Carrier Control Module

Abstract

A carrier control module is provided. The system includes a carrier and an actuating mechanism. The carrier is coupled to a moving carrier and has a level sensor. The actuating mechanism is installed below the carrier and is connected to or coupled to a first area and a second area of ​​the carrier. The level sensor is installed to detect the tilt angle of the carrier. When the tilt angle of the carrier is not zero or is a predetermined value other than zero, the actuating mechanism is activated and adjusts the attitude of the carrier to reduce or zero the tilt angle of the carrier.

Description

[Technical Field]

[0001] The present invention relates to a carrier control module, and more particularly to a carrier control module that adjusts the attitude of a carrier to reduce or eliminate its tilt angle. [Background technology]

[0002] When a mobile carrier loaded with articles travels uphill or downhill, the articles may tip over due to a shift in their center of gravity. Therefore, a new control module that can solve the above problem is currently required.

[0003] The present invention was made in consideration of the above problems through extensive research by the inventors, and its object is to provide a carrier control module. Summary of the Invention [Means for solving the problem]

[0004] To solve the above problems, one aspect of the present invention provides a carrier control module that includes a carrier and an actuating mechanism. The carrier is configured to couple to a moving carrier and includes a level sensor. The actuating mechanism is configured below the carrier and is connected to or coupled to a first area and a second area of ​​the carrier. The level sensor is configured to detect the tilt angle of the carrier, and when the tilt angle of the carrier is not zero or is a predetermined value other than zero, the actuating mechanism is activated to adjust the attitude of the carrier, thereby reducing the tilt angle of the carrier or setting it to zero.

[0005] In addition, in a carrier control module according to the present invention, the carrier has a first portion and a second portion pivotally mounted thereon, the second portion partially or completely enclosing the first portion, and the first and second areas of the carrier are located in the first and second portions, respectively. The first portion has a first pivot end facing the first portion, and the second portion has a second pivot end and a third pivot end facing the second portion. The second area is interposed between the second and third pivot ends, and the first and second pivot ends are pivotally mounted thereon. The first area is interposed between the second and third pivot ends, and the actuating mechanism includes a first actuator and a second actuator connected or coupled to the first and second areas, respectively.

[0006] In addition, in the carrier control module according to the present invention, the first pivot end and the first area are located at opposite ends of the first part, and the second pivot end and the third pivot end are located at opposite ends of the second part.

[0007] In addition, in the carrier control module of the present invention, the carrier further includes a connection portion that spans a portion of the first portion and is connected to the second area, and the second actuator is connected or coupled to the second area by the connection portion.

[0008] In addition, in the carrier control module according to the present invention, the first actuator is pivotally attached to the first area, and the second actuator is pivotally attached to the connection portion.

[0009] Also, in the carrier control module according to the present invention, the first actuator is configured to lift the first area when activated, and the second actuator is configured to lift the second area and the first portion when activated.

[0010] In addition, in the carrier control module according to the present invention, the third pivot end is installed so as to be pivotally connected to the moving carrier, and the first pivot end and the second pivot end are not pivotally connected to the moving carrier.

[0011] In addition, in the carrier control module according to the present invention, the first pivot end and the second pivot end are located at the edge of the first portion and the edge of the second portion, respectively.

[0012] In addition, in the carrier control module of the present invention, when the operating mechanism is activated, the attitude of the carrier is restored in a real-time adjustment manner.

[0013] In addition, in the carrier control module of the present invention, the operating mechanism includes two lock / unlock kits connected or coupled to the first area and the second area of ​​the carrier, respectively, and an actuator to which the two lock / unlock kits are pivotally attached at both ends. The level sensor is configured to, when the tilt angle of the carrier is not 0 or a predetermined value other than 0, put one of the two lock / unlock kits in an unlocked state and the other in a locked state, and push the actuator toward one of the two lock / unlock kits in the unlocked state, thereby lifting the first area or the second area to which it is connected or coupled.

