CN114834564A

CN114834564A - Flexible modular platform

Info

Publication number: CN114834564A
Application number: CN202210103392.9A
Authority: CN
Inventors: 盖伦·基思·托马斯; K·L·帕斯凯尔
Original assignee: Ford Global Technologies LLC
Current assignee: Ford Global Technologies LLC
Priority date: 2021-02-02
Filing date: 2022-01-27
Publication date: 2022-08-02
Also published as: DE102022101963A1

Abstract

The present disclosure provides a "flexible modular platform". A modular vehicle sub-assembly comprising a frame assembly having wheels and a steering system configured to steer at least one of the wheels and change a course of a direction of the frame assembly. A propulsion system configured to drive at least one of the wheels and move the frame assembly in at least one of a forward direction and a rearward direction is included. At least one transient data sensor, an onboard controller, and an onboard communication link are included and coupled to the frame assembly and configured to detect and transmit transient data. The onboard controller is configured to receive the transient data from the at least one transient data sensor, direct the steering system and the propulsion system such that the frame assembly moves along a predefined path through a flexible modular platform facility.

Description

Flexible modular platform

Cross Reference to Related Applications

This application claims benefit of and is a continuation-in-part of U.S. patent application No. 16/909,462 filed on 23/6/2020, which is commonly assigned with the present application. The present application is also directed to co-pending applications entitled "METHOD OF VEHICLES ASSEMBLING SUBASSEMBLY CONTROLS, COMMUNICATION AND MANUFACTURE", "FACILITY SENSOR SYSTEM FOR MONITORING, GUIDING, AND PROTECTING FLEXIBLE MODULAR PLATFORMS MOVING THROUGH AN ASSEMBLY LINE", "FLEXIBLE MODULAR PLATFORM PLANTMENT NAVITION SYSTEM" AND "METHOD OF STORING, PROCESSING, AND TRANSMITTING DIGITAL INSTAL FOR FLEXIBLE MODULAR PLATFORMS AND VEHICLES" filed concurrently herewith AND commonly assigned herewith. The entire contents of these applications are incorporated herein by reference.

Technical Field

The present disclosure relates to vehicles and vehicle manufacturing.

Background

The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

Vehicles are typically manufactured in assembly plants that are designed and built to support the projected vehicle loading volumes based on the mechanical infrastructure requirements needed to support the manufacturing operations. And such mechanical infrastructure requirements typically include transport systems and/or Automatic Guided Vehicle (AGV) based systems to move vehicle sub-assemblies along an assembly line between stations. However, the time, investment, and capital expenditures required to build a transport system or adapt an AGV to a particular application task may be prohibitive.

The present disclosure addresses these problems associated with moving vehicle subassemblies along an assembly line in a vehicle assembly plant, as well as other problems associated with manufacturing different product configurations in the same assembly facility.

Disclosure of Invention

This section provides a general summary of the disclosure and is not a comprehensive disclosure of its full scope or all of its features.

In one form of the present disclosure, a modular vehicle sub-assembly includes a frame assembly having a vehicle frame, wheels mounted on the vehicle frame, and a steering system configured to steer at least one of the wheels and change a course of a direction of the frame assembly. A propulsion system configured to drive at least one of the wheels and move the frame assembly in at least one of a forward direction and a rearward direction is included and coupled to the frame assembly. Including at least one transient data sensor, an onboard controller, and an onboard communication link. The at least one transient data sensor is coupled to the frame assembly and configured to detect and transmit transient data. Further, the on-board controller and the on-board communication link are coupled to the frame assembly, and the on-board controller is configured to receive the transient data from the at least one transient data sensor, direct the steering system, and direct the propulsion system such that the frame assembly moves along a predefined path through a flexible modular platform facility.

In some variations, the wheels include two front wheels and two rear wheels, and the steering system is configured to steer the two front wheels.

In at least one variation, the propulsion system includes an electric propulsion system having at least one battery, at least one electric motor, and a drive train.

In some variations, the at least one transient data sensor comprises at least one of a proximity sensor, a vision sensor, a speed sensor, a fluid level sensor, and a battery level sensor.

