Mobile platform and method for stabilizing the same

Abstract

The present application provides a mobile platform and a stabilizing method thereof. The stabilizing method is applied to a mobile platform having a vehicle body, a planar pressure sensor and a moving mechanism, and includes the following steps: sensing a pressure distribution condition of the vehicle body by the planar pressure sensor; calculating a center of gravity position of the vehicle body according to the pressure distribution condition; determining whether the center of gravity position is out of a predefined stable region on the vehicle body; and providing a counteracting force to the mobile platform in a direction of the center of gravity offset when the center of gravity position is out of the stable region, so as to return the center of gravity position to the stable region.

Description

Technical Field

[0001] This invention relates to a mobile platform, and more particularly to a mobile platform and a method for stabilizing its motion. Background Technology

[0002] In recent years, the demand for mobile platforms has continued to increase, and various types of mobile platforms, such as Automated Guided Vehicles (AGVs) or Autonomous Mobile Robots (AMRs), are gradually becoming more common in the lives of the general public.

[0003] To prevent the mobile platform from tipping over when its center of gravity exceeds the chassis's support range during movement, manufacturers often add weight to the chassis and balance the weight distribution. This ensures that the overall center of gravity of the mobile platform is positioned as close as possible to the center of the vehicle body.

[0004] However, the above approach easily makes the mobile platform very bulky. Furthermore, when the load on the mobile platform increases, causing the center of gravity to rise, the platform is prone to vibration during sudden starts or stops. As a result, the mobile platform itself may tip over because it cannot effectively control the swaying of the load.

[0005] Therefore, there is a need in this technical field for an effective mechanism that can dynamically adjust the center of gravity of a mobile platform to prevent it from tipping over. Summary of the Invention

[0006] The main objective of this invention is to provide a mobile platform and its stabilization method, which can monitor the inertia and center of gravity changes of the mobile platform during operation and dynamically compensate for the center of gravity position.

[0007] In a first embodiment of the present invention, the mobile platform includes:

[0008] A vehicle body, having a chassis, the chassis being equipped with a moving mechanism;

[0009] A planar pressure sensor is installed on the vehicle body to sense the pressure distribution of the vehicle body and obtain the center of gravity position of the vehicle body;

[0010] A movable tool is mounted on the vehicle body; and

[0011] A controller is connected to the moving mechanism, the planar pressure sensor, and the movable tool. The controller is configured to control the moving mechanism or the movable tool to perform a center-of-gravity compensation movement when the center of gravity position leaves a stable area of ​​the vehicle body. The center-of-gravity compensation movement provides a counterforce in a direction of center-of-gravity offset relative to the stable area, thereby causing the center of gravity position to return to the stable area.

[0012] In a second embodiment of the present invention, the stabilization method can be applied to the above-described mobile platform and includes the following steps:

[0013] a) The pressure distribution of the vehicle body is sensed using the planar pressure sensor;

[0014] b) Calculate the position of the vehicle's center of gravity based on the pressure distribution; and

[0015] c) When it is determined that the center of gravity position has moved away from a stable region near the center of the vehicle body, a center of gravity compensation motion is performed, wherein the center of gravity compensation motion provides a reverse force in a direction of center of gravity offset relative to the stable region.

[0016] In a third embodiment of the present invention, the stabilization method can be applied to the mobile platform as described above, and includes the following steps:

[0017] a) The pressure distribution of the vehicle body is sensed using the planar pressure sensor;

[0018] b) Calculate the position of the vehicle's center of gravity based on the pressure distribution;

[0019] c) Determine whether the center of gravity falls within a stable region or a compensated region of the vehicle body, wherein the stable region is close to the center of the vehicle body and the compensated region is close to the periphery of the vehicle body; and

[0020] d) When it is determined that the center of gravity position falls in the compensation zone, the movable tool is controlled to perform an attitude adjustment program, wherein the attitude adjustment program adjusts a position and an attitude of the movable tool so that the center of gravity of the movable tool moves in the opposite direction to the center of gravity offset direction of the center of gravity position relative to the stable zone.

[0021] This invention, through monitoring and control of the mobile platform, can dynamically compensate for the center of gravity position, making the vehicle less prone to rollover. This eliminates the need for manufacturers to increase the weight of the mobile platform's chassis, allowing for lightweight design. Furthermore, by dynamically adjusting the center of gravity, it also prevents accidents that could cause the mobile platform to tip over due to increased load, a higher center of gravity, or load swaying. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a first specific embodiment of the mobile platform of the present invention;

[0023] Figure 2 This is a first specific embodiment of the block diagram of the mobile platform of the present invention;

[0024] Figure 3This is a first specific embodiment of the schematic diagram of the center of gravity of the mobile platform of the present invention;

[0025] Figure 4 This is a first specific embodiment of the flowchart of the stabilization method of the present invention;

[0026] Figure 5 This is a second specific embodiment of the flowchart of the stabilization method of the present invention;

[0027] Figure 6 This is a first specific embodiment of the schematic diagram of the center of gravity compensation motion of the present invention;

[0028] Figure 7 This is a second specific embodiment of the schematic diagram of the center of gravity compensation motion of the present invention;

[0029] Figure 8A This is a third specific embodiment of the present invention, showing a schematic diagram before center of gravity compensation motion.

