Abstract: A robot for transporting cargo boxes includes a drive unit, a cargo box storing unit and a cargo box delivery unit. The drive unit carries the cargo box storing unit and the cargo box delivery unit and moves them jointly therewith. The cargo box storing unit includes a plurality of cargo box storing spaces. The cargo box delivery unit is coupled to the cargo box storing unit and configured to move along the cargo box storing unit in a vertical direction and transfer the cargo boxes between the cargo box storing spaces and a shelf.

Abstract: The present invention discloses a method of robotic transport of goods and relates to the field of storage logistics, including the following steps: providing a transport robot and shelves, the transport robot comprising a drive unit, a cargo box storing unit and a cargo box delivery unit, wherein the drive unit driving the cargo box storing unit and the cargo box delivery unit to move together; the cargo box storing unit and the shelves comprising one or more cargo box storing spaces, respectively; the transport robot autonomously moving to the front of a destination shelf according to a goods fetching instruction, the cargo box delivery unit acquiring one cargo box from one cargo box storing space of the shelf specified according to the goods fetching instruction, and then delivering the cargo box to another cargo box storing space in the cargo box storing unit specified according to the goods fetching instruction; repeating the goods fetching step if the instruction contains the goods fetching instruction

Abstract: The present invention discloses a robot for transporting cargo box, relating to the field of automatic logistics storage, including a drive unit, a cargo box storing unit and a cargo box delivery unit, wherein the drive unit drives the cargo box storing unit and the cargo box delivery unit to move together; the cargo box storing unit includes one or more cargo box storing spaces; the cargo box delivery unit is configured to deliver the cargo box between the storing space and the shelf. The robot for transporting cargo boxes of the present invention can transport various kinds of goods at a time, which increases work efficiency and lowers energy consumption of the transporting robot.

Abstract: A robot for transporting cargo box, relating to the field of automatic logistics storage, includes a drive unit, a cargo box storing unit and a cargo box delivery unit, wherein the drive unit drives the cargo box storing unit and the cargo box delivery unit to move together; the cargo box storing unit includes one or more cargo box storing spaces; the cargo box delivery unit is configured to deliver the cargo box between the storing space and the shelf.

Abstract: The present invention discloses a method of robotic transport of goods and relates to the field of storage logistics, including the following steps: providing a transport robot and shelves, the transport robot comprising a drive unit, a cargo box storing unit and a cargo box delivery unit, wherein the drive unit driving the cargo box storing unit and the cargo box delivery unit to move together; the cargo box storing unit and the shelves comprising one or more cargo box storing spaces, respectively; the transport robot autonomously moving to the front of a destination shelf according to a goods fetching instruction, the cargo box delivery unit acquiring one cargo box from one cargo box storing space of the shelf specified according to the goods fetching instruction, and then delivering the cargo box to another cargo box storing space in the cargo box storing unit specified according to the goods fetching instruction; repeating the goods fetching step if the instruction contains the goods fetching instruction

Abstract: The present invention discloses a method of robotic transport of goods and relates to the field of storage logistics, including the following steps: providing a transport robot and shelves, the transport robot comprising a drive unit, a cargo box storing unit and a cargo box delivery unit, wherein the drive unit driving the cargo box storing unit and the cargo box delivery unit to move together; the cargo box storing unit and the shelves comprising one or more cargo box storing spaces, respectively; the transport robot autonomously moving to the front of a destination shelf according to a goods fetching instruction, the cargo box delivery unit acquiring one cargo box from one cargo box storing space of the shelf specified according to the goods fetching instruction, and then delivering the cargo box to another cargo box storing space in the cargo box storing unit specified according to the goods fetching instruction; repeating the goods fetching step if the instruction contains the goods fetching instruction

Abstract: A position and orientation deviation detection method for a shelf based on a graphic with feature information is provided, wherein an up-looking camera is installed on a robot, an optical axis of the camera faces the shelf and is perpendicular to a side of the shelf facing the robot, and a graphic with feature information is provided on the side; and the method comprises the steps of: the robot moving to a position under the shelf; the robot jacking up the shelf, and then the up-looking camera scanning the graphic; acquiring a position and orientation of the shelf relative to the robot according to the scanned graphic; acquiring a position of the robot within a work space, and acquiring a position of the shelf within the work space according to the position of the robot and the position and orientation of the shelf relative to the robot; and adjusting a position and orientation of the robot according to a deviation between the position of the shelf within the work space and a preset position of the shelf, and

