Automatic body transfer device

Abstract

The application provides a corpse automatic transfer device, which comprises a base body, a moving assembly, a bearing support and a moving and transferring assembly, wherein the base body comprises a bottom plate; the moving assembly is connected to one side of the bottom plate; the bearing support is connected to the side of the bottom plate away from the moving assembly, and the bearing support comprises a first guide rail which is arranged perpendicularly to the bottom plate; and the moving and transferring assembly is connected with the first guide rail and can move along the first guide rail. The multi-faceted feature data acquisition system provided by the application at least solves the problem of low automation degree of corpse transfer in the prior art.

Description

Technical Field

[0001] This application relates to the field of body transport technology, and in particular to an automatic body transport device. Background Technology

[0002] Currently, the handling of remains within funeral homes primarily relies on manually propelled trolleys, which presents numerous challenges, including high workload, risks of infectious disease transmission, and insufficient automation. Therefore, there is an urgent need for an integrated automated transport device that can reduce the workload of funeral home staff, decrease the risk of infectious disease transmission, improve the automation and civility of funeral services, and further promote the intelligence and automation of funeral services. Summary of the Invention

[0003] The purpose of this application is to provide an automated body transport device with a higher degree of automation.

[0004] In a first aspect, embodiments of this application provide an automatic body transport device, including a base, a moving component, a support bracket, and a transfer component. The base includes a base plate; the moving component is connected to one side of the base plate; the support bracket is connected to the side of the base plate opposite to the moving component, and the support bracket includes a first guide rail, which is perpendicular to the base plate; the transfer component is connected to the first guide rail and can move along the first guide rail.

[0005] According to an embodiment of the first aspect of this application, the substrate further includes a second guide rail disposed on the base plate, the second guide rail being disposed in a direction perpendicular to the first guide rail being disposed in a direction, the support bracket being connected to the second guide rail and being movable along the second guide rail.

[0006] According to an embodiment of the first aspect of this application, the transfer assembly includes a third guide rail and a chain plate. The third guide rail is perpendicular to the first guide rail, and the chain plate is disposed on the third guide rail and can move along the third guide rail.

[0007] According to one embodiment of the first aspect of this application, the third guide rail is parallel to the second guide rail.

[0008] According to an embodiment of the first aspect of this application, the automated body transport device further includes a guiding component for sensing the location of the automated body transport device and planning a travel path for the automated body transport device.

[0009] According to an embodiment of the first aspect of this application, the guiding component includes a guiding frame connected to a base and a sensor disposed on the guiding frame, the sensor being used to sense the position information of the automatic body transport device.

[0010] According to one embodiment of the first aspect of this application, the sensor is a lidar.

[0011] According to an embodiment of the first aspect of this application, the moving component includes two drive wheels and two drive members, one drive member being connected to one drive wheel and driving the drive wheel to rotate.

[0012] According to an embodiment of the first aspect of this application, the automated body transport device further includes a protective element disposed around the periphery of the base.

[0013] According to one embodiment of the first aspect of this application, the automated body transport device further includes a wireless communication module for connecting to a server to obtain an electronic map.

[0014] The automated body transport device provided by the embodiments of this application has at least the following beneficial effects:

[0015] By setting up a moving component, a support bracket, and a transfer component, and by setting the transfer component to move along the first guide rail, the automated design of the automatic body transfer device is facilitated, enabling the automated operation of the automatic body transfer device and reducing the manpower input cost of the funeral home. At the same time, by setting the transfer component to move along the first guide rail, that is, the transfer component used to carry the body can move along the first guide rail, it is convenient to adjust the position of the body to adapt to the pit height of different cremation equipment, and the degree of automation is higher.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is an isometric view of the automated body transport device provided in the embodiments of this application;

[0019] Figure 2 yes Figure 1 An exploded view of the structure of the automated body transport device shown.

[0020] Figure 3 This is an isometric view of some of the transfer components in the automated body transport device provided in the embodiments of this application;

[0021] Figure 4 This is an isometric view of the support frame in the automated body transport device provided in the embodiments of this application;

[0022] Figure 5This is an isometric view of the substrate after the outer skin has been removed from the automatic body transport device provided in this application embodiment.

[0023] The following numbers are used in the attached diagram: 100, Automatic body transfer device; 10, Base; 11, Base plate; 12, Second guide rail; 21, Drive wheel; 22, Driven wheel; 23, Drive component; 30, Support bracket; 31, First guide rail; 40, Transfer assembly; 41, Third guide rail; 42, Chain plate line; 50, Guide assembly; 51, Guide frame; 52, Sensor; 60, Protective component; 70, Wireless communication module; 200, Server. Detailed Implementation

[0024] The features and exemplary embodiments of various aspects of this application will now be described in detail. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without requiring some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of this application by illustrating examples thereof.

[0025] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application.

