether the bottom surface of the bearing plate touches an obstacle according to the weight change on the bearing plate during the descent of the bearing plate, and the position of the obstacle can be calculated according to the weight change and the center of gravity change, providing data support for the subsequent removal of the obstacle and improving the automation degree of the transportation equipment.

Description

Technical Field

[0001] The present invention belongs to the technical field of cargo transportation, and particularly relates to a method for calculating the position of an obstacle and a cargo-carrying device. Background Art

[0002] When using a transportation tool, especially an automated transportation tool, for loading and unloading goods, generally, a lifting component is set to lift the bearing structure to facilitate the loading and unloading of goods.

[0003] If an obstacle exists at the bottom of the bearing structure during the loading and unloading process and cannot be detected and feedback in time, and the lifting component continues to drive the bearing structure to descend after the bearing structure hits the obstacle, it will cause rigid damage to the bearing structure and the lifting component, and even affect the goods, posing a safety hazard to the transportation project. In addition, if only the descent of the bearing structure can be monitored to determine whether it touches an obstacle, but the position of the obstacle cannot be judged, it is still necessary to stop the vehicle to manually remove the obstacle, reducing the automation degree of the transportation tool. Currently, for such obstacles, cameras or distance sensors are generally used for detection. The former has a complex system structure and is unstable. The latter also requires a large number of sensors to be arranged if the entire bottom surface of the bearing structure needs to be monitored, resulting in problems such as complex structure and high cost. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method for calculating the position of an obstacle and a cargo-carrying device with simple and reliable structure, low cost, capable of monitoring cargo transportation, judging whether an obstacle is encountered during loading or unloading, and calculating the position of the obstacle.

[0005] The present invention provides a method for calculating the position of an obstacle, including the following steps:

[0006] Detect the transportation center of gravity of the bearing plate during transportation;

[0007] Detect the weight change of the bearing plate during the descent of the bearing plate. When the weight decreases during the descent of the bearing plate, the bearing plate stops descending;

[0008] Detect the abnormal center of gravity of the bearing plate at this time, compare and calculate the transportation center of gravity and the abnormal center of gravity to obtain the position of the obstacle.

[0009] Furthermore, comparing and calculating the transportation center of gravity and the abnormal center of gravity to obtain the position of the obstacle relative to the bearing plate includes:

[0010] Construct an obstacle position calculation model, obtain the transportation weight of the carrier plate in the detection transportation state, the abnormal weight after the carrier plate touches an obstacle during the descent process, and the line connecting the transportation center of gravity and the abnormal center of gravity. Input the transportation weight, abnormal weight, and the line connecting the transportation center of gravity and the abnormal center of gravity into the obstacle position calculation model to calculate the position of the obstacle.

[0011] The obstacle position calculation model is as follows:

[0012] L2 = L1 * F 承载板1 / (F 承载板 - F 承载板1 )

[0013] Wherein, L1 is the line connecting the transportation center of gravity and the abnormal center of gravity, L2 is the line connecting the transportation center of gravity and the obstacle position, F 承载板 is the transportation weight of the carrier plate, and F 承载板1 is the weight of the carrier plate after touching the obstacle. Among them, L2 is on the extension line of L1, and finally the end point of L2 is the position of the obstacle.

[0014] Furthermore, the detection of the transportation center of gravity of the carrier plate and the detection of the abnormal center of gravity of the carrier plate include:

[0015] According to the weight distribution of the carrier plate and the geometric data of the carrier plate, obtain the projection position of the center of gravity on the plane of the carrier plate.

[0016] Furthermore, the weight distribution of the carrier plate includes the weights at the four corners of the carrier plate; the geometric data of the carrier plate includes the horizontal distance and vertical distance at the four corners of the carrier plate; the horizontal coordinate of the center of gravity is calculated according to the ratio of the horizontal weights of the carrier plate being equal to the ratio of the horizontal distances, and the vertical coordinate of the center of gravity is calculated according to the ratio of the vertical weights of the carrier plate being equal to the ratio of the vertical distances.

[0017] The present invention also provides a cargo-carrying device, including a carrier plate, a lifting assembly, and a detection assembly. The lifting assembly is arranged on the main body of the transportation tool, and the output end of the lifting assembly is directly or indirectly connected to the carrier plate. The detection assembly includes a plurality of force detection members symmetrically arranged along the center of the carrier plate or arranged in a circular array along the center of the carrier plate. The force detection members are arranged between the carrier plate and the lifting assembly to detect the magnitude of the acting force between the carrier plate and the lifting assembly.

