Method for controlling mobile machine and related machine for implementing method

Abstract

Embodiments of the present disclosure relate to a method for controlling a movable machine (1) comprising a body (10) and a rotatable support platform (20) mounted on the body (10) to receive a payload (30), the method comprising: detecting angle information of the body (10); and reversely rotating the support platform (20) relative to the main body (10) based on the detected angle information.

Description

Technical Field

[0001] This invention relates to robotics, and more specifically, to a method for controlling a mobile machine and a related mobile machine for implementing the method. Background Technology

[0002] Mobile machines such as autonomous mobile robots (AMRs) or autonomous guided vehicles (AGVs) are widely used in logistics, transportation, and robotic automation. Cycle time and efficiency are crucial in these applications. For users, delivering payloads to their destinations in the shortest possible time, consuming minimal energy, and adapting easily to conditions and layouts on factory floors or warehouses of varying sizes, as well as in changing environments, are increasingly important. Summary of the Invention

[0003] This invention is defined by the claims.

[0004] According to one aspect of this disclosure, a method for controlling a mobile machine is provided, the mobile machine including a body and a rotatable support platform mounted on the body to receive a payload, the method comprising: detecting angle information of the body; and rotating the support platform in the opposite direction relative to the body based on the detected angle information.

[0005] Using the above-described method for controlling a mobile machine, those skilled in the art will understand that the support platform and the payload placed thereon can then be controlled to not rotate with the main body of the mobile machine. Thus, when the mobile machine moves along a curved path, it is not necessary to overcome the rotational inertia of the payload, which can reduce the driving torque of the mobile machine and improve time and / or energy efficiency.

[0006] In some embodiments, rotating the support platform in the opposite direction relative to the body based on the detected angle information may include rotating the support platform in the opposite direction relative to the body by an angle equal to the degree of rotation of the body derived from the detected angle information.

[0007] In some embodiments, rotating the support platform in the opposite direction relative to the body based on detected angle information may include: rotating the support platform in the opposite direction relative to the body while the mobile machine is moving along a curved path, such that the orientation of the support platform relative to the ground on which the mobile machine is moving remains constant.

[0008] In some embodiments, the step of rotating the support platform in the opposite direction relative to the body can be performed in real time as the movable machine moves along the path.

[0009] In some embodiments, rotating the support platform in the opposite direction relative to the body based on the detected angle information may include: measuring the weight of the payload; and rotating the support platform in the opposite direction relative to the body based on the detected angle information and the measured weight of the payload.

[0010] In some embodiments, the angle information of the subject includes angular velocity and rotation direction.

[0011] In some embodiments, the detection of the subject's angle information is performed by an inertial measurement unit (IMU) integrated on the subject.

[0012] In some embodiments, the detection of the angle information of the body is performed by: measuring the speed difference between two drive wheels located on opposite sides of the body; and calculating the angle information of the body based on the measured speed difference.

[0013] In some embodiments, the mobile machine may include an autonomous mobile robot (AMR) or an autonomous guided vehicle (AGV).

[0014] According to another aspect of this disclosure, a mobile machine is provided, comprising: a main body; a rotatable support platform mounted on the main body to receive a payload; and a processor configured to implement the method described above.

[0015] According to another aspect of this disclosure, a computer-readable medium having a computer program stored thereon is provided, the computer program implementing the method described above when executed by a processor. Attached Figure Description

[0016] In the accompanying drawings, similar / identical reference numerals in different views generally indicate similar / identical parts. The drawings are not necessarily to scale. Rather, the focus is on illustrating the principles of the invention. In these drawings:

[0017] Figure 1 A schematic diagram of a mobile machine with a payload mounted thereon, according to an embodiment of the present disclosure, is shown.

