EP3672465B1 - Platform roulant omnidirectionel avec un module de travail - Google Patents

Platform roulant omnidirectionel avec un module de travail Download PDF

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Publication number
EP3672465B1
EP3672465B1 EP18756416.6A EP18756416A EP3672465B1 EP 3672465 B1 EP3672465 B1 EP 3672465B1 EP 18756416 A EP18756416 A EP 18756416A EP 3672465 B1 EP3672465 B1 EP 3672465B1
Authority
EP
European Patent Office
Prior art keywords
driving platform
mobile driving
omnidirectional mobile
control
working
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.)
Active
Application number
EP18756416.6A
Other languages
German (de)
English (en)
Other versions
EP3672465A1 (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
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Anticipated expiration legal-status Critical

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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 driving platform, having a chassis, at least three Mecanum wheels, each of which has a roller carrier which is mounted on the chassis in a rotationally driven manner about a wheel axis of rotation, and each of which has several uniformly distributed over a circumference and is mounted on the roller carrier in a non-driven manner so that it can rotate about its roller axes of rotation Having rollers, and a control device arranged on the chassis, which is designed to autonomously navigate the omnidirectional mobile driving platform on a floor depending on its environment by the control device automatically controlling the at least three Mecanum wheels.
  • an exemplary floor cleaning machine comprising a first tank device for holding fresh water, a second tank device for holding cleaning agent, a mixing device for mixing fresh water from the first tank device with cleaning agent from the second tank device, a control device which controls the mixing device, a cleaning tool device with at least one cleaning tool, by means of which a floor to be cleaned can be acted upon mechanically, and a liquid application device, through which liquid can be discharged onto the floor to be cleaned.
  • the WO 97/49528 A1 describes a multi-module household appliance that has a power module with at least one battery and at least one other module, such as a mower module, another work module and/or a Completion module included.
  • the power module has only two simple, non-steerable wheels.
  • the EP 3 047 783 A1 describes a vacuum cleaner robot comprising a suction device mounted on omnidirectional wheels and a power supply device mounted on omnidirectional wheels.
  • the suction device comprises a floor nozzle, a dust collector and a motor fan unit for sucking in a flow of air through the floor nozzle.
  • the suction device has a drive device for driving at least one of the wheels of the suction device.
  • the power supply device has a drive device for driving at least one of the wheels of the power supply device, the power supply device being connected to the suction device via a power supply cable in order to supply the suction device with power.
  • the object of the invention is to create an omnidirectional mobile driving platform whose autonomous applications are expanded, in particular in the application area of parking garages and/or underground garages.
  • the at least three (Mecanum) wheels can each have a roller carrier as a Mecanum wheel, which is mounted on the chassis in a rotationally driven manner about a wheel axis of rotation and which each have a plurality of rollers arranged uniformly distributed over a circumference and rotatably mounted on the roller carrier in an undriven manner about their roller axes of rotation.
  • Each Mecanum wheel can have several rotatably mounted barrel-shaped rollers on the circumference of the wheel, which forms a kind of rim, which are preferably mounted rotatably on the wheel at an angle of 45 degrees to the wheel axis. Exclusively these barrel-shaped rollers make contact with the ground. These barrel-shaped rollers have no direct drive and are free to rotate about their slanted bearing axles.
  • the entire Mecanum wheel, ie the rim, on the other hand, 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, i.e. to drive, the omnidirectional mobile driving platform automatically and autonomously on a floor, for example a hall, a square, an underground car park or a multi-storey car park.
  • Automatic driving means that the omnidirectional mobile driving platform can move in a self-controlled and targeted manner due to an automatically running movement program and/or an automatically running driving strategy.
  • Autonomous driving means that the omnidirectional mobile driving platform drives in a self-determined manner and independently of any intervention by a person, i.e. the omnidirectional mobile driving platform moves without a driver. Accordingly, navigating, anticipating and compensating for the movements, i.e. the journeys, of the omnidirectional mobile driving platform takes place without the intervention of a person or driver.
  • the chassis of the omnidirectional mobile driving platform can on the one hand be understood as a part of the chassis on which the Mecanum wheels are mounted and on the other hand can also be understood as the basic structure, chassis and/or housing of the omnidirectional mobile driving platform.