In at least one variation, the transient data is at least one of a state of one or more systems mounted on the frame assembly, a current mounting state of the one or more systems mounted on the frame assembly, and a positioning of one or more parts mounted on the frame assembly. In such variations, the state of the one or more systems mounted on the frame assembly includes at least one of a battery charge level, a tire pressure, a fluid level, and a fluid pressure.

In some variations, the onboard controller is coupled to the frame assembly and configured to execute at least one of a speed command, a stop movement command, a start movement command, a steering command, and an emergency stop command. In at least one variation, the at least one transient data sensor is releasably attached to the frame assembly and is configured to be releasably attached to another frame assembly. Further, the at least one transient data sensor may be configured to detect at least one of a position of the frame assembly within a flexible modular platform facility, a positioning of the frame assembly within the flexible modular platform facility, a movement of the frame assembly within the flexible modular platform facility, an obstruction along a path of the frame assembly within the flexible modular platform facility, and an environmental condition of the frame assembly within the flexible modular platform facility. In some variations, the onboard controllers are configured to direct the carriage assembly to autonomously move through a flexible modular platform facility.

In some variations, the onboard controller and the onboard communication link are coupled to the frame assembly. In such variations, the on-board controller is configured to receive the transient data from the at least one transient data sensor and transmit on-board data to the on-board communication link, and the on-board communication link is configured to receive the on-board data from the on-board controller, transmit the on-board data to an external controller, receive off-board data from the external controller and transmit the off-board data to the on-board controller. And in at least one variation, the off-board data is at least one command for execution by the on-board controller. In some variations, the on-board controller is configured to direct movement of the carriage assembly through a flexible modular platform facility via remote control, while in other variations, the on-board controller is configured to direct autonomous movement of the carriage assembly through a flexible modular platform facility.

In another form of the present disclosure, a modular vehicle subassembly includes: a frame assembly having a vehicle frame, wheels mounted to the vehicle frame, a steering system coupled to the wheels and configured to steer at least one of the wheels and change a course of a direction of the vehicle sub-assembly; and a propulsion system including at least one battery, at least one electric motor, and a drive train. The propulsion system is configured to drive at least one of the wheels and move the frame assembly in at least one of a forward direction and a rearward direction. Including an onboard communication link, a plurality of transient data sensors, and an onboard controller. The onboard communication link is configured to receive the offboard data from an external controller and transmit the offboard data to the onboard controller. The plurality of transient data sensors are coupled to the frame assembly and configured to detect and transmit transient data. And the on-board controller is configured to receive the transient data from the at least one transient data sensor, transmit on-board data to the on-board communication link, receive the off-board data from the on-board communication link, and direct the propulsion system and the steering system such that the frame assembly moves along a predefined path through a flexible modular platform facility.

In some variations, the plurality of transient data sensors includes at least one of a proximity sensor, a vision sensor, a speed sensor, a fluid level sensor, and a battery level sensor.

In at least one variation, the transient data is at least one of a state of one or more systems mounted on the frame assembly, a current mounting state of the one or more systems mounted on the frame assembly, and a positioning of one or more parts mounted on the frame assembly.

In yet another form of the present disclosure, a modular vehicle sub-assembly for remote control or autonomous movement through a flexible modular platform facility includes: a frame assembly having a vehicle frame, wheels mounted to the vehicle frame, a steering system coupled to the wheels and configured to steer at least one of the wheels and change a course of a direction of the vehicle sub-assembly; and a propulsion system including at least one battery, at least one electric motor, and a drive train. The propulsion system is configured to drive at least one of the wheels and move the frame assembly in at least one of a forward direction and a rearward direction. A plurality of transient data sensors, an onboard controller, and an onboard communication link are included and configured to receive offboard data from an external controller and transmit the offboard data to the onboard controller. The plurality of transient data sensors are coupled to the frame assembly and configured to detect and transmit transient data. And the on-board controller is configured to receive the transient data from the at least one transient data sensor, transmit on-board data to the on-board communication link, receive the off-board data from the on-board communication link, and direct the propulsion system and the steering system such that the frame assembly moves along a predefined path through a flexible modular platform facility.

Further areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.