[0018] Figure 2 A flowchart of a method for controlling a mobile machine according to an embodiment of the present disclosure is shown; and

[0019] Figure 3 A schematic diagram of a movable machine with a payload that moves along a curved path according to an embodiment of this application is shown. Detailed Implementation

[0020] Embodiments of this disclosure will be described in more detail with reference to the accompanying drawings. Although the drawings illustrate some embodiments of this disclosure, it should be understood that this disclosure can be implemented in various ways and should not be construed as limited to the embodiments described herein. Rather, embodiments are provided to allow for a more thorough and complete understanding of this disclosure. It should be understood that the drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0021] In the description of embodiments of this disclosure, the term "comprising" and variations thereof shall be interpreted as open-ended terms meaning "including but not limited to". The term "based on" shall be understood as "at least partially based on". The terms "an embodiment" and "the embodiment" shall be understood as "at least one embodiment". The following text may also include other explicit and implicit definitions.

[0022] As mentioned above, mobile machines such as autonomous mobile robots (AMRs) or autonomous guided vehicles (AGVs) are widely used in logistics, transportation, and robotic automation. It is important to improve the time efficiency and / or energy efficiency of mobile machines.

[0023] It has been found that when an AMR or AGV moves (e.g., along a curved path or turning), the payload is typically positioned in a fixed orientation relative to the body of the AMR or AGV on its support platform. However, this fixed orientation of the payload relative to the body of the mobile machine can lead to some of the disadvantages listed below. Payloads typically have a large moment of inertia, which means that a large torque is required to rotate the payload when the main body turns, resulting in a considerable energy consumption. For example, when a mobile machine (such as an AMR) moves along a curved path, if the payload is in a fixed posture relative to the main body, the drive system for the mobile machine needs to overcome the moment of inertia of the payload, especially in the case of angular acceleration and deceleration. - Because the fixed attitude of the payload will require more motor output torque, higher motor current and greater energy consumption are needed. Furthermore, higher current spikes may occur, putting stress on the controller of the mobile machine and reducing battery life. - Increased motor output torque can sometimes cause drive wheel slippage, leading to odometer inaccuracies and misleading navigation software. This error, in turn, compromises payload stability, forcing the mobile machine to slow down. - In some narrow passages, there may not be enough space for a wide payload to pass through or rotate with the body. If the payload maintains a fixed orientation relative to the body, it may prevent the payload from passing smoothly through the narrow passage.

[0024] This disclosure aims to provide a novel method for controlling a mobile machine, such that the orientation of a payload can be adjusted relative to a body. The method includes: detecting angular information of the body of the mobile machine; and, based on the detected angular information, causing a support platform of the mobile machine to rotate in the opposite direction relative to the body. Those skilled in the art will understand that, with the counter-rotation of the support platform relative to the body, the output torque originally required by the mobile machine can be reduced or minimized because the support platform will not rotate with the body, and therefore there is no need to overcome the rotational inertia of the payload.

[0025] To better understand this application, Figure 1 A schematic diagram of a mobile machine with a payload mounted thereon is shown according to an embodiment of the present disclosure.

[0026] like Figure 1 As shown, the provided mobile machine 1 includes a main body 10 and a rotatable support platform 20. As an example, the mobile machine 1 can be an autonomous mobile robot (AMR) or an autonomous guided vehicle (AGV). However, those skilled in the art will understand that the mobile machine 1 being an AMR or an AGV is not limiting, and any mobile machine 1 including the main body 10 and the rotatable support platform 20 is possible.

[0027] Typically, the body 10 may include one or more wheels and an associated motor (e.g., a servo motor) (not shown) coupled to the one or more wheels. In some embodiments, the one or more wheels may include one or more drive wheels and optionally one or more idler wheels, wherein the one or more drive wheels may be coupled to and driven by the associated motors.

[0028] In some embodiments, the body 10 may integrate a processor or controller (not shown) for controlling components of the mobile device, including, for example, motors, sensors, etc. Using such an integrated processor or controller, the body 10 can self-control to move or operate. In some embodiments, the body 10 may be controlled by a remote processor or controller that can be remotely connected to the body wirelessly or via a wired connection.

[0029] Whether it is a processor or controller integrated with the main body 10, or a remote processor or controller, the main body 10 can move as needed with the help of the processor or controller, such as moving along a planned path or moving to a specific location.

[0030] The rotatable support platform 20 is configured to support or carry the payload 30. Typically, in some embodiments, the support platform 20 may be provided on top of the body 10, which can facilitate the transport of the payload. However, this is not a limitation. In some embodiments, it is possible for the support platform 20 to be disposed on either side of the body 10, or even disposed within the interior space of the body.