[0014] In addition, in the carrier control module according to the present invention, the actuating mechanism includes a first shaft installed to be pivoted or released from a first pivot hole at one end of the carrier, a second shaft installed to be pivoted or released from a second pivot hole at the other end of the carrier, a V-shaped member interposed between the first and second shafts, with both ends of the V-shaped member contacting the first and second areas of the carrier, respectively, and an actuator pivotally attached to the V-shaped member. The level sensor is installed so that, when the tilt angle of the carrier is not zero or a predetermined value other than zero, one of the first and second shafts is placed in a pivoted state and the other in a released state, and the actuator rotates the V-shaped member, thereby interlocking the carrier to rotate about the pivoted one of the first and second shafts.

[0015] At least the following points will become clear from the description and drawings to be described later. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 2 is a schematic configuration diagram showing a carrier control module according to an embodiment of the present invention. [Figure 2] FIG. 2 is a schematic exploded view showing the carrier shown in FIG. [Figure 3] 1 is a schematic block diagram illustrating a carrier control module and a moving carrier operating on terrain of different slopes according to an embodiment of the present invention. FIG. [Figure 4] 1A-1C are side schematic diagrams illustrating a carrier control module, a mobile carrier, and a base operating on terrain of different slopes according to one embodiment of the present invention. [Figure 5] FIG. 10 is a schematic configuration diagram showing a carrier control module according to another embodiment of the present invention. [Figure 6] FIG. 6 is a schematic configuration diagram showing the carrier control module shown in FIG. 5. [Figure 7] FIG. 10 is a schematic configuration diagram showing a carrier control module according to still another embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] The following describes in detail the embodiments of the present invention, but the present invention is not limited to these, and various modifications are possible within the scope of the description. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention.

[0018] Spatial terms used herein, such as "below" and "above," are used to describe the relative relationship of an element or feature in a drawing to other elements or features. The actual meaning of these spatial terms also includes other orientations. For example, if a drawing is turned 180 degrees upside down, the relationship of one element to another changes from "below" to "above." Spatial descriptions used herein should be interpreted similarly.

[0019] In the prior art, when a mobile carrier carrying an item travels uphill or downhill, the item may tip over due to a shift in its center of gravity. The inventors discovered that, for example, many autonomous mobile robots (AMRs) have a fixed, integrated structure and are unable to autonomously adjust their posture, making the robot and its loaded item prone to tipping over when traveling uphill or downhill. Therefore, the carrier control module of the present invention includes a carrier and an actuation mechanism. The carrier has a level sensor and is coupled to the mobile carrier (located below the carrier). The mobile carrier is, for example, an autonomous mobile carrier such as a robot chassis or an automated guided vehicle (AGV). The level sensor can detect the tilt angle of the carrier. When the tilt angle of the carrier is not zero or a predetermined value other than zero, the actuation mechanism is activated to adjust the carrier's posture (e.g., return the carrier's posture in a real-time adjustment manner) to reduce or eliminate the tilt angle of the carrier, thereby preventing the carrier and / or the item loaded above the carrier from tipping over. Various embodiments of the carrier control module according to the present invention will be described in detail below.

[0020] Figure 1 is a schematic diagram showing a carrier control module according to one embodiment of the present invention. Figure 2 is a schematic exploded view of the carrier shown in Figure 1. Figure 3 is a schematic diagram showing a carrier control module and a moving carrier operating on terrain with different slopes according to one embodiment of the present invention. The carrier control module includes a carrier 110 and an actuation mechanism 120 (see Figures 1 and 2).

[0021] As shown in Figure 3, carrier 110 is configured to couple to a moving carrier 210 located below it. As shown in Figures 1 and 2, carrier 110 includes a level sensor 110s. In some embodiments, level sensor 110s is mounted on the underside of carrier 110 (see Figure 1) or embedded within carrier 110 (not shown).

[0022] As shown in FIG. 1 , the actuating mechanism 120 is installed below the carrier 110 and is connected or coupled to the first area 1101 and the second area 1102 of the carrier 110. The level sensor 110s is installed to detect the tilt angle of the carrier 110. If the tilt angle of the carrier 110 is not zero or is a predetermined value other than zero, the actuating mechanism 120 is activated to adjust the attitude of the carrier 110, thereby reducing or setting the tilt angle of the carrier 110 to zero. In some embodiments, when the actuating mechanism 120 is activated, the attitude of the carrier 110 is returned to its original position in a real-time adjustment manner. In some embodiments, the carrier control module further includes a controller (not shown) that receives the tilt angle of the carrier 110 detected by the level sensor 110s. If the tilt angle of the carrier 110 is not zero or is a predetermined value other than zero, the controller drives the actuating mechanism 120 to operate and adjust the attitude of the carrier 110.

