EP4486541A2 - Appareils et procédés pour et avec plates-formes mobiles pour le transport de chargements - Google Patents

Appareils et procédés pour et avec plates-formes mobiles pour le transport de chargements

Info

Publication number
EP4486541A2
EP4486541A2 EP23707724.3A EP23707724A EP4486541A2 EP 4486541 A2 EP4486541 A2 EP 4486541A2 EP 23707724 A EP23707724 A EP 23707724A EP 4486541 A2 EP4486541 A2 EP 4486541A2
Authority
EP
European Patent Office
Prior art keywords
cargo
designed
contact
load
mobile platform
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP23707724.3A
Other languages
German (de)
English (en)
Inventor
Patrick Klokowski
Mathias ROTGERI
Jan Sören EMMERICH
Michael Ten Hompel
Sören Kerner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
Original Assignee
Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
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 Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV filed Critical Fraunhofer Gesellschaft zur Foerderung der Angewandten Forschung eV
Publication of EP4486541A2 publication Critical patent/EP4486541A2/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/028—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1615—Program controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it

Definitions

  • Embodiments according to the present invention include devices and methods for and with mobile platforms for the transport of cargo.
  • the present invention also relates to devices and methods for picking up, releasing and transporting charge carriers.
  • FIG. 1 For exemplary embodiments according to the present invention, include devices for transporting cargo with mobile platforms designed as an inverse pendulum.
  • FIG. 1 For exemplary embodiments according to the present invention, include devices for transporting a load with a receiving device which is arranged on a mobile platform and has at least two arms.
  • FIG. 1 For exemplary embodiments according to the present invention, include devices for transporting a load with control devices for providing a compensating movement.
  • Further exemplary embodiments according to the present invention include devices for transporting a load with support structures and operating modes, in which case the support structures can be in contact with a subsurface or can be raised from the subsurface. Further embodiments according to the present invention include devices with a controller for adjusting a size of the contact area of the wheel of a mobile platform.
  • Inexpensive automatic vehicles for transporting loads/load carriers are being used more and more frequently (market trend towards automation using driverless transport vehicles, especially inexpensive). So far, a load transfer has mostly been designed for interactions with conveyor technology / work stations. Up until now, there have been no simple/inexpensive solutions available on the market for delivering/picking up cargo onto or from a floor (particularly without tools). In particular, however, no solution is available on the market that combines delivery/pickup on or from a floor and at or from other heights (e.g. on a table or on a shelf). In summary, there has so far been a problem in providing transport goods pick-up from the ground and other heights by means of automatic vehicles using actuators that are cost-effective overall. Another problem is that cargo (e.g. bulk goods, liquid goods) cannot be subjected to high accelerations without simultaneous balancing of the movable masses (e.g. by tilting the container), as they could otherwise be lost or buried.
  • cargo e.g. bulk goods, liquid goods
  • exemplary embodiments according to the present invention are presented in a structured manner on the basis of inventive aspects.
  • this classification is only for a better understanding of the invention and the inventive aspects can be used in any combination. Accordingly, for example, an exemplary embodiment according to one of aspects two, three, four or five can be supplemented by features, details or functionalities of exemplary embodiments according to the first aspect, individually or in combination.
  • Exemplary embodiments according to a first aspect of the present invention include a device for transporting cargo, the device including a mobile platform formed as an inverse pendulum and a receiving device arranged on the mobile platform. The device is designed to lift the load by means of the pick-up device and to transport the lifted load.
  • a mobile inverse pendulum platform can be designed with few moving parts and thus can be provided with low complexity, low wear and tear, and low cost. At the same time, however, highly dynamic driving maneuvers are possible by tilting the mobile platform with the receiving device, e.g. in a simple model presentation of the optionally activated "pendulum rod" of the inverse pendulum.
  • the receiving device can be formed, for example, by means of one or more arms and can have a large number of possible contact elements for contacting the cargo.
  • a magnetic contact can be made, or a contact element can be hooked into the cargo.
  • the cargo can be gripped or clamped laterally by means of several contact surfaces. For example, a non-positive and/or positive connection can be produced.
  • the device is designed to have contact surfaces for forming contact with a substrate. Furthermore, the device is designed to provide contact along exactly one axis of contact surfaces, at least during a transport journey for transporting the cargo.
  • the inventors have recognized that the use of exactly one axis of contact surfaces enables balancing according to an inverse pendulum on the axis and thus a highly dynamic driving style.
  • the platform has two leg elements which are arranged essentially parallel to one another and are spaced apart from one another in a bottom area. Furthermore, the Direction designed to position the cargo at least temporarily between the leg members. The inventors have recognized that this makes it possible to pick up cargo even from the ground travelled.
  • the device has a chassis with a set of wheels, with a first subset of the set of wheels being arranged on a first leg element and with a second leg element, different from the first leg element, having a disjoint to the first subset, second subset of the set of wheels is arranged.
  • the inventors have recognized that good driving dynamics can be achieved by two disjoint subsets of wheels on the two leg elements.
  • the device comprises a control device which is designed to balance the device and preferably the cargo using additional information, the additional information comprising at least one of a loading state of the device, a speed of the device, a Acceleration of the device, an inclination of the mobile platform, an alignment of the receiving device relative to the mobile platform, a relative movement of the receiving device relative to the mobile platform, a relative movement of the cargo in relation to the mobile platform, a weight of the cargo, a center of gravity of the cargo, a torque in an actuator of the device, information about the geometry of the cargo, and/or information about the type of cargo.
  • the inventors have recognized that the additional information can be used to regulate and/or control the vehicle dynamics in a particularly robust manner.
  • the device has a sensor device which is designed to record the additional information and to provide a sensor signal based thereon.
  • the control device is designed to balance the device and/or the device and the lifted cargo based on the sensor signal.
  • the device itself can use the sensor device to provide real-time data for regulating and/or controlling the vehicle dynamics.
  • the receiving device provides at least one further pendulum segment. The inventors have recognized that a range or agility of the charge acceptance or charge emission can be improved in this way.
  • the device has a platform height in relation to a traffic surface during a transport journey for transporting the cargo and the device is designed to raise the cargo to a height above the platform height during the transport journey.
  • the inventors have recognized that in this way a stable and dynamically controllable common center of gravity of the device and the cargo can be balanced
  • the device is designed to align the mobile platform with respect to a surface normal of a subsoil traveled on along a first direction and along a direction of travel or opposite thereto. Furthermore, the device is designed to align the receiving device in relation to the surface normal in the opposite direction to the first direction.
  • the inventors have recognized that a particularly stable driving style can be achieved in this way.
  • the pick-up device has at least two arms and is designed to lift the load using the two arms by picking up the load between the two arms.
  • the inventors have recognized that cargo can thus be lifted by means of positive and/or frictional locking, for example without or with only very low requirements for a special design of the cargo, so that a large number of different cargo can be lifted with the device.
  • the device has a control device, wherein the control device is designed to control a first arm and a second arm of the at least two arms independently of one another, and/or wherein the control device is designed to to control the first arm and the second arm independently of each other.
  • the control device is designed to control a first arm and a second arm of the at least two arms independently of one another, and/or wherein the control device is designed to to control the first arm and the second arm independently of each other.
  • At least one of the at least two arms has a contact element, the contact element having an elastic, in particular a viscoelastic material; and wherein the contact element is designed to make contact with the load and thereby adapt to a shape of the load in order to lift the load under the action of the elastic material.
  • the inventors have recognized that a particularly stable contact can thus be established between the receiving device and the cargo.
  • the receiving device has exactly two arms.
  • the inventors have recognized that using only two arms can provide a good compromise between hardware complexity and load bearing stability.
  • the at least two arms each have a contact element, the contact elements being designed to establish a frictional connection and/or a non-positive connection and/or a positive connection with the load.
  • the receiving device is designed to receive the cargo between a first contact element for making contact with the cargo and a second contact element for making contact with the cargo.
  • the first contact element and the second contact element are connected to an actuator device and are rotatably mounted, and the device is designed to activate the actuator device while the load is being lifted and/or accelerated, in order to rotate the first contact element and the second contact element , to set an alignment of the cargo.
  • the inventors have recognized that, in this way, even spillable cargo can be lifted and moved safely.
  • the receiving device has a bellows, the bellows being designed is formed in order to release the load in a first state, and in a second state to adapt to a shape of the load in order to provide a form fit and/or a force fit with the load in order to lift the load.
  • the inventors have recognized that a large number of cargo items can thus be lifted and transported, for example independently or approximately independently of the external shape of the cargo items.
  • the bellows is a pneumatic bellows.
  • the inventors have recognized that a pneumatic bellows enables simple actuation by means of compressed air and hardware expenditure can thus be kept low.
  • the receiving device has two opposite contact elements and the contact elements are designed to receive the charge between the contact elements. Furthermore, the receiving device has an actuator device which is coupled to the contact elements and is set up to move the two contact elements towards one another. The inventors have recognized that a load can thus be securely clamped between the contact elements.
