DK178498B1 - Robotbaseret køretøj til at trække en vogn - Google Patents

Robotbaseret køretøj til at trække en vogn Download PDF

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Publication number
DK178498B1
DK178498B1 DKPA201570212A DKPA201570212A DK178498B1 DK 178498 B1 DK178498 B1 DK 178498B1 DK PA201570212 A DKPA201570212 A DK PA201570212A DK PA201570212 A DKPA201570212 A DK PA201570212A DK 178498 B1 DK178498 B1 DK 178498B1
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DK
Denmark
Prior art keywords
cart
vehicle
hook
carriage
robot
Prior art date
Application number
DKPA201570212A
Other languages
English (en)
Inventor
Niels Jul Jacobsen
Original Assignee
Mobile Ind Robots Aps
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mobile Ind Robots Aps filed Critical Mobile Ind Robots Aps
Priority to DKPA201570212A priority Critical patent/DK178498B1/da
Priority to CN202011173476.7A priority patent/CN112477532B/zh
Priority to PCT/DK2016/050104 priority patent/WO2016165721A1/en
Priority to CN201680021545.8A priority patent/CN107531116B/zh
Priority to US15/566,516 priority patent/US10668617B2/en
Priority to EP16779651.5A priority patent/EP3283308B1/en
Application granted granted Critical
Publication of DK201570212A1 publication Critical patent/DK201570212A1/da
Publication of DK178498B1 publication Critical patent/DK178498B1/da

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/42—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable
    • B60D1/44—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable horizontally
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/086—Proximity sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/01—Traction couplings or hitches characterised by their type
    • B60D1/04—Hook or hook-and-hasp couplings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
    • B60D1/246—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for actuating the hitch by powered means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D1/58—Auxiliary devices
    • B60D1/62—Auxiliary devices involving supply lines, electric circuits or the like
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
    • B60D2001/001—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars
    • B60D2001/005—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars for carts, scooters or the like
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Transportation (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Manipulator (AREA)
  • Handcart (AREA)

Claims (5)

1. Et automatisk styret køretøj til at trække en vogn (3) med mindst fire hjul og forsynet med en vogn ramme, hvor køretøjet omfatter: • drivhjul; • en robotenhed (2) monteret på nævnte drivhjul; • et styresystem med navigationssystem • en vogn-fastgørelsesmekanisme (1) monteret på robotenheden (2) til at koble vognen til nævnte køretøj; • mindst en nærhedssensor monteret på robotenheden, nævnte styresystem er koblet til den mindst ene nærhedssensor til justering af den beregnede robot-position og til at fastslå eventuelle hindringer; kendetegnet ved, at vogn-fastgørelsesmekanismen (1) omfatter en trailer-arm, der er frit drejelig i et horisontalt plan, hvor armen er monteret i et drejepunkt på robotenheden i den ene ende og forsynet med en gribedel i den anden ende for at gribe og holde vognen (3) der trækkes, hvilken gribedel omfatter: - et lodret stangelement (10) fastgjort til trailer-armen; - et vandret stangelement fleksibelt fastgjort via et drejepunkt P1 til det lodrette stangelement (10); - et krog-element til at gribe vognrammen, nævnte krog er tilvejebragt med en krog (20), og krog-elementet er fleksibelt bundet via et drejepunkt P2 til det vandrette stangelement, og hvor krogen kan bevæges (vandret) ved aktiveringsmidler; - mindst to støttebeslag (22) placeret på hver side af krogen til tilvejebringelse af en klemme-kraft mod vognrammen.
2. Det automatisk styrede køretøj ifølge krav 1, hvor hver nærhedssensor er valgt fra IR sensor, ultralydssensor, LIDAR sensor og stereovision-sensor.
3. Det automatisk styrede køretøj ifølge krav 1 eller 2, hvor fleksibiliteten omkring det vandrette stang-element og krog-elementet er etableret ved hjælp affjedre (15, 16).
4. Det automatisk styrede køretøj ifølge krav 3, hvor fjedrene (15, 16) er fastgjort til et fælles fjederelement, der er drejeligt fastgjort til omdrejningspunktet P1.
5. Det automatisk styrede køretøj ifølge ethvert af kravene 1-4, hvor navigationssystemet omfatter et automatisk styrings- og guide-system for at nå et givet mål og samtidig undgå kollision med omgivelserne.
DKPA201570212A 2015-04-13 2015-04-13 Robotbaseret køretøj til at trække en vogn DK178498B1 (da)

Priority Applications (6)

Application Number Priority Date Filing Date Title
DKPA201570212A DK178498B1 (da) 2015-04-13 2015-04-13 Robotbaseret køretøj til at trække en vogn
CN202011173476.7A CN112477532B (zh) 2015-04-13 2016-04-11 用于自动牵拉拖车的机器人拖车牵拉车辆
PCT/DK2016/050104 WO2016165721A1 (en) 2015-04-13 2016-04-11 Robotic cart pulling vehicle for automated pulling of carts
CN201680021545.8A CN107531116B (zh) 2015-04-13 2016-04-11 用于自动牵拉拖车的机器人拖车牵拉车辆
US15/566,516 US10668617B2 (en) 2015-04-13 2016-04-11 Robotic cart pulling vehicle for automated pulling of carts
EP16779651.5A EP3283308B1 (en) 2015-04-13 2016-04-11 Robotic cart pulling vehicle for automated pulling of carts

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DKPA201570212A DK178498B1 (da) 2015-04-13 2015-04-13 Robotbaseret køretøj til at trække en vogn

Publications (2)

Publication Number Publication Date
DK201570212A1 DK201570212A1 (da) 2016-04-18
DK178498B1 true DK178498B1 (da) 2016-04-18

Family

ID=55808159

Family Applications (1)

Application Number Title Priority Date Filing Date
DKPA201570212A DK178498B1 (da) 2015-04-13 2015-04-13 Robotbaseret køretøj til at trække en vogn

Country Status (5)

Country Link
US (1) US10668617B2 (da)
EP (1) EP3283308B1 (da)
CN (2) CN112477532B (da)
DK (1) DK178498B1 (da)
WO (1) WO2016165721A1 (da)

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CN107531116B (zh) 2020-11-06
EP3283308A1 (en) 2018-02-21
CN107531116A (zh) 2018-01-02
EP3283308B1 (en) 2020-09-16
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US10668617B2 (en) 2020-06-02

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