[0023] 1 and 2, carrier 110 has a first portion 111 and a second portion 112 that are pivotally connected, with second portion 112 partially or completely enclosing first portion 111. In some embodiments, second portion 112 is U-shaped (see FIG. 2) or rectangular (not shown). In some embodiments, first portion 111 has a thickness that is less than the thickness of second portion 112.

[0024] 1, the first area 1101 and the second area 1102 of the carrier 110 are located in the first portion 111 and the second portion 112, respectively, the first portion 111 has a first pivot end 1111 facing the first area 1101, and the second portion 112 has a second pivot end 1121 and a third pivot end 1122 facing the first area 1101. The second area 1102 is interposed between the second pivot end 1121 and the third pivot end 1122, and the first pivot end 1111 and the second pivot end 1121 are pivotally connected, and the first area 1101 is interposed between the second area 1102 and the third pivot end 1122.

[0025] 1, the actuation mechanism 120 includes a first actuator 121 and a second actuator 122 connected or coupled to the first area 1101 and the second area 1102, respectively. In some embodiments, as shown in FIGS. 1-3, the third pivot end 1122 is pivotally mounted to the moving carrier 210, and the first pivot end 1111 and the second pivot end 1121 are not pivotally mounted to the moving carrier 210.

[0026] 1, the carrier 110 further comprises a connecting portion 113 spanning a portion of the first portion 111 and connected to the second area 1102, and the second actuator 122 is connected or coupled to the second area 1102 by the connecting portion 113. In some embodiments, the first actuator 121 is pivotally attached to the first area 1101, and the second actuator 122 is pivotally attached to the connecting portion 113.

[0027] In some embodiments, the level sensor 110s is installed on the underside of the first portion 111 (see FIGS. 1 and 2) or embedded within the first portion 111 (not shown). In some embodiments, referring to FIGS. 1 and 2, if the forward direction of the mobile carrier 210 is moving leftward, when the mobile carrier 210 encounters a downward slope, the first actuator 121 is driven to operate, and if the first actuator 121 is installed to operate, the first portion 111 rotates about the first pivot end 1111, lifting the first area 1101 and reducing or eliminating the tilt angle of the first portion 111 (see the left side of FIG. 3). In this way, the items on the first portion 111 of the carrier 110 do not tip over. When the moving carrier 210 encounters an uphill terrain, the second actuator 122 is driven to operate, and if the second actuator 122 is installed to operate, the second portion 112 rotates about the third pivot end 1122, lifting the second area 1102 and the first portion 111, and reducing or eliminating the tilt angle of the carrier 110 (including the first portion 111 and the second portion 112) (see the right side of FIG. 3). In this way, the articles on the first portion 111 of the carrier 110 will not tip over.

[0028] In some embodiments, as shown in FIG. 1 , the first pivot end 1111 and the first area 1101 are located at opposite ends of the first portion 111, and the second pivot end 1121 and the third pivot end 1122 are located at opposite ends of the second portion 112. In some embodiments, the first pivot end 1111 and the second pivot end 1121 are located at the edge of the first portion 111 and the edge of the second portion 112, respectively. In this manner, when the first portion 111 rotates about the first pivot end 1111 and lifts the first area 1101 (see the left side of FIG. 3 ), an article (not shown) that exceeds the edge of the carrier 110 is less likely to come into contact with the moving carrier 210. However, the present invention is not limited thereto, and in other embodiments, the first pivot end and the second pivot end do not have to be located at the edge of the first portion 111 and the edge of the second portion 112.

[0029] 4 is a side schematic diagram illustrating a carrier control module, a mobile carrier, and a base operating on terrain with different slopes according to one embodiment of the present invention. As shown in FIG. 4, the carrier 110 is configured to carry a base 220, which may be, for example, a base for carrying an item. In some embodiments, as shown in FIGS. 3 and 4, the base 220 is secured only to the first portion 111 and not to the second portion 112.

