Cart transport vehicle

Abstract

The invention relates to a system and a method for transporting a cart transport vehicle of a cart. The cart transport vehicle includes a chassis, a drive system disposed on the chassis and configured to propel the cart transport vehicle, a gripper assembly disposed on the chassis; the gripper assembly comprises a gripper support and at least one gripper mounted on and supported by the gripper support; wherein the at least one gripper is for releasably gripping the cart, a controller operably connected to the drive system, the controller configured to control the drive system to move the cart transport vehicle; wherein the chassis is configured to pivot about a central transverse axis.

Description

Technical Field

[0001] The present disclosure relates to a cart transport vehicle, and in particular, but not exclusively, to an automatic cart transport vehicle. Background Art

[0002] Trolleys are commonly used to transport goods in various indoor and outdoor environments. Trolleys are commonly used to transport cloth or clothing in various environments, such as warehouses, laundries, hotels, hospitals, etc. Traditional cloth trolleys can be quite cumbersome and challenging for workers (i.e., people) to move around. Typically, a fully loaded trolley can weigh up to 200 kg. Workers need to push and / or pull these carts carrying items between different locations. This can be quite strenuous and can also result in injuries. In some cases, a trolley or other tool can be used, but these tools also require manual operation by the worker. This manual labor and effort can result in injuries. Summary of the invention

[0003] The present invention relates to a cart transport vehicle. The cart transport vehicle will overcome or substantially improve at least some of the disadvantages of the prior art, or at least provide an alternative solution.

[0004] The present invention relates to a cart transport vehicle, in particular but not limited to an autonomous cart transport vehicle. The autonomous cart transport vehicle can be configured to autonomously locate a target cart, move to the target cart, engage the cart and transport, i.e., move the cart to the destination.

[0005] Alternatively, the cart transport vehicle may be configured to be remotely controlled via a user device, such as a mobile device, smart phone, tablet, smart watch, or other user device with wireless communication capabilities.

[0006] The present disclosure also relates to a cart transport method. The cart transport method defines the operations of positioning, engaging and transporting a cart by a cart transport vehicle.

[0007] According to one aspect of the present disclosure, a cart transport vehicle for transporting a cart is provided. The cart transport vehicle comprises:

[0008] Chassis;

[0009] a drive system disposed on the chassis and configured to propel the cart transport vehicle;

[0010] a clamp assembly disposed on the chassis,

[0011] The clamp assembly includes a clamp support and at least one clamp mounted on and supported by the clamp support, wherein the at least one clamp is used to releasably clamp a cart;

[0012] a controller operably connected to the drive system and configured to control the drive system to move the cart transport vehicle and the clamped cart;

[0013] Wherein, the chassis is configured to pivot about a central transverse axis.

[0014] In one example, the drive system includes a drive motor and one or more drive wheels, the drive wheel being located at the center of the chassis, and the chassis being pivotable about a rotation axis of the one or more drive wheels.

[0015] In one example, the one or more drive wheels may rotate about a lateral axis and the chassis may pivot about the axis of the one or more drive wheels.

[0016] In one example, the drive system includes two drive wheels, which are arranged at the center of the chassis, the two drive wheels are coaxial and rotatable around a common axis, and the chassis can pivot around the axes of the two drive wheels.

[0017] In one example, the two drive wheels are independently controllable. The cart transport vehicle may include two drive motors, one of which is operably connected to one of the drive wheels and configured to operate the drive wheel. In this example, the motors may be controlled to power the wheels in opposite directions, thereby turning the vehicle. Independently controllable drive wheels allow for more refined control, i.e., motion control. A further advantage of independently drivable drive wheels is that the vehicle can turn within a very small turning radius. This allows the cart transport vehicle to be moved and controlled in a small space, such as in a hallway or a small room.

[0018] In one example, the chassis includes a first bottom plate, a second bottom plate, and a frame;

[0019] The drive system is mounted on the frame;

[0020] The frame is located substantially in the middle of the cart transport vehicle;

[0021] The first base plate is coupled to the frame via a first pivot such that the first base plate can rotate relative to the frame;

[0022] The second base plate is coupled to the frame via a second pivot such that the second base plate can rotate relative to the frame;

[0023] The first base plate and the second base plate are independently rotatable relative to the frame.

[0024] In one example, the cart transport vehicle includes: one or more contactless proximity sensors located on the chassis and configured to detect one or more objects.

[0025] In an example, the one or more contactless proximity sensors are wave transmitting sensors configured to transmit waves and detect one or more objects based on analyzing reflected waves.

[0026] In one example, the cart transport vehicle includes: two contactless proximity sensors, wherein a first contactless proximity sensor is located at a front portion of the chassis, and a second contactless proximity sensor is located at a rear portion of the chassis, and wherein the contactless proximity sensors are configured to scan an environment to detect one or more objects.

[0027] The contactless proximity sensor is configured to detect objects or obstacles, such as carts and other obstacles, in a contactless manner based on measuring and processing reflected signals.

[0028] In one example, the contactless proximity sensor is a lidar sensor. In another example, the contactless proximity sensor may be an acoustic sensor, such as an ultrasonic sensor configured to transmit acoustic signals. In another alternative, the proximity sensor may be an infrared sensor configured to transmit infrared signals.

[0029] In one example, the controller may be configured to receive a signal from the contactless proximity sensor and process the received signal. The received signal may be a signal reflected from one or more objects. The controller is configured to process the reflected signal to detect an object. The controller may detect the position of the object based on the flight time of the reflected signal. For example, the controller may use Doppler calculations.

[0030] In one example, the gripper support is configured to move laterally to align the gripper with the cart. The gripper support may be configured to move horizontally to account for misalignment between the gripper and a target cart. The target cart is a cart that needs to be transported.

[0031] In one example, the gripper support is configured to move longitudinally relative to the chassis. Longitudinal means that the gripper support can move forward and backward to align with a target cart.

[0032] In one example, the gripper support is movable in a forward direction or along a longitudinal axis of the cart transport vehicle toward a front of the chassis.

