Wireless remote control omni-directional carrier

Abstract

The invention relates to the technical field of carriers, and provides a wireless remote control omni-directional carrier which comprises a carrier head part, an auxiliary protection mechanism and a carrier body part. The vehicle head part comprises a first direction and a second direction; the first direction is the advancing direction of the vehicle head part, and the second direction is the direction opposite to the first direction; the auxiliary protection mechanism is fixedly arranged on the vehicle head part; the length direction of the auxiliary protection mechanism is parallel to the first direction; the vehicle body part comprises a vehicle body base body and an adjusting part; the vehicle body base body is fixedly arranged on the vehicle head part; the adjusting part is movably arranged on the vehicle body base body in the first direction or the second direction and faces the auxiliary protection mechanism. The length and the width of the vehicle body base body are larger than those of the adjusting part. The adjusting part is used for placing an object needing to be carried and adjusting the position of the object needing to be carried on the vehicle body base body. According to the wireless remote control omni-directional carrier, the position of an object needing to be carried can be adjusted in time, and flexibility and stability can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of transport vehicles, and in particular to a wireless remote-controlled omnidirectional transport vehicle. Background Art

[0002] A transport truck is an industrial equipment used for handling and moving goods. An omnidirectional transport truck can usually move in all directions without the need for tracks, and can move horizontally, rotate on the spot, and move at any angle. An omnidirectional transport truck is mainly used for handling raw materials and parts on production lines, and for handling goods in warehouses.

[0003] When transporting objects, the wireless remote-controlled omnidirectional transporter in the related technology may require the operator to frequently manually adjust the position of the object to ensure safe transportation, especially during the driving process (such as acceleration, deceleration, turning or bumpy roads). If the position of the object on the wireless remote-controlled omnidirectional transporter cannot be adjusted in time, it will easily fall over due to loss of balance. Therefore, the wireless remote-controlled omnidirectional transporter lacks transportation flexibility and stability, which increases the operator's workload and difficulty of operation. Summary of the Invention

[0004] The embodiment of the present application provides a wireless remote-controlled omnidirectional transport vehicle, which can improve the technical problem in related technologies that it is difficult to meet the flexibility and stability of transportation due to reliance on manual adjustment of the position of objects during transportation and driving.

[0005] In a first aspect, an embodiment of the present application provides a wireless remote-controlled omnidirectional transport vehicle, comprising:

[0006] The front of the vehicle includes a first direction and a second direction; the first direction is a forward direction of the front of the vehicle, and the second direction is a direction opposite to the first direction;

[0007] an auxiliary protection mechanism, fixedly disposed on the vehicle head; the length direction of the auxiliary protection mechanism is parallel to the first direction; and

[0008] The vehicle body comprises a vehicle body base and an adjustment portion; the vehicle body base is fixedly mounted on the vehicle head; the adjustment portion is movably mounted on the vehicle body base along the first direction or the second direction and faces the auxiliary protection mechanism; the length and width of the vehicle body base are both greater than the length and width of the adjustment portion; the adjustment portion is used to place an object to be transported and adjust the position of the object to be transported on the vehicle body base;

[0009] The auxiliary protection mechanism is used to prevent the transported object from tipping over during movement, and when the transported object moves, the adjustment unit adjusts the position of the object to be transported on the vehicle body base.

[0010] The above technical solutions in the embodiments of the present application have at least the following technical effects:

[0011] The auxiliary protection mechanism of the wireless remote-controlled omnidirectional transport vehicle provided in the embodiment of the present application is fixedly arranged on the head of the vehicle, and the head of the vehicle can drive the auxiliary protection mechanism, the vehicle body base and the adjustment part to move along the first direction and the second direction, which helps to make the auxiliary protection mechanism more stable when being driven; the vehicle body base is fixedly arranged on the head of the vehicle, and the adjustment part is movably arranged on the vehicle body base along the first direction or the second direction. The position of the adjustment part along the first direction or the second direction can be adjusted according to the real-time status of the object during the transportation process, which helps to keep the object to be transported balanced during the transportation process and prevent it from tipping over; therefore, the flexibility and stability of the wireless remote-controlled omnidirectional transport vehicle when transporting objects can be improved, and the workload and difficulty of operation of the operator can be reduced.

[0012] In a second aspect, an embodiment of the present application provides a method for controlling transport of a wireless remote-controlled omnidirectional transport vehicle, which is applied to the wireless remote-controlled omnidirectional transport vehicle described in the first aspect, comprising:

[0013] The wireless remote-controlled omnidirectional transport vehicle responds to the transport information sent by the staff; wherein the transport information is used to indicate the object that the wireless remote-controlled omnidirectional transport vehicle needs to transport;

[0014] identifying an actual location of the object to be transported indicated by the transport information;

[0015] Acquire a target transport position of the object to be transported indicated by the transport information;

[0016] Obtaining specification information of the objects to be transported; wherein the specification information is used to indicate the number, weight, appearance and size of the objects to be transported;

[0017] Obtaining transport path information according to the specification information, the actual position of the object to be transported, and the target transport position of the object to be transported; wherein the transport path information is used to indicate the transport path of the object to be transported;

[0018] The wireless remote-controlled omnidirectional transport vehicle transports the object to be transported on the adjustment portion according to the transport path indicated by the transport path information.

[0019] The above technical solutions in the embodiments of the present application have at least the following technical effects:

[0020] In a method for controlling a transporting process of a wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application, the wireless remote-controlled omnidirectional transport vehicle responds to transport information sent by a worker and identifies the actual location of an object to be transported indicated by the transport information, thereby helping the wireless remote-controlled omnidirectional transport vehicle accurately find the object to be transported. By obtaining the target transport location of the object, the wireless remote-controlled omnidirectional transport vehicle can accurately transport the object to the designated location. By obtaining the specification information of the object, including the number, weight, appearance, and size, the wireless remote-controlled omnidirectional transport vehicle can formulate an appropriate transport strategy to lay the foundation for subsequent transport. Based on the specification information, the actual location of the object to be transported, and the target transport location of the object to be transported, the wireless remote-controlled omnidirectional transport vehicle obtains transport path information. The wireless remote-controlled omnidirectional transport vehicle transports the object to be transported on the adjustment portion according to the transport path indicated by the transport path information. By formulating an optimal transport path, the transport process is made safe and efficient. After obtaining the transport path information, the wireless remote-controlled omnidirectional transport vehicle can automatically adjust its driving route to transport the object from the actual location to the target location along the optimal path, and dynamically adjust according to actual conditions, thereby greatly improving the flexibility and stability of transport and reducing the workload and difficulty of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0022] Figure 1 A schematic diagram of the structure of a wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the structure of the wireless remote-controlled omnidirectional transporter in another direction provided by an embodiment of the present application;

[0024] Figure 3 A flow chart of a method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application;

[0025] Figure 4 Schematic diagram of the implementation flow of step S200 in the transport control method of the wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application;

[0026] Figure 5 Schematic diagram of the implementation flow of step S500 in the transport control method of the wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application;

[0027] Figure 6Schematic diagram of the implementation flow of step S530 in the transport control method of the wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application;

[0028] Figure 7 Schematic diagram of the implementation flow of step S531 in the transport control method of the wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application;

[0029] Figure 8 Schematic diagram of the implementation flow of step S532 in the transport control method of the wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application;

[0030] Figure 9 Schematic diagram of the structure of the transport control system of the wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application;

[0031] Figure 10 Schematic diagram of the structure of the control device of the wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application.

[0032] Among them, the reference numerals in the figures are:

[0033] 100. Wireless remote-controlled omnidirectional transport vehicle; 10. Vehicle head; A. First direction; B. Second direction; 20. Auxiliary protection mechanism; 21. First protective component; 211. First power member; 212. First protective rod; 213. Locking fitting; 22. Second protective component; 221. Second power member; 222. Second protective rod; 223. Connecting member; 23. Locking member; 30. Vehicle body; 31. Vehicle body base; 311. Adjustment fitting; 32. Adjustment member; 321. Adjustment member; 322. Adjustment plate. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the accompanying drawings are intended to cover non-exclusive inclusions.