[0018] Furthermore, the force detection members are arranged at the four corners of the carrier plate.

[0019] Furthermore, the force detection members are force sensors or deformation sensors.

[0020] Further, when the force detection member is a deformation sensor, an elastic connection member connecting the output end of the lifting assembly and the bearing plate is further included, and the deformation sensor is arranged on the elastic connection member.

[0021] Further, the number of the lifting assemblies is the same as that of the force detection members, and a force detection member is arranged between the output end of each lifting assembly and the bearing plate.

[0022] The beneficial effects of the present invention are as follows: by monitoring and detecting the center of gravity and weight of the bearing plate, the present invention can monitor whether the goods are overweight, whether the fixed position of the goods is standard, and whether the goods slide. During the process of the bearing plate descending to prepare for loading or unloading, it is possible to judge whether the bottom surface touches an obstacle during the descending process of the bearing plate according to the weight change on the bearing plate, and calculate the position of the obstacle according to the weight change and the center of gravity change, which is convenient to provide data support for the subsequent removal of the obstacle. For a fully automatic driverless vehicle, combined with an automatic obstacle removal device, the environmental adaptability can be greatly improved, and the automation degree of the transportation equipment can be improved. Description of the Drawings

[0023] Attached Figure 1 is a flowchart of the method for calculating the position of an obstacle in the present invention.

[0024] Attached Figure 2 is a flowchart of the use of the cargo loading device in the present invention.

[0025] Attached Figure 3 is a front view of the use state of the cargo loading device in the present invention.

[0026] Attached Figure 4 is a front view of one embodiment of the cargo loading device in the present invention.

[0027] Attached Figure 5 is a front view of another embodiment of the cargo loading device in the present invention.

[0028] Attached Figure 6 is attached Figure 3 is a top view of the cargo loading device.

[0029] Attached Figure 7 is a schematic diagram of the calculation of the transportation center of gravity in the present invention.

[0030] Attached Figure 8 is a schematic diagram of the calculation of the position of an obstacle in the present invention.

[0031] In the figure, 1 - main body of the transportation vehicle; 2 - goods; 3 - bearing plate; 4 - side fixing frame; 5 - elastic connection member; 6 - deformation sensor; 7 - lifting assembly; 8 - ground; 9 - obstacle. Detailed Embodiments

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts belong to the scope of protection of the present invention.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0034] In addition, the descriptions such as "first" and "second" in the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0035] In the present invention, unless otherwise clearly defined and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection, a physical connection or a wireless communication connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0036] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0037] As shown in the Figure 1-8 accompanying drawings, the present invention provides a method for calculating the position of an obstacle, which is characterized by including the following steps:

[0038] Detect the transportation center of gravity of the carrier plate 3 during transportation, including the center of gravity position of the carrier plate 3 in the transportation state when carrying the goods 2 and in the state of preparing for unloading, and also including the center of gravity position of the carrier plate 3 in the state of preparing for loading when not carrying the goods 2;

[0039] During the descent of the carrier plate 3, detect the weight change of the carrier plate 3. Before the carrier plate 3 descends to the lower limit stroke, when the weight decreases during the descent of the carrier plate 3, it is determined that the bottom surface of the carrier plate 3 touches the obstacle 9, and the carrier plate 3 stops descending.

[0040] Detect the abnormal center of gravity of the carrier plate 3 at this time, that is, the center of gravity of the carrier plate 3 when it is determined that the bottom surface of the carrier plate 3 touches the obstacle 9. Compare and calculate the transportation center of gravity and the abnormal center of gravity to obtain the position of the obstacle 9. At this time, if the positions of the transportation center of gravity and the abnormal center of gravity are the same, it means that the position of the obstacle 9 is at the transportation center of gravity position. If the positions of the transportation center of gravity and the abnormal center of gravity are different, the position of the obstacle 9 can be obtained through calculation.

[0041] By monitoring and detecting the center of gravity and weight of the carrier plate 3, during the process of the carrier plate 3 descending to prepare for loading or unloading, it is possible to judge whether the bottom surface of the carrier plate 3 touches the obstacle 9 according to the weight change on the carrier plate 3, and calculate the position of the obstacle 9 according to the weight change and the center of gravity change, which is convenient to provide data support for the subsequent removal of the obstacle 9. For fully automatic driverless vehicles, combined with the automatic obstacle removal device 9, it can greatly improve the environmental adaptability and automation.