[0033] In one example, the clamp assembly includes a clamp frame attached to and extending from the chassis;

[0034] The gripper support is held by the gripper frame, the gripper support being laterally movable relative to the gripper frame;

[0035] The gripper frame includes a locking mechanism configured to lock the gripper support in place.

[0036] In one example, the cart transport vehicle includes: one or more dampers, the one or more dampers being located on the gripper support or the gripper frame;

[0037] Wherein the one or more dampers are configured to absorb impact from the cart when the cart transport vehicle moves to the clamping position.

[0038] In one example, the cart transport vehicle includes two dampers disposed on the clamping frame and adapted to be parallel to each other and oriented to be movable to be parallel to a longitudinal axis of the cart transport vehicle.

[0039] In one example, the clamp support comprises a telescopic device for adjusting the lateral distance between the clamps.

[0040] In one example, the telescopic device comprises two horizontal rails that can move relative to each other,

[0041] A first clamp is installed on the free end of the first horizontal track, and a second clamp is installed on the free end of the second horizontal track;

[0042] The telescoping device further includes a clamp support actuator operably connected to the rails and configured to move the rails horizontally away from or toward each other, thereby increasing or decreasing the distance between the first clamp and the second clamp.

[0043] In one example, the gripper support actuator can be a motor, such as a linear motor. The motor can be configured to be operably connected to the track and can be configured to move the track.

[0044] In one example, a first lidar sensor is located at the front of the chassis and is oriented to transmit light signals in a forward direction;

[0045] a second lidar sensor positioned on a rear side of the chassis and oriented to transmit light signals in a rearward direction;

[0046] Therein, the transmitted light in the forward and backward directions is used to scan the environment, and one or more objects are detected based on the reflected light.

[0047] In one example, the gripper includes a clamp, a guide plate, a position sensor, and a gripper actuator; wherein

[0048] The clamp is movable relative to the guide plate to accommodate a portion of the cart to be clamped;

[0049] The position sensor is secured to or adjacent to the fixture and is configured to sense a portion of the cart;

[0050] The gripper actuator is connected to the clamp and is configured to move the clamp to receive a portion of the cart;

[0051] The clamp further includes an engageable and disengageable lock such that when the lock is engaged, the clamp is locked and restricted from movement.

[0052] In one example, the cart transport vehicle is an automated guided vehicle (AGV).

[0053] wherein the cart transport vehicle further comprises a communication interface operably coupled to the controller, the communication interface being configured to wirelessly communicate with a user device to receive one or more instructions from the user device;

[0054] wherein the one or more instructions define operation of the cart transport vehicle, and the controller is configured to control the drive system and the gripper support to engage and move the cart in accordance with the instructions.

[0055] The controller may be configured to control the cart support and the gripper to adjust to align with the target cart such that the gripper is aligned with one or more surfaces to grip the cart.

[0056] In one example, the cart transport vehicle is configured to automatically locate and engage a cart via the gripper and transport the cart from a location to a destination, wherein the destination may be defined in the instructions.

[0057] In one example, the cart transport vehicle may include a positioning interface (i.e., a positioning module). The positioning interface may be a GPS interface (i.e., a GPS module) and configured to communicate with a guidance system (e.g., a GPS system). The controller may be configured to receive a waypoint or path and navigate the cart transport vehicle along the specified path. The navigation path may define a target cart and a destination of the target cart. The controller may be configured to control the cart transport vehicle (i.e., the cart transport AGV) to find a target cart, engage the target cart (i.e., clamp it in a clamp), and then transport the engaged cart to the specified destination.

[0058] As used herein, the term "comprising" (and its grammatical variations) is used in the inclusive sense of "having" or "including," and not in the sense of "consisting only of. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Embodiments of the present disclosure will be described below by way of example with reference to the accompanying drawings, in which:

[0060] Figure 1 An exemplary cart transport vehicle for transporting a cart is shown;

[0061] Figure 2 An example of a central frame of a cart transport vehicle and two floors defining a chassis is shown;

[0062] Figure 3 Schematic diagram showing the drive system of a cart transport vehicle

[0063] Figure 4 A schematic diagram showing a cart transport vehicle and its chassis as it moves along a flat surface;

[0064] Figure 5 and Figure 6 shows the pivoting of the chassis of a cart transport vehicle as it passes over a hump;

[0065] Figure 7 The gripper assembly of the cart transport vehicle is shown in an operational position engaging a target cart;

[0066] Figure 8 A gripper frame and a gripper support of a gripper assembly are shown;

[0067] Fig. 9 An example of a second holder and its components is shown;

[0068] Fig.10 An example of a first holder and its components is shown;

[0069] Fig.11 shows a schematic diagram of a controller, where inputs come from various sensors and outputs are fed to actuators; and

[0070] Fig.12 Shows the use of Figure 1 A flow chart of a method for transporting a cart by a cart transport vehicle. DETAILED DESCRIPTION

[0071] The present disclosure relates to a cart transport vehicle configured to reposition, ie, transfer, a cart from one location to another.

[0072] refer to Figure 1, showing an embodiment of the present disclosure. This embodiment is intended to provide a cart transport vehicle 100. The cart transport vehicle 100 includes:

[0073] a chassis; a drive system disposed on the chassis and configured to propel the cart transport vehicle; a gripper assembly disposed on the chassis, the gripper assembly comprising a gripper support and at least one gripper mounted on and supported by the gripper support, wherein the at least one gripper is used to releasably grip the cart; a controller operably connected to the drive system and configured to control the drive system to move the cart transport vehicle; wherein the chassis is configured to pivot about a central lateral axis.

[0074] The cart transport vehicle can be an automated vehicle. In one example, the cart transport vehicle can be an automated guided vehicle (AGV). The cart transport vehicle can be substantially autonomous and can be a robot.

[0075] At least some functions may be automated. The cart transport AGV may be controlled by a user via a user device such as a smartphone, tablet, laptop, etc. The user device may be used as a remote control. The cart transport vehicle may be configured to automatically align and engage with the cart, i.e., grip the cart, and move the cart.