[0036] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0039] In this application, "and / or" is simply a way to describe the relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. Additionally, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0040] It should be noted that, in this application, words such as "in some embodiments", "exemplarily", "for example", etc. are used to indicate examples, illustrations or explanations. Any embodiment or design described in this application as "in some embodiments", "exemplarily", "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "in some embodiments", "exemplarily", "for example" is intended to present related concepts in a concrete way, meaning that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the above words in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0041] A transport truck is an industrial equipment used for handling and moving goods. An omnidirectional transport truck can usually move in all directions without the need for tracks, and can move horizontally, rotate on the spot, and move at any angle. An omnidirectional transport truck is mainly used for handling raw materials and parts on production lines, and for handling goods in warehouses.

[0042] When transporting objects, the wireless remote-controlled omnidirectional transporter in the related technology may require the operator to frequently manually adjust the position of the object to ensure safe transportation, especially during the driving process (such as acceleration, deceleration, turning or bumpy roads). If the position of the object on the wireless remote-controlled omnidirectional transporter cannot be adjusted in time, it will easily fall over due to loss of balance. Therefore, the wireless remote-controlled omnidirectional transporter lacks transportation flexibility and stability, which increases the operator's workload and difficulty of operation.

[0043] Based on this, in order to improve the technical problem in the related art that it is difficult to meet the flexibility and stability of transportation due to the reliance on manual adjustment of the position of objects during transportation and driving, the embodiments of the present application provide the following solutions.

[0044] Please also refer to Figure 1 and Figure 2 The embodiment of the present application provides a wireless remote-controlled omnidirectional transport vehicle 100, which includes a vehicle head 10, an auxiliary protection mechanism 20, and a vehicle body 30, wherein:

[0045] The front part 10 of the vehicle includes a first direction A and a second direction B; the first direction A is the forward direction of the front part 10 of the vehicle, and the second direction B is the direction opposite to the first direction A.

[0046] The auxiliary protection mechanism 20 is fixedly mounted on the vehicle head 10 ; the length direction of the auxiliary protection mechanism 20 is parallel to the first direction A.

[0047] The vehicle body portion 30 includes a vehicle body base 31 and an adjustment portion 32; the vehicle body base 31 is fixedly arranged on the vehicle head 10; the adjustment portion 32 is movably arranged on the vehicle body base 31 along the first direction A or the second direction B, and faces the auxiliary protection mechanism 20; the length and width of the vehicle body base 31 are both greater than the length and width of the adjustment portion 32; the adjustment portion 32 is used to place objects to be transported and adjust the position of the objects to be transported on the vehicle body base 31.

[0048] The auxiliary protection mechanism 20 is used to prevent the transported object from tipping over during movement, and when the transported object moves, the adjustment unit 32 adjusts the position of the object to be transported on the vehicle body base 31 .

[0049] It is understood that the vehicle head 10 is a vehicle head structure capable of driving the auxiliary protection mechanism 20 and the vehicle body 30 to move in a first direction A or a second direction B. The auxiliary protection mechanism 20 can be a structure capable of preventing the transported object from tipping over during transport, and can be, for example, a rod-shaped structure, a cylindrical structure, or a rectangular structure, but is not limited thereto. The vehicle body 31 can be a structure capable of supporting the adjustment unit 32 and the transported object, and can be, for example, a plate-shaped structure or a frame-shaped structure, but is not limited thereto. The adjustment unit 32 can be a structure capable of moving along a track or a slide groove defined on the vehicle body 31, used to position and adjust the position of the transported object. The adjustment unit 32 can include, but is not limited to, a slide rail structure, a telescopic structure, or other structures capable of achieving position adjustment. Furthermore, the vehicle head 10 can also include a steering mechanism for controlling the direction of travel of the wireless remote-controlled omnidirectional transport vehicle 100. The steering mechanism can include, but is not limited to, a servo, a steering wheel, or a bogie. The steering mechanism can be controlled by remote control commands or a pre-set program to adjust the direction of the wireless remote-controlled omnidirectional transport vehicle 100 during travel. The design of the steering mechanism enables the wireless remote-controlled omnidirectional transporter 100 to flexibly respond to different transport scenarios and path requirements, thereby improving transport efficiency.

[0050] From the above, it can be seen that the auxiliary protection mechanism 20 of the wireless remote-controlled omnidirectional transport vehicle 100 provided in the embodiment of the present application is fixedly arranged on the vehicle head 10, and the vehicle head 10 can drive the auxiliary protection mechanism 20, the vehicle body base 31 and the adjustment part 32 to move along the first direction A and the second direction B, which helps to improve the stability of the auxiliary protection mechanism 20 when being driven; the vehicle body base 31 is fixedly arranged on the vehicle head 10, and the adjustment part 32 is movably arranged on the vehicle body base 31 along the first direction A or the second direction B. The position of the adjustment part 32 along the first direction A or the second direction B can be adjusted according to the real-time status of the object during the transportation process, which helps to keep the object to be transported balanced and prevent it from tipping over during the transportation process; therefore, the flexibility and stability of the wireless remote-controlled omnidirectional transport vehicle 100 when transporting objects can be improved, and the workload and difficulty of operation of the operator can be reduced.

[0051] In some embodiments, please refer to Figure 1 and Figure 2 The vehicle body base 31 is provided with an adjustment fitting portion 311, and the adjustment portion 32 includes an adjustment member 321 and an adjustment plate 322, wherein:

[0052] The adjusting member 321 moves along the first direction A or the second direction B on the adjusting fitting portion 311 in cooperation with the adjusting fitting portion 311 .

[0053] The adjustment plate 322 is fixedly disposed on the adjustment member 321 and faces the auxiliary protection mechanism 20 ; the adjustment plate 322 is used to place objects to be transported, and the adjustment member 321 is used to adjust the position of the adjustment plate 322 .

[0054] The auxiliary protection mechanism 20 includes a first protection component 21, a second protection component 22 and a locking member 23, wherein:

[0055] The first protective component 21 includes a first power member 211, a first protective rod 212 and a locking fitting 213; the first power member 211 is fixedly arranged on one side of the vehicle head 10; one end of the first protective rod 212 is arranged at the power output end of the first power member 211; the locking fitting 213 is arranged at the other end of the first protective rod 212; the first power member 211 is used to drive the first protective rod 212 to move along the second direction B.

[0056] The second protective component 22 includes a second power member 221, a second protective rod 222 and a connecting member 223; the second power member 221 is fixedly arranged on the other side of the vehicle head 10; one end of the second protective rod 222 is arranged at the power output end of the second power member 221; the connecting member 223 is rotatably arranged at the other end of the second protective rod 222 and is coaxial with the second protective rod 222; the second power member 221 is used to drive the second protective rod 222 to move along the second direction B.

[0057] The locking member 23 is fixedly disposed on the connecting member 223 ; the locking member 23 faces the direction of the adjustment plate 322 and is perpendicular to the second protective rod 222 ; the locking member 23 is used to cooperate with the locking fitting 213 to lock under the rotation of the connecting member 223 .

[0058] Among them, the first protective bar 212 and the second protective bar 222 are parallel to the travel direction of the vehicle head 10; the first protective bar 212 and the second protective bar 222 are parallel and oppositely arranged; the first power member 211 and the second power member 221 are parallel and oppositely arranged; the locking fitting 213 and the connecting member 223 are parallel and oppositely arranged.

[0059] It is understood that the adjustment member 321 is a structure capable of moving along a track or slot set by the adjustment fitting portion 311. The adjustment fitting portion 311 can be a slot, track, or other structure provided on the vehicle body base 31 that can guide the movement of the adjustment member 32. The first power member 211 and the second power member 221 can be electric push rods, cylinders, or other drive devices capable of generating linear motion that drive the synchronous or asynchronous movement of the first and second protective rods 212 and 222. The first and second protective rods 212 and 222 can be rod-shaped or rectangular structures that can prevent the transported objects from tipping over, but are not limited to such. The connecting member 223 can be a structure capable of driving the locking member 23 to rotate. The connecting member 223 can be a micro-rotary motor or a micro-rotary motor, but are not limited to such. The locking member 23 and the locking fitting member 213 are structures capable of cooperating to lock each other. For example, the locking member 23 can be a snap-fit structure, and the locking fitting member 213 can be a slot that cooperates with the snap-fit structure, but are not limited to such.