  • the chassis of the omnidirectional mobile driving platform can also comprise a base frame, a housing, internal cavities and/or external receiving areas.
  • a support platform can also be considered part of the chassis within the scope of the invention.
  • the omnidirectional mobile driving platform has at least one coupling device connected to the chassis, which is designed to couple at least one separate working device to the omnidirectional mobile driving platform in order to autonomously move the working device coupled by means of the coupling device in the vicinity of the omnidirectional mobile driving platform, specifically controlled by the control device of the omnidirectional mobile driving platform, and the at least one separate working device has its own working control for controlling the working functions of the working device and the control device of the omnidirectional mobile driving platform is designed and set up, taking into account control commands of the working control, the omnidirectional mobile driving platform on a floor navigating autonomously depending on their environment can be a very efficient division of tasks between the omnidirektio nal mobile driving platform and the working device can be achieved.
  • the coupling device is 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 driving platform can be largely expanded and/or supplemented as desired. However, it is always the responsibility of the omnidirectional mobile driving platform or the control device of the omnidirectional mobile driving platform to find their way around in the environment, ie to drive from a starting point to a destination in a collision-free, targeted and safe manner.
  • a "working intelligence" is required for the respective individual functional operation of the respective type of working device, which according to the invention is contained in the working device.
  • the omnidirectional mobile traveling platform or the control device of the omnidirectional mobile traveling platform it is not necessary for the omnidirectional mobile traveling platform or the control device of the omnidirectional mobile traveling platform to be all required Must have "work intelligence" of multiple work devices themselves. Rather, the respective individual “working intelligence” is accommodated in the respective individual working device.
  • “Working intelligence” can be understood to mean all technical functions and/or operating processes that are controlled by the work controller in order to be able to automatically execute the specific functions of the respective work device.
  • the driving speed of the scrubber drier the speed of movement of floor treatment devices, in particular the speed of rotating floor treatment devices, such as moving or rotating brushes, and the amount of liquids automatically applied, such as fresh water and/or cleaning liquid for the cleaning effect and the cleaning result is important.
  • the scrubber-drier work controls For example, with regard to the function of the driving speed of the scrubbing device, in a combined operation according to the invention of an omnidirectional mobile driving platform and working device, i.e. scrubbing device, the working control of the scrubbing device sends the required driving speed commands to the control device of the omnidirectional mobile driving platform, so that the omnidirectional mobile driving platform or the control device can specify the driving speed required for the working device, ie the scrubber drier, ie lets the omnidirectional mobile driving platform drive at exactly that driving speed which is specified by the working device, ie the scrubber drier and in which the working device, ie the scrubber drier to the extent "without any additional navigation intelligence of its own " follows the journey or the driving speed of the omnidirectional mobile driving platform.
  • the individual working devices do not need any knowledge or their own navigation control functions of the environment in which the group is to move. This also simplifies the design of the individual working devices. The working devices may then also not require their own navigation sensors and their own navigation controls.
  • the separate working device can be a scrubbing device that has an automatically refillable fresh water tank, an automatically refillable cleaning agent tank and at least one liquid application device that is designed to apply water from the fresh water tank, cleaning liquid from the cleaning agent tank and/or a mixture of water and cleaning liquid to the floor applied, and further comprises a floor treatment device which is designed to act on the floor in order to clean the floor provided with the cleaning liquid, specifically in accordance with a cleaning program stored in the work control.
  • the control device of the omnidirectional mobile driving platform can be designed and set up, taking into account fill level values of the fresh water tank and/or the cleaning agent tank, which are transmitted from the work control to the control device, to autonomously move the omnidirectional mobile driving platform on a floor to a filling station, depending on its surroundings navigate and arrange for or carry out a filling of the fresh water tank and/or the cleaning agent tank.
  • the control device of the omnidirectional mobile driving platform can be designed and set up taking into account the state of closure of the soil treatment device, which is transmitted from the working control to the control device is transmitted to autonomously navigate the omnidirectional mobile driving platform on a floor depending on its environment to a changing station and to cause or carry out a change of the soil treatment device.
  • the control device of the omnidirectional mobile driving platform can be designed and set up, taking into account the cleaning status of the floor, which is transmitted from the work control to the control device, to autonomously navigate the omnidirectional mobile driving platform on the floor to a changing station depending on its environment and to change the To cause or carry out tillage equipment.