[0076] Alternatively, the cart transport vehicle may be fully automated. In this fully automated (i.e., fully automatic) example, the cart transport vehicle may be programmable with instructions to automatically locate the cart, grip the cart, and move the cart. The cart transfer robot may be an automated vehicle configured to engage a cart and transfer it from one location to another.

[0077] The cart transport vehicle (i.e., the cart transport robot) includes a chassis 200 and a drive system 300 disposed on the chassis. The drive system 300 may be configured to propel the cart transport robot 100. The drive system 300 may also include a steering function to steer the cart transport vehicle 100 (i.e., the cart transport robot). The drive system 300 may be configured to control the vehicle 100 to avoid obstacles, move from one position to another, adjust its position to align with a target cart, and control other functions.

[0078] The cart transport vehicle 100 includes a gripper assembly 400 disposed on a chassis 200. The gripper assembly 400 includes one or more grippers and a gripper support 420. The gripper assembly includes a first gripper 410 and a second gripper 412 mounted on and supported by the gripper support 420. At least one of the one or more grippers 410, 412 is configured to releasably grip a cart, such as a target cart to be moved.

[0079] The cart transport vehicle 100 also includes a controller 500 operably connected to the drive system 300 and the gripper assembly 400. The controller 500 can be configured to control the drive system 300 to move the cart transport vehicle 100 from one location to another. If the cart transport vehicle 100 has gripped a cart, the cart moves as the cart transport vehicle 100 moves.

[0080] The controller 500 may be configured to control and laterally move the gripper support 420. The controller 500 may also be configured to control the grippers 410, 412 to grip or release the cart. The gripper assembly 400 may include a gripper support actuator configured to extend and retract the gripper support. The controller 500 may be operably connected to the gripper actuator and control the movement of the gripper support. The vehicle 100 may further include a gripper actuator associated with each gripper 410, 412. Each gripper 410, 412 may be coupled to the gripper actuator. The controller 500 may be configured to control the gripper actuator to cause the gripper to grip or release the cart.

[0081] The drive system 300 includes a drive motor and one or more drive wheels. Figure 1 and Figure 2 The vehicle 100 includes two drive wheels 304, 306. The drive wheels 304, 306 are substantially located at the center of the chassis 200.

[0082] The chassis 200 is configured to pivot about a central transverse axis of the cart transport vehicle. The chassis 200 may be shaped and constructed to pivot about a central transverse axis (i.e., a horizontal axis) of the vehicle 100. The drive wheels 304, 306 are located on opposite lateral sides of the chassis 200. The drive system 300 may include at least one actuator (e.g., a motor) coupled to the drive wheels 304, 306 and operably connected to the controller 500. In the illustrated example, the cart transport vehicle 100 includes two drive motors 310, 312. The first drive motor 310 is coupled to and powers the first drive wheel 304. The second drive motor 312 is coupled to the second drive wheel 306. The controller 500 is configured to independently control the first and second drive motors 310, 312. In this way, the drive wheels can be independently controlled.

[0083] The motors 310, 312 can be controlled to power the wheels in opposite directions, thereby turning the vehicle. The motors can be controlled to drive each wheel in the same direction, thereby driving the vehicle 100 in one direction. The motors 310, 312 can each control each wheel at a different speed, thereby allowing the vehicle 100 to make a small turn. Independently controllable drive wheels enable more precise control, i.e., motion control. A further advantage of independently driveable drive wheels is that the vehicle can turn within a very small turning radius. This allows the cart transport vehicle to be moved and controlled in a small space, such as in a hallway or a small room. When the rotation and movement are controlled by changing the speed and / or direction of movement of each wheel, the independently controllable motors 310, 312 and wheels 304, 306 avoid the need for a steering mechanism.

[0084] In an alternative configuration, the vehicle 100 may include a single drive motor. The single drive motor may be operably connected to each wheel and may be controlled to drive the wheels 304, 306. In this alternative configuration, the vehicle 100 may include a steering mechanism that is coupled to the wheels and allows the wheels to rotate to steer the vehicle 100. The steering mechanism may also be used in a configuration that includes two motors 310, 312 and independently drivable wheels.

[0085] The wheels 304, 306 may be located substantially at the center of the chassis 200. More specifically, the drive wheels 304, 306 may be located at the longitudinal center of the chassis 200. The wheels 304, 306 each include an axis about which the wheel rotates. Figure 3 As shown, the drive system 300 includes two shafts 320, 322. Each drive wheel 304, 306 has its own associated shaft. The first drive wheel 304 rotates about the first shaft 320, and the second drive wheel 306 rotates about the second shaft 322. Each shaft defines a transverse rotation axis 324, such as Figure 2 The wheels 304, 306 are arranged coaxially, ie arranged to rotate about the same axis of rotation 324. The axis is transverse to the chassis and defines the axis of rotation 324.

[0086] Alternatively, the wheels may be mounted on a lateral axle and may rotate about the lateral axle. The lateral axle may be common to both drive wheels 304, 306. A common axle may extend transversely through the chassis and may pass through both wheels and define an axis of rotation 324.

[0087] Preferably, the wheels 304, 306 are mounted on the edge of the chassis. The wheels 304, 306 extend laterally outward from the chassis 200. The drive system 300 can be mounted on the frame. The drive system 300 can be located within the frame 330, or partially within the frame 330. Figure 2An example is shown including a frame 330 on which the drive system 300 is mounted. The frame 330 is located substantially in the center of the chassis 200. The frame 330 may define the center of the chassis. The frame 330 may include a plurality of rods and may be in the form of a cage frame.

[0088] The chassis 200 may be pivotable. The chassis 200 may pivot about the axis of rotation of one or more drive wheels 304, 306. In one example, the chassis 200 may pivot about one or more axes. The chassis 200 may pivot about an axis of rotation 324 coaxial with the axes 320, 322. The chassis 200 may rotate about the axes of the two drive wheels.