[0026] In the description of the embodiments of this application, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0027] In the description of the embodiments of this application, unless otherwise expressly limited, terms such as setting, installing, and connecting should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The embodiments will now be described in detail with reference to the accompanying drawings.

[0029] Currently, both domestically and internationally, the transport of remains is often carried out by manually pushing a cart containing the remains. This presents numerous problems, such as high workload and the risk of infectious disease transmission. In some areas, semi-automatic machines are used in conjunction with manual labor to transport remains, which can alleviate the difficulty of transporting remains to some extent.

[0030] However, since most of the related body transport devices are semi-automatic machines that assist in human handling, such as trolleys used to carry bodies, which still require human effort to push; and lifting components used to place bodies into crematoriums, which still require human operation, they are time-consuming, labor-intensive, and prone to causing conflicts between the deceased's relatives and funeral homes, resulting in a low degree of automation.

[0031] Figure 1 This is an isometric view of the automated body transport device provided in the embodiments of this application; Figure 2 yes Figure 1 An exploded view of the structure of the automated body transport device shown. Figure 3 This is an isometric view of some of the transfer components in the automated body transport device provided in the embodiments of this application; Figure 4 This is an isometric view of the support frame in the automated body transport device provided in the embodiments of this application; Figure 5 This is an isometric view of the substrate after the outer skin has been removed from the automatic body transport device provided in this application embodiment.

[0032] like Figures 1 to 5 As shown in the figure, this application embodiment provides an automatic body transport device 100, which includes a base 10, a moving component, a support bracket 30, and a transfer component 40. The base 10 includes a base plate 11; the moving component is connected to one side of the base plate 11; the support bracket 30 is connected to the side of the base plate 11 opposite to the moving component, and the support bracket 30 includes a first guide rail 31, which is perpendicular to the base plate 11; the transfer component 40 is connected to the first guide rail 31 and can move along the first guide rail 31.

[0033] The automatic body transport device 100 is mainly used in funeral homes to carry and transport remains. In some embodiments, the automatic body transport device 100 can also be used in hospital morgues, cemeteries, gardens, etc.

[0034] The base 10 is the main support of the automatic body transfer device 100, which serves to install other components. In some embodiments, the base 10 can be a solid block base 10 to improve the stability of the base 10 itself. In some embodiments, the base 10 can also be a hollow structure to accommodate the control system of each component in the hollow structure.

[0035] In these embodiments of the present application, the base 10 includes a base plate 11, which is a plate-like structure disposed around the periphery of the base 10 and serves to mount the moving components and the support bracket 30. The base plate 11 is typically positioned on the side of the automatic body transfer device 100 closer to the ground.

[0036] The moving component is connected to one side of the base plate 11, which means that the moving component is connected to the side of the base plate 11 that is close to the ground. For example, in some embodiments, when the automatic body transfer device 100 is in normal working posture, the base plate 11 is the surface of the base 10 that is close to the ground. At this time, the moving component is connected to the base plate 11 and is located on the side of the base plate 11 that is close to the ground, so as to contact the ground and realize the operation of the automatic body transfer device 100 on the ground.

[0037] The connection between the moving component and the base plate 11 can be fixed by welding, integral molding or other methods to enhance the structural strength of the moving component and the base plate 11 support. In some embodiments, the moving component and the base plate 11 can also be connected by screws, bolts or clips to facilitate the replacement of the moving component.

[0038] In these embodiments of this application, the moving component may include at least one drive wheel 21 and multiple driven wheels 22. Both the drive wheel 21 and the driven wheels 22 are disposed on one side of the base plate 11 to support the base 10. Both the drive wheel 21 and the driven wheels 22 can be configured as omnidirectional wheels to improve the ease of movement of the automatic body transport device 100, allowing it to move in any direction.

[0039] The support bracket 30 is connected to the side of the base plate 11 opposite to the moving component, meaning that the support bracket 30 and the moving component are respectively set on both sides of the base plate 11. The function of the support bracket 30 is to install the transfer component 40.

[0040] The support bracket 30 includes a first guide rail 31, which is perpendicular to the base plate 11. The transfer assembly 40 is connected to the first guide rail 31 and can move along the first guide rail 31. In this way, the transfer assembly 40 can change the distance between itself and the base plate 11 by moving along the first guide rail 31, thereby achieving height adjustment of the transfer assembly 40 to adapt to different cremator pit heights, resulting in better adaptability.

[0041] In these embodiments of the present application, there may be multiple first guide rails 31, which are parallel to each other to provide positioning for the transfer assembly 40.

[0042] According to the embodiments of this application, the automatic body transport device 100, by setting a moving component, a supporting bracket 30 and a transfer component 40, and setting the transfer component 40 to be movable along the first guide rail 31, is conducive to the automated design of the automatic body transport device 100, realizes the automated operation of the automatic body transport device 100, reduces the manpower input cost of funeral homes, and at the same time, by setting the transfer component 40 to be movable along the first guide rail 31, that is, the transfer component 40 used to carry the remains can move along the first guide rail 31, it is convenient to adjust the position of the remains to adapt to the pit height of different cremation equipment, and the degree of automation is higher.