[0030] Figure 8B This is a third specific embodiment of the present invention, showing a schematic diagram after center of gravity compensation motion.

[0031] Figure 9 This is a second specific embodiment of the mobile platform of the present invention;

[0032] Figure 10 This is a third specific embodiment of the mobile platform of the present invention.

[0033] [Symbol Explanation]

[0034] 1, 6, 7... mobile platforms

[0035] 10… Controller

[0036] 11…Car body

[0037] 111…Top surface

[0038] 1111…load area

[0039] 112…Bottom

[0040] 12… Chassis

[0041] 13…mobile mechanism

[0042] 14… Stable Zone

[0043] 15…Compensation Zone

[0044] 2… Planar pressure sensor

[0045] 3…Modible tools

[0046] 31…Inertial Sensor

[0047] 4…load

[0048] 5…center of gravity position

[0049] 61… pallet

[0050] 71… Conveyor Belt

[0051] D1…Direction of center of gravity offset

[0052] D2…reverse direction

[0053] S10~S18, S30~S48… Stabilization steps Detailed Implementation

[0054] The following is a detailed description of a preferred embodiment of the present invention, in conjunction with the accompanying drawings.

[0055] Please refer to the first one. Figure 1 This is a schematic diagram of a first specific embodiment of the mobile platform of the present invention. The present invention discloses a mobile platform 1, as shown below. Figure 1 As shown, the mobile platform 1 includes a vehicle body 11, a chassis 12 disposed on one side of the vehicle body 11, a moving mechanism 13 disposed on the chassis 12, a planar pressure sensor 2 disposed on the vehicle body 11, and a movable tool 3. Figure 1 In the embodiments, the mobile platform 1 is an example of an autonomous mobile robot (AMR) or an autonomous guided vehicle (AGV), but is not limited thereto.

[0056] A technical feature of this invention is that when the center of gravity of the movable platform 1 is unstable, the moving mechanism 13 or the movable tool 3 can be controlled to move to compensate for the center of gravity position in real time, thereby preventing the movable platform 1 from tipping over. In this invention, when the center of gravity of the movable platform 1 exceeds a predefined range, it is considered that there is an unstable center of gravity.

[0057] like Figure 1 As shown, the vehicle body 11 has a top surface 111 and a bottom surface 112. The chassis 12 is mainly disposed on the bottom surface 112 of the vehicle body 11, and the moving mechanism 13 is disposed below the chassis 12. Figure 1 In one embodiment, the moving mechanism 13 is exemplified by wheels respectively located at the corners of the chassis 12, but this is not a limitation. In other embodiments, the moving mechanism 13 may also be implemented by one or more conveyor belts that drive the vehicle body 11 to move relative to the ground. However, the above are only some specific embodiments of the present invention, and are not limited thereto.

[0058] The planar pressure sensor 2 can be either a capacitive or inductive sensor, without limitation. Figure 1 In this embodiment, the planar pressure sensor 2 is disposed on a surface of one side of the chassis 12 and is parallel to the chassis 12. Thereby, the planar pressure sensor 2 can sense the pressure values ​​at multiple points on the vehicle body 11 on a horizontal plane. Based on the pressure values ​​at multiple points on the vehicle body 11, the controller of the moving platform 1 (such as...) Figure 2 The controller 10 shown can determine the current pressure distribution of the vehicle body 11. Furthermore, the controller 10 can further calculate the current center of gravity position of the moving platform 1 based on the pressure distribution.

[0059] In another embodiment, the moving mechanism 13 comprises multiple wheels disposed under the chassis 12, and the planar pressure sensor 2 includes multiple pivot pressure sensors (not shown) disposed on the axle pivots of each wheel. In this embodiment, the controller 10 calculates the measured values ​​of the multiple pivot pressure sensors using an algorithm to analyze the current pressure distribution of the vehicle body 11 and further calculate the current center of gravity position.

[0060] However, the above are only some specific embodiments of the present invention, and are not limited thereto.