[0089] The chassis 200 may include two plates 202, 204. The chassis includes a first bottom plate 202 and a second bottom plate 204. The two bottom plates 202, 204 may be separate bottom plates, ie, separate and discrete from each other. Figure 2 , the first base plate 202 is pivotally coupled to the frame 330. The second base plate 204 is also pivotally coupled to the frame 330.

[0090] In the example shown, the first base plate 202 is coupled to the frame 330 via a first pivot 206 so that the first base plate 202 can rotate, i.e., pivot, relative to the frame 330. The second base plate 204 is coupled to the frame 330 via a second pivot 208 so that the second base plate 204 can rotate, i.e., pivot, relative to the frame 330. In the example shown, the frame can be substantially stationary and non-pivoting. The frame 330 provides a rigid structure to mount the wheels and allows the base plate to pivot relative to it. The first base plate 202 and the second base plate can rotate independently relative to the frame 330. The base plates 202, 204 can move independently relative to the frame 330. Figure 2 The rotation, ie pivoting direction A of the first base plate is shown.

[0091] The base plates 202, 204 are pivotable about the transverse axis 324. Each base plate 202, 204 is capable of rotating relative to a transverse axis (ie, the transverse axis 324). Figure 2 The directions in which the first base plate 202 may be rotated about the axis 324 are shown. Each base plate 202, 204 may be independently pivotable.

[0092] Alternatively, the first floor 202 and the second floor 204 may be pivotally coupled to each other. In another alternative, the first floor 202 and the second floor 204 may each be pivotally coupled to each axle of each drive wheel and may be pivotable relative to and about the axle. In another alternative where the vehicle 100 includes a single common axle passing through the drive wheels, the first and second floors 202, 204 may be pivotally coupled to the common axle and may rotate about the common axle.

[0093] The chassis 200 may be formed of metal or plastic or any other rigid material. In one example, the chassis 200 may be formed of stainless steel or aluminum. Each base plate 202, 204 may optionally include one or more peripheral brackets 220 that may be formed of metal. The plate portion 222 is connected to the bracket 220 and supported by the bracket 220. The plate portion 222 may be formed of plastic. The first base plate 202 is shaped and constructed to be inserted under the cart to position the cart transport robot 100 in an operable correct position to clamp and move the cart. The base plates 202 and / or 204 may be fully or partially inserted under the cart to position the gripper assembly 400 in a position to clamp the target cart. The gripper assembly 400 may be located at the rear of the second base plate 204.

[0094] The cart transport vehicle may also include one or more non-driven wheels, such as one or more casters. The non-driven wheels are free to rotate and are not driven by a motor. Figure 1 In the illustrated configuration shown, the vehicle includes four casters 340, 342, 344, 346. Two casters are disposed substantially at the front of the vehicle and two casters are disposed substantially at the rear. Figure 1 and Figures 4 to 6 As shown, two casters 340, 342 are connected to the first base plate 202. Two other casters 344, 346 are connected to the rear base plate 204. The casters 344, 346 are freely rotatable and help to turn the vehicle, provide support for the vehicle, provide stability and help maintain contact with the ground.

[0095] Figures 4 to 6 The pivoting of the base plate is shown. Figures 4 to 6 is a schematic diagram showing a pivoting chassis, i.e. a pivoting base plate. Figure 4 The cart transport vehicle 100 is shown traveling on a flat surface. When traveling on a flat surface, the chassis 200 remains substantially flat, i.e., flat. The first and second bottom plates 204, 206 do not pivot. Figure 5 and 6 The vehicle 100 is shown traveling over a bump, indicated by B, in the ground. Figure 5 It is shown that when the caster 340 travels on the protrusion B, the first base plate 202 (front base plate) pivots upward (arrow U). When the rear caster 344 travels on the protrusion B, the second base plate 204 pivots upward (arrow X).

[0096] The pivotable floor plates 202, 204 decouple the drive wheels from any load or movement caused by bumps on the surface. The floor plates 202, 204 pivot to absorb any forces and movements caused by the vehicle traveling over bumps or uneven surfaces. This decoupling reduces or eliminates loads transferred to the drive wheels. The pivoting floor plates 202, 204 ensure that the drive wheels remain in contact with the ground even when the vehicle moves over a bump. The pivoting of the floor plates 202, 204 further reduces the risk of the vehicle tipping over or falling due to bumps because the load from the bumps is absorbed by the pivoting motion.

[0097] The cart transport vehicle 100 includes one or more non-contact proximity sensors disposed thereon. The one or more non-contact proximity sensors are located on the chassis and are configured to detect one or more objects in the environment. The one or more non-contact sensors are configured to transmit a signal, measure a reflected signal, and determine the presence of one or more objects based on the reflected signal.

[0098] In one example, one or more non-contact proximity sensors may be wave transmitting sensors configured to transmit waves and detect one or more objects based on analyzing reflected waves. One or more non-contact sensors each include a transmitter and a receiver, or may include a transceiver (which includes a transmitter and a receiver combined into a single unit). The transceiver is configured to transmit waves, i.e., signals, and receive reflected signals. The controller 500 is configured to receive and process reflected signals. The processor 500 is configured to detect one or more objects.

[0099] The contactless proximity sensor is configured to detect objects or obstacles, such as carts and other obstacles, in a contactless manner based on measuring and processing reflected signals.

[0100] In one example, the contactless proximity sensor may be a lidar sensor. In another example, the contactless proximity sensor may be an acoustic sensor, such as an ultrasonic sensor configured to transmit an acoustic signal. In another alternative, the proximity sensor may be an infrared sensor configured to transmit an infrared signal.

[0101] In one example, the cart transport vehicle includes two non-contact proximity sensors 602, 604. The first non-contact proximity sensor 602 is located at the front of the chassis 200, and the second non-contact proximity sensor 604 is located at the rear of the chassis 200. The non-contact proximity sensors 602, 604 are configured to scan the environment to detect one or more objects. The controller 500 is configured to receive signals from the first and second non-contact proximity sensors 602, 604 and determine the presence of one or more objects (e.g., a cart or other obstacle).

