AMR and obstacle avoidance method thereof
By installing sensors on the AMR to obtain obstacle and cage vehicle size information, and determining obstacle avoidance solutions, the problem of difficult obstacle avoidance in the case of inconsistent cage vehicle size and cargo displacement is solved, and the safe passage of cage vehicle is achieved.
Patent Information
- Application Number
- CN202311518199.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-13
- Publication Date
- 2025-05-16
AI Technical Summary
When traction AMR tow cage vehicles, due to the inconsistent size of the cage vehicles and the possible displacement of the cargo, it is difficult for AMR to effectively avoid obstacles, which is easy to cause cage vehicles to collide.
By installing a forward sensor on the AMR to obtain obstacle information and obtain the size information of the cage vehicle, the obstacle avoidance plan is determined based on the two to avoid collisions during the traction process.
It effectively avoids collisions in cage trucks during traction, ensuring the safe and smooth arrival of cage trucks and goods to the destination.
Smart Images
Figure CN120010458A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of AMR intelligent control technology, and in particular to an AMR and an obstacle avoidance method thereof. Background Art
[0002] At present, in the AMR (Automated Mobile Robot) industry, traction AMRs are generally used in conjunction with unpowered tail-traction cage trucks, and the items to be transported are placed in the cage trucks. When in use, the traction AMR tows the cage truck and moves autonomously in the corresponding site to complete the transportation of items.
[0003] In the case of towing a cage truck, the object that the AMR needs to control varies greatly compared to the AMR itself. The size of the cage truck is usually larger than that of the AMR, and the size of the cage truck may be different each time it is loaded. In the process of towing the cage truck, the cargo may move, and the size of the cargo and the cage truck may also change.
[0004] The inventor of this application found that when towing a cage truck for transportation, the AMR will avoid obstacles based on the onboard sensors, but due to the size difference, the passability of the AMR is much higher than that of the cage truck, and there will be situations where the AMR can pass but the cage truck will collide. In particular, the specifications of cage trucks are not uniform, and it is difficult to preset a standard model for obstacle avoidance. Summary of the invention
[0005] In view of the above problems, the present application proposes an obstacle avoidance solution for AMR to ensure the passability of the cage truck when the AMR is towing the cage truck.
[0006] According to a first aspect of the present application, an obstacle avoidance method for an AMR is provided, wherein the AMR is used for towing a cage vehicle, and is characterized by comprising:
[0007] Obtain obstacle information in the forward direction of the ARM through a forward sensor;
[0008] Obtaining size information of the cage vehicle; and
[0009] An obstacle avoidance plan is determined according to the obstacle information and the size information of the cage vehicle.
[0010] According to a second aspect of the present application, an AMR is provided for towing a cage vehicle, characterized in that it comprises:
[0011] A forward sensor, arranged on the body of the ARM, for detecting obstacle information in the forward direction of the ARM;
[0012] An obstacle avoidance control device is used to execute the method described in the first aspect.
[0013] According to a third aspect of the present application, there is provided an electronic device, comprising:
[0014] Processor; and
[0015] A memory storing computer instructions, which, when executed by the processor, causes the processor to execute the method described in the first aspect.
[0016] According to a fourth aspect of the present application, a non-transitory computer storage medium is provided, storing a computer program, which, when executed by multiple processors, enables the processors to execute the method described in the first aspect.
[0017] According to the AMR and its obstacle avoidance method provided in the present application, on the one hand, obstacle information in the forward direction is obtained, and on the other hand, the size information of the cage car is obtained. According to the obstacle information and the size information of the cage car, an obstacle avoidance plan is determined to avoid collision of the cage car during traction, thereby ensuring that the cage car and the cargo reach the destination safely and smoothly. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without exceeding the scope of protection required by the present application.
[0019] Figure 1 It is a flow chart of an obstacle avoidance method of AMR according to an embodiment of the present application.
[0020] Figure 2 It is a flow chart of an obstacle avoidance method of AMR according to another embodiment of the present application.
[0021] Figure 3 This is a schematic diagram of a multi-line laser radar installed on an AMR according to an embodiment of the present application.