[0043] According to an embodiment of the first aspect of this application, the base 10 further includes a second guide rail 12 disposed on the base plate 11. The second guide rail 12 is disposed in a direction perpendicular to the first guide rail 31. The support bracket 30 is connected to the second guide rail 12 and can move along the second guide rail 12.

[0044] The second guide rail 12 serves the same purpose as the first guide rail 31, providing guidance for the sliding connection. The second guide rail 12 is perpendicular to the first guide rail 31, meaning its orientation is perpendicular to the first guide rail 31. In these embodiments of this application, if the first guide rail 31 is perpendicular to the ground, then the second guide rail 12 is parallel to the ground. For example, in some embodiments, the second guide rail 12 may be, but is not limited to, be positioned along the length of the automatic body transport device 100.

[0045] The support bracket 30 is connected to the second guide rail 12. In a possible implementation, at least a portion of the support bracket 30 is disposed within the second guide rail 12, allowing the entire support bracket 30 to move along the second guide rail 12. In this way, since the support bracket 30 is connected to the transfer assembly 40, the position of the transfer assembly 40 for carrying the remains can be adjusted by moving the support bracket 30, thereby adjusting the position of the remains and facilitating the subsequent transfer of the remains into the crematorium by the transfer assembly 40, resulting in a higher degree of automation.

[0046] According to an embodiment of the first aspect of this application, the transfer assembly 40 includes a third guide rail 41 and a chain plate line 42. The third guide rail 41 is perpendicular to the first guide rail 31, and the chain plate line 42 is disposed on the third guide rail 41 and can move along the third guide rail 41.

[0047] Correspondingly, the third guide rail 41 serves the same function as the first guide rail 31 and the second guide rail 12, all providing guidance for the sliding connection. In these embodiments of this application, the first guide rail 31, the second guide rail 12, and the third guide rail 41 can all be provided with elongated grooves, and other components are provided with pulleys that are engaged in the grooves. In this way, the movement of the corresponding components is achieved by using the pulleys to slide in the grooves.

[0048] For example, in some embodiments, the first guide rail 31 can be set as an elongated groove, and the transfer component 40 is provided with pulleys that can be engaged in the first guide rail 31, so that the transfer component 40 can slide along the first guide rail 31; similarly, the second guide rail 12 and the third guide rail 41 can be set as elongated grooves, and the support bracket 30 is also provided with pulleys that can be engaged in the grooves, and the chain plate line 42 is provided with pulleys that can be engaged in the grooves, so that the support bracket 30 can slide along the second guide rail 12 and the chain plate line 42 can slide along the third guide rail 41.

[0049] In these embodiments of the present application, the number of the first guide rail 31, the second guide rail 12 and the third guide rail 41 can be set to multiple, and the multiple first guide rails 31 are parallel to each other, the multiple second guide rails 12 are parallel to each other, and the multiple third guide rails 41 are parallel to each other, so as to use multiple guide rails to provide sliding guidance, resulting in higher stability and reliability.

[0050] It should be noted that in these embodiments of this application, an interference fit can be used between the pulley and the slide groove to allow for sliding fit while maintaining a certain damping performance, so as to facilitate the positioning of each component.

[0051] According to one embodiment of the first aspect of this application, the third guide rail 41 is parallel to the second guide rail 12.

[0052] The third guide rail 41 is parallel to the second guide rail 12, which allows the chain plate line 42 to obtain a larger displacement in the setting direction of the third guide rail 41. When the remains are sent into the crematorium using the transfer component 40, the sliding of the support bracket 30 along the second guide rail 12 and the sliding of the chain plate line 42 along the third guide rail 41 can be used to directly send the remains into the crematorium, resulting in better automation and higher reliability.

[0053] It should be noted that in these embodiments of this application, the sliding of the transfer component 40 along the first guide rail 31, the sliding of the bearing bracket 30 along the second guide rail 12, and the sliding of the chain plate line 42 along the third guide rail 41 can be driven by a hydraulic rod.

[0054] The chain plate line 42 uses standard chain plates as the bearing surface and is powered by a motor reducer. Multiple rows of chain plates can be paralleled to make the chain plate line 42 very wide and form a differential speed. The speed difference of multiple rows of chain plates can be used to transform multi-row conveying into single-row conveying without compression.

[0055] In these embodiments of the present application, the chain plate line 42 may include two parts: a functional part for carrying and transporting remains and a connecting plate part that can be pre-connected to the third guide rail 41. During the installation of the automatic body transfer device 100, the functional part can be connected and fixed through the connecting plate part, which facilitates the disassembly and transportation of the automatic body transfer device 100 and improves reliability.