[0102] exist Figure 1 and Fig.11In the example shown, the cart transport vehicle 100 includes a first laser radar sensor 602 and a second laser radar sensor 604. The first laser radar sensor 602 is located in front of the chassis 200, such as Figure 1 The second laser radar sensor 604 is located at the rear of the chassis 200, as shown. Figure 1 As shown. The first laser radar sensor 602 and the second laser radar sensor 604 each include a transceiver configured to transmit a laser signal and detect a reflected laser signal. The first and second laser radar sensors 602, 604 are configured to transmit laser signals outward.

[0103] In one example, the lidar sensors 602, 604 are configured to transmit laser signals in an arc, such as a 180 degree arc or a 270 degree arc, or in all directions (e.g., 360 degrees). The sensing arc can be 270 degrees. The first lidar sensor 602 can transmit laser signals to the front of the vehicle 100. The second lidar sensor 604 is configured to transmit laser signals to the rear of the vehicle 100. In one example, the first lidar sensor 602 is configured to transmit laser signals at approximately 270 degrees from a sensor pointing forward. The second lidar sensor 604 is configured to transmit laser signals at approximately 270 degrees from a sensor pointing and facing the rear of the vehicle. The sensing arcs of the two sensors can overlap, so that obstacles in any direction can be detected.

[0104] The controller 500 is electrically coupled to the first and second lidar sensors 602, 604. Fig.11 As shown, the controller 500 is configured to receive reflected signals detected by the first laser radar sensor 602 and the second laser radar sensor 604. The controller 500 may be configured to process the received signals. The received signals may be signals reflected from one or more objects.

[0105] The controller 500 is configured to process the reflected signal to detect an object. The controller 500 may detect the location of the object based on the time of flight of the reflected signal. For example, the controller may use Doppler calculations or other suitable time of flight calculations. The controller 500 is configured to determine one or more obstacles in the environment and detect potential collision risks. The reflected signal may also be used to determine a target cart (i.e., a cart that needs to be transported).

[0106] The controller 500 may be configured to appropriately control the drive motors 310, 312 to stop operating if an obstacle is detected. The controller 500 may also be configured to control the drive motors 310, 312 to navigate around obstacles by turning the vehicle and propelling the vehicle around one or more detected obstacles.

[0107] Figure 7 and 8An example of a clamp assembly 400 is shown. The clamp assembly 400 includes a clamp frame 422. The clamp frame 422 is attached to the chassis 20 and extends away from the chassis 200. Figure 1 As shown, the gripper frame 422 extends upward from the chassis 200. The gripper frame 422 includes a support structure 424 that is configured to hold and maintain the gripper support 420. The gripper support 420 can be a lateral guide rail. The support structure 424 can be a slide 426, or can have a slide attached thereto. The slide 426 includes one or more bearings or wheels. The gripper support 420 can be as shown. Figure 8 The carriage 426 facilitates the lateral movement of the gripper support 420. The gripper support 420 is configured to move laterally to align the grippers 410, 412 with the cart. The gripper support 420 is configured to move horizontally to resolve misalignment between the grippers 410, 412 and the target cart 10.

[0108] The gripper support 420 includes a telescoping device 428 adapted to adjust the lateral distance between the grippers 410 , 412 . In one example, the telescoping device 428 includes two horizontal rails that are movable relative to each other. The two horizontal rails may define the gripper support 420 .

[0109] The clamp assembly 400 includes a first clamp 410 mounted on a free end of a clamp support and a second clamp 412 mounted on the other free end of a clamp support 420. In the example shown, the first clamp is mounted on a free end 440 of a first horizontal rail 442. The second clamp 412 is mounted on a free end 444 of a second horizontal rail 446.

[0110] The telescoping device may include a gripper support actuator 430. The gripper support actuator 430 is operably connected to the rails 422, 446 and is configured to move the rails horizontally away from or toward each other, thereby increasing or decreasing the distance between the first gripper 410 and the second gripper 412. The gripper support actuator 430 may be a linear motor or a stepper motor or a worm gear or other suitable actuator configured to move the rails laterally to produce a telescoping mechanism. Figure 7 The clamp support actuator is not shown in or 8.

[0111] The gripper assembly 400 includes a carriage actuator 432. The carriage actuator 432 is coupled to the carriage 426 and is configured to actuate the carriage 426 and move the gripper support 420 laterally (e.g., horizontally) as indicated by arrow B. The carriage actuator 432 can be controlled by the controller 500. The gripper frame 422 includes a locking mechanism configured to lock the gripper support in place. The locking mechanism can be an automatic locking mechanism configured to automatically lock the gripper support.

[0112] The cart transport vehicle 100 may also include one or more dampers. One or more dampers may be located on the gripper support or the gripper frame. One or more dampers are configured to absorb impact from the cart when the cart transport vehicle is moved to the gripping position. The gripper frame 422 may act as a physical restraint as the chassis 200 slides under the cart. The dampers absorb any impact between the cart and the gripper frame 422. The controller 500 may be configured to detect impact or engagement of the dampers to determine that the vehicle is properly positioned under the cart 10.

[0113] like Figure 8 As shown in the configuration of , dampers 450, 452 are located on the gripper frame 422. The dampers can be hydraulic dampers. The gripper support 420 and the gripper frame 422 are configured to move longitudinally relative to the chassis. Longitudinally means that the gripper support can move forward and backward to align the grippers 410, 412 with the target cart.

[0114] In one example, the gripper support is movable in a forward direction C or along the longitudinal axis of the cart transport vehicle toward the front of the chassis. The dampers 450, 452 are shaped and configured to absorb shock and longitudinally move the gripper frame when the vehicle is positioned in an operational position for engagement with a target cart. The dampers 450, 452 also absorb longitudinal loads or shocks to ensure that the grippers 410, 412 are not displaced when clamped to the target cart 10.

[0115] like Figure 8 As shown, the cart transport vehicle 100 includes two dampers 450, 452. The dampers are disposed on the gripper frame 422. The dampers 450, 452 are arranged parallel to each other and are oriented to be movable parallel to the longitudinal axis of the cart transport vehicle.

