ROBOTIC CART PULLING VEHICLE

摘要

A robotic cart pulling vehicle (20) includes a positioning error reducing system for reducing accumulated error in the ded-reckoning navigational system. The positioning error reducing system including at least one of a low load transfer point of the cart attaching mechanism (24), a floor variation compliance structure whereby the drive wheels (14) maintain a substantially even distribution of load over minor surface variations, a minimal wheel (14) contact surface structure, a calibration structure using at least one proximity sensor mounted on the robot body (12), and common electrical and mechanical connection between the cart (20) and the robot vehicle (10) formed by a cart attaching post (44).