  • At least one contact element is coupled to the actuator device via a lever device, and the actuator device is designed to move the at least one contact element towards the opposite contact element by means of the lever device.
  • the two contact elements are coupled to the actuator device via a respective lever device, and one actuator device is designed to move the two contact elements towards one another by means of the respective lever device.
  • the actuator device comprises a linear actuator. Linear actuators can be particularly robust and inexpensive.
  • the receiving device has two contact elements located opposite one another, which are set up to receive the load by contacting the load, with at least one of the contact elements being designed to be moved in the direction of the load by means of an eccentric to become.
  • the inventors have recognized that an infeed movement with little hardware complexity can be provided by means of an eccentric.
  • the receiving device has two contact elements located opposite one another, which are set up to receive the load by contacting the load, with at least one of the contact elements being designed to be moved in the direction of the load by means of a rotary movement become.
  • a corresponding rotary movement can be actuated easily and with little complexity.
  • the receiving device has two opposing contact elements which are set up to receive the charge between the contact elements.
  • the contact elements are mounted in a tiltable manner in order to adapt to an angle of inclination of a surface of the cargo. The inventors have recognized that the contact elements can thus establish better contact with the cargo.
  • the contact elements are mounted eccentrically. This enables the infeed movement to be actuated easily.
  • the receiving device has at least one arm which has an articulated structure between a first arm element and a second arm element. Furthermore, the device is designed in order to pick up or release the cargo by means of a relative inclination of the first arm element and the second arm element by means of the to change steering structure.
  • the inventors have recognized that a robust feed movement of the contact elements that is easy to actuate can thus be provided.
  • the device is designed to have contact surfaces for forming contact with a substrate. Furthermore, the device is designed to provide contact along exactly one axis of contact surfaces, at least during a transport journey for transporting the cargo.
  • the device has a support structure for contact with the ground, and a control device that is designed to use the receiving device, starting from a first operating mode in which the contact surfaces and the support structure are in contact with the ground, to lift the cargo to control and thereby switch to a second operating mode in which the support structure is raised from the ground.
  • the inventors have recognized that a particularly stable vehicle configuration, for example with a stable rest position, can thus be provided in the first operating mode, for example as a driving mode, and that particularly dynamic driving can be made possible in the second operating mode.
  • the support structure is arranged on the receiving device off-axis.
  • the inventors have recognized that a particularly stable vehicle configuration with regard to the vehicle balance can thus be provided in the first operating mode.
  • the support structure comprises a polydirectional wheel and/or omnidirectional wheel and/or a mecanum wheel.
  • the inventors have recognized that an agile driving mode can thus be provided in the first operating mode.
  • the device is designed to assume an unstable state of equilibrium in the second operating mode.
  • the inventors have recognized that a particularly dynamic driving style, for example with cargo picked up, can be made possible in this way.
  • the device is designed to move the receiving device from a lying position. to control device in a rotational movement, thereby erecting the device from the lying position.
  • the inventors have recognized that an autonomous change from the first to the second operating mode can thus be made possible.
  • the device is designed to at least temporarily use a shovel or a fork as part of the receiving device in order to transport the cargo.
  • the inventors have recognized that the device can thus be used for a large number of possible cargo goods, ie with great flexibility.
  • the pick-up device is designed to lift the load, comprising a transport device and a load arranged in the transport device, and to move the load in one movement.
  • the device comprises a control device which is designed to keep an acceleration force acting under the influence of the movement during the movement of the cargo by providing a compensating movement of the cargo relative to the transport device within a tolerance range in a predefined alignment.
  • the inventors have recognized that charges that can be spilled can thus also be accelerated, at least approximately, in such a way that they cannot get out of the, for example, open transport device.
  • high accelerations can be unproblematic as long as the acceleration vectors are normal to the load, e.g. a crate or an underground, e.g.
  • high translational accelerations can be achieved without the cargo, e.g. the load, being subjected to significant transverse accelerations, for example.
  • the compensating movement comprises at least one of an inclination of the device, e.g. by tilting a chassis or by causing pressure changes in tires of the device, a rotation of the receiving device, e.g. relative to the platform, a tilting of the transport device by a rotational movement of two arms of the receiving device relative to one another, and/or a tilting of the transport device by a rotational movement of an eccentrically mounted contact area on an arm of the receiving device.
  • the inventors recognized that corresponding compensating movements enable efficient adjustment of the alignment.
  • the mobile platform for locomotion on a subsurface has a set of wheels, the device having an actuator system connected to the set of wheels for adjusting a size of a contact surface of a wheel of the set of wheels with the ground and wherein the device has a control device for controlling the actuator system, wherein the control device is designed to use the actuator system to determine the size of the contact surface of the wheel as a function of at least one of a driving speed of the device, a change in a directional vector of the device, To change properties of the substrate and / or a substrate texture.
  • the inventors have recognized that by means of a dynamic adaptation of the contact area, the energy requirement and/or the outlay for regulation or balancing of the device can be kept low.
  • factors or properties of the subsoil can be a topology and elasticity of the subsoil, whereby topology can include or include both regular, e.g.
  • the background can provide an excitation that can be addressed using the natural frequency.
  • a natural frequency of the device can be changed by adjusting the size of a contact surface of a wheel.
  • "humps" in the subsoil for example, can be leveled out.
  • the control device is designed to use the actuator system to set a first size of the contact surface at a first speed of travel and to set a second size of the contact surface that is larger than the first size at a second speed of travel that is reduced compared to the first speed of travel set.
  • the inventors have recognized that energy can be saved by adapting the contact surface to the driving speed.
  • control device is designed to use the actuator to control an air wheel pressure to change the size of the contact patch.
  • the inventors have recognized that when using air-filled tires, an adjustment of the contact area can be actuated by a compressed air device.
  • a further finding of the present invention is that a recording device equipped with two arms is also advantageous independently of the nevertheless advantageous implementation with an inverse pendulum.
  • the inventors have recognized that by using two arms, a large number of items of cargo can be lifted, for example without any particular requirements being placed on the design of the item of cargo. In this way, a large number of cargo items can be picked up or clamped between the arms in a form-fitting and/or non-positive manner. Furthermore, as a result, the cargo can be lifted from a wide variety of heights or delivered at a wide variety of heights. In addition, such a process can be automated or autonomous.
  • Embodiments according to a second aspect of the present invention include a device for transporting cargo, the device comprising a mobile platform and a receiving device which is arranged on the mobile platform and has at least two arms and is designed to carry the cargo using the two arms to pick up the load between the two arms.
  • a further finding of the present invention is that independently of the nevertheless advantageous implementation with an inverse pendulum, generating a compensating movement in relation to the acceleration forces acting on the cargo offers advantages, in particular with regard to preventing any spilling of cargo.
  • the inventors have recognized that spillable cargo can be held within the transport container by means of the compensating movement, but at the same time high acceleration and agile vehicle dynamics can be made possible.
  • the compensatory movement can, for example, include an acceleration of the mobile platform and/or a relative movement between the receiving device and the mobile platform.
  • contact elements of the receiving device can also be actuated in order to introduce acceleration.
  • a particularly stable driving behavior can also be achieved in this way. For example, movable cargo goods can be prevented from rolling around inside the transport container become. In addition, a movement of the load can be prevented from swinging up.
  • Embodiments according to a third aspect of the present invention include a device for transporting cargo, the device comprising a mobile platform and a receiving device which is movably arranged on the mobile platform and is designed to lift the cargo comprising transport device and a load arranged in the transport device. Furthermore, the device includes a control device and is designed to move the cargo with one movement. In addition, the control device is designed to keep an acceleration force of the load acting under the influence of the movement in relation to the transport device within a tolerance range in a predefined alignment during the movement of the cargo by providing a compensating movement.
  • a temporary support of the inverse pendulum has advantages in terms of stability, for example when stationary or at rest.
  • a particularly stable vehicle configuration can be provided by means of the support structure in a first operating mode.
  • a driving mode can be provided (e.g. without a load) in which the vehicle can navigate in an inherently stable manner.
  • a corresponding vehicle would not "fall over", for example.
  • Such an operating mode can thus be used, for example, in areas that are particularly critical to safety, in order to move the device from one location to another, for example in areas in which people also work.
  • Embodiments according to a fourth aspect of the present invention include a device for transporting a cargo, wherein the device is a mobile Platform comprises, wherein the mobile platform for locomotion on a ground has a set of wheels on an axle. Furthermore, the device comprises a receiving device arranged on the mobile platform, with a support structure for contact with the ground being arranged on the receiving device. In addition, the device includes a control device that is designed to control the pick-up device, starting from a first operating mode in which the set of wheels and the support structure are in contact with the ground, to lift the cargo and to switch to a second operating mode , in which the support structure is raised from the ground.
  • the set of wheels is a first set of wheels; wherein the support structure includes a second set of wheels and wherein the second set of wheels is in contact with the ground in the first mode of operation.