  • the coupling device can have a mechanical coupling device arranged on the working device and a mechanical counter-coupling device arranged on the chassis of the omnidirectional mobile driving platform, which is designed to mechanically connect the working device to the omnidirectional mobile driving platform in a mechanical coupling state with the coupling device.
  • the coupling device can have a wireless first transceiver arranged on the working device and a wireless second transceiver arranged on the chassis of the omnidirectional mobile driving platform, wherein the first transceiver and the second transceiver are designed as one Establish communication between the work controller 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 in order to operate the working device autonomously and mechanically separately from the navigate omnidirectional mobile driving platform according to the environment of the omnidirectional mobile driving platform.
  • the control device of the omnidirectional mobile driving platform can have a memory in which data about the position and orientation of obstacles and/or free routes in the vicinity of the omnidirectional mobile driving platform are stored and the control device is set up, taking into account this data stored in the memory, the working device to navigate automatically in the surroundings of the omnidirectional mobile driving platform.
  • the control device of the omnidirectional mobile driving platform and/or the working device can have at least one sensor, which provides data on the position and orientation of obstacles and/or free routes in the area surrounding the omnidirectional mobile driving platform, and the control device is set up taking this into account by the data supplied by at least one sensor to automatically navigate the work device in the vicinity of the omnidirectional mobile driving platform.
  • the working device can have its own driving device, which is designed to move the working device on the ground in an autonomously driven manner and the control device of the omnidirectional mobile driving platform is designed to control the driving device of the working device in order to operate the working device together with the omnidirectional mobile driving platform or independently of the navigate omnidirectional mobile driving platform in the area surrounding the omnidirectional mobile driving platform.
  • the working device can have its own driving device, which is designed to move the working device on the ground in an autonomously driven manner, and the working control the working device has a working program, in particular a cleaning program, according to which the working device is to be moved on the floor in a working strategy, in particular a cleaning strategy, and the control device of the omnidirectional mobile driving platform is designed to receive navigation commands from the working control and the omnidirectional mobile driving platform has a memory, in which data about the position and orientation of obstacles and/or free routes in the vicinity of the omnidirectional mobile driving platform are stored and the control device is set up, taking into account this data stored in the memory and the navigation commands of the working control, the working device in the vicinity of the omnidirectional mobile to navigate the driving platform automatically.
  • the omnidirectional mobile driving platform can have a carrying device that is designed to carry the working device, in particular the scrubbing device and/or a motor vehicle, in each case in a state that is at least axially or completely lifted from the ground by means of the carrying device.
  • the 1 and the 2 each show an omnidirectional mobile driving platform 1, having a chassis 3 and in the case of the present embodiment Fig.1 a total of eight mecanum wheels 4 and in the case of the present embodiment Fig.2 a total of four mecanum wheels 4, each of which, as in 4 shown in more detail, have a roller carrier 4.1 which is mounted on the chassis 3 in a rotationally driven manner about a wheel axis of rotation A1 and which each have a plurality of rollers 4.2 which are uniformly distributed over a circumference and are mounted on the roller carrier 4.1 in a non-driven manner so that they can rotate about their roller axes of rotation A2.
  • the omnidirectional mobile driving platform 1 also has a control device 5 which is arranged on the chassis 3 and is designed to autonomously navigate the omnidirectional mobile driving platform 1 on a floor depending on its surroundings. in that the control device 5 automatically controls the mecanum wheels 4 .
  • Each of the Mecanum wheels 4 is driven by its own motor 6 ( 3 ) of the omnidirectional mobile driving platform 1 can be driven, namely automatically controlled by means of a control device 5 of the omnidirectional mobile driving platform 1.
  • the respective floor can form a lane of the omnidirectional mobile driving platform 1, on which the omnidirectional mobile driving platform 1 moves automatically.
  • the control device 6 is designed to drive the omnidirectional mobile driving platform 1 on the roadway automatically.
  • obstacles and routes can be detected during the automatic driving of the omnidirectional mobile driving platform 1 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 can be arranged separately from the omnidirectional mobile driving platform 1 and only communicate with it or with its control device 6 in terms of control technology.