[0061] At Figure 1 In one embodiment, the movable tool 3 is exemplified by a robotic arm capable of moving in three-dimensional space. Figure 1 As shown, the vehicle body 11 has a load area 1111 on its top surface 111, and the load area 1111 is used to place one or more loads 4 to be transported by the mobile platform 1. When the load 4 is placed on the load area 1111, or when the robotic arm picks up or places the load 4 on the load area 1111, the center of gravity of the mobile platform 1 may change. In this case, the mobile platform 1 may tip over due to the placement of the load 4. To avoid the above problem, the present invention compensates for the center of gravity of the mobile platform 1 in real time.

[0062] Please also refer to Figure 2 and Figure 3 ,in Figure 2 This is a first specific embodiment of the block diagram of the mobile platform of the present invention. Figure 3 This is a first specific embodiment of the schematic diagram of the center of gravity of the mobile platform of the present invention.

[0063] like Figure 2 As shown, the mobile platform 1 further includes a controller 10, which is connected to the moving mechanism 13, the planar pressure sensor 2, and the movable tool 3. In this invention, the controller 10 controls the moving mechanism 13 or the movable tool 3 based on the pressure value output by the planar pressure sensor 2, thereby compensating for the center of gravity position of the mobile platform 1.

[0064] Figure 3 This is a top view of vehicle body 11. (For example...) Figure 3 As shown, the present invention predefines a stabilization zone 14 and a compensation zone 15 on the vehicle body 11. The stabilization zone 14 is located near the center of the vehicle body 11, while the compensation zone 15 is located near the periphery of the vehicle body 11. More specifically, when the center of gravity 5 of the entire mobile platform 1 falls within the stabilization zone 14, the mobile platform 1 will not be at risk of tipping over. Conversely, when the center of gravity 5 of the entire mobile platform 1 falls within the compensation zone 15, the mobile platform 1 is in an unstable state and is at risk of tipping over.

[0065] In this invention, the planar pressure sensor 2 continuously senses and outputs pressure values ​​at various points on the vehicle body 11, while the controller 10 calculates the overall center of gravity 5 of the moving platform 1 based on the pressure values ​​output by the planar pressure sensor 2. When the center of gravity 5 is determined to fall within the stable zone 14, the controller 10 may not perform any action. Conversely, when the center of gravity 5 is determined to fall within the compensation zone 15, the controller 10 controls the moving mechanism 13 or the movable tool 3 to perform center of gravity compensation movement.

[0066] Specifically, when the center of gravity position 5 falls within the compensation zone 15, the controller 10 can calculate and obtain a center of gravity offset direction (e.g., the current center of gravity position 5 relative to the stabilization zone 14). Figure 6 The center of gravity offset direction D1 is shown. The center of gravity compensation motion of the present invention is to control the moving mechanism 13 and / or the movable tool 3 to perform corresponding movements to provide a reverse force in the center of gravity offset direction D1. By applying the reverse force to the vehicle body 11, the center of gravity position 5 of the moving platform 1 can be returned from the compensation zone 15 to the stable zone 14.

[0067] In one embodiment, the center of gravity compensation movement involves controlling the moving mechanism 13 (e.g., a wheel or conveyor belt) to move towards the center of gravity offset direction D1. This provides the reverse force through the positive output of the moving platform 1. In this embodiment, if the center of gravity offset direction D1 is inconsistent with the predetermined path direction of the moving platform 1, the moving platform 1 first moves towards the center of gravity offset direction D1 to provide the reverse force. After determining that the center of gravity position 5 has returned to the stable region 14, the moving platform 1 moves towards the predetermined path direction again. This achieves the effect of center of gravity compensation during movement.

[0068] In another embodiment, the center of gravity compensation motion is a posture adjustment procedure controlled by the movable tool 3. Specifically, the posture adjustment procedure causes the movable tool 3 to adjust its own posture, thereby causing the center of gravity of the movable tool 3 to move in the opposite direction of the center of gravity offset direction D1, thereby providing the reverse force to the vehicle body 11.

[0069] like Figure 2As shown, an inertial measurement unit (IMU) 31 may be installed on the movable tool 3 to measure the change in inertia of the movable tool 3. The inertial sensor 31 can be implemented by a combination of an accelerometer and a gyroscope to measure and record information such as the acceleration and tilt of the movable tool 3, but is not limited thereto.

[0070] In this invention, the movable tool 3 can calculate its center of gravity by measuring the change in inertia obtained by the inertial sensor 31. In the foregoing embodiments, the movable tool 3 performs an attitude adjustment procedure based on its center of gravity, for example, determining its position and attitude based on the center of gravity, but is not limited thereto. Thus, the movable tool 3 can achieve the purpose of providing the aforementioned counterforce to the vehicle body 11 by adjusting its own center of gravity.

[0071] In another embodiment, the center-of-gravity compensation movement involves moving the load 4 on the load area 1111 in the opposite direction of the center-of-gravity offset direction D1, thereby providing the reverse force to the vehicle body 11. Specifically, the center-of-gravity compensation movement mainly involves controlling the movable tool 3 so that the movable tool 3 moves the load 4 in the opposite direction of the center-of-gravity offset direction D1.

