ES2953908A1 - GUIDANCE SYSTEM OF A SLAVE CARGO VEHICLE AND THE SLAVE CARGO VEHICLE THAT INCLUDES IT (Machine-translation by Google Translate, not legally binding) - Google Patents

Abstract

Guidance system of a cargo slave vehicle and cargo slave vehicle that includes it. The guidance system of a slave vehicle (9) comprises: a guidance element (21) for applying an external force; a first member (22) for receiving the guiding element (21); a second member (23) with a housing (16) to receive the first member (22); a self-centering mechanism to maintain, in the absence of external force, the first member (22) within the housing (16); several sensors (7) to measure a change in position of the first member (22) with respect to the second member (23); an interface (28) to receive each position change measured by a sensor (7) and determine a direction and direction for the applied external force and generate an instruction to drive a motor (29). (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

Guidance system of a cargo slave vehicle and cargo slave vehicle that includes it

Technical field of the invention

The invention pertains to guidance assistants adapted to direct a vehicle and control its movement. The invention refers to a system for guiding a vehicle, preferably industrial. Specifically, to guide a motorized cargo vehicle by means of a mechanism that, coupled to the vehicle, translates a relative movement of one part around another part into a movement of the vehicle. This allows you to set the direction and speed with which the vehicle should move. The force used to guide the load vehicle can be applied manually or by another master vehicle.

State of the Art

The known mechanisms for steering a vehicle have some limitations and problems. For example, for different types of cargo, companies must have different types of vehicles that greatly determine versatility and scalability. It is common for these vehicles to be of the slave type, that is, vehicles designed to be directed or guided externally, either by means of an electronic remote control device, or manually by means of a mechanical or electro-mechanical control.

It is observed that such mechanisms are generally complex and specific to each manufacturer and incompatible with each other. It is noted that this has an impact on a low capacity in the updating and adaptation of industrial vehicles.

A particular case, where the previous problem is accentuated, is with robotic cargo vehicles, for example, of the AMR (Automated Mobile Robot) type. An industrial plant that uses a specific AMR is conditioned to work with devices from the same manufacturer and under the initially configured loading and/or lifting conditions.

For special loads, market AMRs are expensive since they need to be specifically manufactured. For example, loads that are heavy, longer than a pallet or that must be lifted to different heights. Furthermore, any resizing of the loads with which the AMR works and for which it is designed, often implies the need to completely change the vehicle.

Brief description of the invention

A system that resolves or at least mitigates the limitations and problems observed in the state of the art would be desirable.

The present invention proposes in its most general form a guidance system for a motorized cargo slave vehicle, or simply slave vehicle, according to the independent claim. Particular embodiments are defined in the dependent claims.

Also the object of the invention is a slave vehicle that includes the guidance system and is combined with a modular design capable of mounting various auxiliary equipment to operate in the industrial environment. Versatility is improved thanks to the ability to easily transform, according to a standardizable coupling scheme, a slave vehicle according to the needs of each company.

The slave vehicle with the guidance system can be driven by a master vehicle or with a manual guidance element that we call a handler.

Brief description of the figures

FIG. 1 is a simplified block diagram of the guidance system.

FIG. 2A is an example of the guidance system seen from below.

FIG. 2B is an example of the guidance system according to an exploded view.

FIG. 3A is an example of a vehicle composed of a master plus a slave, both coupled by the guidance system with a lifting accessory.

FIG. 3B is an example of the operation of the guidance system in a compound vehicle with a lifting accessory.

FIG. 4A is an example of a composite vehicle with a bolt coupled to the guidance system located in its upper part.

FIG. 4B is an example of an embodiment of a vehicle composed of a platform that mounts a lifting accessory and is driven thanks to the guidance system. FIG. 4C is an extension of the connection of the guidance system between the slave vehicle and the master vehicle of the example embodiment of FIG. 4B.

FIG. 4D is a section of the example embodiment of FIG. 4B.

FIG. 5A is an example of an embodiment, seen from below, of the guidance system of a platform with a lifting system on a slave vehicle.

FIG. 5B is an example of the guidance system of a platform with a lifting system manually controlled by a handler.