Drawings

In order that the disclosure may be well understood, various forms thereof will now be described, by way of example, with reference to the accompanying drawings, in which:

FIG. 1 is a perspective view of a modular vehicle subassembly according to the teachings of the present disclosure;

FIG. 2 is a top view of the modular vehicle subassembly of FIG. 1;

FIG. 3 is a block diagram of a remotely controlled modular vehicle sub-assembly according to the teachings of the present disclosure;

FIG. 4 illustrates a remotely controlled modular vehicle sub-assembly moving through an assembly area of a top hat assembly line according to the teachings of the present disclosure;

FIG. 5 is a block diagram of an autonomous modular vehicle sub-assembly according to the teachings of the present disclosure; and is

FIG. 6 illustrates a plurality of autonomous modular vehicle subassemblies moving through an assembly area of a top hat assembly line according to teachings of the present disclosure.

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.

Detailed Description

The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

Referring to fig. 1 and 2, a modular vehicle sub-assembly (MVS)100 (also referred to as a "flexible modular platform") is shown in accordance with the teachings of the present disclosure. The MVS100 includes a frame assembly 105 having a vehicle frame 110, an onboard controller 120, a transient data sensor 130, a drive system 140, wheels 142 mounted on the vehicle frame 110, a steering system 150, a braking system 155, and a propulsion system 160. In some variations, an in-vehicle communication link 122 is included. As used herein, the phrase "communication link" refers to a communication channel that connects two or more devices for the purpose of data transmission. In at least one variation, the in-vehicle communication link 122 is a wireless communication link with a wireless signal receiver/transmitter including an antenna. In some variations, the MVS100 is for an electric or hybrid vehicle, and the propulsion system 160 includes one or more rechargeable batteries that provide energy to the on-board controller 120, the transient data sensor 130, the drive system 140, the steering system 150, and the braking system 155.

MVS100 and other MVS disclosed herein are manufactured at a vehicle assembly facility and are self-transportable. That is, the MVS100 is configured to move through the same vehicle assembly facility that created it and/or through a separate vehicle assembly facility where additional assembly operations occur using its own power and steering. For example, multiple MVSs 100 (also referred to herein simply as "MVSs 100") may be wirelessly tied together and/or wirelessly tied to an assembly line infrastructure and thereby moved along a predefined path under remote or autonomous control using their own power and steering and then moved through one or more assembly areas, as discussed in more detail below.

In some variations of the present disclosure, the one or more mounting areas are vehicle mounting facilities that mount a "top hat" to the MVS 100. As used herein, the term "assembly area" refers to an area, station, or zone of an assembly line in which a predetermined number of components or parts are assembled onto an MVS100 moving along the assembly line. And as used herein, the term "top hat" refers to one or more on-vehicle body structures that may share a common platform (i.e., a common MVS 100). For example, the upper body structure may vary from a cross car to a sedan to a two-door coupe. Accordingly, vehicle assembly facilities that assemble different vehicle upper body structures to a common MVS100 enhance economies of scale and product differentiation and are included within the teachings of the present disclosure.

Referring to fig. 3, an exemplary functional block diagram of an MVS100a according to one form of the present disclosure and configured for remotely controlling movement is shown. As used herein, the phrase "remote control" refers to movement of the MVS100 via commands and/or instructions from a controller not on the MVS100 (i.e., an external controller). The MVS100 includes an on-board controller 120a, an on-board communication link 122a, a transient data sensor 130a, a drive system 140, a steering system 150, a brake system 155, and a propulsion system 160. The onboard controller 120a communicates with the onboard communication link 122a, the transient data sensor 130a, the drive system 140, the steering system 150, the brake system 155, and the propulsion system 160.

The on-board communication link 122a and the transient data sensor 130a are configured to transmit at least one of signals, data, and commands (referred to herein simply as "information") to the on-board controller 120a, and the on-board controller 120a is configured to receive information from the on-board communication link 122a and the transient data sensor 130 a. In some variations, the onboard controller 120a is configured to transmit additional information in response to or as a function of information received from the onboard communication link 122a and/or the transient data sensor 130 a. For example, in some variations, the on-board controller 120a transmits additional information to the transient data sensor 130a, the drive system 140, the steering system 150, the braking system 155, and/or the propulsion system 160 (e.g., via the on-board communication link 122 a). And in at least one variation, the onboard controller 120a transmits additional information to the external controller via the onboard communication link 122 a.