[0072] In one embodiment, the movable tool 3 may be, for example, a robotic arm. The center of gravity compensation movement controls the movable tool 3 to grip the load 4 on the load area 1111 and change the placement position of the load 4 in the opposite direction of the center of gravity offset direction D1.

[0073] It is worth mentioning that robotic arms can generally perform three-dimensional dynamic identification programs. The dynamic identification program can estimate the position of the robotic arm's center of gravity in the three-dimensional environment in real time, based on the state of each axis, when the robotic arm moves or grasps a relevant load. The estimated value obtained by this dynamic identification program is the aforementioned tool center of gravity.

[0074] However, the above are only some specific embodiments of the present invention, and are not limited thereto.

[0075] Please continue reading Figures 1 to 4 ,in Figure 4 This is a first specific embodiment of the flowchart of the stabilization method of the present invention. Figure 4 The present invention discloses a stabilization method for a mobile platform (hereinafter referred to as the stabilization method in the specification), which is mainly applied to applications such as... Figures 1 to 3 The mobile platform 1 shown is not limited to this.

[0076] like Figure 4As shown, the stabilization method of the present invention first measures the pressure distribution of the vehicle body 11 by using the planar pressure sensor 2 on the moving platform 1 (step S10), and then the controller 10 calculates the center of gravity position 5 of the vehicle body 11 based on the pressure distribution (step S12).

[0077] After step S12, the controller 10 determines whether the center of gravity position 5 has left the predefined stable zone 14 on the vehicle body 11 (step S14). If the center of gravity position 5 has not left the stable zone 14, the controller 10 may not perform any compensation action.

[0078] As mentioned above, the movable tool 3 may be equipped with an inertial sensor 31 for measuring the change in inertia of the movable tool 3. In another embodiment, the controller 10 can control the movable tool 3 to execute a vibration suppression control program based on the measurement value of the inertial sensor 31 when the center of gravity position 5 has not left the stable region 14. In this way, the normal vibration of the moving platform 1 can be suppressed.

[0079] If, in step S12, it is determined that the center of gravity 5 of the moving platform 1 has left the stable zone 14 on the vehicle body 11 (for example, the center of gravity 5 falls within the compensation zone 15), then the controller 10 can execute a center of gravity compensation movement (step S16). In this invention, the center of gravity compensation movement refers to a movement similar to an inverted pendulum. Specifically, the center of gravity compensation movement provides a reverse force relative to the direction D1 of the center of gravity offset of the center of gravity 5 relative to the stable zone 14. By directly providing the reverse force to the vehicle body 11, the center of gravity 5 can be returned to the stable zone 14, thereby restoring the stability of the moving platform 1.

[0080] Please also refer to Figure 6 This is a first specific embodiment of the gravity compensation motion diagram of the present invention. Figure 6 In one embodiment, when the controller 10 determines that the center of gravity position 5 has left the stable zone 14 (e.g., fallen into the compensation zone 15), it controls the moving mechanism 13 (e.g., wheels or wheel belts) on the vehicle body 11 to perform center of gravity compensation movement.

[0081] like Figure 6As shown, the center of gravity compensation movement is controlled by the controller 10 to move the moving mechanism 13 towards the current center of gravity offset direction D1 (i.e., controlling the moving mechanism 13 to operate so that the entire moving platform 1 moves towards the center of gravity offset direction D1). The positive output force of the moving platform 1 provides a reverse force against the center of gravity offset direction D1, causing the center of gravity position 5 to return from the compensation zone 15 to the stable zone 14. If the center of gravity offset direction D1 is inconsistent with the predetermined route direction of the moving platform 1, the moving platform 1 first moves towards the center of gravity offset direction D1 to provide a reverse force. After determining that the center of gravity position 5 has returned to the stable zone 14, the moving platform 1 then moves towards the predetermined route direction again.

[0082] Please also refer to Figure 7 This is a second specific embodiment of the gravity compensation motion diagram of the present invention. Figure 7 In one embodiment, when the controller 10 determines that the center of gravity position 5 has left the stable zone 14, it controls the movable tool 3 (e.g., a robotic arm) on the vehicle body 11 to perform center of gravity compensation movement.

[0083] like Figure 7 As shown, the center of gravity compensation movement is controlled by the controller 10 to perform a posture adjustment procedure on the movable tool 3. Specifically, the posture adjustment procedure adjusts the position and posture of the movable tool 3 so that its own center of gravity moves in the opposite direction D2 to the center of gravity offset direction D1 relative to the stable zone 14. The reverse movement of the movable tool 3 provides a reverse force against the center of gravity offset direction D1, causing the center of gravity position 5 to return from the compensation zone 15 to the stable zone 14. The posture adjustment procedure can be completed by rotating or extending the movable tool 3 in a specific direction. In one embodiment, the movable tool 3 can first grasp a load before adjusting its position and posture, which makes it easier to influence the center of gravity position 5.