  • the navigation control device 13 can also be part of the omnidirectional mobile driving platform 1, as is shown in 3 is illustrated in a dashed representation, for example. Accordingly, the omnidirectional mobile driving platform 1 can have the navigation control device 13 and the navigation control device 13 can be connected in terms of control technology to the control device 6 of the omnidirectional mobile driving platform 1 and be designed to store reference positions and reference orientations that are used when navigating the omnidirectional mobile driving platform 1 on the roadway serve as a digital map, on the basis of which the navigation control device 13 in cooperation with the control device 6 moves the omnidirectional mobile driving platform 1 on the ground or on the roadway.
  • the navigation control device 13 and/or the control device 6, which in this respect can represent a vehicle drive control, are designed and set up to detect the instantaneous actual position and actual orientation of the omnidirectional mobile driving platform 1 on the road, a desired target position and reading in the target orientation of a destination, which the omnidirectional mobile driving platform 1 is to travel to automatically controlled by the navigation control device 13 in cooperation with the vehicle drive control, a route starting from the actual position and actual orientation of the omnidirectional mobile driving platform 1, which starts at the target - Position and target orientation of the target ends to plan automatically based on the positions and orientations of obstacles and routes stored in the navigation control device 13.
  • the omnidirectional mobile driving platform 1 can then be driven automatically navigated along the route, controlled by the navigation control device 13 in cooperation with the control device 6 or with the vehicle drive control.
  • the omnidirectional mobile driving platform 1 has at least one coupling device 7 connected to the chassis 3, which is designed to couple at least one separate working device 8 to the omnidirectional mobile driving platform 1 in order to position the working device 8 coupled by means of the coupling device 7 in the area the omnidirectional mobile driving platform 1 autonomous to move, controlled by the control device 5 of the omnidirectional mobile driving platform 1.
  • the coupling device 7 has in the case of the embodiment according to figure 5 a mechanical coupling device 7.1 arranged on the working device 8 and a mechanical counter-coupling device 7.2 arranged on the chassis 3 of the omnidirectional mobile driving platform 1, which is designed to mechanically connect the working device 8 to the omnidirectional mobile driving platform 1 in a mechanical coupling state with the coupling device 7.1 .
  • the first transmitting/receiving device 9 and the second transmitting/receiving device 10 are designed to set up communication between the working controller 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 or the navigation control device 13 of the omnidirectional mobile driving platform 1 sends driving commands to the working control 8.1 of the working device 8 in order to navigate the working device 8 autonomously and mechanically separately from the omnidirectional mobile driving platform 1 according to the surroundings of the omnidirectional mobile driving platform 1.
  • a technical control coupling of the omnidirectional mobile driving platform 1 and the working device 8 can take place, for example, in that the two chassis are positioned spatially separate from one another, accordingly mechanically are not connected, but both the Mecanum wheels of the omnidirectional mobile driving platform 1 and the wheels of the working device 8 execute coordinated, in particular synchronous, movements such that the two chassis are always positioned at a constant distance from one another and are always controlled in the same orientations to one another .
  • Such a coordinated, synchronous control can take place through a common drive control device for the omnidirectional mobile driving platform 1 and the working device 8 .
  • the first chassis may have its own first drive controller and the second chassis may have its own second drive controller, with the first drive controller being control-linked to the second drive controller via a synchronizing communication link.
  • the at least one separate working device 8 has its own working control 8.1 for controlling the working functions of working device 8, and the control device 5 of the omnidirectional mobile driving platform 1 is designed and set up, taking into account control commands from the working control 8.1, the omnidirectional mobile driving platform 1 on a floor in to navigate autonomously depending on their environment.
  • the at least one separate working device 8 is formed by a scrubbing device.
  • the omnidirectional mobile driving platform 1 can be designed to optionally couple the scrubbing device shown or another working device 8, for example a high-pressure cleaning device, a vehicle lifting device, a tire changing device, a vehicle refueling device and a vehicle loading device.
  • the Mecanum wheel axles of the omnidirectional mobile driving platform 1 are preferably positioned rigidly on the chassis 3 and the height is adjusted, for example, by means of a carrying device 12 and a lifting device 11 ( 1 ), which raises and/or lowers the vehicle to be transported.