LIST OF NUMERICAL REFERENCES

1 Hole for bolt.

2 Annular disc.

3 Housing.

4 Holes for fixing.

5 Spring.

6 Fixed body.

7 Sensors.

8 Friction washer.

9 Slave vehicle.

10 Steering wheels of the slave vehicle.

11 Drive wheels of the slave vehicle.

12 Lifting element (slave vehicle auxiliary equipment).

13 Master vehicle.

14 Master vehicle bolt.

15 Shooter.

16 Accommodation (with travel clearance).

17 Shooter buttons.

19 Composite vehicle.

20 Guidance system.

21 Guiding element.

22 First member.

23 Second member.

25 Elastic element.

28 Interface.

29 Engine

Detailed description of the invention

With reference to the previous figures, several embodiments and various aspects of the invention are described, for illustrative purposes without limitation.

FIG. 1 schematically represents in blocks a guidance system 20 of a slave vehicle 9. Through a guidance element 21, for example, a bolt or a bolt or some other similar mechanism, an external force can be applied to the system 20 itself. It can be done manually by a user, generally an industrial operator. It can also be done through a master vehicle 13 coupled with system 20 (and therefore with the slave vehicle 9). Both possibilities are considered.

The guidance system 20 includes two members that cooperate with each other. A first member 22 is formed by a piece adapted to receive the guide element 21, for example, by mechanically joining it. System 20 includes a second member 23 which is formed by a piece with a housing made inside. Said housing is intended to contain, at least partially, the first member 22 (see embodiments of the housing in subsequent figures under reference number 16). Thus, the dimensions of the housing must ensure some margin for internal displacement of the first member 22 in various directions in a plane. Such directions are those that the slave vehicle 9 must replicate in its movement. To do this, the direction in which the first member 22 moves must be translated into an instruction to control one or more motors 29 of the slave vehicle 9 reproducing a movement as that which is desired to be achieved by applying external force. An interface 28 performs the translation.

As indicated, the first member 22 must be movable with respect to the second member 23, which houses it at least in part. Also, it must be able to return to an original reference position in the absence of external force. For this purpose, a self-centering mechanism is needed, installed between both members. This self-centering mechanism counteracts a relative displacement between members caused by an external force, so that, when this force ceases, it returns to its reference position.

There are several ways to carry out this centering mechanism. For example, a series of self-centering elements distributed throughout the housing are provided. So that, if the external force ends, the first member 22 recovers its reference position in the housing.

One option for self-centering elements is to use elastic elements (see later figures under reference number 5) that elastically fasten the first member 22 to the second member 23.

Another equivalent option is through magnetic elements (permanent magnets or electro-magnetic devices) that support the first member 22 within the second member 23. A self-centering magnetic element has one pole on the first member 22 facing (in line) another pole. in the second member 23, both proximal poles with the same polarity (N-N or S-S) so that they repel each other. They are distributed so that some magnetic elements compensate for others. Thus resulting, the first member 22 floats or levitates within the housing of the second member 23.

The main thing about both options is that they allow the presence of an external force to be identified, since the first member 22 changes position, from a position of reference to a position indicative of the characteristics of the external force. Also, it can return to said reference position when the external force ends.

Changes in position of the first member 22 with respect to the second member 23 are detected by sensors 7 that communicate this information to an interface 28. The interface 28 establishes the characteristics of the external force applied, essentially, its direction and sense. For example, by processing the interpolated distances collected by the sensors 7. According to these characteristics, an instruction is generated to activate one or more motors of the slave vehicle 9 to direct its movement. The interface 28 is preferably made with electronic components and may include a processor or computer, a controller, a memory, a programmable controller (PLC), etc.

Additionally, in one embodiment, the slave vehicle 9 equipped with the guidance system 20 allows auxiliary equipment to be properly controlled. For example, a lifting element with its movements of raising, lowering, opening, extension of nails, lateral displacement, etc. It can also incorporate other auxiliary logistic equipment that is also connected according to the needs of each company. All of this, coupled to the slave vehicle 9, is also commanded through the interface 28. The instructions received by the interface 28 are selectively communicated either to the slave vehicle 9 or to the auxiliary equipment. The advantage of all instructions passing through interface 28 is that they can be managed together. This allows for more complete coordination. For example, it can be used if the auxiliary equipment installs its own sensors so that this information is integrated with the movement information of the slave vehicle. Which, in some circumstances, can avoid collisions or incompatible movements.