Abstract: The present invention discloses a mobile unit, an inventory management system, and a method for mobile unit localization. Sensors are immovably disposed in the workplace, actively identifying the positions of the mobile units. The individual sensor disposed in the workplace can monitor the positions of a plurality of mobile units simultaneously, and the number of sensors is only related to the size of workspace, which is independent of the number of mobile units. Since no complicated position calculations are needed for the mobile units, it reduces the requirements for on-board processors, which is more advantageous to monitor the preexisting non-automated vehicles or retrofit them into automated vehicles. With the method of the present invention, position calculations are not carried out on the bodies of AGVs, the requirements for the on-board controllers of AGVs are low, and it is easier to retrofit the non-intelligent mobile units, and thereby position monitoring and autonomous operation are implemented.

Abstract: A method for creating a map based on 3D laser that includes: planning a route, and acquiring data in a movement process of a mobile robot; loading acquired data by using a map creating tool; performing initial alignment to adjacent laser data; performing accurate alignment to the adjacent laser data; performing closed-loop association to the same area passed through by the mobile robot, and establishing a closed-loop constraint; performing global optimization solution to an entire map for which the closed-loop constraint is established; and superposing all laser data, and outputting a laser map. The method does not depend on GPS and is not restricted by GPS signals. By using the method, cumbersome surveying and mapping operations can be avoided and large-scale maps of various indoor and outdoor environments can be created and maps can be finely adjusted off line, and high-accuracy maps can be created.

Abstract: The present invention discloses a safety protection method of dynamic detection for mobile robots. The mobile robot is provided with a sensor. Said sensor obtains the obstacle information in the detection areas in front of a mobile robot, and the mobile robot is caused to progressively slow down and dynamically adjust the detection area when an obstacle appears in the detection area. If no obstacle is detected in the detection area after adjusting, then the mobile robot is caused to keep on moving, and if an obstacle is still detected in the detection area after adjusting, then the mobile robot is caused to keep on decelerating until they are stopped. The sensor sets different detection areas according to the traveling speed and traveling direction of the mobile robot, or presets the detection area according to the path and dynamically adjusts it when the mobile robot is running.

Abstract: The present invention discloses an unmanned transporting robot and the chassis thereof, the chassis includes a floor, a drive unit and a follow unit; the follow unit is used to bear the loads of the chassis and the payload, and includes a plurality of follow components which are arranged on the floor to enable the floor to move smoothly (i. e. without the occurrence of tilting or vibration); the drive unit includes a first drive component and a second drive component which are located symmetrically on both ends of the floor. The present invention also discloses an unmanned transporting robot including the above-described chassis. The chassis of the unmanned transporting robot according to the present invention has the advantages of a compress structure, a small size and a high loading-bearing capacity.

Abstract: The present invention relates to a method and a system for creating a map based on 3D laser. The method for creating a map comprises: planning a route, and acquiring data in a movement process of a mobile robot; loading acquired data by using a map creating tool; performing initial alignment to adjacent laser data; performing accurate alignment to the adjacent laser data; performing closed-loop association to the same area passed through by the mobile robot, and establishing a closed-loop constraint; performing global optimization solution to an entire map for which the closed-loop constraint is established; and superposing all laser data, and outputting a laser map.

Abstract: A robot for transporting cargo box, relating to the field of automatic logistics storage, including a drive unit, a cargo box storing unit and a cargo box delivery unit, wherein the drive unit drives the cargo box storing unit and the cargo box delivery unit to move together; the cargo box storing unit includes one or more cargo box storing spaces; the cargo box delivery unit is configured to deliver the cargo box between the storing space and the shelf. The robot for transporting cargo boxes of the present invention can transport various kinds of goods at a time, which increases work efficiency and lowers energy consumption of the transporting robot.

Abstract: The present invention relates to a cleaning method capable of automatically planning a path. The method comprises the following steps: obtaining a 3D laser point cloud map of a site to be cleaned and performing data processing on point clouds to obtain a ground plane equation of all point clouds; using the generated ground plane equation of the point clouds and point cloud data to determine a cleanable region; performing grid division on the obtained cleanable region to divide into sub-regions to be cleaned according to the size of non-connected regions in grid regions; and performing a bow-shaped path planning for each of the sub-regions to be cleaned, and connecting paths planned for each of the sub-regions to obtain a path planning for the entire region to be cleaned.