  • a further finding of the present invention is that, regardless of the nevertheless advantageous embodiment of the receiving device or the inverse pendulum of the first aspect, an adjustment of the contact surface size of wheels brings several advantages for the device, temporarily supporting the inverse pendulum advantages in terms of stability, for example when stationary or at rest.
  • Embodiments according to a fifth aspect of the present invention include a device with a mobile platform, wherein the mobile platform for locomotion on a ground has a set of wheels and an actuator system connected to the set of wheels for adjusting a size of a contact surface of a wheel of the set of wheels with the ground.
  • the device also includes a control device for controlling the actuators, the control device being designed to use the actuators to change the size of the contact surface of the wheel as a function of a driving speed of the device, a change in a directional vector of the device, properties of the ground, or as a function of a changing the texture of the ground.
  • control device is designed to set a first size of the contact surface at a first speed of movement by means of the actuator system; and at a reduced two-speed compared to the first th locomotion speed compared to the first size increased second size of the contact surface.
  • the control device is designed to adapt an air pressure of the wheel by means of the actuator system in order to change the size of the contact surface.
  • the inventors have recognized that when using air-filled wheels with a compressed air device, the contact surface can be adapted with little effort and at high speed. Thus, the contact area can be used as a fast input variable for the control.
  • the device is designed for transporting a load; and the control device is designed to use the actuator system to change the size of the contact surface of the wheel as a function of a loading state of the device. This enables the adjustment of, for example, adhesive forces, resistance forces, a vehicle inclination or the like depending on the load.
  • a receiving device is arranged on the mobile platform and the device is designed to lift the cargo by means of the receiving device in order to transport the lifted cargo.
  • exemplary embodiments according to the present invention include devices which are an automated guided vehicle.
  • Embodiments according to the first aspect of the present invention include a method for transporting a load, with lifting the load by means of a receiving device, the receiving device being mounted on a mobile platform is arranged form and wherein the mobile platform is designed as an inverse pendulum and transporting the lifted cargo.
  • Embodiments according to the second aspect of the present invention include a method for transporting a load, with a pick-up of the load between at least two arms of a pick-up device, the pick-up device being arranged on a mobile platform and lifting the load using the two arms.
  • Embodiments according to the third aspect of the present invention include a method for transporting a load, with lifting the load by means of a pickup device arranged movably on the mobile platform, the load comprising a transport device and a load arranged in the transport device and moving the Cargo with a movement, as well as providing a compensatory movement, by means of a control device, during the movement of the cargo in order to keep an acceleration force of the charge acting under the influence of the movement relative to the transport device within a tolerance range in a predefined orientation
  • Exemplary embodiments according to the fourth aspect of the present invention include a method for transporting a load, with activation of a pick-up device for lifting the load, starting from a first operating mode in which a set of wheels and a support structure are in contact with a ground, in order to to switch to a second operating mode in which the support structure is raised from the ground.
  • the receiving device is arranged on a mobile platform and the support structure is arranged on the receiving device for contact with the ground. Further, the mobile platform for locomotion on a ground has the set of wheels on an axle.
  • Embodiments according to the fifth aspect of the present invention include a method with controlling an actuator by means of a control device in order to use the actuator to change the size of a contact surface of a wheel of a set of wheels depending on a driving speed of a mobile platform, a change in a directional vector of the mobile platform or to change depending on the nature of the subsoil.
  • the mobile platform for locomotion on the ground on the set of wheels and the actuator is to adjust the size of the Contact surface of the wheel of the set of wheels connected to the ground with the set of wheels.
  • FIG. 1 shows a schematic side view of a device for transporting a load according to exemplary embodiments according to the first aspect of the present invention
  • FIG. 2 shows a schematic view of a device for transporting a load with two leg elements according to exemplary embodiments according to the first aspect of the present invention
  • Fig. 3a-b shows a schematic view and a schematic side view of the device from Fig. 2 with cargo between leg elements of the mobile platform;
  • FIG. 4 shows a schematic side view of a device for transporting a load with a further pendulum segment according to exemplary embodiments according to the first aspect of the present invention
  • FIG. 11a-e schematic side views of a device for transporting a load with a support structure according to exemplary embodiments according to the first aspect of the present invention
  • FIG. 14a-b schematic views of a device for transporting a load comprising a transport device and a load arranged in the transport device according to exemplary embodiments according to the first aspect of the present invention
  • 15 shows a schematic view of a device for transporting a load with actuators for adjusting a size of a contact surface of a wheel according to exemplary embodiments according to the first aspect of the present invention
  • 16 shows a schematic view of a device for transporting a load according to exemplary embodiments according to the second aspect of the present invention
  • FIG. 17 shows a schematic view of a device for transporting a load according to exemplary embodiments according to the third aspect of the present invention.
  • FIG. 18 shows a schematic view of a device for transporting a load according to exemplary embodiments according to the fourth aspect of the present invention.
  • 20a-d shows plots according to exemplary embodiments, including an actuator system for adapting a contact surface of a wheel
  • Fig. 20e shows an example of a wheel before and after deflating; according to one embodiment.
  • 21a-c schematic views of dynamic states of a device according to exemplary embodiments with actuators for adjusting a contact surface of a wheel.
  • FIG. 1 shows a schematic side view of a device for transporting a load according to exemplary embodiments according to the first aspect of the present invention.
  • Fig. 1 shows device 100 comprising a mobile platform 110 and a receiving device 120 arranged on the mobile platform.
  • the mobile platform is designed to move without a driver, i.e. automatically, remotely or autonomously.
  • the platform comprises at least one wheel 112 as an optional feature.
  • a mobile platform according to the invention can also have a plurality of wheels or other devices for establishing ground contact with a subsurface 50 .
  • the mobile platform is designed as an inverse pendulum.
  • several wheels can be arranged along or on a vehicle axle.
  • An axis of rotation of the pendulum can form a wheel axis 114 of the wheel 112, for example.
  • the device can thus be designed to hold or balance the mobile platform in an upright position by actuating the wheel 112 by means of torques.
  • the device is designed to lift a load 140 by means of the receiving device 120 so that the load can be transported.
  • the cargo can include any object. This includes, for example, crates, boxes, but also pallets or other objects that are to be transported from one location to another by lifting, particularly but not exclusively in the field of logistics, or are to be lifted while remaining in one position.
  • the device 100 can execute a pendulum movement, for example, so that the receiving device 120 for receiving the load 140 swings or oscillates in the direction of the load 120 .
  • An inverse pendulum is obtained due to the positioning of the center of gravity, starting from the driven surface 50 above the wheel.
  • the receiving unit 120 itself can be actuated in order to facilitate or enable lifting of the cargo 140 .
  • the receiving device 120 can be designed as a single arm as shown in FIG. 1 .
  • a contact for lifting the load could be established, for example, via a magnet or a hook that is dynamically hooked into an eyelet on the load.
  • multiple contact surfaces can also be used, so that a non-positive and/or positive connection with the cargo 140 can be established.
  • FIG. 2 shows a schematic view of a device for transporting a load with two leg elements according to embodiments in accordance with the first aspect of the present invention.
  • Fig. 2 shows device 200 comprising a mobile platform 210 designed as an inverse pendulum and a receiving device 220 arranged on the mobile platform.
  • the device 200 is designed to use the receiving device 210 to lift a load and to keep it in a raised state and /or transport to another location. Accordingly, the device can also unload or deposit the cargo again.
  • a load can be lifted from a subsurface (on which the device 200 moves, for example) or can be unloaded onto the subsurface, e.g. the subsurface 50.
  • the receiving device 220 can optionally be actuated and can be designed to load a load accordingly to be lifted from any height within reach of the receiving device or to be unloaded at such a height.
  • the device 200 comprises contact surfaces 230 for making contact with the ground.
  • the device 200 is designed to provide the contact along exactly one axis 240 of contact surfaces 230 at least during a transport journey for transporting the cargo.
  • the mobile platform is in contact with the ground via two contact surfaces 230, for example while the cargo is being transported.
  • the platform can be in contact with the ground via exactly two contact surfaces when transporting the cargo.
  • possible additional contact surfaces according to such exemplary embodiments lie on the same axis 240 during transport.
  • the uniaxial arrangement of the contact surfaces 230, at least during transport, enables good dynamics of the device in the sense of an inverse pendulum.
  • the mobile platform 210 has two essentially parallel to one another and spaced from one another in a floor area Leg members 250a, 250b.
  • Device 200 is also designed to position the cargo at least temporarily between the leg elements 250a, 250b. Reference is made here to FIGS. 3a) and 3b).
  • FIG. 3a shows a schematic perspective view
  • FIG. 3b shows a schematic side view of the device from FIG. 2 with a load 260 between leg elements of the mobile platform.
  • the device 200 can move over the cargo 260 in order to subsequently lift the cargo 260 with the receiving device 220 .
