Autonomous mobile devices

Abstract

The present application discloses an autonomous mobile device. The autonomous mobile device includes: a device body, including a main body and forks; wherein the main body has the ability to move autonomously, and the forks are arranged on the main body, used to carry objects and move with the main body; a first detector, arranged on the main body; a second detector, arranged on the forks; the second detector and the first detector are used to detect environmental parameters around the device body; a controller is connected to the first detector and the second detector in communication, and is used to control the movement of the device body according to the environmental parameters detected by the second detector and the first detector. The technical solution provided by the present application can solve the obstacle avoidance safety hazard caused by the laser radar on the top of the main body being blocked by the objects carried on the autonomous mobile device in the prior art, and being unable to detect the environmental parameters behind the forklift, thereby improving the safety obstacle avoidance performance of the autonomous mobile device.

Description

Technical Field

[0001] The present application relates to the technical field related to autonomous mobile devices, and in particular to an autonomous mobile device. Background Art

[0002] Autonomous mobile devices, such as transport robots, are widely used in multiple transport scenarios. Transport robots can transport items from one location to another. During the transport process, the laser radar installed on the top of the transport robot can detect the surrounding environmental parameters.

[0003] Transport robots often need to travel backwards to pick up and place items, but the laser radar installed on the top of the main body may be blocked by the items it carries. The laser radar cannot detect the environmental parameters behind the transport robot, resulting in the transport robot being unable to safely avoid obstacles.

[0004] Application Contents

[0005] The embodiments of the present application provide an autonomous mobile device that can solve or improve the above-mentioned problems.

[0006] In one embodiment of the present application, an autonomous mobile device is provided. The device includes:

[0007] The device body comprises a main body and fork teeth; wherein the main body has the ability to move autonomously, and the fork teeth are arranged on the main body to carry objects and move with the main body;

[0008] A first detector is arranged on the main body;

[0009] A second detector is arranged on the fork tine; the second detector and the first detector are used to detect environmental parameters around the device body;

[0010] The controller is connected to the first detector and the second detector for controlling the movement of the device body according to the environmental parameters detected by the second detector and the first detector.

[0011] Furthermore, a movable part is provided on the fork tine;

[0012] The fork tine also has a space for accommodating the second detector;

[0013] The movable member has at least two movable positions;

[0014] When the movable part moves to the first position, the second detector is blocked; when the movable part moves to the second position, the second detector is exposed to the outside to detect environmental parameters.

[0015] Furthermore, the movable part is a lifting part of the fork tine; the fork tine also has a fixed part;

[0016] The lifting portion is located above the fixing portion, and forms a closed or semi-closed space with the fixing portion.

[0017] Further, the second detector is arranged on the fixing part, and when the lifting part moves relative to the fixing part and rises to the second position, the second detector is exposed to the outside through a lateral gap between the lifting part and the fixing part; or

[0018] The second detector is arranged on the lifting part. When the second detector is lifted to the second position along with the action of the lifting part, the second detector is exposed to the outside through the lateral gap between the lifting part and the fixing part.

[0019] Furthermore, the cross section of the lifting portion is a groove-shaped structure with one end open;

[0020] The cross section of the fixing portion is a groove-shaped structure with one end open;

[0021] The groove-shaped structure of the lifting part is relatively buckled with the opening of the groove-shaped structure of the fixing part to form the space.

[0022] Furthermore, the first detector and the second detector are arranged diagonally.

[0023] Furthermore, along the length direction of the fork tine, the fork tine has a straight section and a contraction section, and the contraction section is located at the end of the straight section and away from the main body;

[0024] The contraction section gradually narrows from the straight section;

[0025] The second detector is arranged at the junction of the straight section and the contraction section.

[0026] Furthermore, the main body is provided with a first groove, and groove walls on both sides of the first groove form a V shape;

[0027] The first detector is arranged at the connection of the two side groove walls, so that the first detector has a detection viewing angle of 270 degrees.

[0028] Furthermore, the main body has a symmetry plane parallel to the traveling direction, and the vertex of the V-shape is located on the symmetry plane.

[0029] Furthermore, a second groove is provided at the end of the fork tine, and groove walls on both sides of the second groove form a V shape;

[0030] The second detector is arranged at the connection of the groove walls on both sides of the second groove, so that the second detector has a detection viewing angle of 270 degrees.