The transient data sensor 130a of the MVS100a may be a proximity sensor, a vision sensor, a fluid level sensor, a power level sensor, an electrical connection sensor, etc., that provides transient data to the onboard controller 120 a. Non-limiting examples of transient data provided by the transient data sensor 130a include data regarding or relating to: the location of MVS100a, the positioning of MVS100a, the movement of MVS100a, the detection of obstacles along the path along which MVS100a moves, the general environmental conditions surrounding MVS100a, the level of fluid in a container mounted to MVS100a, the level of pressure in a container mounted to MVS100a, the level of charge of a battery of MVS100a, the resistance of a connection between two electrical components mounted to MVS100a, the operation of components mounted to MVS100a, and so forth. Thus, as the MVS100a moves within the vehicle assembly facility, the transient data sensor 130a provides notification as to how the given MVS100a performs operational activities (such as alignment on the assembly path, tracking of the given MVS100a along the assembly path, and obstacle avoidance on the assembly path). Additionally, the transient data sensor 130a may provide fit information for the top hat being fitted onto the MVS100a as the MVS100a moves through one or more fit areas.

The onboard controllers 120a are configured to direct the propulsion system 160 to provide power to the drive system 140 and to direct the drive system 140 to drive at least one of the wheels 142 such that the MVS100a moves across a surface (e.g., a floor or a roadway). As used herein, the term "drive" refers to rotating an object (e.g., a wheel) by applying a force that causes the object to rotate. Thus, propulsion system 160 is configured to provide power to drive system 140, and drive system 140 is configured to rotate wheels 142.

In some variations, propulsion system 160 is an electric propulsion system having one or more batteries that provide power to drive system 140. In other variations, propulsion system 160 is a hybrid propulsion system having one or more batteries and an Internal Combustion Engine (ICE), which provides a combination of electrical and mechanical power (converted from chemical energy) to drive system 140. In at least one variation, the MVS100a includes a hybrid propulsion system that moves through one or more assembly areas using electricity.

The onboard controller 120a is also configured to direct the steering system 150 to steer at least one of the wheels 142 (e.g., the first two wheels 142) such that the MVS100a follows a desired path or moves along a desired path. As used herein, the term "steer" refers to directing or controlling directional movement of a vehicle by turning at least one wheel of the vehicle. Thus, the steering system 150 is configured to change the course or direction of the MVS100 a. As used herein, the phrase "course of direction" refers to the direction or path along which the MVS100a moves.

In at least one variation, the onboard controller 120a is configured to direct the braking system 155 to apply a braking force such that the wheels 142 are inhibited from turning or rotating. And in some variations, on-board controller 120a is configured to direct brake system 155 to apply an emergency braking force such that MVS100a and/or other MVS100a stops moving when an obstacle is detected approaching the predefined path along which MVS100a is moving.

Referring to fig. 4, remote controlled movement of the MVS100a through multiple mounting

areas

210, 220 is shown. In particular, system 10 for remote control of MVS100a includes a central management system 170, the central management system 170 having a plurality of stored predetermined paths 172 and specifications 174 for MVS100 a. That is, central management system 170 is configured to direct MVS100a to move along a predetermined assembly path 'AP' (also referred to herein simply as "assembly path AP") within the vehicle assembly facility via remote control.

The system 10 also includes a zone management system 180 having a plurality of

zone controllers

181, 182 for a plurality of

assembly zones

210, 220, respectively, for the zone management system 180. A plurality of

zone controllers

181, 182 communicate with the central management system 170 and with the onboard controllers 120 of the MVS 100. That is, as the MVS100a moves through the assembly area 210 shown in fig. 4, the area controller 181 communicates with the onboard controller 120a via the onboard communication link 122a and the area controller communication link 181b, and as the MVS100 moves through the area 220, the area controller 183 communicates with the onboard controller 120a via the onboard communication link 122a and the area controller communication link 182 b.

In some variations, the zone controller communication links 181b, 182b are wireless communication links 181b, 182 b. Further, and as shown in fig. 4, in some variations, the plurality of communication links includes a primary link 'PL' and a secondary link 'SL'. In at least one variation, the primary link is between the MVS100a and the active area controller (e.g., the area controller for the area where the MVS is currently located), and the secondary link 'SL' is between the MVS100a and the neighboring area controller (e.g., the area controller for the area where the MVS will enter).