[0022] Figure 4 is a flow chart of an obstacle avoidance method for an AMR according to yet another embodiment of the present application.
[0023] Figure 5 It is an overall structural diagram of a traction device for traction cage vehicles according to one embodiment of the present application.
[0024] Figure 6 It is a structural diagram of a traction mechanism of a traction device according to an embodiment of the present application.
[0025] Figure 7 Detailed description of the invention is provided in detail.
[0026] Figure 8 It is a structural diagram of an electronic device provided by this application. DETAILED DESCRIPTION
[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.
[0028] This application is aimed at the problem of how to ensure that the cage truck can pass smoothly when the AMR is towing the cage truck.
[0029] The present application does not impose any restrictions on the structure of the cage car. For example, the cage car can have cage nets on all four sides or only on two sides. In order to avoid obstacles, a forward sensor can be installed on the body of the ARM to detect obstacle information in the forward direction of the ARM. The obstacle information includes whether there are obstacles, the number, location and size of obstacles, etc. According to some embodiments, the forward sensor can be a sensor in various forms, such as a single-line laser radar, an image sensor, a camera, etc. An obstacle avoidance control device can be installed on the body of the ARM to collect and process information related to obstacle avoidance and perform obstacle avoidance control.
[0030] The obstacle avoidance control device of ARM will obtain the size information of the cage car. ARM can adapt to different models of cage cars, and the different models of towed cage cars usually correspond to different sizes of cage cars. Moreover, according to some embodiments, the actual size of the cage car also needs to consider the cargo situation of the cage car. When not loaded with cargo, the size of the cage car is the original size of the cage car itself. When loaded with cargo, if the cargo does not exceed the original size of the cage car itself, the size of the cage car is the original size of the cage car itself, and when the cargo exceeds the original size of the cage car itself, the size of the cage car is the size after the excess, for example, the height and / or width of the cage car after loading is the size after the current cargo exceeds. In addition, during the process of the cage car carrying cargo, the cargo may change position, which may cause the size of the cage car to change.
[0031] According to some embodiments, the size information of the caged trolley may be obtained via a detection device installed on the ARM, or may be sent to the AMR after detection by other devices not installed on the ARM. For example, a sensor capable of measuring the size of the caged trolley is set at a fixed position (such as a passage entrance), or the size of the caged trolley is measured using a security camera in a warehouse. The AMR management system sends the information to the corresponding AMR based on the vehicle ID identified by the position or sensor, and the obstacle avoidance control device of the AMR determines the motion plan based on the received caged trolley size information.
[0032] Figure 1 FIG. 1 is a flow chart of an obstacle avoidance method of an AMR according to an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:
[0033] Step S101, obtaining obstacle information in the forward direction of the ARM through a forward sensor;
[0034] Step S102, obtaining the size information of the cage vehicle; and
[0035] Step S103, determining an obstacle avoidance plan according to the obstacle information and the size information of the cage vehicle.
[0036] According to some embodiments, after obtaining obstacle information in the forward direction and size information of the cage car, the obstacle avoidance control device of the AMR can judge the passability based on the position of the obstacle and the size of the cage car (for example, the width of the cage car), thereby determining whether to stop (dynamic obstacle) or detour (dynamic or static obstacle).
[0037] In addition to avoiding current obstacles, during the path planning process, the AMR's obstacle avoidance control device can also plan the path based on obstacle information and the cage car's size information. Figure 2 is a flow chart of an obstacle avoidance method for an AMR according to another embodiment of the present application. Figure 1 compared to, Figure 2 The method steps S201 to S203 shown are Figure 1 The steps S101 to S103 are the same, except that: Figure 2 Also includes:
[0038] Step S204: Perform path planning based on the size information of the cage car to determine the forward path of the AMR.
[0039] According to some embodiments, the obstacle avoidance control device of the AMR performs global path planning according to the size of the cage car, specifically including: the AMR determines the path width and turning radius required for moving forward according to the size information of the cage car; the AMR performs traditional path planning to obtain multiple candidate paths from the current position to the destination; from the candidate paths, the paths that meet the passability of the cage car are screened out according to the channel properties of the constituent paths, for example, the paths whose pass width is smaller than the width of the cage car are removed from the candidate paths; and the screened paths are used as the global planning paths.