[0116] Each gripper 410, 412 includes a gripper, a guide plate, a position sensor, and a gripper actuator. Figure 7As shown, the first gripper 410 includes a first clamp 460 and a first guide plate 462. The first gripper 410 also includes a first position sensor 470 mounted near the clamp 460. The second gripper 412 includes a second clamp 464 and a second guide plate 466. The second gripper 412 includes a second position sensor 472 mounted adjacent to the second clamp 464. The position sensors 470, 472 may be proximity sensors. The sensors may be non-contact sensors, or may be contact sensors, such as limit switches. In the example shown, the position sensors 470, 472 are configured to detect the position of the clamps 460, 464 relative to the target cart and feed the position information to the controller 500. The position sensor may be an ultrasonic sensor configured to detect the position of the clamps and the proximity of the target cart.

[0117] The first gripper actuator 480 is connected to the first gripper 410 and is configured to actuate the first gripper 460 between an open position and a closed position. The second gripper actuator 482 is connected to the second gripper 412 and is configured to actuate the second gripper 464 between an open position and a closed position.

[0118] Each clamp is movable relative to the guide plate to accommodate a portion of the cart to be clamped. Fig. 9 As shown, the first clamp 460 can be moved relative to the first guide plate 462 to accommodate and clamp a portion of the cart 10. The clamp can be moved by actuating the clamp actuators 480, 482. In one example, each clamp actuator 480, 482 can be a servo motor. Each clamp 410, 412 can include a lock 484. The locks of the two clamps 410, 412 can be the same. The clamps 410, 412 can be similar or identical in structure. The lock 484 can be engageable or disengageable so that when the lock 484 is engaged, the clamp is locked and restricted from movement.

[0119] The controller 500 is configured to automatically control the gripper assembly 400 and its components to properly align and grip (i.e., grip or engage) the target cart. The cart transport vehicle 100 may be an automatic (i.e., autonomous) guided vehicle. The vehicle may be fully automatic or may be partially automatic, for example, may be remotely controllable. The cart transport vehicle 100 may optionally include a communication interface 510 operably coupled to the controller 500. The communication interface is configured to wirelessly communicate with a user device to receive one or more instructions from the user device. The user device may be a mobile device or a smart phone or a tablet or another suitable user device. The communication interface 510 may facilitate wireless communication with the user device using an appropriate wireless communication protocol (e.g., Bluetooth or Wi-Fi or Zigbee or infrared or any other wireless communication protocol). The communication interface 510 may be a wireless communication module.

[0120] One or more instructions define the operation of the cart transport vehicle. The controller 500 is configured to control the drive system 300 and the gripper assembly 400 to engage and move the cart according to the instructions. In operation, the communication interface 510 may receive remote instructions, such as through a user device. The instructions may be decoded by the controller 500. The instructions may define a specific movement and / or may also define a target cart. The controller 500 is configured to control the first and second drive motors 310, 312 to move the vehicle 100 to an appropriate position. The controller 500 is also configured to detect any obstacles in the movement by processing signals received from the first laser radar sensor 602 and the second laser radar sensor 604.

[0121] When the vehicle 100 is in position to engage a cart, the controller 500 may be configured to detect the alignment of each gripper 410, 412 relative to the target cart. The controller 500 is configured to receive the position of the grippers from the first and second position sensors 470, 472. The first position sensor 470 is configured to provide position information of the first gripper 410, in particular the position of the first clamp 460. The second position sensor 472 is configured to provide position information of the second gripper 412, in particular the position of the second clamp 464. The controller 500 is configured to determine the relative position of each gripper (and each clamp) relative to the target cart.

[0122] The controller 500 is configured to control the gripper support actuator 430 to extend the distance between the grippers 410, 412, i.e., to control the telescoping device to adjust the horizontal distance between the grippers 410, 412 to align with the large trolley. The controller 500 may also be configured to control the carriage actuator 432 to horizontally slide the gripper support 420 so that the grippers 410, 412 are aligned with the target cart. The controller may determine the alignment based on data from the position sensors 470, 472. The guide plates 462, 466 also help the user visually align the vehicle. The guide plates provide a guide surface that contacts the target cart. Optionally, each guide plate 462, 466 may include a sensor configured to detect contact. Alternatively, the guide plates may each include a position sensor or a proximity sensor. The user may wirelessly provide instructions to control various actuators, such as carriage actuators or gripper support actuators, to align the grippers 410, 412 with a surface of a target cart or a feature of a target cart, such as a vertical bar.

[0123] Once aligned, the controller may be configured to control the first gripper actuator 480 and the second gripper actuator 482 to actuate the clamps 460, 464. The clamps may be actuated to clamp, i.e., to grip or grasp or engage the target cart. At least one surface or feature of the target cart 10 is clamped between the clamps 460, 464 and the corresponding guide plate. The controller 500 may be configured to move the cart to a specified position, or may be wirelessly controlled by a user to move the cart to a specified position. Once in the specified position, the clamps 460, 464 may be opened to disengage the cart, and the vehicle (i.e., the cart transport robot) may be moved away.

[0124] In one example, the cart transport vehicle 100 is configured to automatically locate and engage a cart via a gripper and transport the cart from a location to a destination, where the destination may be defined in the instructions. The cart may initially be located by the lidar sensors 602, 604. The lidar sensors may be used for rough object recognition. The position sensors 470, 472 are then used to sense the target cart and align the grippers 410, 412 appropriately. Fig. 9 As shown, the controller 500 is configured to control the various actuators to align the grippers 410 , 412 to a suitable position to grip the target cart 10 .

[0125] In one example, the cart transport vehicle may include a positioning interface 700 (i.e., a positioning module). The positioning interface 700 may be a GPS interface (i.e., a GPS module) and configured to communicate with a guidance system (e.g., a GPS system). The controller 500 may be configured to receive a waypoint or path and navigate the cart transport vehicle 100 along the specified path. The navigation path may define a target cart and a destination for the target cart. The controller 500 may be configured to control the cart transport vehicle (i.e., a cart transport AGV) to find the target cart, engage the target cart (i.e., clamp it in a clamp), and then transport the engaged cart to the defined destination.

