Obstacle avoidance motion carrier

Abstract

It provides an obstacle avoidance motion carrier. [Solution] The rotating carrier plate 122 is installed above the rotating shaft actuator 121 and connected to the rotating shaft actuator 121, and the rotating shaft actuator 121 is installed to rotate and drive the rotating carrier plate 122 to rotate relative to the motion base. The obstacle avoidance motion carrier achieves horizontal obstacle avoidance performance of the obstacle avoidance motion carrier by further comprising a first horizontal movement module and / or a second horizontal movement module for moving the first carrier plate of the first horizontal movement module along the first horizontal axis and / or moving the second carrier plate of the second horizontal movement module along the second horizontal axis.

Description

Technical Field

[0001] The present invention relates to an obstacle avoidance motion carrier.

Background Art

[0002] Generally, since autonomous mobile robots (AMRs) have an integrated fixed structure, an autonomous mobile robot can only rotate within a passage wider than its own rotation diameter and cannot rotate within a passage narrower than its own rotation diameter.

[0003] The present invention has been made in view of the above circumstances, and an example of an object is to solve the above problems. That is, an object of the present invention is to provide an obstacle avoidance motion carrier.

Summary of the Invention

Means for Solving the Problems

[0004] To solve the above problems, an obstacle avoidance motion carrier according to an aspect of the present invention includes a motion base and a rotation module. The motion base is installed for autonomous movement, direction change, and rotation. The rotation module is installed on the motion base and includes a rotation axis actuator and a rotation carrier plate. The rotation axis actuator is fixed to the motion base. The rotation carrier plate is installed above the rotation axis actuator and connected to the rotation axis actuator, and the rotation axis actuator is installed to drive the rotation carrier plate to rotate with respect to the motion base by rotating.

[0005] According to one embodiment of the present invention, the obstacle avoidance motion carrier is mounted on a rotating carrier plate and further comprises a first horizontal movement module including a first horizontal axis actuator and a first carrier plate. The first horizontal axis actuator is fixed to the rotating carrier plate and has a first movement slider. The first carrier plate is mounted above the first horizontal axis actuator and fixed to the first movement slider. The first horizontal axis actuator is installed to move the first movement slider so that the first carrier plate moves along a first horizontal axis relative to the rotating carrier plate.

[0006] According to one embodiment of the present invention, when a rotary shaft actuator rotates to drive the rotary carrier plate to rotate relative to the motion base, the rotary carrier plate and the first horizontal movement module also rotate synchronously.

[0007] According to one embodiment of the present invention, the obstacle avoidance motion carrier is installed on a first carrier plate and further comprises a second horizontal movement module including a second horizontal axis actuator and a second carrier plate. The second horizontal axis actuator is fixed to the first carrier plate and has a second movement slider. The second carrier plate is installed above the second horizontal axis actuator and fixed to the second movement slider, and the second horizontal axis actuator is installed to move the second movement slider so that the second carrier plate moves along a second horizontal axis different from the first horizontal axis relative to the first carrier plate.

[0008] According to one embodiment of the present invention, when a rotary shaft actuator rotates to drive the rotary carrier plate to rotate relative to the motion base, the rotary carrier plate, the first horizontal movement module, and the second horizontal movement module also rotate synchronously.

[0009] According to one embodiment of the present invention, when the first horizontal axis actuator moves the first moving slider so that the first carrier plate moves along the first horizontal axis relative to the rotating carrier plate, the first carrier plate and the second horizontal moving module also move synchronously along the first horizontal axis.

[0010] According to one embodiment of the present invention, the motion base is equipped with two drive wheels that can rotate in both directions.

[0011] According to one embodiment of the present invention, the motion base includes a navigation element and / or an obstacle avoidance detection element installed on only one side of the motion base.

[0012] Other objects, structures, and effects of the present invention will become apparent from the following section on embodiments of the invention. [Brief explanation of the drawing]

[0013] [Figure 1] This is an external perspective view showing an obstacle avoidance motion carrier according to one embodiment of the present invention. [Figure 2] Figure 1 is a schematic inclined view showing an obstacle avoidance motion carrier (with a transparent motion base cover and rotating carrier plate). [Figure 3] This is a schematic inclined view showing an obstacle avoidance motion carrier according to one embodiment of the present invention. [Figure 4] Figure 3 is a schematic inclined view showing an obstacle avoidance motion carrier (with a transparent first carrier plate). [Figure 5] This is a schematic inclined view showing an obstacle avoidance motion carrier according to one embodiment of the present invention. [Figure 6] Figure 5 is a schematic inclined view showing an obstacle avoidance motion carrier (with a transparent second carrier plate). [Figure 7] This is a schematic inclined view showing an obstacle avoidance motion carrier and carry base according to one embodiment of the present invention. [Modes for carrying out the invention]

[0014] The present invention will be described below through embodiments, but these embodiments are not intended to limit the scope of the claims. Furthermore, not all combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0015] In this specification, terms related to space, such as "down" and "up," are used to describe the relative relationship between members and features in the drawings and other members and features. The actual meaning of these spatial terms also includes other orientations. For example, if the drawing is flipped 180 degrees, the relationship between one member and another changes from "down" to "up." The spatial descriptions used in this specification should be interpreted similarly.

