EP3672465A1 - Plateforme à roues déplaçable de manière omnidirectionnelle dotée d'un dispositif de travail - Google Patents

Plateforme à roues déplaçable de manière omnidirectionnelle dotée d'un dispositif de travail

Info

Publication number
EP3672465A1
EP3672465A1 EP18756416.6A EP18756416A EP3672465A1 EP 3672465 A1 EP3672465 A1 EP 3672465A1 EP 18756416 A EP18756416 A EP 18756416A EP 3672465 A1 EP3672465 A1 EP 3672465A1
Authority
EP
European Patent Office
Prior art keywords
driving platform
omnidirectional mobile
working
platform
control
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.)
Granted
Application number
EP18756416.6A
Other languages
German (de)
English (en)
Other versions
EP3672465B1 (fr
Inventor
Daniel Schütz
Norbert Settele
Stephan Herold
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.)
Volkswagen AG
KUKA Deutschland GmbH
Original Assignee
Volkswagen AG
KUKA Deutschland GmbH
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 Volkswagen AG, KUKA Deutschland GmbH filed Critical Volkswagen AG
Publication of EP3672465A1 publication Critical patent/EP3672465A1/fr
Application granted granted Critical
Publication of EP3672465B1 publication Critical patent/EP3672465B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
    • E01H1/00—Removing undesirable matter from roads or like surfaces, with or without moistening of the surface
    • E01H1/10—Hydraulically loosening or dislodging undesirable matter; Raking or scraping apparatus ; Removing liquids or semi-liquids e.g., absorbing water, sliding-off mud
    • E01H1/101—Hydraulic loosening or dislodging, combined or not with mechanical loosening or dislodging, e.g. road washing machines with brushes or wipers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • the invention relates to an omnidirectional mobile Fahrplatt ⁇ form, comprising a chassis, at least three Mecanumrä- each having a roller carrier, which is rotatably mounted about a Radcardachse on the chassis and the more evenly distributed over a circumference arranged on the roller carrier unangetrieben around whose roller rotation axes have rotatably mounted rollers, and a control device arranged on the chassis, which is designed to autonomously navigate the omnidirectionally mobile driving platform on a ground as a function of its surroundings by the control device automatically actuating the at least three mechanical wheels.
  • an exemplary floor ⁇ cleaning machine comprising a first Tankeinrich ⁇ device for receiving fresh water, a second tank means for receiving detergent, a mixing device for mixing fresh water from the first tank means with detergent from the second Tank means, a control device, which controls the mixing device, a cleaning tool device with at least one cleaning tool, by which a soil to be cleaned is mechanically acted upon, and a diesstechnikssbeaufschla- supply device through which liquid can be discharged onto the floor to be cleaned.
  • the object of the invention is to provide an omnidirectional mobile driving platform whose autonomous applications, in particular in the application of parking garages and / or underground garages, are extended.
  • This object is achieved according to the invention by an (omnidirectional mobile) driving platform, comprising:
  • the canumrad as metal in particular each having a roll carrier which is rotatably driven around a wheel axis of rotation on the chassis gela ⁇ siege and each arranged uniformly To ⁇ fang distributed more than one, the roller carrier unangetrieben to their Roller rotation axes rotatably mounted rollers, - arranged on a chassis control device, which is formed ⁇ , the omnidirectional mobile driving platform on a ground depending on their environment to navigate autonomously by the control device automatically controls the at least three Mecanumcken,
  • At least one connected to the chassis coupling ⁇ device which is designed for coupling at least ei ⁇ ner separate working device with the (omnidirectional mobile) driving platform to the coupled by means of the coupling device working device in the environment of (omnidirectional mobile) driving platform autonomous to be driven by the control device of the (omnidirectional mobile) travel platform,
  • the at least one separate working device has a working control for controlling the working functions of the working device and the control device of the (omnidirectional mobile) traveling platform is designed and set up, taking into account control commands of the work control, the (omnidirectional mobile) driving ⁇ platform on a ground in dependence navigate autonomously to their surroundings.