  • a load 260 can be lifted from or placed on a base. It should be pointed out that not all optional elements according to FIG. 2 are marked in FIGS. 3a and 3b for the sake of clarity, but these can be present individually or in combination.
  • the device 200 includes a chassis 270 having a set of wheels.
  • a first subset 280a of the set of wheels is arranged on a first leg element 250a and a second subset 280b of the set of wheels, which is disjoint to the first subset, is arranged on a second leg element 250b.
  • a wheel is located on each of the leg members 250a, 250b.
  • the wheels can each provide a contact surface 230 . Accordingly, in one embodiment, the wheels of the device 200 lie on exactly one axis. Consequently, exemplary embodiments according to FIG.
  • device 200 can manage with only two wheels, with the device being able to be balanced using suitable control technology based on a control concept for an inverse pendulum with and/or without cargo both when stationary and while driving, for example to prevent it from falling over impede.
  • device 200 manages with few hardware components (such as, for example) wheels, as a result of which the structure can be provided more cost-effectively and with fewer wearing parts.
  • exemplary embodiments include exactly one axis of wheels, so that no 3-point (triangle) or 4-point system (square) while driving, e.g. a system with 3 or 4 contact surfaces that are not all on one axis , consists.
  • exemplary embodiments include a vehicle that is mechanically simple in principle (even if, for example, the technical implementation is complex), which can fulfill a wide range of functions with a few very flexibly usable assemblies.
  • a special focus can optionally be placed on the control concepts and algorithms that are required for the challenging motion sequences.
  • the device 200 includes a control device 290 which is designed to balance the device 200 and preferably the cargo 260 using additional information.
  • the controller 290 may be configured to control the device using a control law and/or based on sensor information.
  • a model of the device 200 can optionally be stored in the control device, on the basis of which the regulation is carried out.
  • a large number of control concepts can be used here, e.g. PID controllers (proportional-integral-derivative controllers - proportional-integral-derivative controllers), state controllers, predictive control concepts, optimal controllers (which, for example, optimize a quality function), non-linear controllers, e.g. fuzzy controllers and/or control concepts based on machine learning approaches.
  • the additional information can include at least one of a loading condition of device 200, a speed of device 200, an acceleration of device 200, an inclination of mobile platform 210, for example relative to the ground, relative to other components of device 200, or relative to cargo 240 in a desired or actual orientation, an alignment of the receiving device 220 relative to the mobile platform 210, a relative movement of the receiving device 220 relative to the mobile platform 210, a relative movement of the cargo 260 with respect to the mobile platform 210, a weight of the cargo 260, a center of gravity of the cargo 260 ( e.g. position thereof in space or in relation to the device 200), a torque in an actuator of the device 200, information about the geometry of the cargo 260, and/or information about the type of cargo 260.
  • a loading condition of device 200 e.g., a speed of device 200, an acceleration of device 200, an inclination of mobile platform 210, for example relative to the ground, relative to other components of device 200, or relative to cargo 240 in a desired
  • the additional information can include information about the size of the cargo 260, the weight of the cargo 260 and/or torques in actuators of the device 200.
  • the contact surfaces 230 of the first and second subset of the set of wheels with the ground can form the one axis 240 of contact surfaces and further the axis 240 of contact surfaces or an axis of the associated wheels can form an axis of rotation of the inverse pendulum .
  • the device may be configured, for example by means of a controller 290, to apply torque to the first and second set of wheels to balance the device 200 and preferably the load 260 over the axis 240 of contact surfaces or the axis of wheels.
  • a corresponding device 200 or associated control device 290 can optionally be configured to bring about a relative movement between receiving device 220 and mobile platform 210 in order to move device 200 and preferably cargo 260 above axis 240 of contact surfaces 230 or to balance the axis of wheels. It becomes clear here that the task of balancing during the lifting on the one hand and/or during a change in a direction vector (such as acceleration, deceleration, change of direction, combinations thereof) the control for balancing advantageously takes the changed states into account.
  • the vehicle concept thus includes a driverless transport vehicle, e.g. 200, for the transport of goods, e.g. 260, which in its basic form uses the principle of an inverse pendulum for locomotion: the vehicle can optionally, as shown in FIG. two driven wheels hanging on long "legs", e.g. 250a, 250b.
  • the center of gravity of the vehicle can be higher than the wheels.
  • the vehicle can balance through controlled movements of the drives and can thus move forward.
  • device 200 may include appropriate drive devices for applying torque to the wheels.
  • device 200 has a sensor device 300 as a further optional feature, which is designed to detect the parameters on which the additional information is based and to provide a sensor signal based thereon.
  • the control device can be designed accordingly to balance the device 200 and preferably the lifted cargo 260 based on the sensor signal.
  • the sensor device 300 can have a large number of sensors include, such as. Weight sensors, torque sensors, optical sensors (eg laser sensors, radar sensors, ultrasonic sensors), acceleration and / or position sensors.
  • the sensors can be attached at different locations of the device 200 (e.g. torque sensors on the wheels and optical sensors, for example at an upper end of the mobile platform in order to enable a good viewing radius).
  • the receiving device can provide at least one further pendulum segment.
  • FIG. 4 shows a schematic side view of a device 220a for transporting cargo with a further pendulum segment according to exemplary embodiments according to the first aspect of the present invention.
  • the device 200a optionally includes, in addition to some of the features already explained in connection with the device 200, a receiving device 220a, which is divided by additional joints 222a and 222b compared to the receiving device 220.
  • the receiving device 220a comprises at least two pendulum segments 224a, 224b and 226a and 226b, wherein the elements 226a and 226b can each form additional pendulum segments of the device 200a.
  • the joints may be actuated (e.g. controlled by a sensor device).
  • Additional degrees of freedom of movement can be provided by the receiving device 220a by means of additional pendulum segments. This can have advantages, for example, when shelves are stocked, since pendulum segments 226a and 226b can be used to push a load as far as possible into a shelf compartment. Furthermore, a device according to the invention can also be designed to stabilize itself on an object by means of the receiving device, ie to support itself on a shelf, for example, in order to be able to push a load further into a shelf compartment.
  • the device 200 or 200a can be designed to raise the cargo to a height above a platform height in relation to a driven surface during a transport journey.
  • FIG. 5 in this regard. 5a-d show schematic views of the device from FIG. 2 in different states. It should be pointed out that not all optional elements according to FIG. 2 are marked in FIGS. 5a-d for the sake of clarity, but these can be present individually or in combination.
  • the device 200 can transport the cargo, for example, "over head 1" , so that the cargo 260 is transported above a height h of the platform.
  • 5b shows another view for this case.
  • the charge 260 can be balanced over the contact surfaces 230 so that a common center of gravity of the device 200 and the charge 260 lies over the contact surfaces.
  • the device 200 can also be designed to align the mobile platform 210 with respect to a surface normal N of a surface 50 traveled along in a first direction (e.g. with a positive angle a) and along a direction of travel or opposite thereto; and to orient the receiving device 220 with respect to the surface normal N opposite (e.g. with a negative angle ⁇ ) to the first direction.
  • a first direction e.g. with a positive angle a
  • a direction of travel or opposite thereto e.g. with a negative angle ⁇
  • a common center of gravity of charge 260 and device 200 can also be held over the contact surfaces 230 (and quite generally optionally for all exemplary embodiments over any wheel axle which, for example, is perpendicular to the contact surfaces - i.e. is parallel to the axis of the contact surfaces). .
  • Such a position can have particular advantages when accelerating and decelerating the device, so that a robust balance of the device 200 with or without the load 260 can be achieved by adjusting the tilt angles.
  • a common axis of rotation of the wheels of the device 200 can form an axis of rotation of the inverse pendulum.
  • a pendulum can be divided into a pendulum rod and a pendulum weight for a comprehensible explanation.
  • the shuttle bar can then be, for example, the mobile platform comprising the legs 250a and 250 and a corresponding chassis or robot framework connecting the legs.
  • An additional movable, that is, for example, actuated receiving device 220 can form an additional input variable in a control engineering model of the inverse pendulum, while any cargo 260 and/or acceleration can in turn form a disturbance.
  • a corresponding structure according to, for example, FIG. 2 can optionally also be understood as an overall construct as an inverse pendulum.
  • the inventors have recognized that a corresponding actuation of receiving device 220 enables cargo 260 to be picked up and/or put down and at the same time can be used, for example by means of a relative movement between platform 210 and receiving device 220, and thus possibly also cargo 260 to balance the device 200.
  • exemplary embodiments according to the present invention can also include multiple pendulums, with any number of pendulum segments, which, for example, can optionally be actuated.
  • pendulum segments which, for example, can optionally be actuated.
  • leg elements and receiving device segments can optionally have additional actuated joints.
  • the pick-up device 220 (see e.g. Fig. 2 and Fig. 5b) comprises at least two arms 310a, 310b and is designed to lift the load 260 using the two arms by picking up the load between the two arms.