[0084] Please also refer to Figure 8A and Figure 8B These are the third specific embodiments of the present invention, showing schematic diagrams before and after the center of gravity compensation motion.

[0085] At Figure 8A and Figure 8B In this embodiment, when the controller 10 determines that the center of gravity position 5 has left the stable zone 14, it controls the movable tool 3 (e.g., a robotic arm) on the vehicle body 11 to perform a center of gravity compensation movement. Figure 8A and Figure 8B As shown, the center of gravity compensation motion is achieved by the controller 10 controlling the movable tool 3 to adjust the placement position of one or more loads 4 placed on the vehicle body 11.

[0086] In one embodiment, the adjustment refers to the controller 10 controlling the movable tool 3 to grasp and move at least one load 4 on the vehicle body 11, so that the placement position of the at least one load 4 on the vehicle body 11 moves from the compensation zone 15 to the stable zone 14. Furthermore, once the controller 10 determines that the center of gravity 5 has returned from the compensation zone 15 to the stable zone 14, it can stop adjusting the placement position of the load 4. In other words, even if part of the load 4 is still placed in the compensation zone 15, as long as the center of gravity 5 returns to the stable zone 14, the controller 10 will no longer control the movable tool 3 to adjust the placement position of the load 4.

[0087] In one embodiment, the controller 10 can determine whether to adjust the placement position of the load 4 while the mobile platform 1 moves along a predetermined route, based on the landing position of the center of gravity 5 in the compensation zone 15. For example, when the controller 10 determines that the landing position of the center of gravity 5 in the compensation zone 15 is closer to the outer side of the compensation zone 15 (wherein the outer side of the compensation zone 15 is farther from the stable zone 14), it can first control the mobile platform 1 to stop moving along the predetermined route, and after the placement position of the load 4 is adjusted, it can then control the mobile platform 1 to continue moving along the predetermined route. As another example, when the controller 10 determines that the landing position of the center of gravity 5 in the compensation zone 15 is closer to the inner side of the compensation zone 15 (wherein the inner side of the compensation zone 15 is closer to the stable zone 14), it can maintain the movement of the mobile platform 1 along the predetermined route and simultaneously control the movable tool 3 to adjust the placement position of the load 4 without stopping the movement of the mobile platform 1 along the predetermined route.

[0088] In this invention, the controller 10 or the movable tool 3 can determine the current distribution of one or more loads 4 on the vehicle body 11 based on the pressure distribution measured by the planar pressure sensor 2. In other words, the controller 10 or the movable tool 3 can analyze whether there are loads 4 at various locations on the top surface 111 (e.g., load area 1111) of the vehicle body 11, and the number of loads 4 at each location, through the planar pressure sensor 2.

[0089] When the center of gravity 5 leaves the stable zone 14, the movable tool 3, under the control of the controller 10, acquires one or more loads 4 at the corresponding position on the vehicle body 11 and moves the loads 4 in the opposite direction D2 to the center of gravity offset direction D1 relative to the stable zone 14. By adjusting the center of gravity 5 of the moving platform 1 in conjunction with the reverse movement of the movable tool 3 and the loads 4, the center of gravity 5 can be returned from the compensation zone 15 to the stable zone 14.

[0090] In another embodiment, the mobile platform 1 can continuously record the pressure changes at various points on the vehicle body 11 using a planar pressure sensor 2 when the manager places the load 4 (e.g., for warehouse management). This allows for dynamic recording of load information at various points on the vehicle body 11, such as whether the load 4 is placed, the type and quantity of the load 4, and whether it can be moved. During the center-of-gravity compensation movement, the controller 10 or the movable tool 3 can perform a comprehensive analysis combining the aforementioned load information, the current center-of-gravity position 5, and the center-of-gravity offset direction D1 to determine the target load to be moved and the endpoint of the target load's movement.

[0091] It is worth mentioning that if the plane pressure sensor 2 is a fulcrum pressure sensor set on each wheel axle fulcrum, the controller 10 can still calculate the pressure value changes of multiple fulcrum pressure sensors through an algorithm, thereby estimating the placement status of the load 4 at each position of the vehicle body 11.

[0092] In another embodiment, the mobile platform 1 may also be equipped with an image sensor (e.g., a camera, not shown) on the vehicle body 11. In this embodiment, the mobile platform 1 can identify and track the placement of the load 4 when the operator places it on the vehicle body 11 using the image sensor. Therefore, during the center-of-gravity compensation movement, the controller 10 or the movable tool 3 can determine the target load to be moved and the destination of the target load's movement based on the recorded placement of the load 4.