  • Each Mecanumrad may have on the circumference of the wheel, which forms a kind of rim so far, a plurality of rotatably mounted barrel-like roles that are preferably rotatably mounted at an angle of 45 degrees to the wheel axle on the wheel.
  • a plurality of rotatably mounted barrel-like roles that are preferably rotatably mounted at an angle of 45 degrees to the wheel axle on the wheel.
  • barrel-shaped rollers make contact with the ground.
  • These barrel-shaped rollers have no direct drive and can rotate freely around their oblique bearing axes.
  • the entire Mecanum wheel ie the rim, is driven by a drive motor with variable speed and the desired direction of rotation.
  • the control device can be designed and set up to move the omnidirectional mobile driving platform automatically and au ⁇ tonom on a floor, for example, a hall, a Plat ⁇ zes, an underground car park or a parking garage, ie to drive.
  • An automatic driving means that the omni ⁇ directional mobile travel platform itself controlled on the basis of a self ⁇ active ongoing motor program and / or a setä ⁇ tig running driving strategy and can move targeted court ⁇ tet.
  • An autonomous driving means that the mobile om ⁇ nidirelimale travel platform extent runs autonomously and independently of any intervention by a person, ie, the omni-directional mobile travel platform moves driverless. Navigating, anticipating and compensating for the movements, ie the travel of the omnidirectional mobile driving platform takes place accordingly without the intervention of a person or driver.
  • the chassis of the omnidirectional mobile driving platform can be understood on the one hand as a part of the chassis, on which the Mecanum wheels are mounted and on the other hand understood as a basic structure, chassis and / or housing of the omnidirectional mobile driving platform.
  • the chassis of the omni-directional mobile travel platform can in so far ⁇ space and a base frame, a housing inner hollow and / or outer receiving areas. Also one
  • the omni-directional mobile travel platform has at least one connected to the chassis coupling device ⁇ , which is adapted for coupling at least one se ⁇ Paraten work apparatus with the omni-directional mobile traveling platform to the coupled by means of the coupling device working device in the vicinity of the omni-directional mobile travel platform autonomously driven by the control device of the omnidirectional mobile driving platform, and the at least one separate working device having a control for the working functions of the working device own work control and the control device of the omnidirectional mobile driving platform is designed and set up, taking into account ⁇ control commands of the work control
  • the ability to autonomously navigate the omnidirectional mobile driving platform on a ground depending on their environment can provide a very efficient task allocation n the omnidirectional mobile platform and the working device can be achieved.
  • the coupling device being designed to be able to connect a wide variety of working devices to the omnidirectional mobile driving platform
  • the scope of use of the omnidirectional mobile traveling platform can largely be expanded and / or supplemented as desired. However, it is always up to the omnidirectional mobile driving platform or the control device of the omnidirectional mobile driving platform to find one another in the environment, that is to travel without collision, purposefully and safely from an exit point to a destination.
  • the working device is a "working intelligence" required for the corresponding individual functional operation of the respective type which is according to the invention contained in the working device.
  • the omni-directional mobile travel platform or the tax advantage ⁇ direction of the omni-directional mobile travel platform all benö- which must have a plurality of working devices themselves saturated “work intelligences".
  • the respective individual "Ar ⁇ beitsintelligenz” is set rather in the respective individual working device.
  • "Work intelligence" can be understood as all technical functions and / or operations controlled by the work control to automatically perform the specific functions of the work equipment in question ⁇ speed of soil tillage equipment, in particular the speed of rotating tillage equipment, such as. Moving or rotating brushes, and the amount of automatically applied liquids, such as fresh water and / or cleaning liquid for the cleaning effect and the cleaning result of importance.
  • the working control of the scrubber sends the required vehicle speed commands to the control device of the omnidirectional mobile platform, so that the omnidirectional mobile Fahrplatt ⁇ form or the control device can specify the required for the working device, ie scouring device driving speed, ie the omnidirectional mobile Fahr ⁇ platform can drive in exactly that driving speed, which is specified by the working device, ie scouring and in which the working device, ie the scrubber in so far as "without further own navigation intelligence" of the ride or the driving speed of the omnidirectional mobile driving platform follows.