[0040] According to some embodiments, in the case where the size information of the cage car is obtained via the detection equipment installed on the ARM, the detection equipment installed on the ARM may be a rearward sensor. According to some embodiments, the rearward sensor may be a multi-line laser radar. During detection, the multi-line laser radar takes the widest plane on multiple laser planes (or the widest points on the left and right respectively) as the width of the cage car. This avoids the situation where the single-line laser radar has only one laser plane and the detection width on the current laser plane is smaller than the actual width of the cage car (maximum width), for example, the cage car border is not detected at the laser plane, thereby improving the accuracy of detection. According to some embodiments, such as Figure 2 As shown, the multi-line laser radar is installed above the AMR body, and includes a detection laser plane corresponding to the cage car above the body part and a detection laser plane corresponding to the cage car below the body part. For example, it includes four laser planes in the horizontal direction, and their horizontal emission angles are 25°, 15°, 0° and -5° respectively, and the laser planes can all be projected on the body of the cage car.
[0041] like Figure 3 As shown, in order to install the multi-line laser radar, a frame can be provided on the AMR, and the multi-line laser radar is installed above the vehicle body through the frame, usually including at least a detection laser plane for the cage car that is higher than the vehicle body. Figure 3 In the invention, the multi-line laser radar can be installed in an inverted manner. The advantage of the inverted multi-line laser radar is that the position of the radar is improved, so that the installation of the radar is not easily restricted by other components and is not easily bumped. According to some embodiments, relevant components can be installed on the frame, such as a display screen for display and interaction, and an indicator light and an emergency stop switch can be provided. The display screen is installed on the frame of the inverted radar, which improves the position of the display screen and makes it more convenient for the operator to view and interact.
[0042] According to some other embodiments, the rearward sensor may also be a camera, infrared, ultrasonic or other sensor.
[0043] The size of the cage truck detected by the rear sensor, especially the width, serves as the basis for the AMR to avoid obstacles.
[0044] In this way, when a rearward sensor is installed on the AMR, the size information of the cage car can be obtained through the rearward sensor. Then, step S102 may include: obtaining the size information of the cage car in real time through the rearward sensor.
[0045] When a rearward sensor is installed on the AMR, the rearward sensor can measure the distance between the cage car and the obstacle in real time while the AMR is towing the cage car. When the distance between the cage car and the obstacle is too close (a value can be set in advance), the AMR can stop towing and send out a warning signal to prompt the operator to take action (such as moving the obstacle away) to avoid collision with the cage car.
[0046] Therefore, the present application also provides an obstacle avoidance method for AMR, such as Figure 4 As shown. Figure 1 compared to, Figure 4 The method steps S401 to S403 shown are Figure 1 The steps S101 to S103 are the same, except that: Figure 4 Also includes:
[0047] Step S404, obtaining the distance between the cage vehicle and the obstacle through the rearward sensor; and
[0048] Step S405: In response to the distance being less than a preset value, a warning signal is issued to prevent the cage vehicle from colliding with the obstacle.
[0049] According to some embodiments, when the AMR docks with the cage car, the rear sensor detects the position of the cage car and estimates the docking posture. Specifically, when the rear sensor is a multi-line laser radar, the position of the cage car docking surface is determined based on the laser point cloud data of the cage car obtained by multiple laser planes of the multi-line laser radar. For example, multiple coordinates of the cage car docking surface are detected by four laser planes to determine the plane where the cage car docking surface is located, and then the boundary of the docking surface is determined by the aforementioned method for obtaining the maximum width of the cage car, thereby obtaining the coordinates of the two vertices of the line segment formed by the edge of the cage car docking surface and any laser plane, and estimating the docking posture of the AMR when docking with the cage car (for example, the midpoint coordinates of the coordinates of the aforementioned two vertices are used as the docking posture).
