Autonomous mobile machine, method for controlling autonomous mobile machine, and controller

1 . A mobile vehicle, comprising a controller, the controller executing program instructions to implement operations comprising:

moving the mobile vehicle from an exterior of a target to an interior of the target in response to determining that the mobile vehicle is separated from a second mobile vehicle, wherein the target is a carriage;

driving a transportation component of the mobile vehicle to receive a first cargo from the second mobile vehicle, wherein the second mobile vehicle is located at an exterior of the target; and

moving the mobile vehicle away from the interior of the target so that the first cargo is placed in the interior of the target,

the operations further comprising:

moving the mobile vehicle toward a first direction at a first speed away from the interior of the target, and driving the transportation component to rotate toward a second direction at a second speed, wherein the first speed and the second speed are the same and the first direction and the second direction are opposite, so that there is substantially no lateral displacement of the first cargo relative to a bottom of the target during separation of the mobile vehicle from the first cargo.

2 . The mobile vehicle according to claim 1 , wherein the mobile vehicle and the second mobile vehicle form a transportation mechanism for transporting cargoes to the target.

3 . The mobile vehicle according to claim 1 , wherein the transportation component comprises a plurality of sub-assemblies, and a rotational speed of each sub-assembly of the plurality of sub-assemblies is independently adjustable.

4 . The mobile vehicle according to claim 3 , wherein the operations further comprise:

causing a rotational speed of one or more first sub-assemblies of the plurality of sub-assemblies to be less than a rotational speed of one or more second sub-assemblies of the plurality of sub-assemblies, wherein the one or more second sub-assemblies are arranged in a peripheral region of the mobile vehicle relative to the one or more first sub-assemblies.

5 . The mobile vehicle according to claim 4 , wherein the first cargo comprises a pair of cargoes, the one or more first sub-assemblies and the one or more second sub-assemblies being configured to force the pair of cargoes to abut against each other during cargo transportation.

6 . The mobile vehicle according to claim 5 , wherein the pair of cargoes have a same size.

7 . The mobile vehicle according to claim 1 , wherein the operations further comprise:

moving, in response to receiving a message indicating that a space below the second mobile vehicle is not occupied, the mobile vehicle to a location below the second mobile vehicle so as to be stacked with the second mobile vehicle.

8 . The mobile vehicle according to claim 1 , wherein the operations further comprise:

configuring a first sensor of the mobile vehicle to determine a first distance between a first wheel assembly of the first mobile vehicle and a side wall of the target; and

configuring a second sensor of the mobile vehicle to determine a second distance between a second wheel assembly of the second mobile vehicle and the side wall.

9 . The mobile vehicle according to claim 8 , wherein the operations further comprise:

determining a distance difference between the first distance and the second distance; and

adjusting a rotational speed of at least one of the first wheel assembly and the second wheel assembly in response to determining that the distance difference is greater than a first threshold.

10 . The mobile vehicle according to claim 9 , wherein the rotational speed is adjusted to ensure that the mobile vehicle moves forward along a middle region of the target.

11 . The mobile vehicle according to claim 8 , wherein the operations further comprise:

determining whether the first distance and the second distance are less than a second threshold; and

adjusting a rotational speed of at least one of the first wheel assembly and the second wheel assembly in response to determining that the first distance and the second distance are less than the second threshold.

12 . The mobile vehicle according to claim 1 , wherein the operations further comprise:

configuring one sensor of the mobile vehicle to determine a distance between the mobile vehicle and an object in front of the mobile vehicle; and

stopping moving the mobile vehicle in response to determining that the distance is less than a third threshold.

13 . The mobile vehicle according to claim 12 , wherein the operations further comprise:

configuring another sensor of the mobile vehicle to determine whether the first cargo is present on the transportation component; and

stopping driving the transportation component in response to determining that the first cargo has been present for a predetermined time.

14 . The mobile vehicle according to claim 1 , wherein a plurality of mobile vehicles comprise the mobile vehicle and the second mobile vehicle, the plurality of mobile vehicles further comprising a third mobile vehicle, and wherein the operations further comprise:

stopping the second mobile vehicle behind the third mobile vehicle after the second mobile vehicle moves to the interior of the target, wherein the plurality of mobile vehicles are stacked on a mobile carrier, and wherein the plurality of mobile vehicles form a transportation mechanism for transporting cargoes from the mobile carrier to the target.

15 . The mobile vehicle according to claim 14 , wherein the operations further comprise:

keeping driving, before receiving the first cargo from the second mobile vehicle, the transportation component to transport a second cargo from the second mobile vehicle to the third mobile vehicle.

16 . The mobile vehicle according to claim 15 , wherein the operations further comprise:

accumulating a quantity of cargoes received by the mobile vehicle;

determining a sequence number of the mobile vehicle arranged in the plurality of mobile vehicles;

comparing the quantity with the sequence number;

keeping driving the transportation component in response to determining that the quantity is less than the sequence number; and

stopping driving the transportation component in response to determining that the quantity is equal to the sequence number and in response to determining that the first cargo has stayed in the mobile vehicle for a predetermined time.

17 . A control method of a mobile vehicle, the mobile vehicle comprising a controller, the controller being configured to execute program instructions to implement operations comprising:

moving the mobile vehicle from an exterior of a target to an interior of the target in response to determining that the mobile vehicle is separated from a second mobile vehicle, wherein the target is a carriage;

driving a transportation component of the mobile vehicle to receive a first cargo from the second mobile vehicle, wherein the second mobile vehicle is located at an exterior of the target; and

moving the mobile vehicle away from the interior of the target so that the first cargo is placed in the interior of the target,

the operations further comprising:

moving the mobile vehicle toward a first direction at a first speed away from the interior of the target, and driving the transportation component to rotate toward a second direction at a second speed, wherein the first speed and the second speed are the same and the first direction and the second direction are opposite, so that there is substantially no lateral displacement of the first cargo relative to a bottom of the target during separation of the mobile vehicle from the first cargo.

18 . A controller, the controller being configured to execute program instructions to implement operations comprising:

moving a mobile vehicle from an exterior of a target to an interior of the target in response to determining that the mobile vehicle is separated from a second mobile vehicle, wherein the target is a carriage;

driving a transportation component of the mobile vehicle to receive a first cargo from the second mobile vehicle, wherein the second mobile vehicle is located at an exterior of the target; and

moving the mobile vehicle away from the interior of the target so that the first cargo is placed in the interior of the target,

the operations further comprising:

moving the mobile vehicle toward a first direction at a first speed away from the interior of the target, and driving the transportation component to rotate toward a second direction at a second speed, wherein the first speed and the second speed are the same and the first direction and the second direction are opposite, so that there is substantially no lateral displacement of the first cargo relative to a bottom of the target during separation of the mobile vehicle from the first cargo.