[0060] With such a configuration, when the wireless remote-controlled omnidirectional transport vehicle 100 transports an object to be transported, the object to be transported is placed on the adjustment plate 322. After the object to be transported is placed, the power output end of the first power member 211 drives the first protective bar 212 to move along the second direction B, and the power output end of the second power member 221 drives the second protective bar 222 to move along the second direction B. When the first protective bar 212 and the second protective bar 222 move to the tail end of the object to be transported (the head end of the object to be transported faces the front end of the vehicle 10), the connecting member 223 starts to rotate and drives the locking member 23 to cooperate with the locking mating member 213 to lock the object to be transported to prevent the object to be transported from tipping over. The wireless remote-controlled omnidirectional transport vehicle 100 moves and transports along the first direction A. During the transporting process, the adjustment member 321 cooperates with the adjustment matching portion 311 to move, so that the adjustment portion 32 can flexibly adjust its position as needed to adapt to the transporting needs of different objects; wherein, the adjustment plate 322 is fixedly set on the adjustment member 321, thereby realizing dynamic adjustment of the position of the object, preventing the position of the object to be transported from changing during the transporting process of the wireless remote-controlled omnidirectional transport vehicle 100, resulting in a shift in the center of gravity, so that the object to be transported may fall over. Therefore, in the above situation, the wireless remote-controlled omnidirectional transport vehicle 100 does not need to stop moving. The adjustment member 321 and the adjustment matching portion 311 can cooperate to move to drive the adjustment plate 322 to move, so that the object to be transported placed on the adjustment plate 322 is moved to the initial position (the initial position is the position of the object to be transported before the transport vehicle moves), thereby improving the stability and flexibility of the wireless remote-controlled omnidirectional transport vehicle 100 during the transporting process. Furthermore, the design of the adjustment portion 32 allows the operator to easily adjust the position of the object being transported, eliminating the need for frequent manual adjustments and reducing workload and operational difficulty. The design of the locking member 23 and the locking mating member 213 allows the wireless remote-controlled omnidirectional transporter 100 to quickly and securely lock the object being transported during transport. This locking mechanism not only enhances transport safety and improves transport efficiency, but also the coordinated design of the adjustment mating portion 311 and the adjustment member 321 enables the adjustment portion 32 to move smoothly and stably along the vehicle body 31, facilitating precise adjustment of the position of the object being transported during transport, further enhancing stability and accuracy.

[0061] The present application also provides a method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle. In this method, when the wireless remote-controlled omnidirectional transport vehicle responds to transport information sent by a worker, identifying the actual location of an object to be transported indicated by the transport information helps the wireless remote-controlled omnidirectional transport vehicle accurately find the object to be transported; obtaining the target transport location of the object, the wireless remote-controlled omnidirectional transport vehicle can accurately transport the object to a designated location; by obtaining the object's specification information, including the number, weight, appearance, and size, the wireless remote-controlled omnidirectional transport vehicle can formulate an appropriate transport strategy to lay the foundation for subsequent transport; obtaining transport path information based on the specification information, the actual location of the object to be transported, and the target transport location of the object to be transported, the wireless remote-controlled omnidirectional transport vehicle transports the object to be transported on the adjustment portion according to the transport path indicated by the transport path information, and by formulating an optimal transport path, the transport process is safe and efficient; after obtaining the transport path information, the wireless remote-controlled omnidirectional transport vehicle can automatically adjust its driving route to transport the object from the actual location to the target location along the optimal path, and dynamically adjust according to actual conditions, thereby greatly improving the flexibility and stability of the transport and reducing the workload and operational difficulty of the operator.

[0062] The transport control method of the wireless remote-controlled omnidirectional transport vehicle provided in the embodiment of the present application can be applied to the wireless remote-controlled omnidirectional transport vehicle of any of the above-mentioned embodiments. In this case, the wireless remote-controlled omnidirectional transport vehicle is the executor of the transport control method of the wireless remote-controlled omnidirectional transport vehicle provided in the embodiment of the present application. The embodiment of the present application does not impose any restrictions on the specific type of the wireless remote-controlled omnidirectional transport vehicle.

[0063] For example, the wireless remote-controlled omnidirectional transporter also includes a control device, wherein the control device is communicatively connected to the wireless remote-controlled omnidirectional transporter; the control device can be an operating platform on the wireless remote-controlled omnidirectional transporter, or a control panel in a control room, or a tablet computer, a laptop computer, a netbook, a desktop computer, a computer, a handheld computing device, etc., but is not limited thereto.

[0064] In order to better understand the transport control method of the wireless remote-controlled omnidirectional transport vehicle provided in the embodiment of the present application, the specific implementation process of the transport control method of the wireless remote-controlled omnidirectional transport vehicle provided in the embodiment of the present application is exemplarily introduced below.

[0065] Please refer to the figure, Figure 3 A schematic flow chart of a method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application is shown. The method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle includes:

[0066] S100, the wireless remote-controlled omnidirectional transport vehicle responds to transport information sent by a staff member; wherein the transport information is used to indicate an object that the wireless remote-controlled omnidirectional transport vehicle needs to transport.

[0067] It can be understood that the wireless remote control omnidirectional transport vehicle receives instructions, switches or buttons sent by staff to transport objects.

[0068] S200: Identify the actual location of the object to be transported indicated by the transport information.

[0069] Exemplarily, the address transmitted by the staff can be identified and obtained; it can also be the coordinate position transmitted by the staff; it can also be obtained by identifying the label code transmitted by the staff, and the label code can be identified and obtained, and the label code can be a QR code or an identification code, wherein the QR code or the identification code can include the specific coordinates or longitude and latitude of the actual location of the object to be transported; it can also be determined by using RFID (radio frequency identification) technology, by installing an RFID tag on the object and using an RFID reader to read the tag information.

[0070] In one possible implementation, see Figure 4 S200, identifying the actual location of the object to be transported indicated by the transport information, including:

[0071] S210, obtaining the total area of the venue; wherein the total area of the venue is the entire area of the venue.

[0072] For example, the total area of the site may be obtained through a pre-stored site map, a site CAD drawing, or a site aerial image.

[0073] S220 , dividing the total area of the site according to a quadrant rule to obtain a first quadrant coverage area, a second quadrant coverage area, a third quadrant coverage area, and a fourth quadrant coverage area.

[0074] It can be understood that the total venue area is divided into four quadrants, the venue area corresponding to the first quadrant is determined as the first quadrant coverage area, the venue area corresponding to the second quadrant is determined as the second quadrant coverage area, the venue area corresponding to the third quadrant is determined as the third quadrant coverage area, and the venue area corresponding to the fourth quadrant is determined as the fourth quadrant coverage area.

[0075] S230: Perform plane coordinate division on the first quadrant covered area, the second quadrant covered area, the third quadrant covered area, and the fourth quadrant covered area, respectively, to obtain first coordinate information corresponding to the first quadrant covered area, second coordinate information corresponding to the second quadrant covered area, third coordinate information corresponding to the third quadrant covered area, and fourth coordinate information corresponding to the fourth quadrant covered area; wherein the first coordinate information is used to indicate a plane coordinate value within the first quadrant covered area, the second coordinate information is used to indicate a plane coordinate value within the second quadrant covered area, the third coordinate information is used to indicate a plane coordinate value within the third quadrant covered area, and the fourth coordinate information is used to indicate a plane coordinate value within the fourth quadrant covered area, and the plane coordinate values are X and Y; X and Y are integers.