[0031] Furthermore, along the length direction of the fork tine, the fork tine has a straight section and a contraction section, and the contraction section is located at the end of the straight section and away from the main body;

[0032] The contraction section gradually narrows from the straight section;

[0033] The apex of the V-shape formed by the groove walls on both sides of the second groove is located at the intersection of the straight section and the contraction section and is close to the outer edge of the straight section.

[0034] The technical solution provided by each embodiment of the present application is to respectively set detectors on the main body and the fork tine of the device body, including a first detector respectively set on the main body and a second detector set on the fork tine; the first detector and the second detector are used to detect environmental parameters around the device body; the controller can control the movement of the device body according to the first environmental parameters and the second environmental parameters detected at different angles. Setting the second detector on the fork tine can solve the obstacle avoidance safety hazard caused by the laser radar on the top of the main body being blocked by the objects carried on the autonomous mobile device and unable to detect the environmental parameters behind the forklift in the prior art, thereby improving the safety obstacle avoidance performance of the autonomous mobile device. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A schematic diagram of the structure of an autonomous mobile device for avoiding obstacles in the prior art;

[0037] Figure 2 A schematic diagram of the structure of an autonomous mobile device provided in one embodiment of the present application;

[0038] Figure 3 A schematic diagram of the structure of another autonomous mobile device provided in an embodiment of the present application;

[0039] FIG4( a) is a schematic diagram of a spatial structure provided by an embodiment of the present application;

[0040] FIG4( b ) is a schematic diagram of another spatial structure provided in an embodiment of the present application;

[0041] FIG5( a) is a schematic diagram of another spatial structure provided by an embodiment of the present application;

[0042] FIG5( b ) is a schematic diagram of another spatial structure provided in an embodiment of the present application;

[0043] Figure 6 A schematic diagram of a detection component configuration method provided in an embodiment of the present application;

[0044] Figure 7 A schematic diagram of another detection component configuration method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In the prior art, such as Figure 1 As shown, the autonomous mobile device is composed of a main body 11 and fork teeth 12. Two fork sensors 13 are arranged on the fork teeth 12. The fork sensors 13 are installed in the fork teeth and emit infrared light through the holes on the fork teeth for distance measurement. It cannot be used to detect surrounding environment parameters and provide 360-degree obstacle avoidance.

[0046] In addition, in the prior art, 360-degree obstacle avoidance is achieved by a 360-degree detection laser radar set on the top of the main body 11. However, there are the following problems:

[0047] Problem 1: The lifted cargo may block the radar light from the rear, making it impossible to obtain the radar data from the rear, affecting obstacle avoidance and positioning;

[0048] Question 2: The 360-degree laser radar is installed at a high position and cannot detect lower obstacles.

[0049] The present application provides the following embodiments to solve or partially solve the problems existing in the above-mentioned solutions. In order to enable people in the technical field to better understand the solution of the present application, the technical solution in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application.

[0050] In some processes described in the specification, claims and the above-mentioned figures of the present application, multiple operations appearing in a specific order are included, and these operations may not be executed or executed in parallel in the order in which they appear in this article. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit "first" and "second" to different types. In addition, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

[0051] Figure 2 and Figure 3 FIG. 1 shows a schematic diagram of the structure of an autonomous mobile device provided by an embodiment of the present application. Figure 2 and Figure 3 As shown, the autonomous mobile device includes: a device body 20, a first detector 211, a second detector 221 and a controller 23. The device body 20 includes a main body 21 and forks 22. The main body 21 has the ability to move autonomously; the forks 22 are arranged on the main body 21, and are used to carry objects and move with the main body 21. The first detector 211 is arranged on the main body 21; the second detector 221 is arranged on the forks 22; the second detector 221 works in conjunction with the first detector 211 to detect environmental parameters around the device body 20. The controller 23 is connected to the first detector 211 and the second detector 221 in communication, and is used to control the device body 20 to move according to the environmental parameters detected by the second detector 221 and the first detector 211.