  • the individual working devices also need no knowledge and no own navigation control functions of the environment in which the composite is to move. This also simplifies the design of the individual working devices. Possibly. then need the work devices also no own navigation sensors and no own navigation controls.
  • the separate work apparatus can accordingly be a fear ⁇ ersaugvorraum having an automatically inflatable fresh water tank, an automatically inflatable detergent tank and at least one direction remplisstechniksap mountingsein- formed water from the
  • the control device of the omnidirectional mobile drive platform may be formed and arranged under Be ⁇ consideration of level values of the fresh water tanks and / or the cleaning agent tanks which are transmitted from the Hästeue ⁇ tion to the control device, the omni--directional mobile travel platform on a floor, depending on their Navigate autonomously to a refilling station and to initiate or carry out a refilling of the fresh water tank and / or the detergent tank.
  • the control device of the omnidirectional mobile platform can be designed and set up, taking into account the closing state of the ground-working device , which can be moved from the working control to the control device. direction, autonomously navigate the omnidirectional mobile Fahr ⁇ platform on a floor depending on their environment to a changing station and to initiate or carry out a change of soil treatment device.
  • the control device of the omnidirectional mobile driving platform can be designed and set up to navigate the omnidirectional mobile driving platform on the ground autonomously to a changing station, taking into account the cleaning state of the floor, which is transmitted from the working control to the control device Change the soil treatment device to cause or perform.
  • the coupling device may have a mechanical coupling device arranged on the working device and a mechanical counter-coupling device arranged on the chassis of the omnidirectionally mobile traveling platform, which is designed to mechanically connect the working device to the omnidirectionally mobile driving platform in a mechanical coupling state with the coupling device.
  • the coupling device can have a wireless first transmitting / receiving device arranged on the working device and a wireless second transmitting / receiving device arranged on the chassis of the omnidirectional mobile platform, wherein the first transmitting / receiving device and the second transmitting / receiving device are formed to establish a communication between the working control of the working device and the control device of the omnidirectional mobile driving platform, such that the control device of the omnidirectional mobile driving platform sends driving commands to the working control of the working device to autonomously and mechanically separate the working device from the working device omnidirectional mobile driving platform according to the environment of the omnidirectional mobile driving platform to navigate.
  • the control device of the omnidirectional mobile Fahrplatt ⁇ form may have a memory in which data on the position and orientation of obstacles and / or free driveways are deposited in the environment of the omnidirectional mobile driving platform and the control device is ⁇ set, taking into account this in the memory stored data to automatically navigate the working device in the vicinity of the omnidirectional mobile driving platform.
  • the control device of the omnidirectional mobile Fahrplatt ⁇ form and / or the working device may comprise at least one sensor which provides data on the position and orientation of obstacles and / or free routes in the vicinity of the omnidirectional mobile driving platform and the control device is arranged, taking into account ⁇ This data supplied by the at least one sensor to automatically navigate the working device in the vicinity of the omnidirectional mobile driving platform.
  • the working device may have its own driving device, which is designed to move the working device autonomously driven on the ground and the control device of the omnidirectional mobile driving platform is adapted to control the driving device of the working device, to the working device together with the omnidirectional mobile driving platform or independently omnidirectional mobile driving platform to navigate around the omnidirectional mobile driving platform.
  • the working device may have its own driving device, which is designed to move the working device autonomously driven on the ground and the working control the working device, a work program, in particular comprising a cleaning program according to which the working device on the ground in a working strategy, particularly cleaning ⁇ employment strategy is to be moved, and the control device of the omni-directional mobile travel platform is configured to receive navigation commands of the work control and the omni-directional mobile travel platform a memory in which data on the position and orientation of obstacles and / or free roads in the vicinity of the omnidirectional mobile driving platform are stored and the control device is set up, taking into account these data stored in the memory and the navigation commands of the working control, the working device in the vicinity of omnidirectional mobile driving platform to automatically navigate.
  • a work program in particular comprising a cleaning program according to which the working device on the ground in a working strategy, particularly cleaning ⁇ employment strategy is to be moved
  • the control device of the omni-directional mobile travel platform is configured to receive navigation commands of the work control and the omni-directional mobile travel platform a memory in
  • the omnidirectional mobile driving platform may have a Tragvor ⁇ direction, which is designed to carry the working device, in particular the scrubber and / or a motor vehicle, respectively in a at least achehearts or completely lifted by means of the support device from the ground state.