In at least one variation, the plurality of

zone controllers

181, 182 and other zone controllers disclosed herein have a manual interface system 181a, 182a (e.g., a desktop or laptop computer) that is configured to input and/or retrieve data from the plurality of

zone controllers

181, 182. In at least one variation, one or more of the manual interface systems 181a, 182a is configured to provide data and/or notifications to the central management system 170 regarding the conditions of the assembly path AP. Non-limiting examples of such conditions include material shortages, operational issues, emergency issues within a vehicle assembly facility, and the like.

One or more of the zone controller communication links 181b, 182b are configured to receive data from the on-board controller 120a of the MVS100a and/or transmit data to the on-board controller 120a of the MVS100a such that movement of the MVS100a throughout the plurality of zones within the vehicle assembly facility is managed and controlled. For example, in some variations, the plurality of

zone controllers

181, 182 are configured to receive transient data from the on-board controller 120a of the MVS100a and manage movement and assembly of the MVS100a throughout a plurality of zones within a vehicle assembly facility.

It should be understood that MVS100a is directed along assembly path AP by central management system 170 and/or

zone controllers

181, 182. In other words, the MVS100a moves along the assembly path AP and through the

assembly areas

210, 220 via remote control. For example, the onboard controller 120b receives transient data from one or more of the transient data sensors 130a and transmits the onboard data to the onboard communication link 122 a. As used herein, the phrase "on-board data" refers to data obtained or derived from the transient data sensor 130 a. The onboard communication link 122a receives onboard data from the onboard controller 120a and transmits the onboard data to an external controller (e.g., zone controller 181 and/or central management system 170). In response to receiving the on-board data, the external controller transmits the off-board data, and the on-board communication link 122a receives the off-board data and transmits the off-board data to the on-board controller 120 a. As used herein, the phrase "off-board data" refers to data transmitted from an external controller to an on-board communication link, and non-limiting examples of off-board data include steering commands, braking commands, propulsion commands, and the like. On-board controller 120a receives off-board data and directs drive system 140, steering system 150, braking system 155, and/or propulsion system 160 such that MVS100a desirably moves along assembly path AP through

multiple assembly areas

210, 220.

In another form of the present disclosure, the MVS100 guides itself along the assembly path AP. For example, and referring to fig. 5, a functional block diagram of an MVS100b configured for autonomous mobility is shown. As used herein, the terms "autonomous movement" and "autonomously" refer to movement of an MVS that is controlled or directed by an on-board controller of the MVS without control or command from an external or off-board controller.

MVS100b includes an onboard controller 120b, a transient data sensor 130b, a drive system 140, a steering system 150, a brake system 155, and a propulsion system 160. The onboard controller 120b communicates with the transient data sensor 130b, the drive system 140, the steering system 150, the braking system 155, and the propulsion system 160. In some variations, MVS100b includes an onboard communication link 122b, and onboard communication link 122b may or may not be in communication with transient data sensor 130b, drive system 140, steering system 150, brake system 155, and/or propulsion system 160.

The transient data sensor 130b is configured to transmit information to the onboard controller 120b, and the onboard controller 120b is configured to receive the information. In some variations, the on-board controller 120b is configured to transmit additional information in response to or in accordance with information received from the transient data sensor 130 b. The transient data sensor 130b includes at least one of a visual sensor and a proximity sensor configured to detect at least one of an assembly path, a marker, and a beacon and transmit visual and/or proximity data regarding the assembly path, the marker, and/or the beacon to the onboard controller 120 b. And the onboard controllers 120b are configured to receive the vision and/or proximity data and direct the propulsion system 160, the braking system 155, the steering system 150, and the drive system 140 such that the MVS100b autonomously moves along an assembly path and through one or more assembly lines of a vehicle assembly facility (e.g., a top hat assembly facility). Additionally, and while the onboard controller 120b is configured to autonomously direct and move the MVS100b, in some variations, the onboard controller 120b is configured to transmit information to an external controller, for example, via the onboard communication link 122 b.