[0056] According to an embodiment of the first aspect of this application, the automatic body transport device 100 further includes a guiding component 50 for sensing the position of the automatic body transport device 100 and planning a travel path for the automatic body transport device 100.

[0057] The guiding component 50 enables the automated body transport device 100 to acquire information about the surrounding environment and guides the device along a pre-set route to transport the remains. Exemplarily, in these embodiments of this application, the guiding component 50 can be configured to use electromagnetic guidance, magnetic tape guidance, inertial guidance, laser guidance, or visual guidance.

[0058] The electromagnetic guidance method involves embedding a metal wire along a preset route in the automated body transport device 100, and applying a guidance frequency to the metal wire. The automated body transport device 100 is guided by recognizing the guidance frequency. The advantages of electromagnetic guidance are that the lead wire is concealed, making it less prone to contamination and damage; the guidance principle is simple and reliable; it is easy to control and communicate; it does not interfere with sound or light; and the manufacturing cost is relatively low.

[0059] Magnetic tape guidance involves attaching a magnetic tape along a pre-defined route, using magnetic induction signals for guidance. The advantages of magnetic tape guidance are its flexibility, ease of changing or expanding the path, and relatively simple tape installation. However, this guidance method is susceptible to interference from surrounding metal objects. Because the tape is exposed, it is easily contaminated and prone to mechanical damage. Therefore, the reliability of the guidance is greatly affected by external factors, making it suitable for environments with good conditions and no metal interference on the ground.

[0060] Inertial guidance involves installing a gyroscope on the automated body transport device 100 and positioning blocks on the ground in the operating area. The automated body transport device 100 can accurately determine its position and orientation by comprehensively calculating the gyroscope deviation signal and the travel distance encoder, and by comparing and correcting the signals from the ground positioning blocks, thus achieving guidance. The advantages of inertial guidance are high positioning accuracy, high flexibility, ease of combination and compatibility, and wide applicability.

[0061] Laser guidance employs two methods. One involves installing precisely positioned laser reflectors around the travel path of the automated body transport device 100. The device emits laser beams and simultaneously collects the beams emitted by the reflectors to determine its current position and orientation, using continuous trigonometric calculations for guidance. The other method is natural guidance, which uses laser ranging combined with algorithms to create a complete travel path map for the vehicle. This method requires no auxiliary materials, offers greater flexibility, and is suitable for global deployment. The advantages of laser guidance include precise positioning, no need for other ground-based positioning facilities, and flexible travel paths suitable for various environments. Its disadvantages include high manufacturing costs and relatively high environmental requirements (light, ground conditions, visibility, etc.).

[0062] Visual guidance employs two methods. One method involves using cameras to collect real-time images of the surrounding environment along the travel path and comparing them with information in an established database of images of the surrounding environment to control the automated body transport device 100. The other method uses a QR code-based image recognition approach, employing a camera to scan QR codes on the ground and using QR code positioning technology to achieve path navigation.

[0063] According to an embodiment of the first aspect of this application, the guide assembly 50 includes a guide frame 51 connected to the base 10 and a sensor 52 disposed on the guide frame 51. The sensor 52 is used to sense the position information of the automatic body transport device 100.

[0064] In these embodiments of this application, sensor 52 can be configured as a laser emitter, that is, the automatic body transfer device 100 can be guided by laser guidance.

[0065] According to one embodiment of the first aspect of this application, sensor 52 is a lidar.

[0066] In these embodiments of this application, the lidar is used in conjunction with a reflector fixedly installed on-site, meaning the reflector is fixedly installed in the environment. Furthermore, it has defined coordinates and angle information in the absolute coordinate system of the map to effectively reflect the signal emitted by the lidar.

[0067] When a lidar system is operating, it emits pulsed laser beams into the surrounding environment. The overlapping laser beams pass through pre-arranged reflectors and are reflected back to the scanning head. When the area of ​​the laser beam illuminating the reflector is small, the reflected light signal intensity is weak; if the area is large, the reflected light signal intensity is also strong; when the entire laser beam illuminates the reflector, the light signal intensity is the strongest. These reflected laser beams are then amplified by the internal circuitry of the scanning head, serving as the reflected intensity signal for subsequent calculations.

[0068] The reflector has a fixed width of 36mm and a reflectivity of approximately 90%. The width of the reflecting source can be calculated using the peak width and the distance to the reflecting source. Reflecting sources with similar reflectivity but significantly different widths are filtered out using a bandpass filter. The average reflection intensity of the laser beam is calculated using the centroid method, and the polar coordinate position of the reflector's center point relative to the lidar is determined.