[0042] The present invention first judges whether the bottom surface of the carrier plate 3 touches the obstacle 9 through the weight change of the carrier plate 3, can timely feedback and stop the descent of the carrier plate 3, and avoid the carrier plate 3 continuing to descend after touching the obstacle 9, causing damage to the carrier plate 3, the lifting structure and the goods 2. At the same time, misjudgment can be avoided, because only after it is determined that the bottom surface of the carrier plate 3 touches the obstacle 9, the position of the obstacle 9 is obtained. If the force between the carrier plate 3 and the lifting component 7 does not change during unloading while the transportation center of gravity changes, it can be determined that the goods 2 slide during unloading.

[0043] When the carrier plate 3 is preparing to descend for loading, the detected data is only the weight and center of gravity data of the carrier plate 3 itself. When the carrier plate 3 is preparing to descend for unloading, the detected data is the weight and center of gravity data of the carrier plate 3 plus the goods 2.

[0044] In one embodiment, comparing and calculating the transportation center of gravity and the abnormal center of gravity to obtain the position of the obstacle 9 relative to the carrier plate 3 includes:

[0045] Construct an obstacle position calculation model, obtain the transportation weight of the carrier plate 3 in the detected transportation state, the abnormal weight after the carrier plate 3 touches the obstacle 9 during the descent, and the connection line between the transportation center of gravity and the abnormal center of gravity. Input the transportation weight, abnormal weight and the connection line between the transportation center of gravity and the abnormal center of gravity into the obstacle position calculation model to calculate the position of the obstacle 9.

[0046] The obstacle position calculation model is as follows:

[0047] L2 = L1 * F 承载板1 / (F 承载板 - F 承载板1 )

[0048] Wherein, L1 is the line connecting the transportation center of gravity and the abnormal center of gravity, L2 is the line connecting the transportation center of gravity and the obstacle position, and F 承载板 is the transportation weight of the bearing plate, and F 承载板1 is the weight of the bearing plate after touching the obstacle 9. Among them, L2 is on the extension line of L1, and finally the end point of L2 is the position of the obstacle 9.

[0049] Detecting the transportation center of gravity of the bearing plate 3 and detecting the abnormal center of gravity of the bearing plate 3 include:

[0050] According to the weight distribution of the bearing plate 3 and the geometric data of the bearing plate 3, obtain the projection position of the center of gravity on the plane of the bearing plate 3.

[0051] The weight distribution of the bearing plate 3 includes the weights at the four corners of the bearing plate 3; the geometric data of the bearing plate 3 includes the horizontal distance and the vertical distance at the four corners of the bearing plate 3; calculate the horizontal coordinate of the center of gravity according to the ratio of the horizontal weights of the bearing plate 3 being equal to the ratio of the horizontal distances, and calculate the vertical coordinate of the center of gravity according to the ratio of the vertical weights of the bearing plate 3 being equal to the ratio of the vertical distances.

[0052] As Figure 7 shown, specifically, the calculation of the center of gravity position of the bearing plate 3 includes: the weights at the four corners are F A , F B , F C and F D . Thus, the weight F 承载板 of the bearing plate 3 = F A + F B + F C + F D . The center of gravity position of the bearing plate 2 can be calculated by the following formula: (F A + F C ) / (F B + F D ) = X1 / X2; (F A + F B ) / (F C + F D ) = Y1 / Y2, and finally determine the position of the center of gravity according to the ratio of X1 / X2 and Y1 / Y2.

[0053] As Figure 8 shown, the method for calculating the obstacle position is as follows:

[0054] Let the weights detected by the four force detectors when not in contact with the obstacle 9 be: F A0 、F B0 、F C0 and F D0 , then the transport weight F 承载板0 = F A0 + F B0 + F C0 + F D0 . According to the calculation method of the center of gravity position of the bearing plate 3, the position of the transport center of gravity W0 at this time can be calculated;

[0055] Let the weights detected by the four force detectors when touching the obstacle 9 be: F A1 、F B1 、F C1 and F D1 , then the abnormal weight F 承载板1 = F A1 + F B1 + F C1 + F D1 . According to the calculation method of the center of gravity position of the bearing plate 3, the position of the abnormal center of gravity W1 at this time can be calculated;

[0056] Then the center of gravity W 障 of the obstacle is on the extension line of the connection between W1 and W0, and there is L2 = L1 * F 承载板1 / (F 承载板 - F 承载板1 ). As mentioned above, both the transport center of gravity W0 and the abnormal center of gravity W1 are known quantities, so L1 can be obtained, and the transport weight F 承载板 and the abnormal weight F 承载板1 are also known quantities, so L2 can be obtained, and then the obstacle position W 障 can be obtained.