Abstract: The present invention discloses a AP switching method for mobile robots based on path setting, including the following steps: install APs in the application environments of mobile robots; control the mobile robots to move along established routes, record the signal strengths of each of the APs on each of the paths of the mobile robots, and determine the AP with the strongest signal strength on each path; configure the MAC addresses of the APs to be connected on each path whereon the mobile robots will move; the mobile robots monitor continuously whether the AP that is connected at the moment coincides with the AP configured for the current path, if not, then switch to the configured AP directly. The present invention can avoid effectively the problem of switching APs excessively frequently, the method is simple and effective, without the need for setting thresholds for signal strengths, and it can decrease uncertainty effectively, which is valuable in the application environments of mobile robots.

Abstract: The present invention discloses a method of robotic transport of goods and relates to the field of storage logistics, including the following steps: providing a transport robot and shelves, the transport robot comprising a drive unit, a cargo box storing unit and a cargo box delivery unit, wherein the drive unit driving the cargo box storing unit and the cargo box delivery unit to move together; the cargo box storing unit and the shelves comprising one or more cargo box storing spaces, respectively; the transport robot autonomously moving to the front of a destination shelf according to a goods fetching instruction, the cargo box delivery unit acquiring one cargo box from one cargo box storing space of the shelf specified according to the goods fetching instruction, and then delivering the cargo box to another cargo box storing space in the cargo box storing unit specified according to the goods fetching instruction; repeating the goods fetching step if the instruction contains the goods fetching instruction

Abstract: A self-charging device for mobile robots, which includes a charging cradle and a charging pin, the charging cradle includes a charging contact and a first elastic member connected with the charging contact. The charging pin is used to contact the charging contact for charging. Preferably, the charging cradle also includes a buffering block, a second elastic member and a mounting enclosure. The charging contact is connected with the buffering block through the first elastic member. The buffering block is provided encircling inside the mounting enclosure. One end of the second elastic member is connected with the buffering block, and the other end is connected with the mounting enclosure. The self-charging device for mobile robots is capable of counteracting the deviation angle due to the misalignment when the mobile robot is charging, and buffering the impact force produced when the charging contact docks with the charging pin.

Abstract: A path planning method is provided for mobile robots, including the following steps: Step 1. Searching for available paths according to the destinations of moving of the robots and the nodes properties on the map; Step 2. Determining the optimum path, according to the weights of the segments on all the available paths, with the segments being arbitrary curves made up of Bezier curves or splined curves of a plurality of control points; and Step 3. Driving the robots to move along the optimum path, and to stop at the stop points. The present path planning method for mobile robots increases the ways of connection between the nodes significantly and avoids that there is only a single way of connection between two nodes.

Abstract: The present invention discloses a mobile unit, an inventory management system, and a method for mobile unit localization. Sensors are immovably disposed in the workplace, actively identifying the positions of the mobile units. The individual sensor disposed in the workplace can monitor the positions of a plurality of mobile units simultaneously, and the number of sensors is only related to the size of workspace, which is independent of the number of mobile units. Since no complicated position calculations are needed for the mobile units, it reduces the requirements for on-board processors, which is more advantageous to monitor the preexisting non-automated vehicles or retrofit them into automated vehicles. With the method of the present invention, position calculations are not carried out on the bodies of AGVs, the requirements for the on-board controllers of AGVs are low, and it is easier to retrofit the non-intelligent mobile units, and thereby position monitoring and autonomous operation are implemented.

Abstract: A self-charging device for mobile robots, which includes a charging cradle and a charging pin, the charging cradle includes a charging contact and a first elastic member connected with the charging contact. The charging pin is used to contact the charging contact for charging. Preferably, the charging cradle also includes a buffering block, a second elastic member and a mounting enclosure. The charging contact is connected with the buffering block through the first elastic member. The buffering block is provided encircling inside the mounting enclosure. One end of the second elastic member is connected with the buffering block, and the other end is connected with the mounting enclosure. The self-charging device for mobile robots is capable of counteracting the deviation angle due to the misalignment when the mobile robot is charging, and buffering the impact force produced when the charging contact docks with the charging pin.