  • the lifting device 11 can be positioned between the chassis and the carrying device 12 so that the carrying device 12 can be adjusted in height relative to the chassis 3 by means of this lifting device 11 .
  • the carrying device 12 is connected to the chassis 3 at a fixed 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 is in its altitude remains constant. The vehicle is then raised or lowered by the fact that one wheel of the vehicle is held between two forks and, depending on the distance or angular position of these two forks, the relevant wheel of the vehicle sits lower or lower between the two forks (not shown).
  • the chassis 3 of the omnidirectional mobile driving platform 1 can be designed to drive into an intermediate space, 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 such a way that a first wheel of the motor vehicle or of the working device 8 is received from its inside, and the second wheel mount can be arranged on a second lateral side of the chassis 3 opposite the first lateral side, such that a second wheel of the motor vehicle or of the working device 8 can be lifted from its inside starting is picked up.
  • the omnidirectional mobile motor vehicle transport platform can be brought so close to the assigned wheels or the assigned axle (front axle or rear axle) of the vehicle or the working device 8 that the mentioned arms can be omitted.
  • the omnidirectional mobile motor vehicle transport platform must then be of such a flat design that it can enter between the underbody of the vehicle or the working device 8 and the roadway.
  • the omnidirectional mobile motor vehicle transport platform does not have to be designed so flat.
  • a motor vehicle supply station in particular a charging station for supplying a motor vehicle with electrical energy for charging an electrical energy storage device of the motor vehicle or a fueling station for supplying a motor vehicle with liquid or gaseous fuel, such as petrol, diesel or natural gas, can be provided, having a delivery point, which is designed for a driver to start up, park and drive away the motor vehicle at the delivery point, a loading area or filling station that is different from the delivery point and is set up to automatically supply the motor vehicle with electrical energy, liquid or gaseous fuel, and an omnidirectional mobile motor vehicle -Transport platform, in particular the omnidirectional mobile driving platform 1 according to the invention, which is set up to automatically transport the motor vehicle parked at the delivery area to the loading area or filling station without a driver and/or r the motor vehicle present at the loading area or filling station is driverless automatically transported back to the delivery point.
  • a delivery point which is designed for a driver to start up, park and drive away the motor vehicle at the delivery point
  • omnidirectional mobile driving platform 1 and working device 8 can, in particular, automatically clean the floors of parking garages and underground garages using an autonomous modular robot unit in addition to other different services such as parking, loading, cleaning and/or changing tires.
  • the invention can consist of a modular platform which is either expanded by a cleaning module or upgraded directly to a cleaning unit for underground car parks.
  • Known solutions only include manual or semi-automated cleaning operations.
  • the solution according to the invention enables completely autonomous operation.
  • the modular approach achieves multifunctionality, which reduces the amortization period and generates added value for the car park operator. This enables fully autonomous operation, and cleaning is carried out with reproducible quality. Additional services can be implemented using additional modules that can be linked to the platform with an identical interface.
  • the separate working device 8 can be a scrubber-drier that has a fresh water tank 13 that can be filled automatically, a cleaning agent tank 14 that can be filled automatically, and at least one liquid application device 15 that is designed to deliver water from the fresh water tank 13, cleaning liquid from the cleaning agent tank 14, and/or a mixture of water and cleaning liquid on the ground applied, and further comprises a floor treatment device 16 which is designed to act on the floor in order to clean the floor provided with the cleaning liquid, specifically according to a cleaning program stored in the work control 8.1.
  • the control device 5 of the omnidirectional mobile driving platform 1 can be designed and set up, taking into account fill level values of the fresh water tank 13 and/or the cleaning agent tank 14, which are transmitted from the work control 8.1 to the control device 5, the omnidirectional mobile driving platform 1 on a floor in Depending on their environment to navigate autonomously to a filling station 17a and to cause or carry out a filling of the fresh water tank 13 and/or the cleaning agent tank 14 .
  • the control device 5 of the omnidirectional mobile driving platform 1 can also be designed and set up, taking into account the locking state of the soil treatment device 16, which is transmitted from the work control 8.1 to the control device 5, the omnidirectional mobile driving platform 1 on a floor depending on its environment autonomously to a To navigate changing station 17b and to cause or perform a change of soil treatment device 16.