[0057] Among them, the transport weight F 承载板 and the abnormal weight F 承载板1 represent the weight of the bearing plate 3 plus the goods when there are goods 2 on the bearing plate 3, and represent the weight of the bearing plate 3 itself when there are no goods 2 on the bearing plate 3.

[0058] By calculating the transportation center of gravity and abnormal center of gravity of the bearing plate 3, it provides data support for calculating the position of the obstacle 9. At the same time, it can also obtain the weight and center of gravity distribution of the bearing plate 3, or the bearing plate 3 and the goods 9. It can monitor the transportation of the goods 2, detect the weight of the goods 2 to avoid overweight, and continuously detect the weight of the goods 2 during transportation. If there is a large change in the weight of the goods 2 during transportation, it can give an early warning of the abnormal state of the goods 2; it can also judge whether the position and placement of the goods 2 meet the requirements. In addition, during transportation, the center of gravity position can be continuously detected. If there is a large movement of the center of gravity during transportation, it can give an early warning of the abnormal state of the goods 2.

[0059] The present invention also provides a cargo-carrying device, including a bearing plate 3, a lifting assembly 7 and a detection assembly. The lifting assembly 7 is arranged on the main body 1 of the transportation tool. The output end of the lifting assembly 7 is directly or indirectly connected to the bearing plate 3. The detection assembly includes a plurality of force detection members symmetrically arranged along the center of the bearing plate 3 or arranged in a circular array along the center of the bearing plate 3. The force detection members are arranged between the bearing plate 3 and the lifting assembly 7 to detect the magnitude of the acting force between the bearing plate 3 and the lifting assembly 7.

[0060] When the transportation tool loads and unloads the goods 2, it is necessary to lower the bearing plate 3 for receiving the goods 2 to the ground 8 through the lifting assembly 7, which can effectively reduce the difficulty and labor intensity of loading and unloading. The present invention is provided with a detection assembly for detecting the magnitude of the acting force between the bearing plate 3 and the lifting assembly 7, and it can timely feedback whether the bottom surface of the bearing plate 3 touches the obstacle 9 during loading and unloading. In this way, when it is found that there is an obstacle 9 below the bearing plate 3, the lifting assembly 7 can be stopped from continuing to descend in time to ensure the safety of the cargo-carrying device and the goods 2. At the same time, the detection assembly can also calculate the weight of the goods 2 through the acting force to detect the weight of the goods 2. In addition, multiple distributed force detection members can calculate the center of gravity distribution on the bearing plate 3 to judge whether the position and placement of the goods 2 meet the requirements. In addition, during transportation, the center of gravity position can be continuously detected. If there is a large movement of the center of gravity during transportation, an early warning is provided. More importantly, when it is judged that there is an obstacle 9 below the bearing plate 3, the position of the obstacle 9 can be calculated according to the transportation center of gravity, abnormal center of gravity and weight change, which provides data support for subsequent automatic obstacle 9 removal.

[0061] Compared with conventional obstacle detection devices such as cameras or the method of setting a distance sensor on the bottom surface of the bearing plate 3, the present invention has a simpler and more reliable structure, lower cost, and can not only be used as an obstacle position detection device, but also be used as a monitoring device for detecting whether the goods 2 are abnormal.

[0062] In addition, the force detection member is disposed between the output end of the lifting assembly 7 and the carrier plate 3. When the goods 2 are loaded, the tension received by the lifting assembly 7 can be detected, and the weight of the carrier plate 3 plus the goods 2 can be fed back through conversion. When there are no goods 2 loaded, the weight of the carrier plate 3 can be fed back. Specifically, during the process of the lifting assembly 7 driving the carrier plate 3 to descend, when the force detection member detects that the tension of the lifting assembly 7 decreases, two situations will occur. The first is that the carrier plate 3 descends to the ground 8, and the weight of the carrier plate 3 and the goods 2 is borne by the ground 8, and the force data reflected on the force detection member will decrease. The other is that the carrier plate 3 has not descended to the ground 8, but touches an obstacle 9 such as a stone during the descent. At this time, part of the weight of the carrier plate 3 and the goods 2 will be borne by the obstacle 9, and the force data reflected on the force detection member will decrease. On this basis, it can be determined whether the bottom surface of the carrier plate 3 touches the obstacle 9 according to whether the carrier plate 3 descends to the ground 8.