  • FIG. 1 is a perspective view of a first exemplary embodiment of an omnidirectional mobile driving platform.
  • FIG. 2 is a perspective view of a second exemplary embodiment of an omnidirectionally mobile driving platform;
  • Fig. 3 is a schematic representation of an exemplary
  • Control device adapted and arranged to control the mechanical wheels of the omnidirectional mobile driving platform
  • Fig. 4 is a perspective view of beispielhaf ⁇ th Mecanumrades
  • Figure 5 is a schematic diagram of a mechanically coupled drive ge ⁇ network of omnidirectional mobile platform and driving a working device the example of a Scheuersaugvorraum.
  • FIG. 6 is a schematic representation of a wirelessly coupled driving network of omnidirectional mobile
  • Fig. 1 and Fig. 2 show an omnidirectional mobile travel platform 1, comprising a chassis 3 and in the case of the present embodiment of Fig.l IMP EXP ⁇ including eight Mecanum wheels 4 and in the case of the present embodiment of Figure 2 a total of four Mecanum wheels 4, each having, as shown in more detail in Fig. 4, a roller ⁇ carrier 4.1, which is rotatably mounted on a Radcardachse AI supported on the chassis 3 and the more evenly distributed over a circumference arranged on Rol ⁇ lencken 4.1 undriven to their Roller rotation axes A2 have rotatably mounted rollers 4.2.
  • the omnidirectional mobile driving platform 1 also has ei ⁇ ne arranged on the chassis 3 control device 5, which is designed to autonomously navigate the omnidirectional mobile driving platform 1 on a ground depending on their environment. by the control device 5 automatically drives the mechanical wheels 4.
  • the respective floor can form a roadway of the omnidirectional mobile driving platform 1, on which the omnidirectional mobile driving platform 1 moves automatically.
  • the control device 6 is designed to automatically drive the omnidirectional mobile driving platform 1 on the road.
  • obstacles and travel paths during the automatic driving of the omnidirectional mobile Fahrplatt ⁇ form 1 can be detected and stored in a navigation control device 13, which is designed to navigate the omnidirectional mobile driving platform 1 on the road.
  • the navigation control device 13 may be arranged separately from the omnidirectional mobile driving platform 1 and only communicate with it in terms of control technology or with its control device 6.
  • the navigation control device 13 can also be part of the omnidirectional mobile platform 1, as illustrated in FIG. 3 in a dashed representation, for example.
  • the omni-directional mobile travel platform 1 may have and the navigation ⁇ control device 13 may be the navigation controller 13 of control technology connected to the control device 6 of the omni-directional mobile travel platform 1 and configured to store reference positions and reference orientations for a navigating the omnidirektio- nal mobile platform 1 on the road serve as a digital map, based on the navigation ⁇ control device 13 moves in cooperation with the control device 6, the omnidirectional mobile driving platform 1 on the floor or on the road.
  • the navigation control device 13 and / or the control device 6, which can represent a vehicle drive control in this respect, are designed and configured in these cases to detect the current actual position and actual orientation of the omnidirectional mobile driving platform 1 on the road, a desired desired position and to read target orientation of a target which is to drive the omnidirectional mobile driving platform 1 automatically actuated by the navigation control device 13 in cooperation with the vehicle drive control, starting from the actual position and actual orientation of the omnidirectional mobile driving platform 1 route, the the target position and target orientation of the target ends to plan automatically based on the stored in the navigation control device 13 positions and orientations of obstacles and driveways.
  • the omnidirectionally mobile driving platform 1 can then be driven automatically navigated by the navigation control device 13 in cooperation with the control device 6 or with the vehicle drive control along the route.
  • the omni-directional mobile travel platform 1 is at least connected to said chassis 3 coupling ⁇ device 7 which is adapted for coupling at least one separate work device 8 with the omnidirectional mobile Driving platform 1, around the coupled by means of the coupling device 7 working device 8 in the vicinity of the omnidirectional mobile driving platform 1 auto- nom to be driven by the control device 5 of the omnidirectional mobile driving platform.