  • the control device 5 of the omnidirectional mobile driving platform 1 can be designed and set up, taking into account the cleaning status of the floor, which is transmitted from the work controller 8.1 to the control device 5, the omnidirectional mobile driving platform 1 on the floor depending on its environment autonomously to the changing station 17b to navigate and to cause or carry out a change of soil treatment 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 routes in the vicinity of the omnidirectional mobile driving platform 1 are stored, and the control device 5 can be set up taking this into account this data stored in the memory 18 to automatically navigate the working device 8 in the vicinity of the omnidirectional mobile driving platform 1 .
  • the control device 5 of the omnidirectional mobile driving platform 1 and/or the working device 8 can have at least one sensor 19a, 19b, which supplies data on the position and orientation of obstacles and/or free driving paths in the area surrounding the omnidirectional mobile driving 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 this data supplied by the at least one sensor 19a, 19b.
  • the working device 8 in particular the scrubber-dryer device, has its own driving device 20, which is designed to move the working device 8 on the floor in an autonomously driven manner, and the control device 5 of the omnidirectional mobile driving platform 1 is designed to control the driving device 20 of the working device 8 in order to 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 scrubbing device, can have its own driving device 20, which is designed to autonomously move the working device 8 on the floor driven to move, wherein the working control 8.1 of the working device 8 has a working program, in particular a cleaning program, according to which the working device 8 is to be moved on the floor in a working strategy, in particular a cleaning strategy, and the control device 5 of the omnidirectional mobile driving platform 1 is designed to provide navigation commands of work control 8.1 and the omnidirectional mobile driving platform 1 has a memory 18 in which data about the position and orientation of obstacles and/or free driving paths in the area surrounding the omnidirectional mobile driving platform 1 are stored and the control device 5 is set up taking these into account data stored in the memory 18 and the navigation commands of the work controller 8.1 to automatically navigate the work device 8 in the vicinity of the omnidirectional mobile driving platform 1.
  • the omnidirectional mobile driving platform 1 can have a carrying device 12 and in particular also a lifting device 11, which is designed to carry the working device 8, in particular the scrubbing device and/or a motor vehicle, in each case at least by axis or completely by means of the carrying device 12 from the ground detached 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)

Claims (12)

  1. Ensemble composite d'une plateforme de déplacement (1) mobile de manière omnidirectionnelle et d'au moins un dispositif de travail (8) séparé,
    la plateforme de déplacement (1) mobile (1) présentant:
    - un châssis (3)
    - un dispositif de commande (5) agencé sur le châssis (3), qui est réalisé pour faire naviguer de manière autonome la plateforme de déplacement (1) mobile omnidirectionnelle sur un sol en fonction de son environnement, en ce que le dispositif de commande (5) pilote automatiquement au moins trois roues (4),
    - au moins un dispositif d'accouplement (7) relié au châssis (4), qui est réalisé pour accoupler ledit au moins un dispositif de travail (8) séparé à la plateforme de déplacement (1), afin de déplacer de manière autonome le dispositif de travail (8) accouplé au moyen du dispositif d'accouplement (7) dans l'environnement de la plateforme de déplacement (1) et plus précisément sous le piloptage du dispositif de commande (5) de la plateforme de déplacement (1), et
    ledit au moins un dispositif de travail (8) séparé présentant une propre commande de travail (8.1) pour piloter les fonctions de travail du dispositif de travail (8), caractérisé en ce que le dispositif de commande (5) de la plateforme de déplacement (1) est réalisé et configuré pour faire naviguer de manière autonome la plateforme de déplacement (1) sur un sol en fonction de son environnement, en tenant compte des instructions de commande de la commande de travail (8.1), de telle sorte que la commande de travail (8.1) envoie les instructions de vitesse de déplacement nécessaires au dispositif de commande (5) de la plateforme de déplacement (1) mobile omnidirectionnelle et que le dispositif de travail (8) suit le déplacement de la plateforme de déplacement (1) mobile omnidirectionnelle sans autre propre intelligence de navigation.