[0093] However, the above are only some specific embodiments of the present invention, and are not limited to those described above.

[0094] Back Figure 4 During the operation of the mobile platform 1, the controller 10 continuously determines whether to terminate control of the mobile platform 1 (step S18). For example, the controller 10 can continue to control the mobile platform 1 before power is cut off. Before terminating control of the mobile platform 1, the controller 10 repeats steps S10 to S16 to continuously monitor the center of gravity position 5 of the mobile platform 1 during operation, and when the center of gravity position 5 meets the preset compensation conditions (e.g., leaving the stable zone 14 and falling into the compensation zone 15), the controller dynamically compensates for the center of gravity position 5 through the moving mechanism 13, the movable tool 3, and / or the load 4. This prevents the mobile platform 1 from tipping over during operation.

[0095] It is worth noting that in some scenarios, the load 4 may not be placed on the mobile platform 1. Even if the load 4 is placed on the mobile platform 1, the load 4 may not be movable, or the movement of the load 4 may not cause a sufficient change in the center of gravity position 5. Therefore, the controller 10 may execute a predetermined judgment procedure before performing the center of gravity compensation movement.

[0096] Please also refer to Figure 5 This is a second specific embodiment of the flowchart of the stabilization method of the present invention. Figure 5 Another embodiment of the stabilization method of the present invention is disclosed, and this stabilization method is mainly applied to, for example... Figures 1 to 3 The mobile platform 1 shown.

[0097] and Figure 4 Similar to the embodiment, the stabilization method can measure the pressure distribution of the vehicle body 11 by using the planar pressure sensor 2 on the moving platform 1, and the controller 10 calculates the center of gravity position 5 of the vehicle body 11 based on the pressure distribution (step S30). After calculating the center of gravity position 5, the controller 10 determines that the current center of gravity position 5 falls on the predefined stabilization zone 14 or compensation zone 15 on the vehicle body 11 (step S32).

[0098] If the center of gravity 5 falls within the stable region 14, the controller 10 does not need to compensate for the center of gravity 5. However, if a movable tool 3 is provided on the moving platform 1, and the movable tool 3 has an inertial sensor 31, the controller 10 can control the movable tool 3 to execute a vibration control program based on the measurement value of the inertial sensor 31 (step S34). In this way, the moving platform 1 can achieve the vibration control function of normal vibration through the movable tool 3.

[0099] If the center of gravity 5 falls within the compensation zone 15, the controller 10 can prioritize controlling the movable tool 3 to perform the aforementioned attitude adjustment procedure to compensate for the center of gravity 5. As mentioned above, the movable tool 3 may compensate for the center of gravity 5 by adjusting its own position and attitude to compensate for the center of gravity 5, and by moving the placement position of the load 4 on the vehicle body 11 to compensate for the center of gravity 5.

[0100] In this embodiment, when the controller 10 determines that the center of gravity position 5 falls within the compensation zone 15, it further determines whether there is a movable load 4 on the vehicle body 11 (step S36). In one embodiment, the controller 10 can determine whether there is a movable load 4 on the vehicle body 11 in step S36 using load data recorded during the warehouse management process. In another embodiment, the controller 10 can determine whether there is a movable load 4 on the vehicle body 11 using the measurement value of the planar pressure sensor 2 and / or the sensing result of the image sensor, but this is not limited.

[0101] If it is determined in step S36 that there is no load 4 on the vehicle body 11, or that the load 4 is immovable, then the controller 10 controls the movable tool 3 to perform an attitude adjustment procedure (step S38). By adjusting its own position and attitude, the movable tool 3 can move its own center of gravity in the opposite direction D2 to the center of gravity offset direction D1 relative to the stable zone 14.

[0102] If it is determined in step S36 that there are one or more movable loads 4 on the vehicle body 11, then the controller 10 confirms the distribution of the loads 4 according to the current pressure distribution (step S40), and controls the movable tool 3 to move the corresponding one or more loads 4 in the opposite direction D2 of the center of gravity offset direction D1 (step S42). Specifically, in step S40, the controller 10 mainly determines the target load to be moved, the number of target loads, and the moving endpoint based on the distribution of the loads 4, but is not limited to these.

[0103] After step S38 or step S42, the controller 10 determines whether the compensation for the center of gravity position 5 is completed (step S44). More specifically, in step S44, the controller 10 determines whether the center of gravity position 5 has returned to the stable region 14 after the movable tool 3 / load 4 has performed the center of gravity compensation movement.