[0030] Fig. 5 is a schematic diagram showing a carrier control module according to another embodiment of the present invention. Fig. 6 is a schematic diagram showing the carrier control module shown in Fig. 5. As shown in Figs. 5 and 6, the operating mechanism includes two lock / unlock kits 123a and 123b and an actuator 124.

[0031] The two lock / unlock kits 123a and 123b are connected or coupled to a first area (not shown) and a second area (not shown) of the carrier 110, respectively. Both ends of the actuator 124 are pivotally attached to the two lock / unlock kits 123a and 123b, respectively. The level sensor 110s is configured so that, when the tilt angle of the carrier 110 is not 0 or a predetermined value other than 0, one of the two lock / unlock kits 123a and 123b is in an unlocked state and the other is in a locked state, and the actuator 124 is pushed toward one of the two lock / unlock kits that is in the unlocked state (i.e., the lock / unlock kit that is in the unlocked state), thereby lifting the first area or the second area to which it is connected or coupled. For example, as shown in Figures 5 and 6, when the tilt angle of the carrier 110 is not 0 or a predetermined value other than 0 (not shown), the lock / unlock kit 123a is set to the unlocked state, the lock / unlock kit 123b is set to the locked state, and the actuator 124 is pushed toward the lock / unlock kit 123a to lift the first area to which it is connected or coupled, thereby reducing the tilt angle of the carrier 110 or keeping it horizontal (see Figure 6).

[0032] In some embodiments, each of the lock / unlock kits 123a and 123b is a pivot kit and includes two sets of pivot members (not shown), a pivot shaft (not shown) pivotally connected between the two sets of pivot members, and a stopper (not shown) having a hole. Both ends of each set of pivot members are pivotally connected to the carrier 110 and a bottom member (not shown), respectively. The bottom member is fixedly connected to a mobile carrier (e.g., mobile carrier 210 shown in FIG. 3 ), and the pivot shaft is further pivotally connected to one end of the actuator 124. In some embodiments, when a plug (not shown) is inserted into the hole in the stopper of the lock / unlock kit 123a or 123b, the lock / unlock kit is in a locked state. When the plug is removed from the hole in the stopper of the lock / unlock kit 123a or 123b, the lock / unlock kit is in an unlocked state.

[0033] FIG. 7 is a schematic diagram showing a carrier control module according to yet another embodiment of the present invention. In some embodiments, the actuation mechanism includes a first shaft 125, a second shaft 126, a V-shaped member 127, and an actuator 128. The first shaft 125 is installed so as to pivotally engage with or disengage from a first pivot hole 110a at one end of the carrier 110. The second shaft 126 is installed so as to pivotally engage with or disengage from a second pivot hole 110b at the other end of the carrier 110. The V-shaped member 127 is interposed between the first shaft 125 and the second shaft 126, and both ends of the V-shaped member 127 contact a first area (not shown) and a second area (not shown) of the carrier 110, respectively. The actuator 128 is pivotally attached to the V-shaped member 127. The level sensor 110s is installed so that when the tilt angle of the carrier 110 is not 0 or a predetermined value other than 0, one of the first shaft 125 and the second shaft 126 is pivoted and the other is released, the actuator 128 rotates the V-shaped member 127, and the carrier is moved to rotate around one of the first shaft 125 and the second shaft 126 that is in the pivoted state (i.e., the first shaft 125 or the second shaft 126 that is in the pivoted state), and one end of the V-shaped member 127 lifts the first area or the second area that it contacts, thereby reducing the tilt angle of the carrier 110 or maintaining it horizontal.

[0034] In some embodiments, both ends of the first shaft 125 are pivotally connected to the two first pivot holes 110a (only one first pivot hole 110a is shown in FIG. 7). Both ends of the second shaft 126 are pivotally connected to the two second pivot holes 110b (only one second pivot hole 110b is shown in FIG. 7). In some embodiments, the actuation mechanism includes two V-shaped members 127, and the actuator 128 is interposed between the two V-shaped members 127 and pivotally connected to the two V-shaped members 127.