[0031] Typically, to further facilitate the transport of the payload 30, in some embodiments, the rotatable support platform 20 may be equipped with a motor (e.g., a servo motor) so that the support platform 20 can be lifted and / or rotated. The support platform 20 may be suitably configured in any size or form.

[0032] In some embodiments, all the motors described above may be housed within the casing of the main body 10 to improve the appearance of the movable machine 1.

[0033] Using the above construction, the mobile machine 1 can then carry the payload 30 on its rotatable support platform 20 and move along, for example, a planned path or to a specific location. The planned path 40 can be a straight or curved path.

[0034] To facilitate the control of the mobile machine 1, various sensors can be further integrated, including, for example, a rotary encoder for monitoring the speed and / or position of the motor shaft, a weight sensor for monitoring the weight of the payload, an inertial measurement unit (IMU) for monitoring the acceleration, orientation, or angular velocity of the main body, a radar sensor for navigation, etc.

[0035] As mentioned above, the payload 30 typically maintains a fixed posture relative to the body 10, which can be problematic or disadvantageous. To overcome or mitigate these drawbacks, a method for controlling the motion of the machine is proposed.

[0036] Figure 2 A flowchart of a method for controlling a mobile machine according to an embodiment of the present disclosure is shown.

[0037] This method 200 can begin at box 210, that is: detecting the angle information of the subject.

[0038] This angular information is typically generated when a mobile machine moves along a curved path. Generally, the angular information of the subject can include at least angular velocity and direction of rotation.

[0039] In some embodiments, the detection of the subject's angle information can be performed by an inertial measurement unit (IMU) integrated on the subject.

[0040] In some embodiments, the detection of the subject's angle information can be performed, for example, by measuring the speed difference between two drive wheels arranged on opposite sides of the subject; and the angle information of the subject can be calculated based on the measured speed difference. As an example only, the rotational speed of the drive wheels can be recorded by a rotary encoder attached to the associated motor of the drive wheels.

[0041] Once the angle information of the main body is detected, method 200 can proceed to block 220, that is, based on the detected angle information, rotate the support platform in the opposite direction relative to the main body. This means that the support platform and the payload placed on it will rotate relative to the main body in a direction opposite to the direction of rotation of the main body.

[0042] Typically, in some embodiments, the step of rotating the support platform in the opposite direction relative to the main body can be performed in real time while the movable machine is moving. This allows the orientation of the support platform and the payload to be changed in real time as needed.

[0043] In some embodiments, rotating the support platform in the opposite direction relative to the body based on detected angle information may include rotating the support platform in the opposite direction relative to the body by an angle equal to the degree of rotation of the body derived from the detected angle information. Those skilled in the art will understand that the support platform will then be rotated to counteract the rotation of the body relative to the world coordinate system (e.g., the ground) in which the movable machine is moving.

[0044] Specifically, in some embodiments, rotating the support platform in the opposite direction relative to the body can include rotating the support platform in the opposite direction relative to the body during the movement of the mobile machine, such that the orientation of the support platform relative to the ground on which the mobile machine is moving remains constant. In this way, the need to overcome the rotational inertia of the payload can be minimized.

[0045] In some embodiments, the weight of the payload may be considered. In such an embodiment, rotating the support platform in the opposite direction relative to the body based on detected angle information may include: measuring the weight of the payload; and rotating the support platform in the opposite direction relative to the body based on the detected angle information and the measured weight of the payload. This allows for rapid and accurate reverse rotation of the support platform.

[0046] To better understand the above methods, Figure 3 A schematic diagram of a movable machine with a payload that moves along a curved path according to an embodiment of this application is shown.

[0047] like Figure 3 As shown, when the mobile machine 1 moves along the curved path 2, the orientation of the support platform (not shown) and the associated payload 30 remains constant relative to the ground or world coordinate system.