[0076] It can be understood that the first coordinate information is used to indicate that there are multiple plane coordinate values within the first quadrant coverage area, the second coordinate information is used to indicate that there are multiple plane coordinate values within the second quadrant coverage area, the third coordinate information is used to indicate that there are multiple plane coordinate values within the third quadrant coverage area, and the fourth coordinate information is used to indicate that there are multiple plane coordinate values within the fourth quadrant coverage area. The plane coordinate division of the first quadrant coverage area, the second quadrant coverage area, the third quadrant coverage area, and the fourth quadrant coverage area can be understood as assigning quadrant values, i.e., plane coordinate values, to the first quadrant coverage area, the second quadrant coverage area, the third quadrant coverage area, and the fourth quadrant coverage area. The assignment method can be to divide the area (the first quadrant coverage area, the second quadrant coverage area, the third quadrant coverage area, and the fourth quadrant coverage area) into multiple grids, each grid corresponding to a specific plane coordinate value, and each position on the site can be accurately represented by the plane coordinate value. When the wireless remote-controlled omnidirectional transport vehicle receives the position information of the object to be transported, it can convert this position information into the corresponding plane coordinate value, thereby accurately finding the location of the object to be transported. Furthermore, the size of a grid can be set based on actual needs, for example, 1 meter by 1 meter, 2 meters by 2 meters, or other sizes. The smaller the grid size, the more accurately the wireless remote-controlled omnidirectional transport vehicle can locate the object, but the amount of data required for calculation and storage also increases accordingly.

[0077] S240, performing coincidence detection on the object to be transported with the plane coordinate value indicated by the first coordinate information, the plane coordinate value indicated by the second coordinate information, the plane coordinate value indicated by the third coordinate information, and the plane coordinate value indicated by the fourth coordinate information, to obtain the actual coincidence plane coordinate value of the object to be transported.

[0078] It can be understood that the obtained plane coordinate value of the object to be transported is detected for overlap with the plane coordinate value indicated by the first coordinate information (having multiple coordinate values), the plane coordinate value indicated by the second coordinate information (having multiple coordinate values), the plane coordinate value indicated by the third coordinate information (having multiple coordinate values) and the plane coordinate value indicated by the fourth coordinate information (having multiple coordinate values), and it is detected whether there is a plane coordinate value indicated by the first coordinate information, the plane coordinate value indicated by the second coordinate information, the plane coordinate value indicated by the third coordinate information or the plane coordinate value indicated by the fourth coordinate information that is the same as the actual overlapping plane coordinate value of the object to be transported. If there is a plane coordinate value indicated by the second coordinate information that is the same as the actual overlapping plane coordinate value of the object to be transported, the plane coordinate value indicated by the second coordinate information that is the same as the actual overlapping plane coordinate value of the object to be transported is determined as the actual overlapping plane coordinate value.

[0079] S250: Determine the actual position of the object to be transported according to the actual coincident plane coordinate values.

[0080] Exemplarily, according to step S240: if the plane coordinate values indicated by the second coordinate information include a plane coordinate value that is identical to the actual overlapping plane coordinate value of the object to be transported, the plane coordinate value indicated by the second coordinate information that is identical to the actual overlapping plane coordinate value of the object to be transported is determined as the actual overlapping plane coordinate value, that is, the plane coordinate value indicated by the second coordinate information that is identical to the actual overlapping plane coordinate value of the object to be transported is the actual position of the object to be transported.

[0081] This setup allows for precise positioning down to specific plane coordinate values (X, Y), helping transport trucks more accurately navigate to the object's location, reducing positioning errors and improving handling efficiency. This quadrant division method can be applied to any site, regardless of its shape or size. Independent plane coordinate division can be performed, adapting to varying site layouts and object distributions, and improving the adaptability of the handling control method to various sites. After the site is divided into quadrants and coordinates, it is organized into a regular coordinate system, facilitating not only positioning and navigation for transport trucks but also site management and planning. For example, coordinate information can be used to quickly calculate the distribution of objects in various areas within the site, allowing transport tasks and routes to be rationally arranged. This location information can then be used to plan the optimal transport path. Thanks to the accuracy of coordinate information, transport trucks can avoid obstacles and choose the shortest, safest path, reducing travel time and energy consumption, navigation errors, and driving deviations, thereby improving handling efficiency.

[0082] S300: Acquire a target transport position of an object to be transported indicated by transport information.

[0083] For example, the target transporting position of the object to be transported can be obtained by identifying the tag code delivered by the staff. The tag code can be a QR code or an identification code, wherein the QR code or the identification code can include the specific coordinates or longitude and latitude of the actual location of the object to be transported; RFID (radio frequency identification) technology can also be used to determine the target transporting position of the object to be transported by installing an RFID tag on the object and using an RFID reader to read the tag information.

[0084] S400, obtaining specification information of objects to be transported; wherein the specification information is used to indicate the number, weight, appearance and size of the objects to be transported.

[0085] For example, the object's specification information can be obtained by scanning a barcode or QR code on the object. The barcode or QR code can contain information such as the number, weight, appearance, and size of the object. The specification information can also be obtained through coordinate plane values. The specification information of the object can also be obtained by manual input. The operator can enter the object's specification information on the control device according to the actual situation. The specification information of the object can also be obtained through a pre-stored object specification database. The control device can be connected to the object specification database. When the specification information of a certain object needs to be obtained, it can be directly queried from the database. The database can be a local database or a cloud database. The local database is stored on the wireless remote control omnidirectional transport vehicle, which is convenient for use in an offline environment. The cloud database can update the object specification information in real time, which helps to ensure the accuracy and timeliness of the data.

[0086] In one possible implementation, S400, obtaining specification information of an object to be transported, includes:

[0087] S410, based on the plane coordinate values indicated by the first coordinate information, the plane coordinate values indicated by the second coordinate information, the plane coordinate values indicated by the third coordinate information and the plane coordinate values indicated by the fourth coordinate information, the number of overlaps is detected to obtain the first information of the objects to be transported; wherein the first information is used to indicate the number of objects indicated by the specification information.

[0088] It can be understood that the detection of the number of overlaps is to compare the plane coordinate value of the object to be transported with the plane coordinate value indicated by the first coordinate information, the plane coordinate value indicated by the second coordinate information, the plane coordinate value indicated by the third coordinate information and the plane coordinate value indicated by the fourth coordinate information, and count the number of plane coordinate values that overlap with the plane coordinate value of the object to be transported. This number is the number of objects to be transported, and the number information of the objects to be transported can be accurately obtained, providing a basis for the subsequent formulation of the transport strategy.

[0089] S420, based on the plane coordinate value indicated by the first coordinate information, the plane coordinate value indicated by the second coordinate information, the plane coordinate value indicated by the third coordinate information and the plane coordinate value indicated by the fourth coordinate information, an overlap range detection is performed to obtain second information of the object to be transported; wherein the second information is used to indicate the shape and size of the object indicated by the specification information.

[0090] For example, the overlap range detection can be performed by detecting the overlap range between the object to be transported and the plane coordinate values indicated by the first coordinate information, the plane coordinate values indicated by the second coordinate information, the plane coordinate values indicated by the third coordinate information, and / or the plane coordinate values indicated by the fourth coordinate information. The position or range occupied by the object to be transported on the plane coordinate values indicated by the first coordinate information, the plane coordinate values indicated by the second coordinate information, the plane coordinate values indicated by the third coordinate information, and the plane coordinate values indicated by the fourth coordinate information is detected, and the second information of the object to be transported is obtained based on the position or range occupied. For example, if the object to be transported occupies four grids of the plane coordinate values indicated by the first coordinate information, the plane coordinate values indicated by the second coordinate information, the plane coordinate values indicated by the third coordinate information, or the plane coordinate values indicated by the fourth coordinate information, for example, the grid size is 3 meters × 3 meters, then the range occupied by the object to be transported can be determined. Alternatively, the information can be obtained through image recognition technology, by taking an image of the object and analyzing and processing the image using an image recognition algorithm to obtain the appearance and size information of the object.

[0091] S430: Determine third information based on the first information and the second information; wherein the third information is used to indicate the weight of the object indicated by the specification information.

[0092] For example, the weight of an object can be estimated based on information such as the shape, size, and material of the object. For example, a database containing the shapes, sizes, and weights of various objects can be established. When the object to be moved matches an object in the database, the weight information of the object can be directly obtained. If there is no completely matching object in the database, the weight of the object can be estimated. In addition, the weight of the object can be directly measured by installing sensors, such as using a pressure sensor to measure the pressure of the object on the ground, and then calculating the weight of the object based on the relationship between pressure and gravity. The sensor can be set on the ground of the site so that the detection area of the sensor covers the entire site, and the setting method can be to set it in intervals in sequence.

[0093] S440: Obtain specification information according to the first information, the second information, and the third information.

[0094] Exemplarily, the number of objects indicated by the first information and the shape and size of the objects indicated by the second information are determined as the specification information.