[0050] After the AMR and the cage truck are docked, the AMR can tow the cage truck forward. Figure 3In the prior art, there are two main types of traction devices used in traction-type AMRs: one is to use a metal columnar traction pin for connection. During operation, the operator needs to manually insert and remove the traction pin to achieve the connection and release between the AMR and the rear tractor, which reduces the work efficiency of the AMR and increases the personnel cost; the other is to achieve automatic traction between the AMR and the cage car by adding a power device, but whether it is using a motor to drive the traction pin or the existing traction method using an electromagnet, there are problems such as complex structure and high energy consumption.
[0051] For example, there is an electromagnetic traction device in the prior art. During use, the rotating shaft is installed on the body of the AMR, and the rear tractor has a traction plate that can be attracted and fixed by an electromagnet. When the AMR and the rear tractor need to be connected, the electromagnet is controlled to be energized, and the AMR is controlled to approach the rear tractor. The electromagnet uses electromagnetic force to attract and fix the rear tractor; when the AMR and the rear tractor need to be separated, the electromagnet is controlled to be de-energized so that the electromagnetic force of the electromagnet disappears. At the same time, the swinging member can swing around the axis of the rotating shaft at a certain angle. The swinging member is connected to the electromagnet and drives the electromagnet to swing, so the rear tractor can move flexibly with the AMR. However, the structure of the electromagnetic traction device is relatively complex, the rotating component is large in size, the assembly is complex and easy to be damaged by collision; at the same time, the process of using electromagnets to power traction will cause a large amount of energy consumption, reduce the operating time of the AMR, and also cause other dangers due to continuous heat generation during power supply.
[0052] In order to solve the above problems, the present application provides a new traction device installed on the AMR body. Figure 5 FIG. 1 is an overall structural diagram of a traction device for traction cage vehicles according to an embodiment of the present application. Figure 5 As shown, the traction device includes a traction frame and a traction mechanism, wherein the traction frame is fixedly connected to one side of the AMR, one end or a part of the traction mechanism is installed in the traction frame, and the other end or another part is used to connect to the cage car.
[0053] like Figure 5 As shown, the traction frame as a whole is approximately a hexahedron formed by cutting off three corners of a triangular prism, and is composed of five plate-like components, namely, a U-shaped or U-shaped ("[") bottom plate component, two symmetrical nearly triangular upper and lower plate components, and two symmetrical rectangular plate components. The upper and lower edges of the symmetrical rectangular plate components are respectively contacted and fixed with one edge of the upper and lower plate components, so that the left and right edges of the symmetrical rectangular plate components are one group close to each other and one group far away from each other; the left and right edges of the group close to each other do not contact each other, but leave a space with a rectangular cross-section. It can be understood by those skilled in the art that the above-mentioned traction frame structure is only an example, and other traction frames of other suitable shapes for cooperating with the traction mechanism are all within the scope of coverage of this application.
[0054] The traction mechanism is located in the space of the traction frame and emerges from the space. Figure 6 It is a structural diagram of a traction mechanism of a traction device according to an embodiment of the present application. Figure 7 Detailed description of the invention is provided in detail.
[0055] like Figure 6 and Figure 7 As shown, the traction mechanism includes a magnetic head, a magnetic head mounting part, a rotating part, a fixing part and a resetting part, wherein: the traction mechanism is fixedly connected to the traction frame through the fixing part, one end of the resetting part is fixedly arranged in the traction frame, and the other end is connected to one end of the magnetic head mounting part, and the magnetic head is installed on the other end of the magnetic head mounting part, the rotating part includes a rotating shaft and a bushing, one end of the rotating shaft is fixedly connected to the fixing part and is sleeved in the mounting hole of the magnetic head mounting part, and the bushing is sleeved on the rotating shaft to separate the rotating shaft from the mounting hole.
[0056] According to some embodiments, the magnetic head mounting part is used to mount the magnetic head, and is connected to the rotating part to provide the magnetic head with a left and right swinging and rotating function, so that when the AMR turns during transportation, the cage car can swing left and right relative to the AMR. The rotating part is fixed to the traction frame by a fixing part. In this embodiment, the rotating shaft of the rotating part is connected to the magnetic head mounting part through a bushing, and the magnetic head mounting part and the bushing are arranged to have a certain gap (for example, 5-10mm), so that the magnetic head has a small upward and downward swinging space relative to the magnetic head mounting part. In this way, even if the ground may be uneven when the AMR and the cage car are connected, the magnetic head can swing up and down and left and right slightly so that it can fit tightly with the traction plate of the cage car, ensuring the success and reliability of the connection.