[0016] As described in the prior art, generally, autonomous mobile robots have a fixed, integrated structure, and therefore can only rotate in passages wider than their rotation diameter, and cannot rotate in passages narrower than their rotation diameter. For this reason, the obstacle avoidance motion carrier according to the present invention comprises a motion base and a rotation module, the rotation module including a rotation axis actuator and a rotation carrier plate. A carry base may be installed above the rotation carrier plate. The rotation axis actuator is installed to drive the rotation carrier plate to rotate relative to the motion base by rotating, and the motion base is installed for autonomous movement, turning, and rotation. When the autonomous mobile robot enters a passage narrower than its rotation diameter, the motion base itself rotates in one direction (e.g., clockwise), and the rotation axis actuator rotates in the opposite direction (e.g., counterclockwise), driving the rotation carrier plate and the carry base above it to rotate in the opposite direction relative to the motion base, so that the rotation carrier plate and the carry base above it are maintained at the same absolute azimuth angle and not altered according to the azimuth angle of the motion base. Visually, only the motion base changes direction, while the rotating carrier plate and the carry base above it do not change direction, allowing the obstacle avoidance motion carrier to complete its rotational movement. Then, it deviates from passages narrower than its rotational diameter, effectively solving the problems of the prior art. Furthermore, the obstacle avoidance motion carrier may further include a first horizontal movement module and / or a second horizontal movement module for moving the first carrier plate of the first horizontal movement module along the first horizontal axis, and / or moving the second carrier plate of the second horizontal movement module along the second horizontal axis, thereby achieving horizontal obstacle avoidance performance for the obstacle avoidance motion carrier. The following describes in detail various embodiments of the obstacle avoidance motion carrier according to the present invention.

[0017] Figure 1 is an external perspective view showing an obstacle avoidance motion carrier according to one embodiment of the present invention. Figure 2 is a schematic inclined view showing the obstacle avoidance motion carrier shown in Figure 1 (the motion base cover and rotating carrier plate are transparent). As shown in Figures 1 and 2, the obstacle avoidance motion carrier comprises a motion base 110 and a rotating module 120.

[0018] The motion base 110 is installed for autonomous movement. In some embodiments, as shown in Figure 2, the motion base 110 has two bidirectionally rotatable drive wheels 111. The motion base 110 moves as the two drive wheels 111 rotate in the same direction. The motion base 110 is installed for autonomous turning and rotation. The motion base 110 changes direction or rotates as the two drive wheels 111 rotate in opposite directions. In some embodiments, the motion base 110 further includes unpowered driven wheels 112.

[0019] In some embodiments, the motion base 110 includes a navigation element 113a and / or an obstacle avoidance detection element 113b (see Figure 7). Because the motion base 110 is rotatable, the navigation element 113a or the obstacle avoidance detection element 113b is installed on only one side of the motion base 110, and it is not necessary to install the navigation element 113a and / or the obstacle avoidance detection element 113b on the other side of the motion base 110.

[0020] The rotary module 120 is mounted on the motion base 110 and includes a rotary shaft actuator 121 and a rotary carrier plate 122. The rotary shaft actuator 121 is fixed to the motion base 110. In some embodiments, the cover of the motion base 110 includes a top cover, which has an opening, and the rotary shaft actuator 121 is mounted within this opening. The rotary carrier plate 122 is mounted above the rotary shaft actuator 121 and connected to the rotary shaft actuator 121. The rotary shaft actuator 121 is mounted to rotate, thereby driving the rotary carrier plate 122 to rotate relative to the motion base 110. In this way, when an autonomous mobile robot (for example, equipped with the obstacle-avoiding motion carrier and carry base shown in Figure 1 (for example, the carry base 200 shown in Figure 7)) enters a passage narrower than its rotation diameter, the motion base 110 itself rotates in one direction (for example, clockwise), and the rotation axis actuator 121 rotates in the opposite direction (for example, counterclockwise), driving the rotating carrier plate 122 and the carry base above it to rotate in the opposite direction to the motion base 110, maintaining the rotating carrier plate 122 and the carry base above it at the same absolute azimuth angle and not altering according to the azimuth angle of the motion base 110. Visually, only the motion base 110 changes direction, while the rotating carrier plate 122 and the carry base above it do not change direction, and the rotation operation of the obstacle-avoiding motion carrier is completed. Then, it leaves the passage narrower than its rotation diameter.