[0104] If it is determined in step S44 that the compensation for the center of gravity position 5 has not been completed (i.e., the center of gravity position 5 has not yet returned to the stable region 14), the controller 10 can further control the moving mechanism 13 to move towards the center of gravity offset direction D1 (step S46). By causing the moving platform 1 to exert force in the center of gravity offset direction D1 as a whole, the center of gravity position 5 can be effectively returned to the stable region 14.

[0105] The method of controlling the moving mechanism 13 to perform center-of-gravity compensation movement will cause the entire moving platform 1 to move, which will cause some inconvenience to the use of the moving platform 1. In the above embodiment, the controller 10 compensates for the center-of-gravity position 5 by first controlling the movable tool 3 and then controlling the moving mechanism 13. However, the above is only one embodiment of the present invention. The controller 10 may determine the control method and sequence of the movable tool 3, the moving mechanism 13 and the load 4 according to actual needs (e.g., referring to the environmental information of the location), and is not limited to the above judgment and control sequence.

[0106] and Figure 4 Similar to the embodiment, during the operation of the mobile platform 1, the controller 10 determines whether to terminate the control of the mobile platform 1 (step 48). Before terminating the control of the mobile platform 1, the controller 10 repeats steps S30 to 46 to continuously monitor the center of gravity position 5 of the mobile platform 1, and dynamically compensates the center of gravity position 5 through the moving mechanism 13, the movable tool 3 and / or the load 4.

[0107] In the aforementioned Figure 1 , Figure 6 , Figure 7 , Figure 8A and Figure 8BIn this embodiment, the movable tool 3 is mainly exemplified by a robotic arm capable of moving in three-dimensional space. By controlling the robotic arm to adjust its position and orientation in three-dimensional space, or by using the robotic arm to grip the load 4 and change the placement of the load 4, the main purpose of compensating for the overall center of gravity 5 of the moving platform 1 can be achieved. However, in other embodiments, the movable tool 3 is not limited to a robotic arm.

[0108] Please see Figure 9 This is a second specific embodiment of the mobile platform of the present invention. Figure 9 Another embodiment of the mobile platform 6 is disclosed. Figure 9 In one embodiment, the movable tool 3 on the mobile platform 6 is a pallet 61 that can move vertically in two-dimensional space, and one or more loads 4 are placed on the pallet 61.

[0109] In this embodiment, when the controller 10 determines that the center of gravity of the moving platform 6 has left the stable region 14, it can base its decision on, for example, the following: Figure 4 , Figure 5 The steps shown control the pallet 61 to perform center-of-gravity compensation movements. At this time, the pallet 61 adjusts the height of the tool's center of gravity by moving the load 4 up and down, thereby compensating for the overall center-of-gravity position 5 of the moving platform 6.

[0110] See also Figure 10 This is a second specific embodiment of the mobile platform of the present invention. Figure 10 Another embodiment of the mobile platform 7 is disclosed. Figure 10 In one embodiment, the movable tool 3 on the mobile platform 7 is a conveyor belt 71 that can move horizontally in two-dimensional space, and one or more loads 4 are placed on the conveyor belt 71.

[0111] In this embodiment, when the controller 10 determines that the center of gravity of the moving platform 7 has left the stable region 14, it can base its decision on the following: Figure 4 , Figure 5 The steps shown control the conveyor belt 71 to perform center of gravity compensation movements. At this time, the conveyor belt 71 adjusts the position of the tool's center of gravity by moving the load 4 forward, backward, left, and right, thereby compensating for the overall center of gravity position 5 of the moving platform 7.

[0112] However, the above are only some embodiments of the present invention, and the movable tools 3 on the mobile platforms 1, 6, and 7 are not limited to the aforementioned robotic arms, pallets 61, and conveyor belts 71. For example, the mobile platform can be a forklift, reach truck, very narrow aisle forklift, tow tractor, etc., and the movable tool 3 can be, for example, a lifting tool, roller conveyor, multiple / single picking tool, etc., but is not limited thereto.

[0113] This invention continuously calculates the center of gravity position of the mobile platform and dynamically compensates for it by controlling the components on the platform, thus preventing the platform from tipping over due to instability. This allows for a lightweight design of the mobile platform and prevents accidental tipping due to increased load or shifting center of gravity.

[0114] The above description is merely a preferred embodiment of the present invention and is not intended to limit the claims of the present invention. Therefore, all equivalent variations made using the content of the present invention are similarly included within the scope of the present invention and are hereby stated.