[0095] With this setup, the wireless remote-controlled omnidirectional transporter can select the appropriate transport method and route based on the weight, size and other information of the object, which helps to improve the safety and efficiency of the transport process and lays the foundation for subsequent transport work.

[0096] S500 , obtaining transport path information according to specification information, the actual position of the object to be transported, and the target transport position of the object to be transported; wherein the transport path information is used to indicate a transport path of the object to be transported.

[0097] It can be understood that the transport path information can be a transport path planned by using information such as the object's specifications, actual location, and target transport location, and then taking into account factors such as the transport vehicle's driving speed, steering ability, and obstacle avoidance ability. The transport path is the path with the shortest driving time, the lowest energy consumption, and the highest safety, or it can be a compromise path that comprehensively considers multiple factors.

[0098] In one possible implementation, see Figure 5 S500: obtaining transport path information according to the specification information, the actual position of the object to be transported, and the target transport position of the object to be transported, including:

[0099] S510: Determine a plannable area based on the actual location of the object to be transported and the target transport location; wherein the plannable area is an area where a transport route can be designed.

[0100] It can be understood that the plannable area is determined based on the spatial relationship between the actual location of the object to be transported and the target transport location, as well as the vehicle's operating constraints (such as speed, steering ability, and obstacle avoidance). Within the plannable area, multiple possible transport routes can be designed, all of which can achieve the task of transporting the object from its actual location to the target transport location.

[0101] S520 , performing a transport path simulation based on the plannable area and specification information, and determining multiple transport paths according to the simulation results.

[0102] For example, in the process of simulating the transport path, factors such as the weight and size of the object, the load capacity of the transport truck, the driving speed, the steering flexibility, and possible obstacles are used as influencing factors. By simulating the transport conditions under different paths, the transport paths that can be used to transport the object can be determined, and the feasibility, efficiency, and safety of each path can be evaluated. For example, for objects that are heavier or of special size, it may be necessary to choose a smoother and more spacious path to avoid overturning or collision during transportation. At the same time, if the energy consumption and driving time of the transport truck are taken into account, the path with the shortest distance and good road conditions can be given priority. During the simulation process, the driving parameters of the transport truck, such as speed, acceleration, etc., can also be adjusted according to actual needs, thereby contributing to the smoothness and efficiency of the transport process.

[0103] S530 , analyzing influencing factors of the multiple transport paths to determine at most one priority transport path; wherein the priority transport path is a transport path that is preferentially used by the wireless remote-controlled omnidirectional transport vehicle.

[0104] It is understood that the analysis of influencing factors may include, but is not limited to, path length, travel time, energy consumption, number of obstacles, road conditions, number of turns, and so on. For example, shorter path length and travel time can reduce handling time and energy consumption, improving handling efficiency; fewer obstacles and good road conditions can reduce risks during handling and ensure handling safety; and fewer turns can reduce the operational complexity of the transport vehicle and improve the smoothness of the handling process. By comparing the path length, travel time, energy consumption, number of obstacles, road conditions, number of turns, etc. between different paths, a transportation path with a short path length, short travel time, low energy consumption, few obstacles, good road conditions, and few turns can be determined and designated as the priority transportation path. In addition, if the determined priority transport path cannot fully meet the requirements of short path length, short driving time, low energy consumption, few obstacles, good road conditions, and few turns, it can be determined based on the number of requirements met. For example, the first transport path meets the requirements of good road conditions and few turns, and the second transport path meets the requirements of short path length, short driving time, few obstacles, and few turns. The first transport path meets 2 conditions, and the second path meets 4. The second path is then determined as the priority transport path.

[0105] In one possible implementation, see Figure 6 , S530, analyzing the influencing factors of multiple transport paths to determine at most one priority transport path, including:

[0106] S531 , performing friction factor impact analysis on each transport path to obtain first impact information; wherein the first impact information is used to indicate the impact value of the ground friction coefficient on the transport path.

[0107] It's no secret that the surface friction coefficient is a significant factor influencing a truck's driving stability and energy consumption. Different surface materials and conditions result in different friction coefficients, which in turn affect the truck's performance. By analyzing factors such as surface material, humidity, and roughness for each route, we can estimate the friction coefficient for each route and use this information to assess the truck's driving stability and energy consumption along each route. For example, slippery surfaces may reduce the friction coefficient, increasing the risk of the truck slipping, while rough surfaces may increase the truck's driving resistance and energy consumption.

[0108] In one possible implementation, see Figure 7 , S531, respectively analyze the impact of friction factors on each transport path to obtain the first impact information, including:

[0109] S5311 collects the motor load current in real time; the motor load current is obtained through the current sensor of the wheel motor.

[0110] It's understandable that the motor load current reflects the resistance encountered by the wireless remote-controlled omnidirectional transporter during travel. When the transporter travels on different surface materials, the driving force required by the wheel motors varies due to varying coefficients of friction, leading to variations in the motor load current. Real-time motor load current can be acquired using current sensors in the wheel motors; alternative methods include Hall-effect current sensors and Rogowski coil current sensors.

[0111] S5312: derive the actual acceleration and wheel speed based on the real-time collected motor load current. The actual acceleration and wheel speed are obtained by analyzing the motor load current and the inertial measurement unit.

[0112] As you can understand, the inertial measurement unit (IMU) is in communication with the control device. It can acquire real-time information such as the truck's acceleration and angular velocity. Combined with changes in the motor load current, it can be used to determine the actual acceleration and wheel speed of the omnidirectional truck on different paths. These actual acceleration and wheel speed reflect the truck's driving dynamics and help assess its driving stability and responsiveness under varying surface conditions.

[0113] S5313, divide the plannable area into multiple grids, and obtain the historical friction coefficient mean and variance of each grid.

[0114] It can be understood that the historical mean and variance of the friction coefficient can reflect the friction characteristics and stability of the ground material of each grid. By collecting and analyzing the mean and variance of the friction coefficient of historical grids, we can understand the changes in the friction coefficient of each grid in different time periods and weather conditions.

[0115] S5314, updates the friction coefficient of the current grid in real time based on the historical friction coefficient mean and variance, and marks low friction areas.

[0116] For example, updating the friction coefficient of the current grid in real time based on the historical friction coefficient mean and variance can be to use the historical mean as the friction coefficient estimate of the current grid point, that is, f current =μ, where f current is the friction coefficient of the current grid. In order to make the update more adaptive, a weighted average method can also be used to perform a weighted average of the current measurement value and the historical mean; for example, f current =α×f measured +(1-α)×μ, where f measured is the measured value of the friction coefficient of the grid point at the current moment, and α is the weight coefficient, which takes a value between 0 and 1 to balance the influence of the current measurement value and the historical mean.

[0117] S5315: Obtain first impact information based on the actual acceleration, wheel speed, and low friction area.

[0118] Exemplarily, actual acceleration, wheel speed, and low-friction area are determined as the first influencing information.

[0119] This setup allows the wireless remote-controlled omnidirectional transporter to assess in real time the impact of the ground friction coefficient on driving stability and energy consumption during the transport process, thereby proactively mitigating potential risks. When the transporter reaches a low-friction area, the control device can promptly adjust its driving strategy, such as reducing speed, increasing driving force, or selecting a more stable driving path, to ensure the safety and smoothness of the transport process. Furthermore, by analyzing the historical mean and variance of the friction coefficient, the transporter can also predict future trends in the ground friction coefficient, providing data support for the planning of long-term transport tasks.

[0120] S532 , performing an impact analysis of the object state factor on each transport path to obtain second impact information; wherein the second impact information is used to indicate the impact value of the state of the object to be transported on the transport path, and the state of the object to be transported includes a stable state and a shaky state.

[0121] It can be understood that the stable state and the shaky state of the object to be transported are tested on each transport path respectively to obtain the impact value of the state of the object to be transported on each transport path.

[0122] In one possible implementation, see Figure 8 , S532, respectively analyze the impact of object status factors on each transport path to obtain second impact information, including:

[0123] S5321, obtaining the center of gravity of the object to be transported, and predicting the acceleration and angular velocity of the object to be transported based on the center of gravity; wherein the acceleration and angular velocity satisfy the stable state of the object to be transported.