[0126] The controller 500 may include programming instructions for detecting input conditions and controlling output conditions. The programming instructions may be stored in a memory of the controller. The programming instructions may correspond to the methods, processes, and functions described herein. The programming instructions may be executed by one or more hardware processors of the controller. The programming instructions may be implemented in C, C++, JAVA, or any other suitable programming language. Some or all of the programming instructions may be implemented in a dedicated circuit such as an ASIC and FPGA.

[0127] The controller 500 may also include a circuit for receiving sensor signals. The controller 500 may optionally include a display for indicating status. The display may also display warnings and / or other alarms. The controller may send warnings and messages to the user device via the communication interface 510, such as detected obstacles, etc. Optionally, the controller may receive user input via a user interface such as a display. The user interface may include buttons and / or a dial. The user interface may include a touch screen.

[0128] Fig.12 A method 800 for transporting a cart using a cart transport vehicle 100 is shown. The method 800 is an example method of an automated cart transport vehicle. The method 500 may be performed by a controller 500. The method may alternatively include: a user remotely controlling the cart transfer robot 100 (i.e., the cart transport vehicle) via a user device such as a smart phone. The method 800 includes step 802. Step 802 includes: receiving a call request. The robot 100 may receive a call request from a user device via the communication interface 510.

[0129] The call request may define a location. In step 804, the controller may be configured to determine the location of the call. In step 806, the controller is configured to control the drive system to drive the robot to the call location. The call location may be the location of the user, or may be a specific location in the environment. The location may be determined using the GPS module 700.

[0130] Step 808 includes: identifying the target cart based on the lidar sensor input and / or the position sensor input. In step 810, the controller aligns the grippers 410, 412 with the target cart 10. The grippers are aligned by controlling the gripper support actuator 430 and / or the carriage actuator 432. Step 812 includes: controlling the grippers to grip the cart by controlling the first and second gripper actuators. Step 814 includes: controlling the drive system 300 to move the cart to the destination. The destination may be defined in the initial call request or may be defined by the user. Step 816 includes: stopping at the destination. The GPS module 700 may be used to determine whether the destination has been reached. Alternatively, the user may control the robot 100 (i.e., the cart transport vehicle 100) to stop at the destination by sending a stop command.

[0131] Step 818 includes releasing the cart 10 once at the destination. The controller 500 is configured to control the first and second gripper actuators 480, 482 to release the cart. As the cart transport vehicle 100 moves in the environment, it performs obstacle detection. Step 820 includes performing obstacle detection based on the first and second lidars 602, 604 and the lidar signals. Based on processing the reflected laser signals, an obstacle is detected. In step 822, the controller 500 determines whether an obstacle is detected. If the object is detected to be too close, i.e., less than a certain separation threshold, an obstacle is detected. If an obstacle is detected, then in step 824, the vehicle 100 is stopped by disengaging the drive system 300. Steps 820 to 824 are performed each time the vehicle 100 (i.e., the robot) moves in the environment.

[0132] Method 800 is an exemplary method. A cart transport vehicle 100 (i.e., a cart transfer robot 100) can be remotely controlled by a user device to drive a cart, hold the cart, and transport the cart to a destination. The vehicle is configured to perform obstacle detection using a lidar sensor and immediately stop if an obstacle is detected while being remotely controlled by a user.

[0133] The cart transport vehicle 100 is advantageous in that it provides an automatic or semi-automatic means to engage and transport a heavy cart without requiring the user to apply a large amount of physical force. The vehicle provides a safer, easier and more efficient means to move a heavy cart. Using the vehicle 100 will reduce injuries to the user when transporting a cart.

[0134] The cart transport vehicle 100 (i.e., robot 100) is advantageous because it provides an automatic tool that can transport carts autonomously. The vehicle 100 also includes a non-contact sensor for obstacle recognition, such as a LiDAR sensor. This provides a safer device and reduces collisions. The vehicle includes a front LiDAR and a rear LiDAR, ensuring more accurate sensing of the environment and improved obstacle detection at least in the front and rear. Two LiDARs with a wide sensing arc enable obstacle detection in all directions. This ensures that collisions can be avoided.

[0135] The cart transport vehicle also includes sensors and telescoping devices and sliding gripper supports to precisely align the gripper with the target cart. The vehicle 100 includes multiple actuators to allow precise control of the target cart and autonomous alignment with the target cart. This has the advantage of reducing or eliminating the need for manual or physical user intervention. The multiple actuators and sensors of the gripper assembly 400 are advantageous in that the vehicle 100 can be used to grip and transport multiple carts of different sizes and shapes. The vehicle 100 provides a universal cart transport device. The cart transport vehicle described herein provides a safer, faster and more efficient means of transporting carts in an environment.

[0136] It should be noted that the embodiments may be described as processes, specifically as flow charts, flow block diagrams, structure diagrams, or block diagrams. Although a flow chart may describe operations as a sequential process, many operations may be performed in parallel or simultaneously. In addition, the order of the operations may be rearranged. A process terminates when its operations are completed. A process may correspond to a method, function, procedure, subroutine, subprogram, etc. in a computer program. When a process corresponds to a function, its termination corresponds to the function returning to the calling function or the main function.

[0137] The methods or algorithms described in conjunction with the examples disclosed herein may be implemented directly in hardware, software modules executable by a processor, or a combination of both, in the form of processing units, programming instructions, or other directions, and may be included in a single device or distributed over multiple devices. The software modules may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art. The storage medium may be coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. In an alternative, the storage medium may be integrated with the processor.

[0138] Without departing from the scope of the present disclosure, one or more components and functions shown in the drawings may be rearranged and / or combined into a single component or embodied as several components. Additional elements or components may also be added without departing from the scope of the present disclosure. In addition, the features described herein may be implemented in software, hardware, business methods and / or combinations thereof.