  • the arms 310a, 310b can have additional joints and form one or more pendulum segments.
  • the load can be picked up and released from different heights by means of the arms and at the same time a relative movement between arms 310a, 310b and platform 210 can be caused in order to balance.
  • acceleration forces on the load 260 can be compensated by means of the arms 310a, 310b.
  • control device 290 can be designed to control a first arm 310a and a second arm 310b of the at least two arms independently of one another and/or to control the first arm and the second arm dependent on one another.
  • a load 260 that has two different sides, for example, can be lifted with adapted holding positions of the arms, so that asymmetrical loads can also be transported safely.
  • an asymmetrical center of gravity of the cargo 260 can thus be compensated for, for example.
  • the load pick-up works, for example, by means of two “arms” that can be moved independently of the “legs” 250a, 250b eg: to be able to pick up a charge 260 (eg clamp) using a gripping principle.
  • the load 260 may typically be raised and transported "overhead” or in a "bent over” posture.
  • the necessary or advantageous inclination see e.g. Fig. 5c and Fig. 5d
  • potentially spillable goods can also be transported with high acceleration become.
  • Fig. 5-ad Shown as another optional feature in Fig. 5-ad is an embodiment with a gripping element that can be actively rotated in the arm in order to hold the load 260 in a horizontal (or a defined other) orientation. Basically, this is not necessary for the principle (e.g. with closed loads that can also be turned), but it increases the area of application enormously. While the mechanics can be kept relatively simple, complex control algorithms can be used or even be necessary for the control.
  • At least one of the at least two arms 310a, 310b has a contact element.
  • FIG. 2 shows two arms 310a, 310b, each of which has a contact element 320a, 320b.
  • one of the contact elements 320a, 320b can have an elastic material, in particular a viscoelastic material.
  • at least one of the contact elements 320a, 320b can be designed to make contact with the cargo and thereby adapt to a shape of the cargo in order to lift the cargo under the action of the elastic material.
  • a device 200 according to exemplary embodiments can have, for example, exactly two arms 310a, 310b.
  • the contact elements can be designed to create a frictional connection and/or a non-positive connection with the cargo.
  • the arms 310a, 310b can be actuated and designed to be moved towards one another in order to create a frictional connection.
  • the contact elements 320a, 320b can be actuated in order, for example, to reduce a distance between the two contact elements and thus also to achieve a frictional connection with a load located between them (see, for example, Fig. 5a-d).
  • Contact elements with elastic or viscoelastic material can also, for example, create a form fit with a load in order to lift the load.
  • the contact elements 320a, 320b can be connected to an actuator device 330 and optionally rotatably mounted. Accordingly, the device 200 can receive the cargo 260 between the first contact element 320a for contact with the cargo and the second contact element for contact with the cargo by means of the receiving device 220 (see e.g. Fig. 3 and Fig. 5). As shown in Fig. 5a-d, the device 200 can be designed to activate the actuator device 330 while the load is being lifted and/or accelerated, in order to rotate the first contact element 320a and the second contact element 320b by one adjust the alignment of the load. Thus, as shown in FIGS. 5a-d, cargo 260 can always be kept in the same alignment. Thus, for example, goods that can be spilled in particular can also be transported in open containers.
  • a load handling device with a high or, for example, as high as possible delivery path (in order, for example, to be able to accommodate loads of different sizes) and a low or, for example, as low as possible weight in the arm, can be provided or aimed for.
  • Some, for example simple, load bearing concepts or load bearing principles in the arm are presented below. 6 shows a schematic view of a device for transporting a load with a bellows according to exemplary embodiments according to the first aspect of the present invention.
  • Device 200b includes, in addition to one or more of the features of device 200 from FIG. 2 that have already been explained and will follow, a receiving device 220b with bellows 340a, 340b arranged at each end of the receiving device. It should be mentioned here that, according to exemplary embodiments, only one bellows, ie, for example, either 340a or 340b, can also be used.
  • the bellows 340a, 340b are each designed to release the load in a first state and to adapt to a shape of the load in a second state in order to provide a form fit and/or a force fit with the load in order to lift the load .
  • bellows 340a, 340b may be pneumatic bellows.
  • the receiving device 220b comprises a pneumatic device 350, which can be designed to put the bellows 340a and 340b into the first or second state, or, to put it simply, to provide or release compressed air.
  • receiving device 220b is merely an exemplary configuration.
  • the receiving device 220b can also have a single, e.g. U-shaped bellows (e.g. with the opening of the U in the direction of the load), which encloses a corresponding load in the second state from above and on the sides in order to lift it.
  • U-shaped bellows e.g. with the opening of the U in the direction of the load
  • the configuration of device 200b with the two arms 310a, 310b is only optional (thus the arms 310a, 310b could, for example, be replaced by the U-shaped bellows).
  • the one or more bellows can be, for example, shape-memory bellows.
  • exemplary embodiments can therefore include a clamping mechanism using a pneumatic bellows.
  • the bellows can expand under pressure and thus carry out the feed movement (e.g. transition from the first state to the second state). If the pressure is released, the bellows can contract and the load can be released (e.g. first state).
  • the bellows can adapt to the outer contours of the load and can thus produce a form fit, for example.
  • a material with a high coefficient of friction can be used be det in order to enable a friction fit on smooth surfaces.
  • 7a-c show schematic views of receiving devices according to exemplary embodiments according to the first aspect of the present invention.
  • 7a shows a receiving device 220c with two opposing contact elements 320a, 320b, the contact elements being designed to receive the cargo between the contact elements.
  • the receiving device 220c comprises an actuator device 330a which is coupled to the contact elements 320a, 320b and is set up to move the two contact elements towards one another.
  • the contact elements 320a, 320b are each coupled to the actuator device 330a by means of a lever device 332a, 332b.
  • actuator device 330a can move contact elements 320a, 320b towards one another, e.g. by means of a linear movement by means of lever devices 332a, 332bn, and thus provide a frictional connection, or, for example, if the contact elements have a bellows or a (visco)elastic material, a positive connection .
  • the actuator device can comprise a linear actuator, for example.
  • the lever devices can, for example, be fastened to arms of the receiving device or corresponding arms can comprise the lever devices 332a, 332b.
  • only one lever device can also be formed.
  • moving parts can be saved by using only one moving contact element.
  • FIGS. 7a and 7c illustrates the sequence of movements.
  • An optional motor 334a e.g. as part of the actuator device 330a, can exert a force F so that an upper part of the lever devices 332a, 332b move apart, so that the contact elements 320a and 320b move towards one another in accordance with the axes of rotation 336a and 336b of the lever.
  • two contact elements can thus be controlled together and moved towards one another with one actuator.
  • 7c shows a section of a further optional embodiment of a receiving device 220d.
  • Each contact element (here as an example 320a) can be assigned its own actuator or its own actuator device 330d, so that the contact elements can be controlled individually.
  • a delivery route of a respective contact element can thus be adapted, for example, to an asymmetrical nature of the cargo.
  • exemplary embodiments include mechanical grippers, which can be designed, for example, according to FIG. 7-ac.
  • a linear actuator e.g. 330a, 334a, 330b
  • the bellows which either expands or shortens when it is actuated.
  • the corresponding infeed movement can thus be achieved via the levers (e.g. 332a, 332b).
  • the levers e.g. 332a, 332b.
  • two variants can be used:
  • either an activator can be saved, for example, or independent infeed movements can be carried out.
  • 8a-b shows schematic views of parts of receiving devices with eccentrics according to exemplary embodiments according to the first aspect of the present invention.
  • 8a-b each show part of a receiving device 220e with a contact element 320a.
  • the complete receiving device 220e can have two contact elements located opposite one another, which are set up to receive the cargo by means of contacting the cargo.
  • At least one of the contact elements 320a can be designed to be moved in the direction of the cargo by means of an eccentric 360 .
  • the gripper ie, for example, an arm of the receiving device 220e, at the end of which the contact element 320a and the eccentric 360 are arranged, can itself carry out a linear infeed movement. This can be achieved by an eccentric disk 360 and a corresponding rotary movement of this.
  • 9a-d show schematic views of further receiving devices according to exemplary embodiments according to the first aspect of the present invention.
  • Fig. 9a-d show parts of receiving devices (220f in Fig. 9a and Fig. 9b and 220g in Fig. 9c-d)), for example an arm element or an arm of a receiving device.
  • the receiving device 220f includes an actuator 330c, which is designed to move a contact element 320a, for example by means of a linear movement.
  • the receiving device can, for example, comprise an articulated arm or be designed as such, as optionally indicated with the axis of rotation 370 .
  • the receiving device 220g also includes an actuator 330d, the actuator 330d being designed to move at least one of the contact elements 320a by means of a rotary movement in the direction of the cargo.
  • the actuator can also be arranged away from the contact element 320a, and the contact element can be designed, for example, to be moved in the direction of the cargo by means of a rotary movement.