[0124] For example, an inertial measurement unit can be used to predict the acceleration and angular velocity of an object being transported in real time. The object's center of gravity can then be determined based on its mass distribution and shape. During transport, the vehicle's speed and steering can be used to predict changes in the object's acceleration and angular velocity along different paths, thereby assessing the object's stability along these paths.

[0125] S5322: Determine a path curvature radius that the object to be transported can withstand based on the weight, size, acceleration, and angular velocity indicated by the specification information; wherein the path curvature radius that the object to be transported can withstand satisfies the stability of the object to be transported.

[0126] For example, the path curvature radius refers to the curvature radius of any point on the transport path, which reflects the degree of curvature of the path. Different objects have different requirements for the path curvature radius due to factors such as their weight, size, and shape. For example, objects that are heavier or longer may require a larger path curvature radius to ensure that they do not overturn or collide during transportation. The maximum path curvature radius that the object can withstand can be determined by factors such as the object's weight, size, acceleration, and angular velocity, thereby avoiding the selection of a path with a curvature radius that is too small when selecting a transport path, which helps to improve the safety of the transport process.

[0127] S5323: Extract the curvature radius of each transport path and compare it with the path curvature radius that the object to be transported can withstand to obtain a comparison result; wherein the comparison result is used to indicate a comparison value between the curvature radius of each transport path and the path curvature radius that the object to be transported can withstand.

[0128] Exemplarily, the curvature radius of each transport path is compared with the path curvature radius that the object to be transported can withstand to obtain a comparison result; for example, among the curvature radii of each transport path, the curvature radius of the first transport path is 5, the curvature radius of the second transport path is 8, and the path curvature radius that the object to be transported can withstand is 6, so the path curvature radius 6 that the object to be transported can withstand is greater than 5 and less than 8, so the ratio of the path curvature radius that the object to be transported can withstand to the curvature radius of the first transport path is 6:5, which means that the curvature radius of the first transport path meets the path curvature radius that the object to be transported can withstand, then the first transport path can be used as the transport path of the omnidirectional transport vehicle, and the curvature radius of the second transport path is greater than the path curvature radius that the object to be transported can withstand, so it cannot be used as a transport path.

[0129] S5324: Determine second impact information based on the comparison result.

[0130] Exemplarily, a comparison value between the curvature radii indicated by the comparison result is determined as the second influence information.

[0131] This setup allows the wireless remote-controlled omnidirectional transporter to select the appropriate transport path based on the stability requirements of each object, enhancing safety and stability during the transport process. For example, for objects with a high center of gravity and prone to wobbling, the transporter will choose a path with a larger curvature radius and a smoother path to reduce swaying during transport and prevent tipping or collisions. The transporter can also adjust its speed and steering strategy based on information such as the object's weight and size, improving transport stability.

[0132] S533: Obtain at most one priority transport path according to the first impact information and the second impact information.

[0133] Illustratively, a priority transport path is determined from multiple transport paths according to the impact value of the ground friction coefficient on the transport path indicated by the first impact information and the impact value of the state of the object to be transported on the transport path indicated by the second impact information.

[0134] In one possible implementation, after obtaining at most one priority transport path according to the first impact information and the second impact information, step S533 includes:

[0135] S5331, obtaining historical record data; wherein the historical record data is used to indicate the actual transport path, transport time, transport efficiency and abnormal conditions that occurred during the transport process of the wireless remote-controlled omnidirectional transport vehicle in different transport tasks in the historical records.

[0136] For example, the historical record data can be obtained through database query, log file analysis, or user feedback collection. The historical record data includes information such as the actual path selection, time taken, handling efficiency, and possible problems or abnormal situations encountered by the wireless remote-controlled omnidirectional transport vehicle in various handling tasks completed in the past.

[0137] S5332, based on historical data and real-time monitoring, identifies high-risk areas on the main path; among them, high-risk areas include narrow passages, crowded areas, and slippery surfaces.

[0138] For example, various sensors and monitoring equipment, such as cameras, lidars, humidity sensors, and pressure sensors, can be installed on the main path. Lidars or cameras are used to monitor the width of the channel and the passage of objects. When objects in the channel are detected approaching the channel boundary or when slow traffic or congestion occurs, the narrow channel can be judged to be in a high-risk state. Cameras are used to monitor the flow of people and the status of personnel flow in real time. Image recognition technology is used to analyze personnel density, walking speed, and whether there is congestion. When the personnel density exceeds the set threshold, or when there is abnormal gathering and chaos of people, the crowded area is determined to be in a high-risk state. Humidity sensors monitor the ground humidity in real time. When the humidity exceeds the normal range, it may indicate that the ground is wet and slippery. In addition, cameras are used to observe whether there is water accumulation, oil pollution, etc. on the ground. If an abnormality is found, the area is promptly marked as a high-risk area for slippery ground.

[0139] S5333: Mark the single-point failure area; the single-point failure area includes the necessary doors and / or roads.

[0140] For example, when a wireless remote-controlled omnidirectional transporter is carrying goods, it must pass through certain doors or roads. Failures at these doors or roads, such as broken locks or road closures, will directly impact the completion of the transport mission. Therefore, these necessary doors or roads can be marked as single points of failure, giving them greater weight during route planning.

[0141] S5334: Determine alternative paths based on high-risk areas and single-point failure areas. The alternative paths include parallel paths and segmented replacement paths. Parallel paths are equidistant offset paths generated on both sides of the priority transport path. Segmented replacement paths are local replacement paths generated for high-risk sections.

[0142] For example, after determining the high-risk area, the control device can exclude the high-risk area from the range of the transport path, and then generate an alternative path based on the single-point failure area. The alternative path may include a parallel path and a segmented replacement path. Parallel paths are equidistant offset paths generated on both sides of the priority transport path. These paths have similar ground friction coefficients and object stability requirements as the priority transport path in most cases, and therefore can be used as alternative paths. Segmented replacement paths are local alternative paths generated for high-risk sections. These paths can bypass high-risk areas such as narrow passages, crowded areas, or slippery surfaces, thereby improving the safety and stability of the transport process.

[0143] With this setup, the wireless remote-controlled omnidirectional transporter can intelligently identify and avoid potential high-risk areas based on historical record data and real-time monitoring information. When performing transport tasks, the transporter will give priority to using the priority transport path. If there is a high-risk area or single-point failure area on the priority transport path, the transporter will be able to quickly switch to an alternative path to avoid potential risks, enabling the transporter to find a safe and efficient transport path under any circumstances.

[0144] S540: Determine the priority transport path as the transport path information.

[0145] Exemplarily, the priority transport path is used as the first selected path for the wireless remote-controlled omnidirectional transport vehicle to transport objects.

[0146] S600: The wireless remote-controlled omnidirectional transport vehicle transports the object to be transported on the adjustment portion according to the transport path indicated by the transport path information.

[0147] For example, after receiving the transport path information, the wireless remote-controlled omnidirectional transporter begins its transport task. The wireless remote-controlled omnidirectional transporter travels along the planned optimal path, moving the object from its actual location to its target location. During the transport process, the wireless remote-controlled omnidirectional transporter dynamically adjusts to the actual situation, such as avoiding obstacles and adjusting travel speed. Furthermore, the wireless remote-controlled omnidirectional transporter can also monitor the object's status in real time through sensors and other equipment, such as whether it is tilted or exceeds its load capacity, as well as the status of the transporter, such as whether the battery is sufficient or whether the tires are worn, to promptly identify and address any problems.

[0148] With this setting, after obtaining the transport path information, the wireless remote-controlled omnidirectional transporter can automatically adjust its driving route, transport the object from the actual location to the target location along the optimal path, and make dynamic adjustments based on actual conditions, greatly improving the flexibility and stability of transportation, while also reducing the operator's workload and difficulty of operation.

[0149] In one possible implementation, at S600, after the wireless remote-controlled omnidirectional transport vehicle transports the object to be transported along the transport path indicated by the transport path information, the following steps are performed:

[0150] S610, while the wireless remote-controlled omnidirectional transporter is transporting the object to be transported, the obstacle avoidance mechanism is activated.

