公开(公告)号：US20230211508A1

公开(公告)日：2023-07-06

申请号：US18146579

申请日：2022-12-27

申请人： Gideon Brothers d.o.o.

发明人： Josip Cesic ,  Edin Koco ,  Kruno Lenac ,  Marko Pavlic ,  Daniel Guja ,  Matija Zigic ,  William Booth ,  Slaven Strazanac ,  Tomislav Haus

IPC分类号： B25J13/08 ,  B25J9/16 ,  B66F9/06

CPC分类号： B25J13/089 ,  B25J9/1664 ,  B25J9/1687 ,  B66F9/063

摘要： To load and unload a trailer, an autonomous mobile robot determines its location and the location of objects within the trailer relative to the trailer itself, rather than relative to a warehouse. The autonomous mobile robot determines its location the location of objects within the trailer relative to the trailer. The autonomous mobile robot navigates within the trailer and manipulates objects within the trailer from the trailer's reference frame. Additionally, the autonomous mobile robot uses a centerline heuristic to compute a path for itself within the trailer. A centerline heuristic evaluates nodes within the trailer based on how far away those nodes are from the centerline. If the nodes are further away from the centerline, they are assigned a higher cost. Thus, when the autonomous mobile robot computes a path, the path is more likely to stay near the centerline of the trailer rather than get closer to the sides.