[0057] According to some embodiments, the reset member may be at least one tension spring, one end of which is fixed to the rotating member and the other end is fixed to the traction frame; when the rotating member swings left and right, the tension spring is stretched, and the stretched elastic force causes the rotating member to reset. Figure 6 and Figure 7 In the illustrated embodiment, the two tension springs are arranged in a straight line with the magnetic suction head in an untensioned and relaxed state.
[0058] According to some embodiments, Figure 6 and Figure 7 As shown, the rotating member may further include an adjustment clamp. The adjustment clamp is located on the rotating shaft, on the side opposite to the fixed member. By adjusting the position of the adjustment clamp, for example, adjusting it in the direction toward the magnetic head mounting member or adjusting it away from the magnetic head mounting member, the position of the magnetic head mounting member can be adjusted so that it can move along the rotating shaft, for example, by moving the magnetic head mounting member up and down to adjust the height, so that the position of the magnetic head can match the position of the traction plate of the cage car.
[0059] According to some embodiments, the traction device further comprises a sensor element, which is arranged in the traction frame and is used to detect the position of the cage car to be docked, so as to assist the docking of the ARM and the cage car. The sensor element and the traction mechanism can both be located in the space of the traction frame, exposed from the space of the traction frame, and the two can be arranged up and down. Figure 5 As shown in FIG. 1 , the traction mechanism and the sensor element are one on the top and the other on the bottom. The sensor element can be a sensor such as laser, infrared, etc. for docking; Figure 5 As shown, the sensing element is a camera, and the lens is exposed outward from the space of the traction frame, and is used to photograph the cage car to be docked, especially the QR code on the cage car for docking, so as to achieve accurate docking.
[0060] According to some embodiments, the magnetic suction head can use a permanent magnet-electromagnet, which is energized when the AMR needs to be connected to the cage car. After energization, the permanent magnetic field on the permanent magnet adsorption surface is neutralized, and the magnetic attraction force is eliminated as a whole. The purpose of energizing during docking is to provide magnetic-free docking, which is easy to adjust the docking process, and will not cause docking errors due to magnetic force, thereby improving docking accuracy. After the docking is completed, the power is turned off. Since the permanent magnetic field on the permanent magnet adsorption surface is not neutralized, the magnetic attraction force keeps the AMR connected to the cage car; when the AMR needs to be disconnected from the cage car, the permanent magnetic field on the permanent magnet adsorption surface is neutralized after power is turned on again, thereby eliminating the magnetic attraction force as a whole, so that the traction mechanism and the cage car are automatically disconnected. In this way, the solution of the present application is only energized when it is necessary to connect and release the cage car, and is not energized during cargo transportation, which saves energy consumption and avoids other dangers caused by heat.
[0061] The traction device provided in the present application has the advantages of simple structure, simple assembly and not easy to be damaged by collision.
[0062] According to the AMR and its obstacle avoidance method provided in the present application, on the one hand, obstacle information in the forward direction is obtained, and on the other hand, the size information of the cage car is obtained. According to the obstacle information and the size information of the cage car, an obstacle avoidance plan is determined to avoid collision of the cage car during traction, thereby ensuring that the cage car and the cargo reach the destination safely and smoothly.
[0063] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0064] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.
[0065] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be electrical connection or other forms.
[0066] See also Figure 8 , Figure 8 An electronic device is provided, comprising a processor and a memory. The memory stores computer instructions, and when the computer instructions are executed by the processor, the processor executes the computer instructions to achieve the following Figure 1 , Figure 2 and Figure 4 The method and refinement scheme shown.
[0067] It should be understood that the above device embodiments are only illustrative, and the device disclosed in the present invention can also be implemented in other ways. For example, the division of units / modules described in the above embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.
[0068] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present invention may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.