[0151] It can be understood that the obstacle avoidance mechanism can be understood as the obstacle avoidance function of the wireless remote-controlled omnidirectional transporter; when the control device detects that the wireless remote-controlled omnidirectional transporter is transporting the object to be transported, the control device activates the obstacle avoidance function.

[0152] S620: If the waiting time on the priority transport path is greater than the preset time and the obstacle avoidance mechanism is completely activated, feedback information is obtained; wherein the feedback information is used to indicate that the priority transport path is temporarily unavailable, and the waiting time is the time required to wait due to encountering obstacles or path blockage during the transport process.

[0153] For example, when the obstacle avoidance mechanism has been activated and the wireless remote-controlled omnidirectional transport vehicle encounters an obstacle or a blocked path on the priority transport path, the waiting time is recorded; if the recorded waiting time exceeds a preset time threshold, feedback information is generated, indicating that the current priority transport path is temporarily inaccessible for some reason; the feedback information includes the specific waiting time and obstacle situation, and an alternative path can be selected based on the feedback information.

[0154] S630: Receive feedback information, and determine the parallel path and the segmented replacement path included in the candidate path as a temporary transport path according to the feedback information.

[0155] For example, after receiving feedback information, the waiting time and obstacle status are obtained from the feedback information. If it is determined that the current priority transport path is indeed temporarily impassable, a path from the alternative paths is automatically selected as a temporary transport path. When selecting the temporary transport path, various factors are considered, such as the path length, curvature radius, ground friction coefficient, and whether there are other potential risks.

[0156] S640, a wireless remote-controlled omnidirectional transport vehicle transports objects to be transported along a temporary transport path.

[0157] For example, after the temporary transport path is selected, the wireless remote-controlled omnidirectional transport vehicle can switch to the temporary transport path and continue to perform the transport task until the object to be transported is transported to the target location.

[0158] To sum up, task interruptions or delays caused by path blockages or obstacles can be avoided. The wireless remote-controlled omnidirectional transporter has higher flexibility and adaptability when performing transport tasks, and can better adapt to various complex environments and emergencies.

[0159] In one possible implementation, the method further includes:

[0160] When the wireless remote-controlled omnidirectional transporter is transporting an object, if there is an obstacle within the preset safety distance, the vehicle will be triggered to stop.

[0161] It will be understood that when a wireless remote-controlled omnidirectional transporter is carrying an object, if an obstacle is within a preset safety distance, the control device will detect it and trigger a stop operation, causing the wireless remote-controlled omnidirectional transporter to cease its transport mission. Furthermore, the preset safety distance is a range of distances that is predefined based on information such as the type, size, and location of the obstacle. When an obstacle is detected within this safety distance, the control device will immediately trigger a stop operation, causing the wireless remote-controlled omnidirectional transporter to suspend its transport mission to ensure safety during the transport process and prevent collisions.

[0162] With this arrangement, the wireless remote-controlled omnidirectional transporter can stop the transporting task in time when encountering an obstacle, avoiding collision or damage to objects, and improving the safety and reliability of the wireless remote-controlled omnidirectional transporter's transport process.

[0163] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0164] Corresponding to the transport control method of the wireless remote-controlled omnidirectional transport vehicle described in the above embodiment, the embodiment of the present application also provides a transport control system of the wireless remote-controlled omnidirectional transport vehicle, and each unit of the system can implement each step of the transport control method of the wireless remote-controlled omnidirectional transport vehicle. Figure 9 A structural block diagram of a transport control system of a wireless remote-controlled omnidirectional transport vehicle provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0165] Reference Figure 9 The transport control system of the wireless remote control omnidirectional transport vehicle includes:

[0166] A sending unit, configured to wirelessly control the omnidirectional transport vehicle in response to transport information sent by a worker; wherein the transport information is used to indicate an object to be transported by the wireless remote-controlled omnidirectional transport vehicle;

[0167] an identification unit, configured to identify an actual location of an object to be transported as indicated by the transport information;

[0168] a first acquiring unit, configured to acquire a target transport position of an object to be transported indicated by transport information;

[0169] A second acquiring unit is configured to acquire specification information of the objects to be transported; wherein the specification information is used to indicate the number, weight, appearance, and size of the objects to be transported;

[0170] a processing unit, configured to obtain transport path information according to the specification information, the actual position of the object to be transported, and the target transport position of the object to be transported; wherein the transport path information is used to indicate a transport path of the object to be transported;

[0171] The result unit is used for wirelessly controlling the omnidirectional transport vehicle to transport the object to be transported along the transport path indicated by the transport path information.

[0172] It should be noted that the information interaction, execution process, etc. between the above-mentioned systems / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0173] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0174] Figure 10 This is a schematic diagram of the structure of the control device of the wireless remote control omnidirectional transport vehicle provided in one embodiment of the present application. Figure 10 As shown, the control device 6 of this embodiment includes: at least one processor 60 ( Figure 10 Only one is shown), at least one memory 61 ( Figure 10 Only one is shown) and a computer program 62 stored in the at least one memory 61 and executable on the at least one processor 60. When the processor 60 executes the computer program 62, the control device 6 implements the steps of any of the above-mentioned embodiments of the transport control method for the wireless remote-controlled omnidirectional transport vehicle, or implements the functions of the modules / units in the above-mentioned system embodiments.

[0175] For example, the computer program 62 may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to implement the present application. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program 62 in the control device 6.

[0176] The control device 6 can be a computing device such as a desktop computer or a notebook computer. The control device 6 can include, but is not limited to, a processor 60 and a memory 61. It will be understood by those skilled in the art that Figure 10 This is merely an example of the control device 6 and does not constitute a limitation on the control device 6 . The control device 6 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, buses, etc.

[0177] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0178] In some embodiments, the memory 61 may be an internal storage unit of the control device 6, such as a hard disk or memory of the control device 6. In other embodiments, the memory 61 may also be an external storage device of the control device 6, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the control device 6. Furthermore, the memory 61 may also include both an internal storage unit of the control device 6 and an external storage device. The memory 61 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0179] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0180] An embodiment of the present application provides a computer program product. When the computer program product is run on a wireless remote-controlled omnidirectional transport vehicle, the wireless remote-controlled omnidirectional transport vehicle implements the steps of any of the above method embodiments.

[0181] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program, when executed by the processor, can implement the steps of the above-mentioned various method embodiments. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the wireless remote-controlled omnidirectional transporter, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0182] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0183] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0184] In the embodiments provided in this application, it should be understood that the disclosed wireless remote-controlled omnidirectional transport vehicle's transport control system, wireless remote-controlled omnidirectional transport vehicle, and wireless remote-controlled omnidirectional transport vehicle's transport control method can be implemented in other ways. For example, the wireless remote-controlled omnidirectional transport vehicle's transport control system and wireless remote-controlled omnidirectional transport vehicle embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical functional division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0185] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0186] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A wireless remote-controlled omnidirectional transport vehicle, characterized in that: The wireless remote control omnidirectional transport vehicle comprises: The front of the vehicle includes a first direction and a second direction; the first direction is a forward direction of the front of the vehicle, and the second direction is a direction opposite to the first direction; an auxiliary protection mechanism, fixedly disposed on the vehicle head; the length direction of the auxiliary protection mechanism is parallel to the first direction; and The vehicle body comprises a vehicle body base and an adjustment portion; the vehicle body base is fixedly mounted on the vehicle head; the adjustment portion is movably mounted on the vehicle body base along the first direction or the second direction and faces the auxiliary protection mechanism; the length and width of the vehicle body base are both greater than the length and width of the adjustment portion; the adjustment portion is used to place an object to be transported and adjust the position of the object to be transported on the vehicle body base; The auxiliary protection mechanism is used to prevent the transported object from tipping over during movement, and when the transported object moves, the adjustment unit adjusts the position of the object to be transported on the vehicle body base.