FIG. 2A shows various elements of the guidance system 20 according to a particular embodiment. An annular disc 2 is seen attached to a fixed body 6, with an elastic self-centering mechanism based on springs 5 (analogously, it could be magnetic). The fixed body 6 houses the annular disc 2 in a housing. The springs 5 can be, for example, made of elastomeric material. These springs 5, in a state of rest, (without external forces applied) keep the annular disc 2 floating and internally centered with respect to the fixed body 6 that acts as a cover that surrounds it. The annular disc 2 decenters when a force is applied, in any direction. To transmit the external force on the floating annular disc 2, a bolt 14 is included. in a hole 1 made in the annular disc 2. The bolt 14 fits into the annular disk 2. The bolt 14 and the annular disk 2 move in solidarity with respect to a housing 16 with clearance that allows a certain margin or travel in different directions. The annular disc 2 returns to the rest position at the moment the force ceases thanks to the aforementioned set of springs 5.

FIG. 2B shows an exploded view of the embodiment of FIG. 2A. The operation of the guidance system uses the individual displacements of each spring 5 measured by a set of sensors 7, to measure the direction, direction and also magnitude of the vector that represents the external force. In total, six springs 5 have been used to connect the fixed body 6 with the floating annular disc 2. It can be seen that the annular disc 2 has a central hole 1 and incorporates four sensors 7 distributed in quadrants to measure the displacement in any direction. of the floating annular disc 2. Thus, the orientation of the externally exerted force is obtained thanks to the measurement of distances to transmit traction speeds and interpolation between the four sensors 7 for their orientation. In one embodiment, for example, these sensors 7 can be implemented using inductive detectors. The sensors 7 are installed inside the housing 3 which is assembled to the fixed body 6.

The information captured by the sensors 7 is communicated to an interface (not shown in this figure) that converts it into movement instructions for one or more motors associated (not shown) with the steering wheels and/or driving wheels. The instruction may include a part with information for moving the drive wheels and another part with information for turning the steering wheels an angle according to the direction of that force. In a specific embodiment, the interface can also manage and process instructions to control one or more motors of the auxiliary equipment mounted on the slave vehicle.

FIG. 3A and FIG. 3B are an example of operation according to an embodiment of a vehicle composed 19 of a master vehicle 13 and a slave vehicle 9 coupled together thanks to the guidance system 20. Clearly, in this embodiment the modularity and versatility achieved can be seen.

On the one hand, the same slave vehicle 9 can be designed to be coupled with different auxiliary equipment with its own mechanisms and drives to perform specific tasks. In this case, the slave vehicle 9 is coupled with a lifting element 12 that serves for loading and/or unloading of goods. Thus, it can be provided with new dimensional characteristics, load capacity, lifting capacity and handling of different volumes. To this end, the slave vehicle 9 can be designed with an attachable platform with a variety of auxiliary equipment.

On the other hand, the master vehicle 13 can direct the slave vehicle 9 without the need for additional mechanisms through the guidance system 20. The guidance system 20 can be controlled remotely, either automatically or manually. An example of the latter is a remote control that, operated by an operator, allows the master vehicle 13 to drive. The maneuvers of the master vehicle 13 are replicated by the slave vehicle 9, forming a composite vehicle 20 that moves together, as if it were a unique vehicle thanks to the 20 guidance system.

The operation of the guidance system 20 is seen in greater detail in FIG. 3B, the composite vehicle 20 incorporates a master vehicle 13 that guides the slave vehicle 9 thanks, on the one hand, to the coupling between both and, on the other, by means of the coupling of the slave vehicle 9 itself with the auxiliary equipment, specifically with the lifting element. 12.

For example, when a tensile force is applied, that floating annular disc 2 is offset in the direction of the applied force with a controlled tension (e.g. approximately 10 N) and a displacement "D" of concentricity (e.g. up to 15 mm) according to an orientation angle "O".

When the axle 1, which can be pushed by a bolt 14 existing on the master vehicle 13, is coupled to this guidance system 20, or to a handle 15, all the force exerted is replicated to the slave vehicle 9. Instead of a bolt 14, there may be another analogous coupling component between the master vehicle 13 and the guidance system 20.

This displacement "D" of concentricity can be translated into a movement with a multiplying effect on the slave vehicle 9 that is intended to move. Thus an external guiding force of 10 N can be used to pilot slave vehicles 9 of several tons. The direction of traction and according to whether the bolt 14 is more or less decentered. Also, it can replicate the speed of the master vehicle 13 or the manual puller 15. The interpretation and replication is carried out through the interface.

With reference to FIGS. 4A-4D explains an example of a composite vehicle 19 with the union of master vehicle 13 plus slave vehicle 9 thanks to the introduction of the coupling bolt 14 into the master vehicle 13. The slave vehicle 9 mounts the lifting element 12 on a platform.