[0069] In these embodiments of this application, during the operation of the automated body transport device 100, at least three reflectors need to be detected. Based on the angles and displacement coordinates detected by these reflectors, a positioning algorithm is used to accurately locate the device, thereby achieving the positioning of the automated body transport device 100. Two commonly used positioning algorithms are trilateration and triangulation. Trilateration has the advantage of higher positional accuracy, while triangulation has the advantage of higher angle accuracy. To ensure overall positioning accuracy, this project employs both algorithms simultaneously, and then uses weights to determine the final positioning result based on their respective calculation results.

[0070] (1) Principle of Triangulation Algorithm

[0071] The triangulation algorithm achieves positioning by measuring the angle between the reflector and the robot's longitudinal axis.

[0072] (2) Reflector quality criteria in triangulation algorithm

[0073] To meet the computational requirements of the angle positioning algorithm, the angle between adjacent road signs is designed to be equal as the reflector quality angle criterion. Select n road signs, and set the angle between two adjacent road signs as yi (1≤yi≤n), and use equation (1) as the basis for angle judgment.

[0074]

[0075] Where ε represents the angle difference between n adjacent road signs, and the smaller ε is, the better.

[0076] The surrounding reflectors are not always evenly distributed, and the automatic body transport device 100 is not always centered on the reflectors. Therefore, how to reasonably select reflectors in the surrounding environment is the key issue for the automatic body transport device 100 to achieve high positioning accuracy during movement. Landmarks are selected based on the method that three points not on the same straight line can determine a circle. First, all valid landmark identification points that meet the three-point combination are found. Then, according to the given selection criteria, such as equation (2), the optimal combination is selected.

[0077]

[0078] S ijLet represent the distance between landmark i and landmark j, and let α, β, and γ be the angles between the robot's position R, landmark i, and landmark j, respectively. For α, β, γ, and S... ij The selection of the four landmark parameters can be performed according to the following optimal landmark algorithm:

[0079] Predict the current location of the automated body transport device 100;

[0080] Identify landmarks within a 100° field of view of the automated body transport device and find all valid two-point combinations.

[0081] Based on the known α, β, γ, S ij Calculate C ij ;

[0082] All C ij By comparing the two sets of data with different indices, the one whose sum is minimized is the desired result.

[0083] It should be noted that in these embodiments of this application, the controller of the automatic body transfer device 100 can be a Samsung S3C2440 with an ARM9 series (or an FPGA). The system receives 24V and 5V voltages from the DC / DC module isolation. The 24V power supply is used for powering external sensors and relay outputs, and the 5V power supply is used for powering the control motherboard. The drive motor of the automatic body transfer device 100 is controlled by PWM output. Communication with the host computer is completed by exchanging data with the wireless communication module through UART0. The station information is collected by connecting to the radio frequency card reader through UART1. The real-time status display of the LCD screen is realized through the I2C analog serial port. The analog signals fed back by the angle sensor and voltage detection unit are collected and converted into digital signals by A / D conversion. Data transmitted by the magnetic navigation sensor, obstacle avoidance sensor, safety baffle, remote control and operation panel are collected through GPIO. In order to reduce the burden on the main controller, a PLC controller is used in the transfer platform control unit, mainly used to control the motor to realize the lifting of the vertical lifting mechanism and communication with the main controller.

[0084] According to an embodiment of the first aspect of this application, the moving component includes two drive wheels 21 and two drive members 23, wherein one drive member 23 is connected to one drive wheel 21 and drives the drive wheel 21 to rotate.

[0085] In these embodiments of this application, the drive wheels 21 are all relatively independent components, each driven by a separate drive member 23. In this way, when the automatic body transfer device 100 needs to turn, the rotational speed of the two drive wheels 21 can be controlled by the two drive members 23 respectively, so as to realize the turning of the automatic body transfer device 100 by utilizing the speed difference between the two drive wheels 21.

[0086] According to the embodiments of this application, the automatic body transport device 100 is equipped with two drive wheels 21 whose rotation speeds are controlled separately. By controlling the rotation speeds of the drive wheels 21 separately, the automatic body transport device 100 can be turned. The center of the turn can be set between the two drive wheels 21, which can achieve a small turning radius or even a zero turning radius turn. The turning control accuracy is high, and the structure is simple and easy to control.

[0087] According to an embodiment of the first aspect of this application, the automatic body transport device 100 further includes a protective element 60 disposed at the periphery of the base 10.

[0088] The protective component 60 provides a fault tolerance for the automatic body transport device 100, mainly serving as a buffer. That is, when the automatic body transport device 100 collides with the external environment, the protective component 60 can be used to collide with the external environment first, reducing the damage to the automatic body transport device 100 caused by the collision.

[0089] For example, in these embodiments of the present application, the protective member 60 may be configured to cover the outer surface of the substrate 10 in an outer wrapping manner, or in some embodiments, the protective member 60 may be disposed at the corner of the cross-section of the substrate 10.

[0090] The protective component 60 can be made of rubber, plastic, foam, or other materials that can absorb impact energy.