[0052] The autonomous mobile device in this embodiment can be any device that can autonomously move in space in its working environment, for example, it can be an unmanned vehicle (logistics delivery vehicle), a robot (such as a handling robot, a cargo sorting robot, etc.). Of course, depending on the specific work tasks and working environment of the autonomous mobile device, the structure and external contour of the device body 20 will be different. This embodiment does not specifically limit the structure and external contour of the device body 20 of the autonomous mobile device.

[0053] As shown in Fig. 4(a) and Fig. 4(b), a movable part 222 is provided on the fork tine 22; the movable part 222 may be a lifting part 222 of the fork tine 22; accordingly, the fork tine 22 also has a fixing part 223; the lifting part 222 is located above the fixing part 223, and forms a closed or semi-closed space with the fixing part 223. The second detector 221 is accommodated in the space, which can prevent the second detector 221 from being hit by obstacles, thereby reducing the possibility of the second detector 221 being damaged.

[0054] The movable member 222 has at least two movable positions; when the movable member 222 moves to the first position, the second detector 221 is blocked. That is, when the lifting portion 222 descends to a position that coincides with the fork tine 22, the lifting portion 222 and the fixed portion 223 form a closed space, and the second detector 221 is enclosed in the enclosed space. When the movable member 222 moves to the second position, the second detector 221 is exposed to the outside to detect environmental parameters. That is, when the lifting portion 222 rises, the lifting portion 222 and the fixed portion 223 form a semi-enclosed space with an opening, and the second detector 221 is exposed to the outside through the opening. The movable member 222 moves between the first position and the second position according to the use requirements, so that the second detector 221 is exposed to the outside when in use and is in the enclosed space when not in use, which protects the second detector 221.

[0055] The second detector 221 can be arranged on the fixed part 223, or the second detector 221 can also be arranged on the lifting part 222. As shown in FIG5(a) and FIG5(b), the second detector 221 is arranged on the fixed part 223, and when the lifting part 222 moves relative to the fixed part 223 and rises to the second position, the second detector 221 is exposed to the outside through the lateral gap between the lifting part 222 and the fixed part 223; or the second detector 221 is arranged on the lifting part 222, and when the second detector 221 moves to the second position with the lifting part 222, the second detector 221 is exposed to the outside through the lateral gap between the lifting part 222 and the fixed part 223. Similarly, the movable part 222 moves between the first position and the second position according to the use requirements, so that the second detector 221 is exposed to the outside when in use, and is in a closed space when not in use, which plays a protective role for the second detector 221.

[0056] Furthermore, the cross section of the lifting portion 222 may be a groove-shaped structure with one end open; correspondingly, the cross section of the fixing portion 223 may also be a groove-shaped structure with one end open; the groove-shaped structure of the lifting portion 222 and the opening of the groove-shaped structure of the fixing portion 223 are relatively engaged to form a space. When the lifting portion 222 and the fixing portion 223 are engaged, the lifting portion 222 may be engaged in the groove of the fixing portion 223, or the lifting portion 222 may be engaged outside the groove of the fixing portion 223. The present embodiment does not specifically limit the engagement method of the lifting portion 222 and the fixing portion 223.

[0057] Furthermore, the fork tine 22 has various shapes. In order to facilitate the docking task, the fork tine 22 has a straight section and a contraction section along the length direction of the fork tine 22. The contraction section is located at the end of the straight section and away from the main body 21; the contraction section gradually narrows from the straight section; the second detector 221 is arranged at the junction of the straight section and the contraction section.

[0058] In the embodiment of the present application, there are multiple configuration schemes for the first detector 211 and the second detector 221 .

[0059] In a feasible solution, if the first detector 211 and the second detector 221 are arranged on the surface of the equipment body 20, they are easily damaged by collision. In order to improve the safety of the detector, a first groove is provided on the main body 21, and the groove walls on both sides of the first groove form a V shape; the first detector 211 is arranged at the connection of the groove walls on both sides, so that the first detector 211 has a detection angle of 270 degrees. The second detector 221 is arranged in the space formed by the groove structure of the lifting part 222 and the groove structure of the fixing part 223 (that is, there is no need to set a groove on the fork tine 22). In this solution, the first detector 211 and the second detector 221 may be arranged diagonally or not, and the embodiment of the present application is not limited thereto.