  • the receiving device 220f, 220g can have two opposing contact elements, which are set up to receive the load by contacting the load. Furthermore, it should be pointed out that receiving device 220g can also comprise an articulated arm.
  • exemplary embodiments according to FIGS. 9a-d comprise an actuator for clamping.
  • the load pick-up can be moved via a linear actuator and an infeed movement can be generated.
  • Loads can be clamped and lifted with a force fit or alternatively/additionally with a form fit.
  • the actuator itself can be rotated (actively via another motor on the flange) or another rotating element can be installed on the delivered element.
  • 10a-c show schematic views of further receiving devices with an articulated arm according to exemplary embodiments according to the first aspect of the present invention.
  • 10 shows part of a receiving device 220h, for example an arm element or an arm of a receiving device.
  • the receiving device includes contact elements 320c, which are mounted in a tiltable manner in order to adapt to an angle of inclination of a surface of the cargo.
  • the receiving device 220h can have two contact elements located opposite one another, which are set up to receive the load by means of contacting the load.
  • both or only one of the opposing contact elements can be tilted.
  • tiltable mounting in the context of an articulated arm can be particularly advantageous, a tiltable mounting of contact elements is not restricted to such a configuration.
  • tiltable contact elements can also be used in devices with receiving devices according to FIG.
  • the contact elements 320c can be mounted eccentrically.
  • the receptacle 220h includes an arm having an articulation structure 370 between a first arm member 224a and a second arm member 226a.
  • a corresponding device according to the invention can be designed to change a relative inclination of the first arm element 224a and the second arm element 226a by means of the joint structure 370 in order to pick up or release the cargo.
  • the arm elements can thus form pendulum segments (e.g. corresponding to device 200a from FIG. 4).
  • FIGS. 10a and 10b also shows a possible embodiment of the tilting function of the arm by means of a cable pull.
  • a corresponding mechanism can also optionally be arranged inside the arm, as shown in FIGS. 10a and 10b.
  • a joint 370 in the arm instead of a shaped lever, with which then the infeed movement of the gripper element (engl. Grippers), e.g. a contact element, is made possible.
  • the gripper element e.g. a contact element
  • 11 a-e show schematic side views of a device for transporting a load with a support structure according to exemplary embodiments according to the first aspect of the present invention.
  • 11 a-e show a device 200c which is designed to have contact surfaces 230 for forming a contact with a substrate 50.
  • FIG. The device 200c can be designed to provide contact along exactly one axis of contact surfaces 230, at least during a transport journey for transporting the cargo (not shown), as is described, for example, in connection with an inverse pendulum described herein, see, for example, Fig. 2
  • the device 200c includes a support structure.
  • the support structure can be arranged, for example, on the mobile platform 210 or can be arranged, for example, on a receiving device of the device.
  • the support structure can be any structure that is designed to establish contact with the substrate 50 at least temporarily. Accordingly, simple elements such as an additional leg with a low-friction ground contact surface or wheels can be used.
  • the receiving device 220i comprises the support structure 390.
  • the support structure can be arranged accordingly on one arm or two arms of the receiving unit. Accordingly, the support structure 390 can be arranged on the receiving device 220i away from the axis or make contact with the ground away from the vehicle axis, which can turn a 2-point system into a more stable 3-point system, for example. It should be noted that a corresponding arrangement is only optional.
  • Device 220c has a control device that is designed to actuate receiving device 220i, starting from a first operating mode in which contact surfaces 230 and support structure 390 are in contact with the ground, to lift the load and to switch to a to switch to a second operating mode in which the support structure 390 is raised from the ground.
  • a control device that is designed to actuate receiving device 220i, starting from a first operating mode in which contact surfaces 230 and support structure 390 are in contact with the ground, to lift the load and to switch to a to switch to a second operating mode in which the support structure 390 is raised from the ground.
  • an additional support structure can be used to obtain additional stability.
  • the energy consumption of the device can also be temporarily reduced by using the control and/or actuator system only partially or not at all.
  • the support structure 390 has wheels 380 as an optional feature, wherein the wheels can be designed, for example, as omnidirectional wheels and/or as omnidirectional wheels (e.g. small omniwheels) and/or as mecanum wheels. It should be mentioned again here that the support structure can also be designed as a simple frictional contact surface (e.g. with a low coefficient of friction).
  • FIGS. 11a-e The steps involved in changing from the first operating mode to the second operating mode, as well as self-righting of the device, for example after an intentional or unintentional fall or lying down, are shown in FIGS. 11a-e.
  • the device 200c can be designed to control the receiving device 220i from a lying position into a rotational movement, which is shown at different times in FIGS. 11b and 11c. This movement, continued, can be used to increasingly raise the device from the lying position, see Fig. 11d-e.
  • the device 200c in the representation of FIG not contacted further or at least only along the axis 240, so that the pendulum movement of an inverse pendulum is made possible.
  • Omniwheels can be attached to the ends of the arms. This makes it possible to bring the vehicle, ie device 200c, for example, into a stable rest position.
  • the vehicle rests on the arms or the Omniwheels (see eg a) - in simple terms, the vehicle can lie on its side and have rollers at the end of the arms or on the head). Since the actuator for the rotary movement of the arm is self-locking, the entire vehicle can be switched off and it is in a stable position. Furthermore, this makes it possible to drive with inherent stability. In the stable position there is no longer any potential energy in the system. As a result, the vehicle can be stopped or switched off at any time without the vehicle's own movement causing damage. Simply The device can have small Omniwheels for a driving module without balancing or for setting up.
  • the arm can rotate a full revolution.
  • the upright posture In the last part of the standing up movement, the upright posture must be regulated.
  • the first operating mode can, for example, be a driving mode for operation with different driving characteristics than in the second operating mode, for example in order to be able to drive through areas where people are present, since the stable driving position enables particularly fast braking maneuvers and a safe driving style. Furthermore, if the device fails, there is also no risk of uncontrolled falling over, which could result in injury to people.
  • the inventors have recognized the advantages of the special structure of the device according to the invention, so that the vehicle dynamics can be used by means of the two operating modes.
  • FIG. 12a-c show schematic side views of a device for transporting a load with rotatable grippers 221 according to exemplary embodiments according to the first aspect of the present invention.
  • the device 200d (see, for example, Fig. 12a) has a mobile platform 210a and a receiving device 220j, which has a rotatable gripper 221 as an optional feature, i.e., for example, a rotatable contact element, which is coupled to a container 400, which is open by way of example.
  • a corresponding device 200d can, for example, lift bulk goods to a comparatively great height of up to or more than 1 m, 1.2 m or even 1.5 m.
  • a device according to the invention can be designed to at least temporarily use a shovel 410, see FIG. 13c, or a fork 420, see FIG. 13a, as part of the receiving device 220k in order to transport the cargo.
  • a fork 420 see FIG. 13a
  • Further other transport tools for example actuated by means of contact elements 320d, for example a fork replacement 430, see FIG. 13b, can also be used.
  • any load transport tools in particular forks 420 or shovel 410 (e.g. for different things, e.g. different bulk goods) can be used according to exemplary embodiments: It is possible by using a shovel between gripping actuators, i.e. e.g. between contact elements (fork replacement 430 or replacement). Picking up bulk goods, transporting them and unloading them again by tilting the shovel. The goods to be transported can be secured inherently by the necessary inclination of the vehicle during acceleration.
  • ordered soft pneumatic tires for example by using soft pneumatic tires with a profiled tread, driving on loose ground, for example, is possible without any problems.
  • the discontinuous transport of bulk goods can be reliably automated by the dynamic and automatic tilting of the load receptacle depending on the acceleration of the vehicle (see, for example, FIGS. 5a-d).
  • a fork 420 miniaturized pallets or Euro pallets can be picked up and transported if the vehicle is appropriately scaled. This is where the advantage of the vehicle concept comes into play, especially for stacked goods, as these can also be transported with high accelerations without tipping over.
  • devices that can be equipped with forks can be designed to actuate the forks themselves and, for example, to pull them together.
  • the arms of the device may also contract to receive the fork 420 (eg, via actuation of contact elements).
  • a fork can be used to pick up pallets.
  • the transport tools shown in FIG. 13, for example in particular tool 430 for picking up cartons can be used.
  • the device can also include a drawer-like linear actuator, for example, see the possible movement in FIG. 13b).
  • 14a-b show a schematic side view and a schematic perspective view of a device for transporting a load comprising a transport device and a load arranged in the transport device according to exemplary embodiments according to the first aspect of the present invention.
  • 14a-b show a device 200e with a receiving device 220I, which is designed to lift the load 260a, comprising a transport device 262a and a load 264a arranged in the transport device.
  • the device 200e is designed to move the cargo 260a with one movement.
  • the device 200e includes a control device 290a, which is designed to, during the movement of the cargo 260a by providing a compensating movement, an acceleration force acting under the influence of the movement, of the cargo 264a in relation to the transport device 260a, within a tolerance range in a predefined alignment to keep.