[0035] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0036] 110 Career 110a 1st pivot hole 110b 2nd pivot hole 110s Level Sensor 1101 Area 1 1102 Area 2 111 Part 1 1111 1st pivot end 112 Part 2 1121 2nd pivot end 1122 3rd pivot end 113 Connection 120 Operating mechanism 121 First Actuator 122 Second Actuator 123a Lock / Unlock Kit 123b Lock / Unlock Kit 124 Actuator 125 1st axis 126 2nd axis 127 V-shaped member 128 Actuator 210 Mobile Carrier 220 base

Claims

1. a carrier configured to couple to the moving carrier and having a level sensor; an operating mechanism installed below the carrier and connected or coupled to the first area and the second area of ​​the carrier, wherein the level sensor is installed to detect the tilt angle of the carrier, and when the tilt angle of the carrier is not 0 or reaches a predetermined value other than 0, the operating mechanism is activated to adjust the attitude of the carrier, thereby reducing the tilt angle of the carrier or making it 0; A carrier control module characterized in that the carrier has a first part and a second part pivotally connected to each other, the second part partially or completely enclosing the first part, and the first area and the second area of ​​the carrier are located in the first part and the second part, respectively.

2. A carrier control module as described in claim 1, characterized in that the first part has a first pivot end mutually opposite to the first area, the second part has a second pivot end and a third pivot end mutually opposite to each other, the second area is interposed between the second pivot end and the third pivot end, the first pivot end and the second pivot end are pivotally attached, the first area is interposed between the second area and the third pivot end, and the operating mechanism comprises a first actuator and a second actuator connected or coupled to the first area and the second area, respectively.

3. 3. The carrier control module of claim 2, wherein the first pivot end and the first area are located at opposite ends of the first portion, and the second pivot end and the third pivot end are located at opposite ends of the second portion.

4. The carrier control module of claim 2, further comprising a connection portion spanning a portion of the first portion and connected to the second area, and the second actuator being connected or coupled to the second area by the connection portion.

5. 5. The carrier control module of claim 4, wherein the first actuator is pivotally attached to the first area and the second actuator is pivotally attached to the connection portion.

6. 5. The carrier control module of claim 4, wherein the first actuator is configured to lift the first area when activated, and the second actuator is configured to lift the second area and the portion of the first area when activated.

7. 3. The carrier control module according to claim 2, wherein the third pivot end is pivotally attached to the moving carrier, and the first pivot end and the second pivot end are not pivotally attached to the moving carrier.

8. 3. The carrier control module of claim 2, wherein the first pivot end and the second pivot end are located at an edge of the first portion and an edge of the second portion, respectively.

9. The carrier control module according to claim 1 , wherein when the actuation mechanism is actuated, the attitude of the carrier is returned in a real-time adjustment manner.

10. The actuation mechanism includes: two lock / unlock kits connected or coupled to the first area and the second area of ​​the carrier, respectively; 2. The carrier control module of claim 1, further comprising: an actuator having two lock / unlock kits pivotally mounted at both ends, wherein the level sensor is configured to, when the tilt angle of the carrier is not 0 or reaches the predetermined value other than 0, put one of the two lock / unlock kits into an unlocked state and the other into a locked state, and push the actuator toward one of the two lock / unlock kits that is in the unlocked state, thereby lifting the first area or the second area to which it is connected or coupled.

11. The actuation mechanism includes: a first shaft installed to be pivotally connected to or released from a first pivot hole at one end of the carrier; a second shaft installed to be pivotally connected to or released from a second pivot hole at the other end of the carrier relative to the one end; a V-shaped member interposed between the first shaft and the second shaft, both ends of the V-shaped member contacting the first area and the second area of ​​the carrier, respectively; 2. The carrier control module of claim 1, further comprising: an actuator pivotally attached to the V-shaped member, wherein the level sensor pivots one of the first shaft and the second shaft and releases the other shaft when the tilt angle of the carrier is not 0 or reaches the predetermined value other than 0, and the actuator rotates the V-shaped member and links the carrier to rotate around one of the first shaft and the second shaft that is in the pivoted state.

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