  • said chassis 3 coupling ⁇ device 7 which is adapted for coupling at least one separate work device 8 with the omnidirectional mobile Driving platform 1, around the coupled by means of the coupling device 7 working device 8 in the vicinity of the omnidirectional mobile driving platform 1 auto- nom to be driven by the control device 5 of the omnidirectional mobile driving platform.
  • the coupling device 7 has a wireless first transmitting / receiving device 9 arranged on the working device 8 and a wireless second transmitting / receiving device 10 arranged on the running gear 3 of the omnidirectional mobile platform 1.
  • the first transceiver 9 and the second transceiver 10 are configured to establish a communication between the working control 8.1 of the working device 8 and the control device 5 or the navigation control device 13 of the omnidirectional mobile driving platform 1 such that the Control device 5 and the navigation control device 13 of the omnidirectional mobile driving platform 1 driving commands to the working control 8.1 of the working device 8 sends to the working device 8 autonomously and mechanically separated from the omnidirectional mobile driving platform 1 according to the environment of the omnidirectional mobile driving platform 1 to navigate.
  • a control technology coupling of the omnidirectional mobile driving platform 1 and the working device 8 can take place, for example, in that the two chassis are spatially separated from one another, accordingly However, both the mechanical wheels of the omnidirectional mobile driving platform 1 and the wheels of the working device 8 perform coordinated, in particular synchronous movements, such that the two chassis are always positioned at a constant distance from one another and always in mutually coinciding orientations be addressed aligned.
  • Such a coordinated, synchronous drive can be effected by a common drive control device for the omnidirectional mobile travel platform 1 and the working device 8.
  • the first chassis may have its own first drive ⁇ control device and the second chassis having its own second drive control device, wherein the first drive control device with the second Antriebssteu- ervorides via a synchronizing communication connection control technology connected.
  • the at least one separate working device 8 has its own for controlling the working functions of the working device 8 working control 8.1, and the control device 5 of the omni-directional mobile driving platform 1 is formed and arranged in consideration of control commands of the work control 8.1, the omni-directional mobile driving ⁇ platform 1 on a Ground to navigate autonomously depending on their environment.
  • the we ⁇ least one separate working device 8 is formed by a Scheu ⁇ suction device.
  • the omni-directional mobile driving ⁇ platform 1 may be formed, selectively coupling the Scheuersaugvorraum shown or other Anlagenvor- direction 8 and that for example a high-pressure cleaning device, a vehicle lifting device, a tire changing means, a vehicle tank system, and a vehicle charging apparatus.
  • the Mecanumradachsen the omnidirectional mobile Fahrplatt ⁇ form 1 are preferably rigidly on the chassis 3 positio ⁇ ned and a height adjustment, for example, with ⁇ means of a support device 12 and a lifting device 11 (Fig. 1), which raises the vehicle to be transported and / or lowered ,
  • the lifting device 11 may be positioned between the chassis and the supporting device 12, so that by means of this lifting device 11, the supporting device 12 can be adjusted in height relative to the chassis 3.
  • the carrying device 12 is connected to the chassis 3 in a manner fixed to the height, and the lifting device 11 is formed by linearly or pivotably adjustable forks, which raise and / or lower the wheels of the vehicle by adjusting the forks, although the carrying device 12 itself remains constant in its altitude.
  • the vehicle then raises or lowers the fact that one wheel of the vehicle is received between two Ga ⁇ belzinken and depending on the distance and angular position of these two forks, the wheel of the vehicle in question deeper or less deep between the two fork tines is located (not shown in detail ).
  • the chassis 3 of the omnidirectional mobile driving platform 1 can be designed to enter a gap, for example, between a vehicle floor of the motor vehicle or the working device 8 and the roadway, and a first wheel mount can be arranged on a first lateral side of the chassis 3, in this case that a first wheel of the vehicle or the working device is received, starting 8 from its inside and can micrograph the second wheel be arranged at one of the first lateral side opposing second lateral side of the chassis 3 such that a second wheel of the motor driving ⁇ zeugs or the working device 8 is received starting from its inside.