  • the charge 264a can be, for example, a bulk material or a liquid, which is transported in an open container 262a.
  • the control device can cause compensating accelerations by changing the inclination of the mobile platform 210 and changing the inclination of the receiving device 220I, ie for example changing the angles ⁇ and ⁇ .
  • actuated contact elements can also be controlled in order to achieve corresponding compensatory acceleration.
  • the compensating movement can include at least one of an inclination of the device, e.g. by tilting a chassis or by causing pressure changes in the tires of the device, a rotation of the receiving device, e.g. relative to the platform, a tilting of the transport device by a relative rotational movement of two arms of the Receiving device to each other, and / or a tilting of the transport device by a rotational movement of an eccentrically mounted contact area include on an arm of the receiving device.
  • an inclination of the device e.g. by tilting a chassis or by causing pressure changes in the tires of the device
  • a rotation of the receiving device e.g. relative to the platform
  • a tilting of the transport device by a relative rotational movement of two arms of the Receiving device to each other and / or a tilting of the transport device by a rotational movement of an eccentrically mounted contact area include on an arm of the receiving device.
  • 15 shows a schematic view of a device for transporting cargo with actuators for adjusting a size of a contact surface of a wheel according to exemplary embodiments according to the first aspect of the present invention. It should be pointed out that in FIG. 15 not all optional elements, for example according to FIG. 2 or the receiving devices described above, are identified for the sake of clarity, but these can be present individually or in combination. 15 shows a device 200f with a mobile platform 210b designed as an inverse pendulum, the platform 210 having a set 280 of wheels for locomotion on a surface (e.g. a first and second set, 280a, 280b corresponding to device 200). As an optional feature, e.g.
  • device 200f has actuators 440 connected to set 280 of wheels for adjusting a size of a contact surface 230 of a wheel of the set of wheels with the ground.
  • device 200f also includes a control device 290b (e.g. control device 290 can include the functionality of control device 290b) for controlling actuator system 440, with the control device being designed to use the actuator system to determine the size of contact surface 230 of the wheel as a function of to change at least one of a driving speed of the device, a change in a direction vector of the device and/or a condition of the ground.
  • control device 290b e.g. control device 290 can include the functionality of control device 290b
  • the control device being designed to use the actuator system to determine the size of contact surface 230 of the wheel as a function of to change at least one of a driving speed of the device, a change in a direction vector of the device and/or a condition of the ground.
  • a contact area can be reduced to reduce rolling resistance of the wheels.
  • a corresponding control can also be used to temporarily increase the contact area and thus the road grip, e.g. when cornering or braking, for example to reduce braking distances or to be able to take a tighter curve or to be able to increase speed in the curve .
  • a curve can also be negotiated advantageously with a reduced area, for example if a drift is intended.
  • these statements relate to a symmetrical (e.g. in relation to left/right) activation or adaptation of the contact surfaces.
  • exemplary embodiments also provide, in combination or as an alternative, for the contact surfaces to be adjusted asymmetrically, for example by means of different pressures in different wheels, which can also cause the vehicle to tilt or incline, which has advantages when cornering, among other things.
  • Both symmetrical and asymmetrical control can be controlled quasi-statically, for example depending on a longer section of the journey or a load condition, but also dynamically, for example to counter bumps in the ground. and, for example, to keep the cargo at rest or to avoid it swaying, as will be explained in detail with reference to FIGS. 21a-c.
  • control device 290b can optionally be configured to use the actuator system 440 to set a first size of the contact surface 230 at a first speed of travel and to set a second size of the contact surface that is larger than the first size at a second speed of travel that is reduced compared to the first speed of travel.
  • An optional possibility of changing the size of the contact surface is an adjustment of the gas pressure of gas-filled wheels or tires of the device 200f, by means of the actuator, which can therefore provide compressed air, for example (whereby the actuator also, for example, provide a compressed air supply for a bellows can provide - or vice versa).
  • any gas can be used as the filling medium or filling gas, although air can already be suitable, but a closed circuit can also be arranged, for example, which uses a different gas, such as noble gases or a special gas composition, for example in the area of aggressive media.
  • the change in pressure can be carried out, for example, via activation by the control device 290b.
  • a contact surface can be changed, for example by means of actuable individual elements, such as blades, spikes or the like.
  • the device 500 comprises a mobile platform 510 and a pick-up device 520 arranged on the mobile platform 510, which has at least two arms 522, 524 and is designed to lift the load 530 using the two arms by picking up the load between the two arms.
  • 17 shows a schematic view of a device for transporting a load according to exemplary embodiments according to the third aspect of the present invention.
  • 17 shows the device 600 comprising a mobile platform 610 and a receiving device 620 which is movably arranged on the mobile platform and which is designed to lift the cargo 630 comprising a transport device 632 and a charge 632 arranged in the transport device.
  • the device 600 is designed to move the cargo 630 with one movement.
  • the device also has a control device 640, which is designed to keep an acceleration force of the load 364 acting under the influence of the movement in relation to the transport device 632 within a tolerance range in a predefined alignment during the movement of the load by providing a compensating movement.
  • 18 shows a schematic view of a device for transporting a load according to exemplary embodiments according to the fourth aspect of the present invention.
  • 18 shows an apparatus 700 comprising a mobile platform 710, the mobile platform having a set of wheels 720 on an axle 730 for locomotion on a surface.
  • the device 700 comprises a receiving device 740 arranged on the mobile platform 710, wherein a support structure 750 for contact with the ground is arranged on the receiving device away from the axis.
  • the set of wheels 720 is a first set of wheels; and the support structure 750 has a second set of wheels 760 and wherein the second set of wheels is in contact with the ground in a first mode of operation.
  • the device 700 comprises a control device 770, which is designed to move the receiving device 740 starting from the first operating mode, in which the set of wheels 720 and the support structure 750 (here as an optional feature the wheels 760) are in contact with the ground, for To control lifting of the cargo and to switch to a second operating mode in which the support structure 750 is raised from the ground.
  • the set of wheels 760 or the support structure could also be moved to a position along the axis 730, whereby the movement of an inverse pendulum is also possible.
  • FIG. 19 shows schematic views of a device for transporting a load according to exemplary embodiments according to the fifth aspect of the present invention.
  • Fig. 19 shows device 800 with a mobile platform 810, wherein the mobile Platform for locomotion on a ground 50 has a set of wheels 820.
  • the device 800 has an actuator system 840 connected to the set of wheels for adjusting the size of a contact surface 230a, 230b of a wheel of the set of wheels with the ground.
  • the device also includes a control device 850 for controlling the actuator system 840, the control device being designed to use the actuator system to change the size of the contact surface of the wheel depending on the driving speed of the device, a change in a directional vector of the device, or depending on the nature of the ground.
  • control device 850 can control the actuator system 840 in order to reduce the contact surface 230a, so that a larger contact surface 230b with the substructure 50 is created, see FIG. 19b.
  • control device 850 can be designed to set a first size of the contact surface 230a by means of the actuator system 840 at a first speed of travel; and in order to set a second size 230b of the contact surface that is increased compared to the first size at a second movement speed that is reduced compared to the first movement speed.
  • control device 850 can be designed to use the actuator system 840 to adapt a pressure of a filling medium or filling gas, for example an air pressure of the wheel, in order to change the size of the contact surface.
  • the device 800 can be designed to transport a load 260 and the control device 850 can be designed to use the actuator 840 to change the size of the contact surface 230a, 230b of the wheel depending on the loading state of the device.
  • the functions can be carried out in full or in part in accordance with the statements relating to the first aspect, for example FIG. 15 .
  • the device has a receiving device 830 arranged on the mobile platform 810 .
  • the device 800 can be designed to be det to lift the cargo 260 by means of the receiving device 830 and to transport the lifted cargo.
  • devices according to the present invention can transport the cargo automatically or without a driver or in an automated manner.
  • the devices explained above can be driverless transport vehicles.
  • the device 800 can have two or more axles of wheels, but alternatively can also be designed as an inverse pendulum according to the first aspect.
  • 20a-d show plots according to exemplary embodiments including an actuator system for adjusting a contact surface of a wheel.
  • 20a and 20b show plots when gas pressure is released from a tire (e.g. when a filling medium or filling gas is released), e.g. when air pressure is released from a tire to change the contact area, on the one hand from the gas pressure, e.g Air pressure P over time t in Fig. 20a and on the other hand from an associated Fourier transform P(f) (e.g. by means of FFT - fast Fourier transformation, in Fig. 20b over frequency f.
  • FIG. 20d corresponding plots are plotted when a corresponding wheel is inflated
  • FIG 20e an example of a wheel is shown before a release of the gas pressure, e.g. air pressure, above, and after a release of the gas pressure, e.g.
  • the frequency that can be generated by active deflation and inflation can be dependent on the gas volume, for example air volume in the system (or tire) and the gas flow that can be generated, for example air flow.