[0091] For example, in these embodiments of this application, the protective component 60 can be configured as an obstacle contact buffer, and the number of obstacle contact buffers is four, respectively disposed on the front, rear, left and right sides of the base 10. The obstacle contact buffer can be a safety retaining ring, and various detection sensors are installed inside the safety retaining ring. Once any sensor is triggered, the automatic body transfer device 100 will take an emergency stop action.

[0092] Taking the protective component 60 on the front side of the automatic body transport device 100 as an example (the other sides are the same), a safety baffle is set in front of the automatic body transport device 100. It is elastically connected to two contact switch sensors by springs. The elastic connection has a certain buffering effect, which can ensure that the automatic body transport device 100 and obstacles will not be damaged in collision to a certain extent. During normal operation, the contact switch sensors are all at a high level. When any contact switch sensor sends a low level signal to the controller I / O port, the controller issues an emergency stop command and simultaneously issues an alarm signal and transmits the signal to the ground control system. The signal is only reset after the obstacle is cleared.

[0093] Approach detection devices generally employ three methods: infrared area scanning, laser ranging scanning, and ultrasonic detection, to detect whether there are obstacles in the running direction of the automatic body transport device 100. A photoelectric sensor is installed 150mm above the ground at the center of the front of the automatic body transport device 100. This sensor has two levels of I / O output. The secondary detection area is divided into three zones: left, center, and right, each adjustable within a range of 0-3m. When an obstacle is detected in this zone, the corresponding output circuit of the detection unit outputs a low-level signal. Upon receiving this low-level signal, the controller of the automatic body transport device 100 immediately controls the drive motor to decelerate, simultaneously issuing a warning signal and sending feedback to the ground control center to notify the obstacle to move away. Normal speed is resumed only after the obstacle is cleared. The primary proximity detection area is shorter than the secondary detection area, but its detection range on both sides is larger. It also has three detection zones: left, center, and right, each adjustable within a range of 0-1m. When an obstacle is detected in this zone, the corresponding output circuit outputs a low-level signal. Upon receiving this low-level signal, the controller of the automatic body transport device 100 immediately issues an emergency stop command, simultaneously alarming and notifying the ground control center, until the obstacle is cleared.

[0094] The warning device includes a warning light and a warning buzzer to alert people at the application site to promptly detect the approaching automated body transport device 100 and take appropriate measures.

[0095] The stop button is used for controlled stopping of the automated body transport device 100. When this button is pressed, the automated body transport device 100 should stop safely and reliably. This stopping method allows for simple and quick manual resumption of operation. The button ensures the safety of temporary personnel around the automated body transport device 100. Using the stop button method does not require cutting off the power supply to the automated body transport device 100. The automated body transport device 100 has stop buttons in three locations: the ground control center, the remote control, and the side of the device, facilitating convenient stopping by operators.

[0096] The emergency stop button is used to interrupt the operation of the automatic body transport device 100 in an emergency. For ease of operation in emergencies, the automatic body transport device 100 is equipped with red emergency stop buttons at the ground control center, on the remote control, and on both sides of the device. When the emergency stop button is pressed, the automatic body transport device 100 cuts off power to all equipment, activates the brakes, and sounds an alarm. The automatic body transport device 100 remains stopped until the cause of the emergency is eliminated.

[0097] According to an embodiment of the first aspect of this application, the automated body transport device 100 further includes a wireless communication module 70, which is used to connect to a server 200 to obtain an electronic map.

[0098] The wireless communication module 70 is connected to the server 200. A possible implementation is that the server 200 pre-stores electronic maps of multiple operating environments of the automatic body transport device 100. The automatic body transport device 100 can directly obtain the electronic maps of the operating environment through the wireless connection with the server 200, thereby reducing the installation and configuration time of the automatic body transport device 100 and enabling the automatic body transport device 100 to quickly switch between various working environments, thus improving its adaptability.

[0099] It should be noted that the wireless communication module 70 can be Bluetooth, ZigBee, Wi-Fi, LiFi, GPRS, Z-Wave, RF 433, NFC, UWB, or Modbus technologies.

[0100] Among the aforementioned wireless communication technologies:

[0101] Bluetooth technical features

[0102] Bluetooth is a wireless technology standard that enables short-range data exchange between fixed devices, mobile devices, and personal area networks (PANs). Bluetooth can connect multiple devices, overcoming the challenge of data synchronization. Bluetooth technology was originally created by telecommunications giant Ericsson in 1994. Today, Bluetooth is managed by the Bluetooth Special Interest Group (SIG), which has over 25,000 member companies worldwide, spanning multiple sectors including telecommunications, computing, networking, and consumer electronics.