2. The wireless remote-controlled omnidirectional transport vehicle according to claim 1, characterized in that: The vehicle body base is provided with an adjustment and matching portion, and the adjustment portion includes: an adjusting member, moving on the adjusting fitting portion in cooperation with the adjusting fitting portion along the first direction or the second direction; and an adjustment plate fixedly disposed on the adjustment member and facing the auxiliary protection mechanism; the adjustment plate is used to place the object to be transported, and the adjustment member is used to adjust the position of the adjustment plate; The auxiliary protection mechanism includes: The first protective component includes a first power member, a first protective rod, and a locking fitting; the first power member is fixedly disposed on one side of the vehicle head; one end of the first protective rod is disposed at a power output end of the first power member; the locking fitting is disposed at the other end of the first protective rod; the first power member is used to drive the first protective rod to move along the second direction; The second protection component includes a second power member, a second protection rod, and a connecting member; the second power member is fixedly disposed on the other side of the vehicle head; one end of the second protection rod is disposed at the power output end of the second power member; the connecting member is rotatably disposed at the other end of the second protection rod and is coaxial with the second protection rod; the second power member is used to drive the second protection rod to move along the second direction; and A locking member fixedly disposed on the connecting member; the locking member faces the direction of the adjustment plate and is perpendicular to the second protective rod; the locking member is used to cooperate with the locking mating member to lock when driven by the rotation of the connecting member; Among them, the first protective bar and the second protective bar are parallel to the traveling direction of the vehicle head; the first protective bar and the second protective bar are parallel and oppositely arranged; the first power member and the second power member are parallel and oppositely arranged; the locking fitting and the connecting member are parallel and oppositely arranged.

3. A method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle, characterized in that: Applied to the wireless remote-controlled omnidirectional transport vehicle according to any one of claims 1 to 2, the method comprises: The wireless remote-controlled omnidirectional transport vehicle responds to the transport information sent by the staff; wherein the transport information is used to indicate the object that the wireless remote-controlled omnidirectional transport vehicle needs to transport; identifying an actual location of the object to be transported indicated by the transport information; Acquire a target transport position of the object to be transported indicated by the transport information; Obtaining specification information of the objects to be transported; wherein the specification information is used to indicate the number, weight, appearance and size of the objects to be transported; Obtaining transport path information according to the specification information, the actual position of the object to be transported, and the target transport position of the object to be transported; wherein the transport path information is used to indicate the transport path of the object to be transported; The wireless remote-controlled omnidirectional transport vehicle transports the object to be transported along the transport path indicated by the transport path information.

4. The method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle according to claim 3, wherein: The identifying the actual location of the object to be transported indicated by the transport information includes: Obtaining the total area of the venue; wherein the total area of the venue is the entire area of the venue; Dividing the total area of the site according to the quadrant rule to obtain a first quadrant coverage area, a second quadrant coverage area, a third quadrant coverage area, and a fourth quadrant coverage area; Performing plane coordinate division on the first quadrant coverage area, the second quadrant coverage area, the third quadrant coverage area, and the fourth quadrant coverage area, respectively, to obtain first coordinate information corresponding to the first quadrant coverage area, second coordinate information corresponding to the second quadrant coverage area, third coordinate information corresponding to the third quadrant coverage area, and fourth coordinate information corresponding to the fourth quadrant coverage area; wherein the first coordinate information is used to indicate a plane coordinate value within the first quadrant coverage area, the second coordinate information is used to indicate a plane coordinate value within the second quadrant coverage area, the third coordinate information is used to indicate a plane coordinate value within the third quadrant coverage area, and the fourth coordinate information is used to indicate a plane coordinate value within the fourth quadrant coverage area, and the plane coordinate values are X and Y; X and Y are integers; Performing coincidence detection on the object to be transported with the plane coordinate values indicated by the first coordinate information, the plane coordinate values indicated by the second coordinate information, the plane coordinate values indicated by the third coordinate information, and the plane coordinate values indicated by the fourth coordinate information, respectively, to obtain actual coincident plane coordinate values of the object to be transported; The actual position of the object to be transported is determined according to the actual coincident plane coordinate values.

5. The method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle according to claim 4, wherein: The obtaining of the specification information of the object to be transported includes: performing a detection of the number of overlaps based on the plane coordinate values indicated by the first coordinate information, the plane coordinate values indicated by the second coordinate information, the plane coordinate values indicated by the third coordinate information, and the plane coordinate values indicated by the fourth coordinate information, to obtain first information about the objects to be transported; wherein the first information is used to indicate the number of objects indicated by the specification information; performing overlap range detection based on the plane coordinate values indicated by the first coordinate information, the plane coordinate values indicated by the second coordinate information, the plane coordinate values indicated by the third coordinate information, and the plane coordinate values indicated by the fourth coordinate information to obtain second information about the object to be transported; wherein the second information is used to indicate the shape and size of the object indicated by the specification information; determining third information based on the first information and the second information; wherein the third information is used to indicate the weight of the object indicated by the specification information; The specification information is obtained according to the first information, the second information and the third information.

6. The method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle according to claim 3, wherein: The obtaining of transport path information according to the specification information, the actual position of the object to be transported, and the target transport position of the object to be transported includes: Determining a plannable area according to the actual position of the object to be transported and the target transport position; wherein the plannable area is an area where a transport route can be designed; Performing a transport path simulation based on the plannable area and the specification information, and determining a plurality of transport paths according to the simulation results; Analyzing the influencing factors of the plurality of transport paths to determine at most one priority transport path; wherein the priority transport path is the transport path preferentially used by the wireless remote-controlled omnidirectional transport vehicle; The priority transport path is determined as the transport path information.

7. The method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle according to claim 6, wherein: The analyzing the influencing factors of the plurality of transport paths to determine at most one priority transport path includes: Performing friction factor impact analysis on each of the transport paths to obtain first impact information; wherein the first impact information is used to indicate the impact value of the ground friction coefficient on the transport path; Performing an object state factor impact analysis on each of the transport paths to obtain second impact information; wherein the second impact information is used to indicate the impact value of the state of the object to be transported on the transport path, the state of the object to be transported including a stable state and a shaky state; At most one priority transport path is obtained according to the first impact information and the second impact information.

8. The method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle according to claim 7, wherein: The friction factor impact analysis is performed on each of the transport paths to obtain first impact information, including: Real-time collection of motor load current; wherein the motor load current is obtained through the current sensor of the wheel set motor; Obtaining actual acceleration and wheel speed based on the motor load current collected in real time; wherein the actual acceleration and wheel speed are obtained by combining and analyzing the motor load current and an inertial measurement unit; Dividing the plannable area into a plurality of grids, and obtaining a historical friction coefficient mean and variance of each grid; updating the friction coefficient of the current grid in real time based on the historical friction coefficient mean and the variance, and marking low friction areas; The first impact information is obtained according to the actual acceleration, the wheel speed, and the low friction area.

9. The method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle according to claim 7, wherein: The performing of the object state factor influence analysis on each of the transport paths to obtain the second influence information includes: Obtaining the center of gravity of the object to be transported, and predicting the acceleration and angular velocity of the object to be transported based on the center of gravity; wherein the acceleration and the angular velocity satisfy the stable state of the object to be transported; Determining a path curvature radius that the object to be transported can withstand based on the weight, size, acceleration, and angular velocity indicated by the specification information; wherein the path curvature radius that the object to be transported can withstand satisfies a stable state of the object to be transported; Extracting the curvature radius of each transport path and comparing it with the path curvature radius that the object to be transported can withstand, to obtain a comparison result; wherein the comparison result is used to indicate a comparison value between the curvature radius of each transport path and the path curvature radius that the object to be transported can withstand; The second impact information is determined according to the comparison result.

10. The method for controlling the transport of a wireless remote-controlled omnidirectional transport vehicle according to claim 7, wherein: After obtaining at most one priority transport path according to the first impact information and the second impact information, the method includes: Acquire historical record data; wherein the historical record data is used to indicate the actual transport path, transport time, transport efficiency and abnormal conditions that occurred during the transport process of the wireless remote-controlled omnidirectional transport vehicle in different transport tasks in the historical records; Based on the historical data and real-time monitoring, high-risk areas on the main path are identified; wherein the high-risk areas include narrow passages, crowded areas, and slippery surfaces; Marking single-point failure areas; wherein the single-point failure areas include necessary doors and / or roads; An alternative path is determined based on the high-risk area and the single-point failure area; wherein the alternative path includes a parallel path and a segmented replacement path, the parallel path is an equidistant offset path generated on both sides of the priority transport path, and the segmented replacement path is a local alternative path generated for the high-risk section.

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