  • the omnidirectional mobile vehicle transport platform can be brought so close to the respective associated wheels or the associated axle (front or rear axle) of the vehicle or the working device 8, that said arms can be omitted.
  • the omnidirectional mobile Kraft Weg ⁇ convincing transport platform must be designed so flat that they can enter between the underbody of the vehicle or the working device 8 and the road.
  • the omni-directional mobile vehicle transport platform on the other hand does not have such a be formed flat.
  • a motor vehicle supply station in particular a charging station for supplying a motor vehicle with electrical energy for charging an electrical energy store of the motor vehicle or refueling station for supplying a motor vehicle with liquid or gaseous fuel, such as gasoline, diesel or natural gas
  • a motor vehicle supply station comprising Anunterplatz, which is designed for starting, stopping and driving away the motor vehicle at the place of delivery by a driver, a different from the delivery place loading station or fuel station, which is adapted for automatically supplying the motor vehicle with electrical energy, liquid or gaseous fuel, and an omni-directional mobile vehicle transport platform, in particular the invention omnidirectional mobile travel platform 1, which is adapted to the driverless automatically transpo on the Anunter ⁇ space parked motor vehicle to the loading space or tank space and / or the motor vehicle driver present on the place of automatically transport back to the delivery point.
  • omnidirectional mobile driving platform 1 and working device 8 in particular an automatic floor cleaning of parking garages and underground garages by means of autonomous modular robot unit can be done in addition to other different services, such as parking, loading, cleaning and / or tire change.
  • the invention may consist in this respect of a modular platform which is either extended by a cleaning module or upgraded directly to a cleaning unit for underground garages.
  • Known approaches include only ei ⁇ NEN manual or semi-automatic operation of the cleaning.
  • the solution according to the invention in addition to the navigation in the parking garage environment and the automatic filling with cleaning a completely autonomous operation is possible.
  • Wei ⁇ terhin ty is achieved Multifunktionali- by the modular approach, which reduces the payback period and generates a value for the park operators. This allows a completely autonomous operation, the cleaning is carried out in reproducible quality.
  • Mo ⁇ modules which can be coupled ⁇ ge with identical interface to the platform, further services can be realized.
  • a scrubber suction device having an automatically refillable fresh water tank 13, an automatically refillable detergent tank 14 and at least one liquid application means 15 which is formed, water from the fresh water tank 13, cleaning ⁇ liquid from the detergent tank 14 and / or a mixture of water and cleaning liquid on the floor apply, and further comprises a soil treatment device 16 which is adapted to act on the ground ⁇ to clean the bottom provided with the cleaning liquid and indeed according to a stored in the work control 8.1 cleaning program.
  • the control device 5 of the omni-directional mobile travel platform 1 can be designed and arranged un ⁇ ter consideration of level values of the solution tank 13 and / or the cleaning agent tank 14, which are transmitted from the working controller 8.1 to the control device 5, the omni-directional mobile travel platform 1 on a To autonomously navigate to a refill station 17a and to initiate or perform refilling of the fresh water tank 13 and / or the detergent tank 14, depending on their environment.
  • the control device 5 of the omnidirectional mobile driving platform 1 can also be designed and set up, taking into account the closing state of the soil cultivation device 16, which is transmitted from the work control 8.1 to the control device 5, the omnidiretationa ⁇ le mobile driving platform 1 on a floor depending on their environment autonomous to navigate to a change station 17b and to initiate or perform a change of the tillage device 16.
  • the control device 5 of the omnidirectional mobile driving platform 1 can be designed and set up, taking into account the cleaning state of the floor, which is transmitted from the work control 8.1 to the control device 5, the omnidirectional mobile driving platform 1 on the ground autonomously depending on their environment to navigate to the change station 17b and to initiate or perform a change of the tillage device 16.
  • the control device 5 of the omnidirectional mobile driving platform 1 can have a memory 18 in which data about the position and orientation of obstacles and / or free travel paths in the environment of the omnidirectional mobile driving platform 1 are stored and the control device 5 can be set up, taking into account This data stored in the memory 18, the working device 8 in the environment of the omnidirectional mobile driving platform 1 to automatically navigate.