[0063] A plurality of force detection members are symmetrically arranged along the center of the carrier plate 3, or a plurality of force detection members are arranged in a circular array along the center of the carrier plate 3, so that the force detection member can not only be used to judge whether the bottom surface of the carrier plate 3 touches the obstacle 9 and detect the weight of the goods 2, but also be combined with a calculation method to detect the center of gravity distribution of the goods 2 on the carrier plate 3 and the specific position of the obstacle 9.

[0064] In one preferred solution, the force detection members are arranged at the four corners of the carrier plate 3. One set of force detection members is arranged at each of the four corners of the carrier plate 3, and the acting force detected by the force detection members is reflected in the form of weight.

[0065] The detection assembly in this embodiment has the following effects:

[0066] 1. Detect the weight of the goods 2: Avoid overweight, and at the same time, the weight of the goods 2 can be continuously detected during transportation. If there is a large change in the weight of the goods 2 during transportation, an early warning can be issued for abnormal conditions of the goods 2;

[0067] 2. Calculate the center of gravity of the goods 2: Judge whether the position and placement of the goods 2 meet the requirements. In addition, the center of gravity position can be continuously detected during transportation. If there is a large movement of the center of gravity during transportation, an early warning can be issued for abnormal conditions of the goods 2;

[0068] 3. Check and calibrate the four force detection members: Use a standard weight of goods 2 and place it in the exact middle position of the carrier plate 3. There should be F 承载板 / 4 = F A = F B = F C = F D . According to this relationship, the four force detection members can be checked and calibrated;

[0069] 4. Detect and determine whether the carrier plate 3 touches an obstacle 9 during the descending process. During the descending process, if F 货物 >F A +F B +F C +F D it is determined that the obstacle 9 has been touched;

[0070] 5. Calculate the position of the obstacle 9. On the basis of determining that the carrier plate 3 touches the obstacle 9, the position of the obstacle 9 can be calculated according to the change in the center-of-gravity position before and after the touch. In the field of automated transportation tools, it is convenient to provide data support for automated obstacle 9 clearance.

[0071] In one embodiment, the force detection member is a force sensor or a deformation sensor 6. The force sensor can be a tension sensor or a weighing sensor, etc. Both the force sensor or the deformation sensor 6 can feedback the acting force of the goods 2 and the carrier plate 3 relative to the lifting assembly 7 or the weight of the goods 2 and the carrier plate 3. Preferably, a deformation sensor 6 is adopted. The deformation sensor 6 can calculate the weights of the carrier plate 3 and the goods 2 according to the torsional deformation. When the force detection member is the deformation sensor 6, it further includes an elastic connecting member 5 connecting the output end of the lifting assembly 7 and the carrier plate 3. The deformation sensor 6 is arranged on the elastic connecting member 5. The combination of the deformation sensor 6 and the elastic connecting member 5 can generate deformation when the carrier plate 3 touches the obstacle 9, avoid rigid damage to the carrier plate 3 and the lifting assembly 7, improve the safety of the cargo-carrying device, and at the same time can improve the buffering effect to a certain extent.

[0072] As shown in the attached Figure 4 figure, in one embodiment, the number of the lifting assemblies 7 is the same as that of the force detection members. A force detection member is arranged between the output end of each lifting assembly 7 and the carrier plate 3. In this embodiment, the multiple lifting assemblies 7 move synchronously to avoid affecting the weight detection accuracy. The lifting assembly 7 can be a cylinder, a hydraulic cylinder or a linear module.

[0073] As shown in the attached Figure 5 figure, in another embodiment, the cargo-carrying device further includes a side fixing frame 4. The carrier plate 3 is connected to the side fixing frame 4. The force detection member is arranged between the side fixing frame 4 and the carrier plate 3. The output end of the lifting assembly 7 is connected to the side fixing frame 4. In this embodiment, the side fixing frame 4 and the carrier plate 3 form a loading mechanism. At this time, the entire loading structure can be driven to lift by one lifting assembly 7, and at the same time, the force detection member can also detect the acting force in each direction of the carrier plate 3.