Referring to fig. 6, autonomous movement of the MVS100b along the assembly path AP and through a plurality of

assembly areas

310, 320, 330 is shown. And in contrast to the central management system and/or regional controller that directs MVS100b along assembly path AP, on-board controller 120b directs MVS100b along assembly path AP via input from transient data sensor 130 b. It is to be understood that a part or component (e.g., a top cap part) is assembled to the MVS100b as the MVS100b moves through the

assembly areas

310, 320, 330. And while the transient data sensor 130b comprises at least one of a vision sensor and a proximity sensor as described above, it is understood that the transient data sensor 130b may comprise one or more sensors that provide transient data (such as data regarding the state of the system of the MVS100b, the current assembly state of the MVS100b, the proper positioning of parts on the MVS100b, etc.). Non-limiting examples of states of the system of the MVS100b include a battery charge level of the MVS100b, a tire pressure of a tire of the MVS100b, a fluid level of the MVS100b, a fluid pressure in the MVS100b, and the like. Additionally, in some variations, the onboard controller 120b transmits such data to an off-board controller or management system (not shown) so that the tophat being fitted on the MVS100b is monitored. Alternatively or in addition, such data is stored in one or more memory devices on the MVS100b and transferred or downloaded to an external device after the top cap is assembled on the MVS100 b.

As will be appreciated from the teachings of the present disclosure, an MVS configured for remotely controlled movement along an assembly line and/or autonomous movement through a plurality of assembly areas is provided. The MVS moves under its own power and reduces the use and/or need for a conveyor and/or automated guided vehicle for MVS movement. Thus, the cost and complexity of fitting the vehicle hood to the MVS is reduced. In addition, remote control and/or autonomous movement of multiple MVSs allows different assembly routes to be assigned to and followed by each of the MVSs, such that assembly of different headwear configurations or models on multiple MVS within a single headwear manufacturing facility may be performed with reduced dedicated and/or additional equipment.

Unless otherwise expressly indicated herein, all numbers indicating mechanical/thermal properties, compositional percentages, dimensions, and/or tolerances, or other characteristics, when describing the scope of the present disclosure, are to be understood as modified by the word "about" or "approximately". Such modifications are desirable for a variety of reasons, including: industrial practice; material, manufacturing and assembly tolerances; and testing capabilities.

As used herein, at least one of the phrases A, B and C should be construed to mean logic (a or B or C) using the non-exclusive logical "or" and should not be construed to mean "at least one of a, at least one of B, and at least one of C.

In this application, the terms "controller" and/or "module" may refer to, be part of, or include the following: an Application Specific Integrated Circuit (ASIC); digital, analog, or hybrid analog/digital discrete circuits; digital, analog, or hybrid analog/digital integrated circuits; combinable logic circuits; a Field Programmable Gate Array (FPGA); processor circuitry (shared, dedicated, or group) that executes code; memory circuitry (shared, dedicated, or group) that stores code executed by the processor circuitry; other suitable hardware components that provide the described functionality (e.g., an operational amplifier circuit integrator as part of the heat flux data block); or a combination of some or all of the above, such as in a system on a chip.

The term memory is a subset of the term computer readable medium. The term computer-readable medium as used herein does not encompass transitory electrical or electromagnetic signals propagating through a medium (such as on a carrier wave); thus, the term computer-readable medium may be considered tangible and non-transitory. Non-limiting examples of a non-transitory tangible computer-readable medium are a non-volatile memory circuit (such as a flash memory circuit, an erasable programmable read-only memory circuit, or a mask read-only circuit), a volatile memory circuit (such as a static random access memory circuit or a dynamic random access memory circuit), a magnetic storage medium (such as an analog or digital tape or a hard drive), and an optical storage medium (such as a CD, DVD, or blu-ray disc).

The apparatus and methods described herein may be partially or fully implemented by a special purpose computer, created by configuring a general purpose computer to perform one or more specific functions embodied in a computer program. The functional blocks, flowchart components and other elements described above are used as software specifications, which can be translated into a computer program by a routine work of a skilled person or programmer.

The description of the disclosure is merely exemplary in nature and, thus, variations that do not depart from the gist of the disclosure are intended to be within the scope of the disclosure. Such variations are not to be regarded as a departure from the spirit and scope of the disclosure.