Claims

1. A mobile platform, comprising: The vehicle body has a chassis, and the chassis is equipped with a moving mechanism; wherein, the vehicle body has a stabilizing zone near its center and a compensation zone near its periphery predefined. A planar pressure sensor is installed on the vehicle body to sense the pressure distribution of the vehicle body and obtain the center of gravity position of the vehicle body; Movable tools, mounted on the vehicle body; and A controller, connected to the moving mechanism, the planar pressure sensor, and the movable tool, is configured to control the moving mechanism and the movable tool to perform a center-of-gravity compensation movement when the center of gravity position leaves the stable zone of the vehicle body. This center-of-gravity compensation movement provides a counterforce to the direction of the center-of-gravity offset relative to the stable zone, causing the center of gravity position to return to the stable zone. The center-of-gravity compensation movement consists of: controlling the moving mechanism to move in the direction of the center-of-gravity offset; and controlling the movable tool to perform an attitude adjustment procedure, which adjusts the position and attitude of the movable tool so that the tool's center of gravity moves in the opposite direction to the direction of the center-of-gravity offset. When the movable tool performs the posture adjustment procedure, it first grabs the load on the vehicle body, and then adjusts the position and posture. The center of gravity compensation motion is described in which the movable tool grasps at least one of the loads and places the position of at least one load in the stable region, wherein the controller is configured to control the movable tool to stop adjusting the placement position of other loads after determining that the center of gravity position has returned to the stable region.

2. The mobile platform according to claim 1, wherein the controller is configured to, when the center of gravity offset direction is inconsistent with the predetermined route direction of the mobile platform, control the mobile mechanism to first move toward the center of gravity offset direction to provide the reverse force, and then control the mobile mechanism to move toward the predetermined route direction after returning to the stable region at the center of gravity position.

3. The mobile platform according to claim 1, wherein the vehicle body has a load area on one side, the load area is used to place a load, and wherein the center of gravity compensation movement is to control the movable tool to move the load in the opposite direction to the center of gravity offset direction.

4. The mobile platform according to claim 1, wherein the controller is configured to determine the landing position of the center of gravity in the compensation zone outside the stable zone, and to determine whether to control the movable tool to adjust the placement position of the load while controlling the mobile mechanism to move along a predetermined route based on the landing position.

5. A stabilization method for a mobile platform, applied to a mobile platform, wherein the mobile platform has a vehicle body, the vehicle body has a planar pressure sensor, the vehicle body has a predefined stabilization zone near its center and a compensation zone near its periphery, and the method includes: a) The pressure distribution of the vehicle body is sensed using the planar pressure sensor; b) Calculate the center of gravity of the vehicle body based on the pressure distribution; and c) When it is determined that the center of gravity position has left the stable zone near the center of the vehicle body, a center of gravity compensation motion is performed, wherein the center of gravity compensation motion provides a reverse force for the direction of the center of gravity offset relative to the stable zone. The vehicle body has a chassis, the chassis is provided with a moving mechanism, and step c) includes controlling the moving mechanism to move toward the direction of the center of gravity offset. The vehicle body is provided with a movable tool, and step c) includes controlling the movable tool to perform a posture adjustment program, the posture adjustment program adjusting the position and posture of the movable tool so that the center of gravity of the movable tool moves in the opposite direction of the center of gravity offset direction; The step c) further includes, when controlling the movable tool to perform the attitude adjustment procedure, first grabbing the load on the vehicle body, and then adjusting the position and the attitude; The center of gravity compensation motion is wherein the movable tool grasps at least one of the loads and places the position of at least one load in the stable zone, and further includes step d): when it is determined that the center of gravity position is in the stable zone, the movable tool on the vehicle body is controlled to execute a vibration suppression control program to stop adjusting the placement position of other loads.

6. The stabilization method according to claim 5, wherein the vehicle body has a load area on one side, the load area being used to place a load, wherein step c) includes controlling the movable tool to move the load in the opposite direction to the center of gravity offset direction.

7. A stabilization method for a mobile platform, applied to a mobile platform, wherein the mobile platform has a vehicle body, the vehicle body has a planar pressure sensor and a movable tool, the vehicle body has a predefined stabilization zone near its center and a compensation zone near its periphery, and the method includes: a) The pressure distribution of the vehicle body is sensed using the planar pressure sensor; b) Calculate the center of gravity of the vehicle body based on the pressure distribution; c) Determine whether the center of gravity falls within the stable zone or the compensation zone of the vehicle body, wherein the stable zone is close to the center of the vehicle body and the compensation zone is close to the periphery of the vehicle body; d) When it is determined that the center of gravity is located in the compensation zone, determine whether there is a movable load on the vehicle body; when it is determined that the center of gravity is located in the stability zone, control the movable tool on the vehicle body to execute the vibration suppression control program. e) When the load is absent or immovable, control the movable tool to perform an attitude adjustment procedure, wherein the attitude adjustment procedure adjusts the position and attitude of the movable tool so that the center of gravity of the movable tool moves in the opposite direction to the center of gravity offset direction relative to the stable zone. f) When the load is movable, determine the load distribution based on the pressure distribution; and g) After step f), control the movable tool to move the load in the opposite direction.

Images