  2. Ensemble composite selon la revendication 1, caractérisé en ce que ledit au moins un dispositif de travail (8) séparé est un dispositif choisi parmi le groupe de dispositifs comprenant un dispositif de nettoyage de sol, un dispositif à autolaveuse, un dispositif de nettoyage à haute pression, un dispositif de levage de véhicule, un dispositif de changement de pneu, un dispositif de réservoir de véhicule et un dispositif de chargement de véhicule.
  3. Ensemble composite selon la revendication 1 ou 2, caractérisé en ce que le dispositif de travail (8) séparé est un dispositif à autolaveuse comprenant un réservoir d'eau fraîche (13) pouvant être rempli automatiquement, un réservoir de détergent (14) pouvant être rempli automatiquement et au moins un dispositif d'application de liquide (15) formé pour appliquer sur le sol de l'eau provenant du réservoir d'eau fraîche (13), un liquide de nettoyage provenant du réservoir de liquide de nettoyage (14) et/ou un mélange d'eau et de liquide de nettoyage, et comprend en outre un dispositif de traitement de sol (16) qui est réalisé de manière à agir sur le sol afin de nettoyer le sol pourvu du liquide de nettoyage, et plus précisément conformément à un programme de nettoyage défini dans la commande de travail (8.1).
  4. Ensemble composite selon la revendication 3, caractérisé en ce que le dispositif de commande (5) de la plateforme de déplacement (1) mobile omnidirectionnelle est réalisé et configuré pour faire naviguer de manière autonome la plateforme de déplacement (1) mobile omnidirectionnelle sur un sol en fonction de son environnement vers un poste de remplissage (17a) et pour déclencher ou effectuer un remplissage du réservoir d'eau fraîche (13) et/ou du réservoir de détergent, en tenant compte de valeurs de niveau de remplissage du réservoir d'eau fraîche (13) et/ou du réservoir de détergent (14), qui sont transmises par la commande de travail (8.1) au dispositif de commande (5).
  5. Ensemble composite selon la revendication 3 ou 4, caractérisé en ce que le dispositif de commande (5) de la plateforme de déplacement (1) mobile omnidirectionnelle est réalisé et configuré pour faire naviguer de manière autonome la plateforme de déplacement (1) mobile omnidirectionnelle sur un sol, en fonction de son environnement, vers une station de changement (17b) et pour inciter ou effectuer un changement du dispositif de traitement du sol (16), en tenant compte de l'état de fermeture du dispositif de traitement du sol (16), qui est transmis par la commande de travail (8.1) au dispositif de commande (5).
  6. Ensemble composite selon l'une des revendications 3 à 5, caractérisé en ce que le dispositif de commande (5) de la plateforme de déplacement (1) mobile omnidirectionnelle est réalisé et configuré pour faire naviguer de manière autonome la plateforme de déplacement (1) mobile omnidirectionnelle sur le sol en fonction de son environnement vers un poste de changement (17b) et pour inciter ou effectuer un changement du dispositif de traitement du sol (16), en tenant compte de l'état de nettoyage du sol qui est transmis par la commande de travail (8.1) au dispositif de commande (5).
  7. Ensemble selon l'une des revendications 1 à 6, caractérisé en ce que le dispositif d'accouplement (7) comprend un dispositif d'accouplement mécanique (7.1) agencé sur le dispositif de travail (8) et un dispositif de contre-accouplement mécanique (7.2) agencé sur le châssis (3) de la plateforme de déplacement (1) mobile omnidirectionnelle, qui est réalisé pour relier mécaniquement le dispositif de travail (8) à la plateforme de déplacement (1) mobile omnidirectionnelle dans un état d'accouplement mécanique avec le dispositif d'accouplement (7.1).
  8. Ensemble composite selon l'une des revendications 1 à 7, caractérisé en ce que le dispositif de commande (5) de la plateforme de déplacement (1) mobile omnidirectionnelle présente une mémoire (18) dans laquelle sont enregistrées des données sur la position et l'orientation d'obstacles et/ou de voies de circulation libres dans l'environnement de la plateforme de déplacement (1) mobile omnidirectionnelle et le dispositif de commande (5) est configuré pour faire naviguer automatiquement le dispositif de travail (8) dans l'environnement de la plateforme de déplacement (1) mobile omnidirectionnelle en tenant compte de ces données enregistrées dans la mémoire (18).