[0048] The foregoing has described various embodiments of methods for controlling mobile machines. From the above description, those skilled in the art will understand that there are many advantages associated with the methods, as listed below. - No additional energy is needed to overcome the rotational inertia of the payload. Lower drive torque will require less current. Smaller drive mechanisms (motor and reducer) will be used. Less energy will be consumed. Longer battery life will be achieved. Therefore, carbon emissions will be lower. - Payloads can be moved at higher speeds and with greater efficiency. The same number of tasks will require fewer mobile machines (e.g., AMRs). - Due to the smaller slip disturbance range, more accurate navigation will be achieved on curved paths. In most practical applications, the center of gravity of the payload is not near the center of the moving machine (e.g., an AMR). In such cases, the moving machine, traveling along a curved path, can destabilize both the payload and the machine itself. Especially when the payload's center of gravity is at a higher position, the payload may even fall off the moving machine. - Because there are fewer restrictions on payload size in some cases, mobile machines can have additional flexibility in the environment.

[0049] In addition to the methods described above for controlling a mobile machine, those skilled in the art will understand that this disclosure may also relate to a mobile machine that can be configured to implement the methods described above. Furthermore, this disclosure may relate to a computer-readable medium having a computer program stored thereon, which, when executed by a processor or controller, can implement the methods described above.

[0050] Although the above method is described in sequential steps, it should be noted that the order of steps in the method can be appropriately changed, reordered, combined, omitted, modified, etc.

[0051] By studying the accompanying drawings, the disclosure, and the appended claims, those skilled in the art can understand and implement other variations of the disclosed embodiments in practicing the claimed invention. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. The fact that certain measures are recited in mutually different dependent claims does not imply that combinations of these measures cannot be advantageously used. Any reference numerals in the claims should not be construed as limiting the scope.

Claims

1. A method for controlling a mobile machine (1), the mobile machine comprising a body (10) and a rotatable support platform (20) mounted on the body (10) to receive a payload (30), the method comprising: Detect the angle information of the main body (10); as well as The support platform (20) is rotated in the opposite direction relative to the main body (10) based on the detected angle information.

2. The method according to claim 1, wherein rotating the support platform (20) in the opposite direction relative to the body (10) based on the detected angle information comprises: The support platform (20) is rotated in the opposite direction relative to the main body (10) by an angle equal to the degree of rotation of the main body (10) derived from the detected angle information.

3. The method according to claim 1, wherein rotating the support platform (20) in the opposite direction relative to the body (10) based on the detected angle information comprises: As the mobile machine (1) moves along the curved path (2), the support platform (20) is rotated in the opposite direction relative to the main body (10), so that the orientation of the support platform (20) remains constant relative to the ground on which the mobile machine (1) moves.

4. The method according to any one of claims 1 to 3, wherein the step of rotating the support platform (20) in the opposite direction relative to the body (10) is performed in real time while the movable machine moves along the path.

5. The method according to any one of claims 1 to 3, wherein rotating the support platform (20) in the opposite direction relative to the body (10) based on the detected angle information comprises: Measure the weight of the payload (30); as well as Based on the detected angle information and the measured weight of the payload (30), the support platform (20) is rotated in the opposite direction relative to the main body (10).

6. The method according to any one of claims 1 to 3, wherein the angle information of the body (10) includes angular velocity and rotation direction.

7. The method according to any one of claims 1 to 3, wherein the detection of the angle information of the body (10) is performed by an inertial measurement unit (IMU) integrated on the body (10).

8. The method according to any one of claims 1 to 3, wherein the detection of the angle information of the body (10) is performed by: The speed difference between two drive wheels arranged on opposite sides of the main body (10) is measured; and The angle information of the main body (10) is calculated based on the measured rotational speed difference.

9. The method according to any one of claims 1 to 3, wherein the movable machine (1) comprises: Autonomous mobile robots (AMRs) or autonomous guided vehicles (AGVs).

10. A mobile machine (1), comprising: Main body (10); A rotatable support platform (20) is mounted on the main body (10) to receive the payload (30); as well as The processor is configured to implement the method according to claims 1 to 9.

11. The mobile machine of claim 10, wherein the mobile machine is an autonomous mobile robot (AMR) or an autonomous guided vehicle (AGV).

12. A computer-readable medium having a computer program stored thereon, the computer program implementing the method according to any one of claims 1 to 9 when executed by a processor.

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