[0103] Bluetooth technology features include frequency hopping to combat signal fading; fast frequency hopping and short packet technology to reduce co-channel interference and ensure reliable transmission; forward error correction coding to reduce random noise during long-distance transmission; and FM modulation to reduce device complexity. The core Bluetooth specification provides two or more piconet connections to form a distributed network, allowing specific devices to automatically and simultaneously act as both master and slave devices within these piconet networks. A Bluetooth master device can communicate with up to seven devices in a single piconet, and devices can switch roles via protocols; a slave device can also become a master device.

[0104] Unlike Bluetooth, ZigBee is a short-range, low-power, and inexpensive wireless communication technology. It is a low-speed, short-range wireless network protocol. The name comes from the figure-eight dance of bees, which uses flight and the "buzzing" (zig) flapping of their wings to communicate the location of pollen to their companions. In other words, bees rely on this method to form a communication network within their colony.

[0105] ZigBee is characterized by its short range, low complexity, self-organization, low power consumption, and low data rate. The ZigBee protocol, from bottom to top, consists of the physical layer, media access control layer, transport layer, network layer, and application layer. The physical layer and media access control layer comply with the IEEE 802.15.4 standard. ZigBee technology is suitable for automatic control and remote control applications and can be embedded in various devices.

[0106] Wi-Fi is ubiquitous in our lives; almost every public place in major cities has wireless networks, thanks to its low cost and transmission characteristics. Wi-Fi is a technology that allows electronic devices to connect to a wireless local area network (WLAN). It typically uses the 2.4 GHz UHF or 5 GHz SHF ISM radio frequency bands. Connections to WLANs are usually password protected; however, they are also open, allowing any device within WLAN range to connect.

[0107] Because wireless network frequency bands do not require any telecommunications operating licenses worldwide, WLAN wireless devices provide a globally usable, extremely inexpensive, and high-bandwidth wireless air interface. Users can quickly browse the web and make and receive calls anytime, anywhere within Wi-Fi coverage areas. With Wi-Fi functionality, we no longer need to worry about slow speeds and high costs when making long-distance calls, browsing the web, sending and receiving emails, downloading music, and transferring digital photos.

[0108] Wireless networks are becoming increasingly widespread in handheld devices, and smartphones are one of them. Unlike Bluetooth technology, which was previously used in mobile phones, Wi-Fi has a wider coverage area and higher transmission speed, making Wi-Fi phones a trend in the mobile communications industry in 2010.

[0109] LiFi, also known as visible light wireless communication, is a novel wireless transmission technology that utilizes the visible light spectrum for data transmission. It was invented by Professor Harald Haas, a German physicist and Chair of the Department of Mobile Communications at the School of Electronic and Communication Engineering, University of Edinburgh. LiFi utilizes pre-installed infrastructure, creating a device similar to a Wi-Fi hotspot by embedding a tiny chip in a light bulb, allowing devices to access the network at any time.

[0110] The most significant feature of this technology is that it transmits data by changing the flicker frequency of room lighting. As long as the lights are turned on indoors, internet access is possible without the need for WiFi, making it a promising technology for smart homes in the future.

[0111] GPRS is something we are very familiar with. It is a mobile data service available to GSM mobile phone users and belongs to the data transmission technology of second-generation mobile communication. GPRS can be said to be a continuation of GSM. Unlike the previous method of continuous transmission on a channel, GPRS transmits data in packets. Therefore, the user's cost is calculated based on the amount of data transmitted, not the entire channel used, which is theoretically cheaper.

[0112] GPRS, also known as 2.5G, is a technology between 2G and 3G, laying the foundation for a smooth transition from GSM to 3G. With the development of mobile communication technology, 3G, 4G, and 5G technologies have been developed, and GPRS has gradually been replaced by these technologies.

[0113] Z-Wave is an emerging, low-cost, low-power, highly reliable, and network-suitable short-range wireless communication technology based on radio frequency (RF). It is a wireless networking specification primarily led by the Danish company Zensys. It operates in the frequency band of 908.42MHz (USA) to 868.42MHz (Europe), uses FSK (BFSK / GFSK) modulation, and has a data transmission rate of 9.6kbps, making it suitable for narrowband applications.

[0114] As communication distances increase, the complexity of devices, power consumption, and system costs also increase. Compared to existing wireless communication technologies, Z-Wave technology will be the lowest power consumption and lowest cost technology, which will strongly promote low-speed wireless personal area networks.

[0115] The RF433, also known as a wireless transceiver module, uses radio frequency technology. It consists of a single IC RF front-end manufactured by All Digital Technology and an AVR microcontroller from Atmel. It is a miniature transceiver that can transmit data signals at high speed. The wirelessly transmitted data is packaged, detected, and corrected.

[0116] Applications of RF 433 technology include wireless POS machines, PDAs and other wireless smart terminals, security, wireless monitoring of data center equipment, access control systems, transportation, meteorology, environmental data collection, smart communities, building automation, PLCs, logistics tracking, warehouse inspection, and other fields.

