US 11,987,477 B2
System and method for controlling mobile hoisting apparatus, server and mobile hoisting apparatus
Chao Yan, Beijing (CN)
Assigned to Shanghai Tusen Weilai Artificial Intelligence Technology Co., Ltd., Shanghai (CN)
Filed by Shanghai Tusen Weilai Artificial Intelligence Technology Co., Ltd., Shanghai (CN)
Filed on Nov. 7, 2019, as Appl. No. 16/677,463.
Claims priority of application No. 201811320110.0 (CN), filed on Nov. 7, 2018.
Prior Publication US 2020/0140241 A1, May 7, 2020
Int. Cl. B66C 13/46 (2006.01); B65G 67/60 (2006.01); G05D 1/00 (2006.01)
CPC B66C 13/46 (2013.01) [B65G 67/603 (2013.01); G05D 1/0274 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A system for controlling a mobile hoisting apparatus, comprising:
an environment sensing module configured to detect environment information, and transmit the environment information to a server;
a positioning module configured to determine a location of the mobile hoisting apparatus to obtain location information of the mobile hoisting apparatus, and transmit the location information to the server;
the server configured to plan a travel route from a current location of the mobile hoisting apparatus to a hoisting operation location of the mobile hoisting apparatus, determine a perception result based on the environment information, determine travel decision information based on the perception result and the travel route, control the mobile hoisting apparatus to move to the hoisting operation location along the travel route based on the travel decision information, and control, at the hoisting operation location, a hoisting arm of the mobile hoisting apparatus to place goods to be transported to a corresponding target location;
an inertial measurement unit provided on an end effector of the hoisting arm that is configured to grab the goods to be transported; and
an image capturing apparatus provided on the hoisting arm, wherein
the inertial measurement unit is configured to measure a three-axis attitude angle and an acceleration of the end effector, and transmit the three-axis attitude angle and the acceleration to the server,
the image capturing apparatus is configured to capture an image of a grab section provided on the goods to be transported and coordinated with the end effector, and transmit the image to the server, and
the server is further configured to determine a current movement gesture of the end effector based on the three-axis attitude angle and the acceleration of the end effector, determine orientation information of the grab section based on the image, and adjust a movement gesture of the end effector based on the orientation information of the grab section and the current movement gesture of the end effector.