According to the present invention, there is provided a modular vehicle sub-assembly, the modular vehicle sub-assembly having: a frame assembly including a vehicle frame, wheels mounted on the vehicle frame, and a steering system configured to steer at least one of the wheels and change a course of a direction of the frame assembly; a propulsion system coupled to the frame assembly and configured to drive at least one of the wheels and move the frame assembly in at least one of a forward direction and a rearward direction; at least one transient data sensor coupled to the frame assembly and configured to detect and transmit transient data; and at least one of an onboard controller and an onboard communication link coupled to the frame assembly, wherein the onboard controller is configured to receive the transient data from the at least one transient data sensor, direct the steering system, and direct the propulsion system such that the frame assembly moves along a predefined path through a flexible modular platform facility.

According to one embodiment, the wheels comprise two front wheels and two rear wheels, and the steering system is configured to steer the two front wheels.

According to one embodiment, the propulsion system comprises an electric propulsion system having at least one battery, at least one electric motor and a drive train.

According to one embodiment, the at least one transient data sensor comprises at least one of a proximity sensor, a vision sensor, a speed sensor, a fluid level sensor, and a battery level sensor.

According to one embodiment, the transient data is at least one of a status of one or more systems mounted on the frame assembly, a current mounting status of the one or more systems mounted on the frame assembly, and a positioning of one or more parts mounted on the frame assembly.

According to one embodiment, the status of the one or more systems mounted on the frame assembly includes at least one of battery charge level, tire pressure, fluid level, and fluid pressure.

According to one embodiment, the onboard controller is coupled to the frame assembly and configured to execute at least one of a speed command, a stop movement command, a start movement command, a steering command, and an emergency stop command.

According to one embodiment, the at least one transient data sensor is releasably attached to the frame assembly and is configured to be releasably attached to another frame assembly.

According to one embodiment, the at least one transient data sensor is configured to detect at least one of a position of the frame assembly within a flexible modular platform facility, a positioning of the frame assembly within the flexible modular platform facility, a movement of the frame assembly within the flexible modular platform facility, an obstruction along a path of the frame assembly within the flexible modular platform facility, and an environmental condition of the frame assembly within the flexible modular platform facility.

According to one embodiment, the onboard controllers are configured to direct the carriage assemblies to autonomously move through a flexible modular platform facility.

According to one embodiment, the onboard controller and the onboard communication link are coupled to the frame assembly.

According to one embodiment, the on-board controller is configured to receive the transient data from the at least one transient data sensor and transmit on-board data to the on-board communication link, and the on-board communication link is configured to receive the on-board data from the on-board controller, transmit the on-board data to an external controller, receive off-board data from the external controller and transmit the off-board data to the on-board controller.

According to one embodiment, the off-board data is at least one command for execution by the on-board controller.

According to one embodiment, the on-board controller is configured to direct movement of the carriage assembly through a flexible modular platform facility via remote control.

According to one embodiment, the onboard controller is configured to direct the carriage assembly to move via remote control and autonomously through a flexible modular platform facility.

According to the present invention, there is provided a modular vehicle sub-assembly, the modular vehicle sub-assembly having: a frame assembly, the frame assembly comprising: a vehicle frame; a wheel mounted to the vehicle frame; a steering system coupled to the wheels and configured to steer at least one of the wheels and change a course of direction of the frame assembly; a propulsion system comprising at least one battery, at least one electric motor, and a drive train, wherein the propulsion system is configured to drive at least one of the wheels and move the frame assembly in at least one of a forward direction and a rearward direction; and

an on-board communication link, a plurality of transient data sensors, and an on-board controller, wherein: the on-board communication link is configured to receive off-board data from an external controller and transmit the off-board data to the on-board controller; the plurality of transient data sensors are coupled to the frame assembly and configured to detect and transmit transient data; and the on-board controller is configured to receive the transient data from at least one of the plurality of transient data sensors, transmit on-board data to the on-board communication link, receive the off-board data from the on-board communication link, and direct the propulsion system and the steering system such that the frame assembly moves along a predefined path through a flexible modular platform facility.

According to one embodiment, the plurality of transient data sensors includes at least one of a proximity sensor, a vision sensor, a speed sensor, a fluid level sensor, and a battery level sensor.