[0021] FIG. 3 is a schematic inclined view showing an obstacle avoidance motion carrier according to an embodiment of the present invention. FIG. 4 is a schematic inclined view showing the obstacle avoidance motion carrier shown in FIG. 3 (the first carrier plate is transparent). In such a case, as shown in FIGS. 3 and 4, the obstacle avoidance motion carrier further includes a first horizontal movement module 130 installed on the rotary carrier plate 122 and including a first horizontal axis actuator 131 and a first carrier plate 132. The first horizontal axis actuator 131 is fixed to the rotary carrier plate 122 and has a first movement slider 131s. The first carrier plate 132 is installed above the first horizontal axis actuator 131 and fixed to the first movement slider 131s. The first horizontal axis actuator 131 is installed to move the first movement slider 131s so that the first carrier plate 132 moves in both directions along the first horizontal axis with respect to the rotary carrier plate 122. For example, the first carrier plate 132 moves in both directions along the length direction of the first carrier plate 132. By doing so, when there is an obstacle near the carrier base of the autonomous mobile robot (for example, including the obstacle avoidance motion carrier and the carrier base shown in FIG. 3 and the carrier base (for example, the carrier base 200 shown in FIG. 7)), the first carrier plate 132 and the carrier base above it move horizontally synchronously along the first horizontal axis to avoid the obstacle.

[0022] On the other hand, in some embodiments, as shown in FIGS. 2 to 4, when the rotary axis actuator 121 rotates to drive the rotary carrier plate 122 to rotate with respect to the motion base 110, the rotary carrier plate 122 and the first horizontal movement module 130 also rotate synchronously.

[0023] FIG. 5 is a schematic inclined view showing an obstacle avoidance motion carrier according to an embodiment of the present invention. FIG. 6 is a schematic inclined view showing the obstacle avoidance motion carrier shown in FIG. 5 (the second carrier plate is transparent). In such a case, as shown in FIGS. 5 and 6, the obstacle avoidance motion carrier further includes a second horizontal movement module 140 installed on the first carrier plate 132 and including a second horizontal axis actuator 141 and a second carrier plate 142. The second horizontal axis actuator 141 is fixed to the first carrier plate 132 and has a second moving slider 141s. The second carrier plate 142 is installed above the second horizontal axis actuator 141 and is fixed to the second moving slider 141s. The second horizontal axis actuator 141 is installed so as to move the second moving slider 141s so that the second carrier plate 142 moves along a second horizontal axis different from the first horizontal axis with respect to the first carrier plate 132. For example, the second carrier plate 142 moves bidirectionally along the width direction of the second carrier plate 142. By doing so, when there is an obstacle near the carrier base of the autonomous mobile robot (for example, including the obstacle avoidance motion carrier and the carrier base shown in FIG. 5 (for example, the carrier base 200 shown in FIG. 7)), the second carrier plate 142 and the carrier base above it move horizontally synchronously along the second horizontal axis to avoid the obstacle.

[0024] On the other hand, in some embodiments, as shown in FIGS. 2 to 6, when the rotary axis actuator 121 rotates so as to drive the rotary carrier plate 122 to rotate with respect to the motion base 110, the rotary carrier plate 122, the first horizontal movement module 130, and the second horizontal movement module 140 also rotate synchronously.

[0025] In some embodiments, as shown in Figures 4 to 6, when the first horizontal axis actuator 131 moves the first moving slider 131s so that the first carrier plate 132 moves along the first horizontal axis relative to the rotating carrier plate 122, the first carrier plate 132 and the second horizontal moving module 140 also move synchronously along the first horizontal axis to avoid obstacles. For example, the first carrier plate 132 and the second horizontal moving module 140 move synchronously in both directions along the length of the first carrier plate 132.

[0026] In some embodiments, the width of the first carrier plate 132 is less than the width of the rotating carrier plate 122. In some embodiments, the length of the first carrier plate 132 is longer than the width of the rotating carrier plate 122, increasing the loading area of ​​the first carrier plate 132. In some embodiments, the width of the second carrier plate 142 is less than the width of the rotating carrier plate 122. In some embodiments, the length of the second carrier plate 142 is longer than the width of the rotating carrier plate 122, increasing the loading area of ​​the second carrier plate 142. In some embodiments, the width of the second carrier plate 142 is approximately the same as the width of the first carrier plate 132, and the length of the second carrier plate 142 is approximately the same as the length of the first carrier plate 132. However, the present invention is not limited to the embodiments described above, and the width of the rotating carrier plate 122, the length and width of the first carrier plate 132, and the length and width of the second carrier plate 142 can be appropriately adjusted based on actual needs.