  • exemplary embodiments can act, for example, according to two ways in which an actively brought about change in gas pressure, for example air pressure, can be brought about:
  • vibration damping can be generated by destructive superimposition of the existing and generated vibrations.
  • the principle of physical zen set e.g. vibrations up to a certain frequency can be sensibly compensated.
  • a frequency can be determined, for example, by at least one of a volume, e.g. a gas volume of the gas in the tire, a cross section, e.g. a cross section of the tire and/or a cross section of a gas line for deflating or inflating the tire, and /or a maximum flow rate, for example a flow rate of the gas determined by actuators and supply lines.
  • a volume e.g. a gas volume of the gas in the tire
  • a cross section e.g. a cross section of the tire and/or a cross section of a gas line for deflating or inflating the tire
  • a maximum flow rate for example a flow rate of the gas determined by actuators and supply lines.
  • the frequency can be influenced by the actuators and their dynamics, with a frequency of 0.25 Hz, 0.5 Hz, 1 Hz or higher, for example 2 Hz or 5 Hz, being possible without any problems with a pneumatic system, higher frequencies but are not excluded.
  • the natural frequency of the system can be changed by changing the gas pressure, e.g. air pressure.
  • the pressure in the tire can be changed more or less quickly (but not, for example, with an actively counteracting frequency) in order to prevent disruptive vibrations.
  • Fig. 21 a-c show schematic views of dynamic states of a device according to exemplary embodiments with actuators for adjusting a contact surface of a wheel.
  • 21a shows a swaying device 900 with wheels 910.
  • the vehicle dynamics can be actively intervened by changing the contact area of the wheels with the ground.
  • a gas pressure for example air pressure
  • vibration damping can be achieved by destructive superimposition of vibrations.
  • frequencies can be introduced when inflating or deflating gas, for example air, which can stabilize the vehicle when driving through destructive interference.
  • a feasibility limit can be defined by the gas volume, for example the air volume of the wheels and the possible gas flow, for example the air flow through the actuator system.
  • vertical vibrations can also be reduced in this way.
  • a passive improvement in the vehicle dynamics can also be achieved.
  • a natural frequency of the device can thus be changed by changing the air pressure.
  • the damping of the wheels can be a function of the pressure (f(p)) so that, for example, damping properties can be adjusted. With such an adjustment, for example, no continuous change in pressure is necessary.
  • exemplary embodiments allow:
  • exemplary embodiments can be used in the following technical areas of application:
  • Production disposal from many machines or workplaces to goods issue or storage (e.g. machine disposal in an injection molding shop)
  • Production supply Transport of e.g. assembly materials from the warehouse to the assembly line, in particular shelf loading
  • the vehicle acts as a 3rd hand for the user. It is conceivable to enrich a "tablet” with suitable tools or material. Both the angle and the height can be adjusted. These parameters can be individually trained by the user by pressing the robot in the appropriate position. In this scenario, the distance from the The position relative to the user can also be specified (always to the right, 54 cm and 30 degrees from the shoulder). Furthermore, there are areas of application in all other areas of application in which containers or container-like goods (i.e. goods with at least 2 parallel outer sides) are transported and when depositing and picking up on the ground, cooperation with other infrastructure-free automatic systems can be enabled (SAM or FLIP from Fraunhofer IML) .
  • SAM or FLIP from Fraunhofer IML
  • aspects have been described in the context of a device, it is understood that these aspects also represent a description of the corresponding method, so that a block or a component of a device is also to be understood as a corresponding method step or as a feature of a method step. Similarly, aspects described in connection with or as a method step also constitute a description of a corresponding block or detail or feature of a corresponding device.
  • Some or all of the method steps may be performed by hardware apparatus (or using a hardware Apparatus), such as a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, some or more of the essential process steps can be performed by such an apparatus.
  • embodiments of the invention may be implemented in hardware or in software. Implementation can be performed using a digital storage medium such as a floppy disk, DVD, Blu-ray Disc, CD, ROM, PROM, EPROM, EEPROM or FLASH memory, hard disk or other magnetic or optical memory can be carried out on which electronically readable control signals are stored, which can interact with a programmable computer system in such a way or interact that the respective method is carried out. Therefore, the digital storage medium can be computer-readable.
  • a digital storage medium such as a floppy disk, DVD, Blu-ray Disc, CD, ROM, PROM, EPROM, EEPROM or FLASH memory, hard disk or other magnetic or optical memory
  • the digital storage medium can be computer-readable.
  • Some exemplary embodiments according to the invention thus comprise a data carrier which has electronically readable control signals which are able to be programmable computer system to interact in such a way that one of the methods described herein is performed.
  • embodiments of the present invention can be implemented as a computer program product with a program code, wherein the program code is effective to perform one of the methods when the computer program product runs on a computer.
  • the program code can also be stored on a machine-readable carrier, for example.
  • exemplary embodiments include the computer program for performing one of the methods described herein, the computer program being stored on a machine-readable carrier.
  • an exemplary embodiment of the method according to the invention is therefore a computer program that has a program code for performing one of the methods described herein when the computer program runs on a computer.
  • a further exemplary embodiment of the method according to the invention is therefore a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for carrying out one of the methods described herein is recorded.
  • the data carrier, digital storage medium, or computer-readable medium is typically tangible and/or non-transitory.
  • a further exemplary embodiment of the method according to the invention is therefore a data stream or a sequence of signals which represents the computer program for carrying out one of the methods described herein.
  • the data stream or sequence of signals may be configured to be transferred over a data communication link, such as the Internet.
  • a processing device such as a computer or programmable logic device, configured or adapted to perform any of the methods described herein.
  • Another embodiment includes a computer on which the computer program for performing one of the methods described herein is installed.
  • a further exemplary embodiment according to the invention comprises a device or a system which is designed to transmit a computer program for carrying out at least one of the methods described herein to a recipient.
  • the transmission can take place electronically or optically, for example.
  • the recipient may be a computer, mobile device, storage device, or similar device.
  • the device or the system can, for example, comprise a file server for transmission of the computer program to the recipient.
  • a programmable logic device e.g., a field programmable gate array, an FPGA
  • a field programmable gate array may cooperate with a microprocessor to perform any of the methods described herein.
  • the methods are performed on the part of any hardware device. This can be hardware that can be used universally, such as a computer processor (CPU), or hardware that is specific to the method, such as an ASIC.
  • the devices described herein may be implemented, for example, using hardware apparatus, or using a computer, or using a combination of hardware apparatus and a computer.
  • the devices described herein, or any components of the devices described herein may be implemented at least partially in hardware and/or in software (computer program).
  • the methods described herein may be implemented, for example, using hardware apparatus, or using a computer, or using a combination of hardware apparatus and a computer.
  • the methods described herein, or any components of the methods described herein, may be performed at least in part by hardware and/or by software.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Handcart (AREA)

Abstract

Des exemples de réalisation selon un premier aspect de la présente invention comprennent un dispositif de transport d'un chargement, le dispositif comprenant une plate-forme mobile en forme de pendule inverse et une installation de réception installée sur la plate-forme mobile. Ainsi, le dispositif est conçu pour soulever le chargement à l'aide de l'installation de réception et pour transporter le chargement soulevé.
EP23707724.3A 2022-02-28 2023-02-27 Appareils et procédés pour et avec plates-formes mobiles pour le transport de chargements Pending EP4486541A2 (fr)

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DE102022202045.6A DE102022202045B4 (de) 2022-02-28 2022-02-28 Vorrichtungen und Verfahren für und mit mobilen Plattformen für den Transport von Ladungsgütern
PCT/EP2023/054805 WO2023161463A2 (fr) 2022-02-28 2023-02-27 Appareils et procédés pour et avec plates-formes mobiles pour le transport de chargements

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CN116442208B (zh) * 2022-01-07 2024-12-13 腾讯科技（深圳）有限公司 欠驱动系统机器人的运动控制方法和欠驱动系统机器人
JP2026001951A (ja) * 2024-06-20 2026-01-08 株式会社豊田自動織機 荷役用移動体
CN118849037B (zh) * 2024-09-24 2024-11-29 北京海百川科技有限公司 一种智能自主移动服务机器人

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US9020639B2 (en) * 2009-08-06 2015-04-28 The Regents Of The University Of California Multimodal dynamic robotic systems
WO2012066678A1 (fr) * 2010-11-19 2012-05-24 株式会社日立製作所 Corps mobile autodirigé
GB201317471D0 (en) * 2013-10-02 2013-11-13 Hook Up Solutions Llp Trolley
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JP7553336B2 (ja) * 2020-10-30 2024-09-18 川崎重工業株式会社 作業システム及び作業方法

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US20240416502A1 (en) 2024-12-19
DE102022202045B4 (de) 2024-12-05
DE102022202045A1 (de) 2023-08-31
JP2025510520A (ja) 2025-04-15
WO2023161463A3 (fr) 2023-10-19
KR20240162071A (ko) 2024-11-14

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