[0074] The present invention also provides a transportation tool, including a transportation tool main body 1 and a cargo-carrying device. The lifting assembly 7 can drive the carrier plate 3 to descend to the ground 8 and can also rise into the cabin of the transportation tool main body 1.

[0075] The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

Claims

1. A method for calculating the position of an obstacle, characterized in that, Including the following steps: Detect the transportation center of gravity of the carrier plate (3) during transportation; Detect the weight change of the carrier plate (3) during the descent of the carrier plate (3). When the weight of the carrier plate (3) decreases during the descent, the carrier plate (3) stops descending; Detect the abnormal center of gravity of the carrier plate (3) at this time, compare and calculate the transportation center of gravity and the abnormal center of gravity to obtain the position of the obstacle (9) relative to the carrier plate (3).

2. The method for calculating the position of an obstacle according to claim 1, wherein, Comparing and calculating the transportation center of gravity and the abnormal center of gravity to obtain the position of the obstacle (9) relative to the carrier plate (3) includes: Construct an obstacle position calculation model, obtain the transportation weight of the carrier plate (3) in the detected transportation state, the abnormal weight after the carrier plate (3) touches the obstacle (9) during the descent of the carrier plate (3), and the line connecting the transportation center of gravity and the abnormal center of gravity. Input the transportation weight, abnormal weight, and the line connecting the transportation center of gravity and the abnormal center of gravity into the obstacle position calculation model to calculate the position of the obstacle (9).

3. The obstacle position calculation method according to claim 2, characterized in that, The obstacle position calculation model is: L2 = L1 * F 承载板1 / (F 承载板 - F 承载板1 ) Among them, L1 is the line connecting the transportation center of gravity and the abnormal center of gravity, L2 is the line connecting the transportation center of gravity and the position of the obstacle (9), F 承载板 is the transportation weight of the carrier plate, F 承载板1 is the weight of the carrier plate after touching the obstacle (9), where L2 is on the extension line of L1, and the end point of L2 is the position of the obstacle (9).

4. The method for calculating the position of an obstacle according to any one of claims 1-3, characterized in that, Detecting the transportation center of gravity of the carrier plate (3) and detecting the abnormal center of gravity of the carrier plate (3) include: According to the weight distribution of the carrier plate (3) and the geometric data of the carrier plate (3), obtain the projection position of the center of gravity on the plane of the carrier plate (3).

5. The obstacle position calculation method according to claim 4, characterized in that The weight distribution of the carrier plate (3) includes the weights at the four corners of the carrier plate (3); the geometric data of the carrier plate (3) includes the horizontal distance and vertical distance at the four corners of the carrier plate (3); calculate the horizontal coordinate of the center of gravity according to the ratio of the horizontal weights of the carrier plate (3) being equal to the ratio of the horizontal distances, and calculate the vertical coordinate of the center of gravity according to the ratio of the vertical weights of the carrier plate (3) being equal to the ratio of the vertical distances.

6. A cargo-carrying device using the obstacle position calculation method according to any one of claims 1-5, including a carrier plate (3), a lifting assembly (7), and a detection assembly. The lifting assembly (7) is arranged on the main body (1) of the transportation tool. The output end of the lifting assembly (7) is directly or indirectly connected to the carrier plate (3). The detection assembly includes a plurality of force detection members symmetrically arranged along the center of the carrier plate (3) or arranged in a circular array along the center of the carrier plate (3). The force detection members are arranged between the carrier plate (3) and the lifting assembly (7) to detect the magnitude of the force acting between the carrier plate (3) and the lifting assembly (7).

7. The cargo device according to claim 6, characterized in that, The force detection members are arranged at the four corners of the carrier plate (3).

8. The cargo-carrying device according to claim 6, characterized in that, The force detection member is a force sensor or a deformation sensor (6).

9. The cargo-carrying device according to claim 8, characterized in that, When the force detection member is a deformation sensor (6), it further includes an elastic connecting member (5) connecting the output end of the lifting assembly (7) and the carrier plate (3), and the deformation sensor (6) is arranged on the elastic connecting member (5).

10. The cargo-carrying device according to claim 6, characterized in that, The number of the lifting assemblies (7) is the same as that of the force detection members, and a force detection member is arranged between the output end of each lifting assembly (7) and the carrier plate (3).

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