  • the control device 5 of the omnidirectional mobile driving platform 1 and / or the working device 8 can have at least one sensor 19 a, 19 b, which supplies data about the position and orientation of obstacles and / or free travel paths in the vicinity of the omnidirectional mobile platform 1, the control device 5 is set up to automatically navigate the working device 8 in the vicinity of the omnidirectional mobile driving platform 1 taking into account these data supplied by the at least one sensor 19a, 19b.
  • the operation device 8, in particular the Scheuersaugvorraum has its own driving device 20 which is formed ⁇ to move the working device 8 on the ground autonomously driven and the control device 5 of the omni-directional mobile travel platform 1 is formed thereby to drive the driving device 20 of the working device 8 to navigate the working device 8 together with the omnidirectional mobile driving platform 1 or independently of the omnidirectional mobile driving platform 1 in the vicinity of the omnidirectional mobile driving platform 1.
  • the working device 8, in particular the scrubber-suction device can have its own driving device 20, which is designed to allow the working device 8 to be driven on the ground.
  • the work control 8.1 of the working device 8 has a work program, in particular a cleaning program, according to which the work device 8 is to be moved on the ground in a work strategy, in particular cleaning strategy
  • the control ⁇ device 5 of the omnidirectional mobile driving platform 1 is configured to receive navigation commands of the work control 8.1 and the omnidirectional mobile driving platform 1 has a memory 18, are stored in the data on the position and orientation of obstacles and / or free roads in the vicinity of the omnidirectional mobile driving platform 1 and the control device 5 is established is, taking into account these data stored in the memory 18 and the navigation commands of the work control 8.1, the working device 8 in the environment of the omnidirectional mobile driving platform 1 to automatically navigate.
  • the omnidirectional mobile driving platform 1 may have a Tragvor ⁇ direction 12 and in particular a lifting device 11, which is designed to carry the Hävor- device 8, in particular the scrubber and / or a motor vehicle, respectively in at least one axle or completely by means of the support device 12 lifted from the ground state.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne une plateforme à roues (1) déplaçable de manière omnidirectionnelle présentant au moins un dispositif de travail (8) séparé et une commande de travail (8.1) dédiée pour assurer la commande des fonctions de travail du dispositif de travail (8), le dispositif de commande (5) de la plateforme à roues (1) déplaçable de manière omnidirectionnelle étant conçu et adapté de sorte à faire naviguer la plateforme (1) déplaçable de manière omnidirectionnelle de façon autonome sur un sol en fonction de son environnement, en prenant en compte des instructions de commande de la commande de travail (8.1) du dispositif de travail (8).
EP18756416.6A 2017-08-25 2018-08-16 Platform roulant omnidirectionel avec un module de travail Active EP3672465B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017119574.2A DE102017119574A1 (de) 2017-08-25 2017-08-25 Omnidirektional mobile Fahrplattform mit einer Arbeitsvorrichtung
PCT/EP2018/072257 WO2019038188A1 (fr) 2017-08-25 2018-08-16 Plateforme à roues déplaçable de manière omnidirectionnelle dotée d'un dispositif de travail

Publications (2)

Publication Number Publication Date
EP3672465A1 true EP3672465A1 (fr) 2020-07-01
EP3672465B1 EP3672465B1 (fr) 2022-10-19

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP18756416.6A Active EP3672465B1 (fr) 2017-08-25 2018-08-16 Platform roulant omnidirectionel avec un module de travail

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DE102020208573B3 (de) 2020-07-08 2021-10-28 Robert Bosch Gesellschaft mit beschränkter Haftung Steuervorrichtung und Verfahren zum Reinigen einer Parkfläche eines automatisierten Parksystems mithilfe eines Reinigungsroboters
DE102020127743A1 (de) * 2020-10-21 2022-04-21 Deere & Company Verfahren zur Versorgung einer mobilen Nutzeinheit mit einem Verbrauchstoff
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CN111050619B (zh) 2022-12-02
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EP3672465B1 (fr) 2022-10-19
CN111050619A (zh) 2020-04-21

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