[0060] Specifically, the main body 21 has a symmetry plane parallel to the traveling direction, the apex of the V-shape is located on the symmetry plane, and the first detector 211 is disposed at the apex of the V-shape.

[0061] In this embodiment, the fork tine 22 can be a single fork tine or a double fork tine. Figure 3 As shown, when the fork 22 is a single fork, if the single fork 22 does not carry goods, the detection angle of the second detector during detection is close to 360 degrees. If the single fork 22 carries goods, the detection angle of the second detector 221 set on the single fork 22, in conjunction with the 270-degree detection angle provided by the first detector 211, can also provide 360° obstacle avoidance.

[0062] like Figure 2As shown, when the fork 22 is a double fork, the second detector 221 is arranged on one of the sub-forks 22 in the double fork 22; along the length direction of the sub-fork 22, the sub-fork 22 has a straight section and a contraction section, the contraction section is located at the end of the straight section and is away from the main body 21; the contraction section gradually narrows from the straight section; the second detector 221 is arranged at the intersection of the straight section and the contraction section, and is close to the outer edge of the straight section. At this time, if the sub-fork 22 does not carry goods, the detection angle of the second detector during detection is close to 360 degrees. If the sub-fork 22 carries goods, the detection angle of the second detector 221 arranged on the sub-fork 22, in conjunction with the 270-degree detection angle provided by the first detector 211, can also provide 360° obstacle avoidance. In another feasible solution, a first groove is provided on the main body 21, and a second groove is provided at the end of the fork tine 22, and the groove walls on both sides of the second groove form a V shape; the second detector 221 is arranged at the connection of the groove walls on both sides of the second groove, so that the second detector 221 has a detection angle of 270 degrees. The first detector 211 and the second detector 221 can be arranged diagonally.

[0063] Specifically, along the length direction of the fork tine 22, the fork tine 22 has a straight section and a contraction section, the contraction section is located at the end of the straight section and away from the main body 21; the contraction section gradually narrows from the straight section; the apex of the V-shape formed by the groove walls on both sides of the second groove is located at the intersection of the straight section and the contraction section, and close to the outer edge of the straight section.

[0064] A set of diagonally distributed front and rear detectors are used to ensure that the autonomous mobile equipment can safely and reliably achieve forward and backward bidirectional operation, ensuring the flexible and convenient performance of the autonomous mobile equipment during transportation.

[0065] At this time, a first groove is provided on the main body 21, and a first detector 211 is arranged at the left front (or right front) of the first groove to provide a detection viewing angle of 270 degrees; correspondingly, a second detector 221 is arranged at the right rear (or left rear) of the fork 22 to provide a detection viewing angle of 270 degrees, so that the autonomous mobile device can achieve 360-degree obstacle avoidance.

[0066] In this embodiment, the fork tine 22 can also be a single fork tine or a double fork tine. Figure 6 As shown, when the fork tine 22 is a single fork tine, the second detector 221 is arranged at the right rear of the single fork tine, and the first detector 211 is arranged at the left front of the first groove of the main body 21; or the second detector 221 is arranged at the left rear of the single fork tine, and the first detector 211 is arranged at the right front of the first groove of the main body 21. In this case, the first detector 211 and the second detector 221 can form a 360-degree detection angle.

[0067] like Figure 7As shown, when the fork 22 is a single fork, the second detector 221 is set at the right rear of the right fork, and the first detector 211 is set at the left front of the first groove of the main body 21; or the second detector 221 is set at the left rear of the left fork, and the first detector 211 is set at the right front of the first groove of the main body 21.

[0068] In the embodiment of the present application, the first detector 211 and the second detector 221 located at a set of diagonal positions can be located at the same height or at different heights. Preferably, the first detector 211 and the second detector 221 are set at the same height, so that the environmental parameters at the same height can be detected, making the acquired environmental parameters more reliable.

[0069] The first detector 211 and the second detector 221 can be sensors of the same type or sensors of different types. For example, the first detector 211 and the second detector 221 are both laser radars; or the first detector 211 is a laser radar and the second detector 221 is an ultrasonic sensor; or the first detector 211 is a laser radar and the second detector 221 is a depth camera, etc., which are not specifically limited in this embodiment.