According to the present invention there is provided a modular vehicle sub-assembly for remote control or autonomous movement through a flexible modular platform facility, the modular vehicle sub-assembly having: a frame assembly, the frame assembly comprising: a vehicle frame; and a wheel mounted to the vehicle frame; a steering system coupled to the wheels and configured to steer at least one of the wheels and change a course of direction of the frame assembly; a propulsion system comprising at least one battery, at least one electric motor, and a drive train, wherein the propulsion system is configured to drive at least one of the wheels and move the frame assembly in at least one of a forward direction and a rearward direction; and a plurality of transient data sensors, an onboard controller, and an onboard communication link, wherein: the on-board communication link is configured to receive off-board data from an external controller and transmit the off-board data to the on-board controller; the plurality of transient data sensors are coupled to the frame assembly and configured to detect and transmit transient data; and the on-board controller is configured to receive the transient data from at least one of the plurality of transient data sensors, transmit on-board data to the on-board communication link, receive the off-board data from the on-board communication link, and direct the propulsion system and the steering system such that the frame assembly moves along a predefined path through a flexible modular platform facility.

Claims

1. A modular vehicle subassembly, comprising:

a frame assembly including a vehicle frame, wheels mounted on the vehicle frame, and a steering system configured to steer at least one of the wheels and change a course of a direction of the frame assembly;

a propulsion system coupled to the frame assembly and configured to drive at least one of the wheels and move the frame assembly in at least one of a forward direction and a rearward direction;

at least one transient data sensor coupled to the frame assembly and configured to detect and transmit transient data; and

at least one of an onboard controller and an onboard communication link coupled to the frame assembly, wherein the onboard controller is configured to receive the transient data from the at least one transient data sensor, direct the steering system, and direct the propulsion system such that the frame assembly moves along a predefined path through a flexible modular platform facility.

2. The modular vehicle subassembly of claim 1, wherein the wheels comprise two front wheels and two rear wheels, and the steering system is configured to steer the two front wheels.

3. The modular vehicle subassembly of claim 1, wherein the propulsion system comprises an electric propulsion system having at least one battery, at least one electric motor, and a drive train.

4. The modular vehicle subassembly of claim 1, wherein the at least one transient data sensor comprises at least one of a proximity sensor, a vision sensor, a speed sensor, a fluid level sensor, and a battery level sensor.

5. The modular vehicle sub-assembly of claim 1, wherein the transient data is at least one of a state of one or more systems mounted on the frame assembly, a current mounting state of the one or more systems mounted on the frame assembly, and a positioning of one or more parts mounted on the frame assembly.

6. The modular vehicle subassembly of claim 5, wherein the status of the one or more systems mounted on the frame assembly comprises at least one of a battery charge level, a tire pressure, a fluid level, and a fluid pressure.

7. The modular vehicle subassembly of claim 1, wherein the onboard controller is coupled to the frame assembly and configured to execute at least one of a speed command, a stop movement command, a start movement command, a steering command, and an emergency stop command.

8. The modular vehicle subassembly of claim 7, wherein the at least one transient data sensor is releasably attached to the frame assembly and is configured to be releasably attached to another frame assembly.

9. The modular vehicle sub-assembly of claim 8, wherein the at least one transient data sensor is configured to detect at least one of a position of the frame assembly within a flexible modular platform facility, a positioning of the frame assembly within the flexible modular platform facility, a movement of the frame assembly within the flexible modular platform facility, an obstruction along a path of the frame assembly within the flexible modular platform facility, and an environmental condition of the frame assembly within the flexible modular platform facility.

10. The modular vehicle subassembly of claim 9, wherein the onboard controller is configured to direct the carriage assembly to autonomously move through a flexible modular platform facility.

11. The modular vehicle subassembly of any of claims 1-10, wherein the onboard controller and the onboard communication link are coupled to the frame assembly.

12. The modular vehicle subassembly of claim 11, wherein:

the on-board controller is configured to receive the transient data from the at least one transient data sensor and transmit on-board data to the on-board communication link; and is

The on-board communication link is configured to receive the on-board data from the on-board controller, transmit the on-board data to an external controller, receive off-board data from the external controller and transmit the off-board data to the on-board controller.

13. The modular vehicle subassembly of claim 12, wherein the off-board data is at least one command for execution by the on-board controller.

14. The modular vehicle sub-assembly of claim 13, wherein the onboard controller is configured to direct movement of the frame assembly through a flexible modular platform facility via remote control.

15. The modular vehicle sub-assembly of claim 13, wherein the onboard controller is configured to direct the carriage assembly to move via remote control and autonomously through a flexible modular platform facility.