AMR Trolley Hitching with Camera-Lidar Pin Alignment
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Solution Overview
Problem
Existing material transportation systems using autonomous vehicles face inefficiencies and safety risks due to manual hitching processes, which are time-consuming and prone to alignment errors, and require human intervention for loading and unloading.
Innovation Solution
A dual-sensor system comprising a camera-Lidar setup for precise alignment with a trolley pin, combined with a mechanical latch system and automatic unhitching mechanism, enabling zero-touch material movement and reliable connection between an autonomous mobile robot (AMR) and a trolley.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual hitching methods are used, then the system is simple to operate, but the hitching process is time-consuming and prone to alignment errors
Solution Approach 1:
The patent replaces manual mechanical hitching operations with an automated sensor-based system. A camera captures images of the hitch area, computer vision algorithms process the visual information to locate the pin, and the system automatically guides the vehicle to achieve proper alignment and connection, eliminating manual intervention entirely.
Solution Approach 2:
The system performs self-alignment and self-hitching through autonomous operation. The vehicle uses its own sensors and processing systems to automatically locate the trolley pin, calculate the required alignment adjustments, and execute the hitching maneuver without external guidance or manual operation.
2Reliability
If manual hitching is performed, then device complexity is low, but safety risks increase due to operator exposure
Solution Approach 1:
The patent replaces manual mechanical hitching operations with an automated sensor-based system. A camera captures images of the hitch area, computer vision algorithms process the visual information to locate the pin, and the system automatically guides the vehicle to achieve proper alignment and connection, eliminating manual intervention entirely.
Solution Approach 2:
The patent introduces a camera-Lidar dual sensor system as an intermediary between the vehicle and trolley. This intermediary captures visual information, processes it through computer vision algorithms, and provides alignment data to the control system, enabling automated hitching without direct human exposure to the hazard zone.
3Measurement precision
If high precision alignment is achieved through manual methods, then measurement precision is high, but the time required for hitching increases
Solution Approach 1:
The system performs preliminary action by capturing images of the hitch area and processing them through computer vision algorithms before the actual hitching occurs. The pin location is identified and alignment calculations are completed in advance, allowing the vehicle to quickly execute the hitching maneuver with high precision without time-consuming manual measurements.
Solution Approach 2:
The patent replaces manual mechanical hitching operations with an automated sensor-based system. A camera captures images of the hitch area, computer vision algorithms process the visual information to locate the pin, and the system automatically guides the vehicle to achieve proper alignment and connection, eliminating manual intervention entirely.
4Productivity
If automated hitching is implemented, then productivity increases, but device complexity increases due to additional sensors and systems
Solution Approach 1:
The patent merges the camera and Lidar sensors into a dual-sensor system that works together for hitching operations. The camera provides visual information for pin location, while the Lidar provides depth and distance data, combining their capabilities to achieve accurate automated alignment and hitching.
Solution Approach 2:
The camera-Lidar dual sensor system serves multiple functions: it captures visual information for pin location, provides depth and distance measurements, enables computer vision processing, and guides the automated hitching maneuver. This multi-functional system replaces what would otherwise require multiple separate devices.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system achieves high tracking accuracy (<2 cm) and eliminates the need for manual intervention, reducing human error and safety risks while enhancing operational efficiency and flexibility in material transportation.
Implementation Method 1
By utilizing computer vision algorithms and image processing techniques, the camera captures the visual information of the hitch area and determines the approximate location of the pin
Implementation Method 2
With the given coarse location of the pin, the Lidar beams can precisely locate the pin
Data Source
AI summary
According to embodiments of the present disclosure, a reliable mechanism to autonomously hitch a trolley to a vehicle, e.g., an autonomous mobile robot (AMR) is described herein. The described hitching mechanism includes a camera to accurately position the vehicle, a mechanical setup designed for hitching to the trolley using a latch system with a pin type hitch. The system incorporates an automatic unhitching mechanism and includes a sensing capability to determine whether a trolley has been hitched to a vehicle, e.g., an autonomous mobile robot (AMR), or not. Additionally, the system allows for a high tolerance in the field of view (FOV) for aligning with the trolley hitch.