[0070] The technical solution provided by each embodiment of the present application is to respectively set detectors on the main body and the fork tine of the device body, including a first detector respectively set on the main body and a second detector set on the fork tine; the first detector and the second detector are used to detect environmental parameters around the device body; the controller can control the movement of the device body according to the first environmental parameters and the second environmental parameters detected at different angles. Setting the second detector on the fork tine can solve the obstacle avoidance safety hazard caused by the laser radar on the top of the main body being blocked by the objects carried on the autonomous mobile device and unable to detect the environmental parameters behind the forklift in the prior art, thereby improving the safety obstacle avoidance performance of the autonomous mobile device.

[0071] It should be noted here that: in addition to the functions described above, the autonomous mobile device in this embodiment can also implement other functions, method steps, etc. mentioned above. For specific contents, please refer to the corresponding contents in the above embodiments, which will not be repeated here.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An autonomous mobile device, characterized in that: include: The device body comprises a main body and fork teeth; wherein the main body has the ability to move autonomously, and the fork teeth are arranged on the main body to carry objects and move with the main body; A first detector, disposed on the main body; A second detector is arranged on the fork tine; the second detector and the first detector are used to detect environmental parameters around the device body; A controller, connected to the first detector and the second detector for controlling the movement of the device body according to the environmental parameters detected by the second detector and the first detector; The second detector has a detection angle of 270 degrees, and the first detector has a detection angle of 270 degrees; The first detector cooperates with the second detector to provide 360° obstacle avoidance; The fork tine is provided with a movable part; The fork tine also has a space for accommodating the second detector; The movable member has at least two movable positions; When the movable part moves to the first position, the second detector is blocked; when the movable part moves to the second position, the second detector is exposed to the outside to detect environmental parameters.

2. The autonomous mobile device according to claim 1, characterized in that The movable part is the lifting part of the fork tine; the fork tine also has a fixed part; The lifting portion is located above the fixing portion, and forms a closed or semi-closed space with the fixing portion.

3. The autonomous mobile device according to claim 2, characterized in that: The second detector is arranged on the fixing part, and when the lifting part moves relative to the fixing part and rises to the second position, the second detector is exposed to the outside through the lateral gap between the lifting part and the fixing part; or The second detector is arranged on the lifting part. When the second detector is lifted to the second position along with the action of the lifting part, the second detector is exposed to the outside through the lateral gap between the lifting part and the fixing part.

4. The autonomous mobile device according to claim 3, characterized in that: The cross section of the lifting portion is a groove-shaped structure with one end open; The cross section of the fixing portion is a groove-shaped structure with one end open; The groove-shaped structure of the lifting part is relatively buckled with the opening of the groove-shaped structure of the fixing part to form the space.

5. The autonomous mobile device according to any one of claims 1 to 4, characterized in that: The first detector and the second detector are arranged diagonally.

6. The autonomous mobile device according to claim 5, characterized in that: Along the length direction of the fork tine, the fork tine has a straight section and a contraction section, and the contraction section is located at the end of the straight section and away from the main body; The contraction section gradually narrows from the straight section; The second detector is arranged at the junction of the straight section and the contraction section.

7. The autonomous mobile device according to any one of claims 1 to 4, characterized in that: The main body is provided with a first groove, and groove walls on both sides of the first groove form a V shape; The first detector is arranged at the connection of the two side groove walls, so that the first detector has a detection viewing angle of 270 degrees.

8. The autonomous mobile device according to claim 7, characterized in that: The main body has a symmetry plane parallel to the traveling direction, and the apex of the V-shape is located on the symmetry plane.

9. The autonomous mobile device according to claim 1, characterized in that: A second groove is provided at the end of the fork tine, and groove walls on both sides of the second groove form a V shape; The second detector is arranged at the connection of the groove walls on both sides of the second groove, so that the second detector has a detection viewing angle of 270 degrees.

10. The autonomous mobile device according to claim 9, characterized in that: Along the length direction of the fork tine, the fork tine has a straight section and a contraction section, and the contraction section is located at the end of the straight section and away from the main body; The contraction section gradually narrows from the straight section; The apex of the V-shape formed by the groove walls on both sides of the second groove is located at the intersection of the straight section and the contraction section and is close to the outer edge of the straight section.

Images