[0139] It will be appreciated by those skilled in the art that various changes and / or modifications may be made to the present disclosure as shown in the specific embodiments without departing from the spirit or scope of the present disclosure as broadly described. Therefore, the present embodiments are to be considered in all aspects as illustrative and not restrictive.

[0140] Unless otherwise indicated, any reference to prior art contained herein is not to be taken as an admission that the information is common general knowledge.

Claims

1. A cart transport vehicle, characterized in that: The cart transport vehicle is used to transport a cart, and the cart transport vehicle comprises: Chassis; a drive system disposed on the chassis and configured to propel the cart transport vehicle; a clamp assembly disposed on the chassis, wherein the clamp assembly comprises a clamp support and at least one clamp mounted on and supported by the clamp support; wherein the at least one clamp is used to releasably clamp a cart; a controller operably connected to the drive system and configured to control the drive system to move the cart transport vehicle; Wherein, the chassis is configured to pivot about a central transverse axis.

2. The cart transport vehicle according to claim 1, characterized in that: in, The drive system comprises a drive motor and one or more drive wheels, the drive wheel being centrally located on the chassis, the chassis being pivotable about an axis of rotation of the one or more drive wheels.

3. The cart transport vehicle according to claim 2, characterized in that: in, The one or more drive wheels may be rotatable about a lateral axis and the chassis may be pivotable about the axis of the one or more drive wheels.

4. The cart transport vehicle according to claim 2, characterized in that: in, The drive system comprises two drive wheels, which are arranged at the center of the chassis, the two drive wheels are coaxial and rotatable around a common axis, and the chassis can pivot around the axes of the two drive wheels.

5. The cart transport vehicle according to claim 2, characterized in that: in, The chassis comprises a first bottom plate, a second bottom plate and a frame; The drive system is mounted on the frame; The frame is located substantially in the middle of the cart transport vehicle; The first base plate is coupled to the frame via a first pivot such that the first base plate can rotate relative to the frame; The second base plate is coupled to the frame via a second pivot such that the second base plate can rotate relative to the frame; The first base plate and the second base plate are independently rotatable relative to the frame.

6. The cart transport vehicle according to claim 1, characterized in that: include: One or more contactless proximity sensors are located on the chassis and configured to detect one or more objects.

7. The cart transport vehicle according to claim 6, characterized in that: in, The one or more contactless proximity sensors are wave transmitting sensors configured to transmit waves and detect one or more objects based on analyzing reflected waves.

8. The cart transport vehicle according to claim 6, characterized in that: include: Two contactless proximity sensors, wherein a first contactless proximity sensor is located at a front portion of the chassis and a second contactless proximity sensor is located at a rear portion of the chassis, and wherein the contactless proximity sensors are configured to scan an environment to detect one or more objects.

9. The cart transport vehicle according to claim 8, characterized in that: in, The contactless proximity sensor is a lidar sensor.

10. The cart transport vehicle according to claim 1, characterized in that: in, The gripper support is configured to move laterally to align the gripper with the cart.

11. The cart transport vehicle according to claim 10, characterized in that: in, The gripper support is configured to move longitudinally relative to the chassis.

12. The cart transport vehicle according to claim 11, characterized in that: in, The gripper support is movable in a forward direction or along the longitudinal axis of the cart transport vehicle toward the front of the chassis.

13. The cart transport vehicle according to claim 1, characterized in that: in, The gripper assembly includes a gripper frame attached to and extending from the chassis; The gripper support is held by the gripper frame, the gripper support being laterally movable relative to the gripper frame; The gripper frame includes a locking mechanism configured to lock the gripper support in place.

14. The cart transport vehicle according to claim 13, characterized in that: include: one or more dampers, the one or more dampers being located on the gripper support or the gripper frame; Wherein the one or more dampers are configured to absorb impact from the cart when the cart transport vehicle moves to the clamping position.

15. The cart transport vehicle according to claim 14, characterized in that: include: Two dampers are disposed on the holder frame and are adapted to be parallel to each other and oriented to be movable parallel to the longitudinal axis of the cart transport vehicle.

16. The cart transport vehicle according to claim 1, characterized in that: in, The gripper support comprises a telescopic device for adjusting the lateral distance between the grippers.

17. The cart transport vehicle according to claim 16, characterized in that: in, The telescopic device comprises two horizontal rails that can move relative to each other, A first clamp is installed on the free end of the first horizontal track, and a second clamp is installed on the free end of the second horizontal track; The telescoping device further includes a clamp support actuator operably connected to the rails and configured to move the rails horizontally away from or toward each other, thereby increasing or decreasing the distance between the first clamp and the second clamp.

18. The cart transport vehicle according to claim 9, characterized in that: in, A first lidar sensor is located at the front of the chassis and is oriented to transmit light signals in a forward direction; wherein a second lidar sensor is positioned on a rear side of the chassis and is oriented to transmit light signals in a rearward direction; Therein, the transmitted light in the forward and backward directions is used to scan the environment, and one or more objects are detected based on the reflected light.

19. The cart transport vehicle according to claim 1, characterized in that: in, The clamp includes a clamp, a guide plate, a position sensor and a clamp actuator; wherein the clamp is movable relative to the guide plate so as to accommodate a portion of the cart to be clamped; The position sensor is secured to or adjacent to the fixture and is configured to sense a portion of the cart; The gripper actuator is coupled to the clamp and configured to move the clamp to receive a portion of the cart; and The clamp further includes an engageable and disengageable lock such that when the lock is engaged, the clamp is locked and restricted from movement.

20. The cart transport vehicle according to claim 1, characterized in that: in, The cart transport vehicle is an automatic guided vehicle; wherein the cart transport vehicle further comprises a communication interface operably coupled to the controller, the communication interface being configured to wirelessly communicate with a user device to receive one or more instructions from the user device; wherein the one or more instructions define operation of the cart transport vehicle, the controller is configured to control the drive system and the gripper support to engage and move a cart in accordance with the instructions; and wherein the cart transport vehicle is configured to autonomously locate and engage a cart via the gripper and transport the cart from a location to a destination, wherein the destination may be defined in the instructions.

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