Loading last few rows of pallets onto a trailer using an autonomous mobile robot. The robot determines that the next pallet to be loaded is a first in a row where the trailer does not have sufficient space to accommodate the robot. The robot identifies a pose of a previous pallet in an immediately prior row and determines a front plane of the immediately prior row. The robot navigates to a first goal position at least partially inside the trailer, determined by the pose of the previous pallet and the trailer. The robot then side-shifts the fork toward the trailer's side wall until contact is detected and subsequently adjust the fork back to prevent scraping. The robot proceeds to a second goal position, which is within a predetermined threshold distance of the drop position, before lowering and releasing the pallet.
AUTONOMOUS MOBILE ROBOT OPERATIONS FOR LAST ROWS IN-TRAILER LOADING
2025-04-24
Patent
Electronic Resource
English
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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