  9. Ensemble composite selon l'une des revendications 1 à 8, caractérisé en ce que le dispositif de commande (5) de la plateforme de déplacement (1) mobile omnidirectionnelle et/ou le dispositif de travail (8) présente au moins un capteur (19a, 19b), lequel fournit des données sur la position et l'orientation d'obstacles et/ou de voies de circulation libres dans l'environnement de la plateforme de déplacement (1) mobile omnidirectionnelle et le dispositif de commande (5) est configuré pour faire naviguer automatiquement le dispositif de travail (8) dans l'environnement de la plateforme de déplacement (1) mobile omnidirectionnelle, en tenant compte de ces données fournies par ledit au moins un capteur (19a, 19b).
  10. Ensemble composite selon l'une des revendications 1 à 9, caractérisé en ce que le dispositif de travail (8) comporte un dispositif de déplacement (20) propre, réalisé pour déplacer le dispositif de travail (8) sur le sol en étant entraîné de manière autonome et le dispositif de commande (5) de la plateforme de déplacement (1) mobile omnidirectionnelle de déplacement 1) est réalisé pour piloter le dispositif de déplacement (20) du dispositif de travail (8) afin de faire naviguer le dispositif de travail (8) conjointement avec la plateforme de déplacement (1) mobile omnidirectionnelle ou indépendamment de la plateforme de déplacement (1) mobile omnidirectionnelle dans l'environnement de la plateforme de déplacement (1) mobile omnidirectionnelle.
  11. Ensemble composite selon l'une des revendications 1 à 10, caractérisé en ce que le dispositif de travail (8) présente un propre dispositif de déplacement (20) qui est réalisé pour déplacer le dispositif de travail (8) sur le sol en étant entraîné de manière autonome et la commande de travail (8.1) du dispositif de travail (8) présente un programme de travail, en particulier un programme de nettoyage, selon lequel le dispositif de travail (8) doit être déplacé sur le sol dans une stratégie de travail, en particulier une stratégie de nettoyage, et le dispositif de commande (5) de la plateforme de déplacement (1) mobile omnidirectionnelle est réalisé pour recevoir des instructions de navigation de la commande de travail (8.1) et la plateforme de déplacement (12) mobile omnidirectionnelle présente une mémoire (18) dans laquelle sont enregistrées des données sur la position et l'orientation d'obstacles et/ou de voies de déplacement libres dans l'environnement de la plateforme de déplacement (1) mobile omnidirectionnelle et le dispositif de commande (5) est configuré pour faire naviguer automatiquement le dispositif de travail (8) dans l'environnement de la plateforme de déplacement (1) mobile omnidirectionnelle en tenant compte de ces données enregistrées dans la mémoire (18) et des ordres de navigation de la commande de travail (8.1).
  12. Ensemble composite selon l'une quelconque des revendications 1 à 11, caractérisé en ce que la plateforme de déplacement (1) mobile omnidirectionnelle présente un dispositif de support (12) qui est réalisé pour porter le dispositif de travail (8), notamment du dispositif à autolaveuse et/ou d'un véhicule automobile, respectivement dans un état soulevé du sol au moins de manière axiale ou complètement, au moyen du dispositif de support (12).
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

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

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DE102020127743A1 (de) * 2020-10-21 2022-04-21 Deere & Company Verfahren zur Versorgung einer mobilen Nutzeinheit mit einem Verbrauchstoff
GB2602072B (en) * 2020-12-17 2023-06-07 Dyson Technology Ltd Floor cleaner dock
CN113633224A (zh) * 2021-08-06 2021-11-12 珠海一微半导体股份有限公司 可重构的清洁机器人系统及控制方法

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KR100674564B1 (ko) * 2005-09-08 2007-01-29 삼성광주전자 주식회사 액체공급 스테이션을 구비한 이동로봇 시스템 및액체공급방법
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DE102015112466B4 (de) 2015-07-30 2022-08-11 Alfred Kärcher SE & Co. KG Bodenreinigungsmaschine und Verfahren zum Betreiben einer Bodenreinigungsmaschine
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EP3672465A1 (fr) 2020-07-01
CN111050619A (zh) 2020-04-21
WO2019038188A1 (fr) 2019-02-28
DE102017119574A1 (de) 2019-02-28

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