[0069] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. If not otherwise specified, the processor or chip may be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, an ASIC, etc. If not otherwise specified, the on-chip cache, the off-chip memory, and the memory may be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory RRAM (Resistive Random Access Memory), a dynamic random access memory DRAM (Dynamic Random Access Memory), a static random access memory SRAM (Static Random-Access Memory), an enhanced dynamic random access memory EDRAM (Enhanced Dynamic Random Access Memory), a high-bandwidth memory HBM (High-Bandwidth Memory), a hybrid memory cube HMC (Hybrid Memory Cube), etc.
[0070] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer electronic device (which can be a personal computer, a server or a network electronic device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.
[0071] The present application also provides a non-transitory computer storage medium storing a computer program. When the computer program is executed by a plurality of processors, the processors execute the following Figure 1 , Figure 2 and Figure 4 The method and refinement scheme shown.
[0072] The embodiments of the present application are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application. At the same time, changes or deformations made by those skilled in the art based on the ideas of the present application, the specific implementation methods and the scope of application of the present application, all belong to the scope of protection of the present application. In summary, the content of this specification should not be construed as a limitation on the present application.
Claims
1. An obstacle avoidance method for an AMR, wherein the ARM is used to tow a cage vehicle, characterized in that: include: Obtain obstacle information in the forward direction of the ARM through a forward sensor; Obtaining size information of the cage vehicle; as well as An obstacle avoidance plan is determined according to the obstacle information and the size information of the cage vehicle.
2. The method according to claim 1, characterized in that Also includes: Path planning is performed based on the size information of the cage car to determine the forward path of the AMR.
3. The method according to claim 1 or 2, characterized in that The ARM is provided with a rearward sensor, and the step of obtaining the size information of the cage vehicle includes: The size information of the cage vehicle is acquired in real time through the rearward sensor.
4. The method according to claim 3, characterized in that Also includes: Acquire the distance between the cage vehicle and the obstacle through the rearward sensor; as well as In response to the distance being less than a preset value, a warning signal is issued to prevent the cage vehicle from colliding with the obstacle.
5. An AMR for towing a cage vehicle, characterized in that: include: A forward sensor, arranged on the body of the ARM, for detecting obstacle information in the forward direction of the ARM; An obstacle avoidance control device, used to execute the method according to any one of claims 1 to 4.
6. The AMR according to claim 5, characterized in that: Also includes: The rearward sensor is arranged on the body of the ARM and is used to detect the size information of the cage vehicle.
7. The AMR according to claim 5 or 6, characterized in that: Also includes: A traction device is arranged on the ARM and is used for towing the cage vehicle.
8. The AMR according to claim 7, wherein: The traction device comprises: A traction frame fixedly connected to one side of the AMR; The traction mechanism includes a magnetic suction head, a magnetic suction head mounting part, a rotating part, a fixing part and a resetting part, wherein: The traction mechanism is fixedly connected to the traction frame through the fixing piece, one end of the reset piece is fixedly arranged in the traction frame, and the other end is connected to one end of the magnetic head mounting piece, and the other end of the magnetic head mounting piece is mounted with the magnetic head, and the rotating piece includes a rotating shaft and a bushing, one end of the rotating shaft is fixedly connected to the fixing piece and sleeved in the mounting hole of the magnetic head mounting piece, and the bushing is sleeved on the rotating shaft to separate the rotating shaft from the mounting hole.
9. The AMR according to claim 8, wherein: The rotating member also includes an adjusting clamping block, which is located on a side of the rotating shaft opposite to the fixing member and is used to adjust the position of the magnetic head mounting member.
10. The AMR according to claim 8 or 9, characterized in that: The traction frame is formed by a U-shaped bottom plate component, two symmetrical nearly triangular upper and lower plate components and two symmetrical rectangular components.
11. The AMR according to claim 8 or 9, characterized in that: The traction device also includes: The sensor element is arranged in the traction frame and is used to detect the position of the cage vehicle to be docked, so as to assist the docking of the ARM and the cage vehicle.
12. The AMR according to claim 5 or 6, characterized in that: The magnetic suction head adopts a permanent magnet-electromagnet, and the backward sensor includes a multi-line laser radar.
13. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the method according to any one of claims 1 to 4 when executing the computer program in the memory.
14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.