[0027] In other embodiments, the first horizontal movement module 130 and the second horizontal movement module 140 may be swapped in position (see Figures 5 and 6). In other embodiments, only the second horizontal movement module 140 shown in Figures 5 and 6 is installed in the rotation module 120 (see Figures 3 and 4).

[0028] Figure 7 is a schematic inclined view showing an obstacle avoidance motion carrier and carry base according to one embodiment of the present invention. As shown in Figure 7, the carry base 200 is installed so as to be fixed to the second carrier plate 142. However, the present invention is not limited thereto, and in other embodiments, the carry base 200 may be installed so as to be fixed to the rotating carrier plate 122 shown in Figure 1 or the first carrier plate 132 shown in Figure 3. Referring to Figures 1 to 7, the motion base 110 of the obstacle avoidance motion carrier provides movement, direction change, and rotation functions, while the rotation module 120, the first horizontal movement module 130, and the second horizontal movement module 140 of the obstacle avoidance motion carrier provide relative rotation of the carry base 200, vertical obstacle avoidance, and lateral obstacle avoidance functions, respectively. In this way, an autonomous mobile robot can achieve obstacle avoidance performance in all directions.

[0029] The present invention is not limited to the embodiments described above, 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]

[0030] 110 Motion Base 111 Driving wheels 112 Driven wheel 113a Navigation element 113b Obstacle avoidance detection element 120 RPM module 121 Rotary shaft actuator 122 Rotating Carrier Plate 130 First Horizontal Movement Module 131 First horizontal axis actuator 131s First Movement Slider 132 First Carrier Plate 140 Second Horizontal Movement Module 141 Second horizontal axis actuator 141s Second Movement Slider 142 Second Carrier Plate 200 Carry Base

Claims

1. A motion base installed for autonomous movement, turning, and rotation, The motion base includes a rotating module installed on the aforementioned motion base, The aforementioned rotating module is A rotary shaft actuator fixed to the motion base, An obstacle avoidance motion carrier comprising a rotating carrier plate installed above and connected to the rotating shaft actuator, wherein the rotating shaft actuator is installed to drive the rotating carrier plate to rotate relative to the motion base by rotating, The rotating carrier plate further comprises a first horizontal movement module installed on the aforementioned rotating carrier plate, The first horizontal movement module is, A first horizontal axis actuator fixed to the rotating carrier plate and having a first movable slider, Obstacle avoidance motion carrier, characterized in that it includes a first carrier plate installed above the first horizontal axis actuator and fixed to the first moving slider, wherein the first horizontal axis actuator is installed to move the first moving slider such that the first carrier plate moves along the first horizontal axis relative to the rotating carrier plate.

2. The obstacle avoidance motion carrier according to claim 1, characterized in that when the rotary shaft actuator rotates to drive the rotary carrier plate to rotate relative to the motion base, the rotary carrier plate and the first horizontal movement module also rotate synchronously.

3. The system further comprises a second horizontal movement module installed on the first carrier plate, The second horizontal movement module is, A second horizontal axis actuator fixed to the first carrier plate and having a second movable slider, Obstacle avoidance motion carrier according to claim 1, comprising: a second carrier plate installed above the second horizontal axis actuator and fixed to the second moving slider, wherein the second horizontal axis actuator is installed to move the second moving slider such that the second carrier plate moves along a second horizontal axis different from the first horizontal axis relative to the first carrier plate.

4. The obstacle avoidance motion carrier according to claim 3, characterized in that when the rotary shaft actuator rotates to drive the rotary carrier plate to rotate relative to the motion base, the rotary carrier plate, the first horizontal movement module, and the second horizontal movement module also rotate synchronously.

5. The obstacle avoidance motion carrier according to claim 3, characterized in that when the first horizontal axis actuator moves the first movement slider so that the first carrier plate moves along the first horizontal axis relative to the rotating carrier plate, the first carrier plate and the second horizontal movement module move synchronously along the first horizontal axis.

6. The obstacle avoidance motion carrier according to claim 1, characterized in that the motion base is provided with two drive wheels that can rotate in both directions.

7. The obstacle avoidance motion carrier according to claim 1, characterized in that the motion base is provided with a navigation element and / or an obstacle avoidance detection element installed only on one side of the motion base.

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