[0117] NFC is an emerging technology that allows devices to exchange data when they are close to each other. It evolved from contactless radio frequency identification (RFID) and interconnection technologies. By integrating inductive card readers, inductive cards and peer-to-peer communication functions on a single chip, it enables mobile payment, access control, identity recognition and other applications using mobile terminals.

[0118] Near Field Communication (NFC) technology enables a variety of functions such as electronic payment, identity authentication, ticketing, data exchange, anti-counterfeiting, and advertising. It has changed the way users use mobile phones and gradually digitized their consumption behavior.

[0119] Ultra-Wave Broadband (UWB) is a carrier-free communication technology that uses narrow, non-sinusoidal pulses in the nanosecond to microsecond range to transmit data. Initially used for short-range, high-speed data transmission, UWB has recently been utilized abroad for precise indoor positioning in sub-nanosecond ranges.

[0120] Unlike traditional wireless systems with relatively narrow bandwidths such as Bluetooth and WLAN, UWB can transmit a series of very narrow, low-power pulses over a wide frequency range. The wider spectrum, lower power, and pulsed data mean that UWB causes less interference than traditional narrowband wireless solutions and can provide performance comparable to wired connections in indoor wireless environments.

[0121] Modbus is a serial communication protocol published in 1979 by Modicon (now Schneider Electric) for communication using programmable logic controllers. Modbus has become an industry standard for communication protocols in the industrial field and is now a common connection method between industrial electronic devices.

[0122] The Modbus protocol is a master / slave architecture protocol. There is one master node, and the other nodes that communicate using the Modbus protocol are slave nodes. Each slave device has a unique address. In serial and MB+ networks, only the node designated as the master node can initiate a command.

[0123] Many modems and gateways support the Modbus protocol because it is simple and easy to replicate. Some of them are specifically designed for this protocol, but designers need to overcome some issues, including high latency and timing problems.

[0124] In these embodiments of this application, taking into account the on-site environment and combining the advantages and disadvantages of various communication methods, the ZigBee wireless communication method was ultimately selected.

[0125] The above are merely specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the scope of the claims.

Claims

1. An automated body transport device, characterized in that, include: The substrate, including the base plate; A movable component is attached to one side of the base plate; A support bracket is connected to the side of the base plate opposite to the movable component. The support bracket includes a first guide rail, which is perpendicular to the base plate. A transfer assembly is connected to the first guide rail and can move along the first guide rail; the transfer assembly includes a third guide rail and a chain plate line, the third guide rail is perpendicular to the first guide rail, and the chain plate line is disposed on the third guide rail and can move along the third guide rail; A guiding component is used to sense the position of the automated body transport device and plan a travel path for the automated body transport device; the guiding component includes a guiding frame connected to the base and a sensor disposed on the guiding frame, the sensor being used to sense the position information of the automated body transport device; The base also includes a second guide rail disposed on the base plate. The second guide rail is disposed in a direction perpendicular to the first guide rail. The support bracket is connected to the second guide rail and can move along the second guide rail. The third guide rail is parallel to the second guide rail; The sensor is a lidar, which works in conjunction with a reflector. When the lidar is working, it emits pulsed laser beams into the surrounding environment. The overlapping laser beams pass through the arranged reflectors and are reflected back to the scanning head. When the area of ​​the laser beam illuminating the reflector is small, the intensity of the reflected light signal is weak; if the area is large, the intensity of the reflected light signal is also strong; when the entire laser beam illuminates the reflector, the light signal intensity is the strongest. When the reflected laser beam passes through the scanning head, it is amplified by its internal circuitry and used as the reflected intensity signal. The average reflection intensity of the laser beam is calculated using the centroid method to determine the polar coordinate position of the center point of the reflector relative to the lidar. The system employs trilateration and triangulation, and then uses weights to calculate the final positioning result based on their respective results. Specifically, this includes: Choose n landmarks, and let the angles between any two adjacent landmarks be: Equation (1) serves as the basis for angle judgment; （1） in, This represents the angle difference between n adjacent road signs; The method of selecting landmarks based on the principle of defining a circle using three points that are not collinear involves first identifying all valid landmark identification points that meet the three-point combination, and then selecting the optimal combination based on the given selection criteria. （2） Let represent the distance between landmark i and landmark j, and let α, β, and γ be the included angles between robot R position, landmark i, and landmark j, respectively. All of By comparing the two sets of data with different indices, the one whose sum is minimized is the desired result.

2. The automatic body transport device according to claim 1, characterized in that, The moving component includes two drive wheels and two drive members, one of which is connected to one of the drive wheels and drives the drive wheel to rotate.

3. The automatic body transport device according to claim 1, characterized in that, The automated body transport device also includes a protective component, which is disposed around the periphery of the base.

4. The automatic body transport device according to claim 1, characterized in that, The automated body transport device also includes a wireless communication module, which is used to connect to a server to obtain an electronic map.

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