FIG. 4A shows an image of the bolt 14 protruding from the upper base of the master vehicle 13 that is intended to engage (e.g. engage) with the guidance system of the slave vehicle. This allows a wide variety of transformation combinations into other more complex and specific vehicles, achieving versatility and scalable modularity.

FIG. 4B shows an image of the resulting composite vehicle 20, where the master vehicle 13 is already coupled to the slave vehicle 19 (located above) by connecting the bolt with the guidance system 20 of the slave vehicle 19.

FIG. 4C shows an image of various components of the guidance system 20. The coupling is carried out through the bolt 14 actuated by a master vehicle 13 or by a simple manual puller. A self-centering mechanism with springs 5, already described, allows the collection of thrust information through sensors 7, as well as the direction (and direction) by the master vehicle 13 or the shooter 15. This information is processed by the electronic part of the interface. (not shown).

In one embodiment, the angular vector information associated with the direction of the external force serves to govern the rotation of the steering wheels 10 of the slave vehicle 9 and the displacement information (mm of displacement "D" with respect to the concentric position of the disc floating annular ring with respect to the body) of the guidance system 20 serves to drive the drive wheels 11, thus achieving a multiplying effect. That is, a minimum load exerted by the master vehicle 13, or by the manual handle 15, commands a movement in the slave vehicle. 9 and, if that force stops acting, the slave vehicle 9 also stops.) Thus, both force, speed and direction are directed by the master vehicle 13 or the manual puller 15 and the slave vehicle 9 simply replicates or copies the movement following those actions. With the motorization of the slave vehicle 9, an applied external force is multiplied. Thanks to the guidance system 20, this multiplied force is controlled in a precise and at the same time simple way.

The master vehicle 13 can be a very basic AMR with minimal force motor elements to which it is coupled with the bolt 14. It can also be operated by an operator using a simple manual handle 15 with its own bolt. In both cases, It is possible to manually direct industrial vehicles of high tonnage and complexity through a copying and multiplying effect. Directing it manually is intuitive and operators manage to master its use with precision and with little need for learning.

FIG. 4D shows a section of the composite vehicle 19, where the union of the different parts can be better appreciated. Specifically, the bolt 14 is responsible for mechanically joining the guidance system 20 with the master vehicle 13. To do this, there is a linear actuator on the master vehicle 13 that raises the bolt 14 to engage the guidance unit mounted on the vehicle. slave 9. Motors 29 located at the rear of the slave vehicle 9 are responsible for driving the drive wheels. Similarly, other motors 29 located in the front part of the slave vehicle 9 are responsible for driving the steering wheels.

FIG. 5A shows an embodiment of the slave vehicle 9 with the guidance system 20 seen from below. The slave vehicle 9 mounts a lifting element 12. The motors 29 associated with the steering movement of the front wheels 10, and the driving movement of the rear wheels 11, can also be seen.

FIG. 5B shows an embodiment where the guiding element is a manual handle 15 coupled with this guidance system 20 allows pushing or pulling various machinery, that is, slave vehicles 9. With this option, they are directed manually, acting on their /s motor/s through the interface, even if they weigh several tons. Simply, in the case of driving motor and steering motor, on the one hand, the thrust direction is detected and copied. On the other hand, the external force exerted to produce an equivalent force that acts on the slave vehicle is detected. Thus, they can be directed, with little effort, for specific operations or simply to change their location.

When the slave vehicle 9 is driven manually with the handle 15, it is provided in some embodiments that it has control capability. To do this, the handle 15 is also communicated, through the interface 28, with the parts to be controlled of the auxiliary equipment of the slave vehicle 9. For example, the handle 15 can have simple buttons 17 with progressive pressing (the further travel, more speed, for example, by defining two or more speed levels). Using buttons 17, you can operate, via interface 28, on this auxiliary equipment (for example, a lifting device to raise or lower merchandise). It may be appropriate to establish some checks for security. First, that the bolt for the handle is correctly coupled with the slave vehicle 9 through the guidance system interface (it can additionally provide it with energy). Second, that the guidance system 20 is in a concentric reference position (indicative of the absence of external force) to prevent acting on the auxiliary equipment when there is displacement.

A practical case in the Industry where several benefits of this proposal are appreciated is the coupling between an electric AMR, as a master vehicle, and an electric slave vehicle. As indicated, although a basic AMR has a minimum tractor and load capacity, it can govern lifting stations or other similar slave vehicles like any much heavier transport platforms with its own motorization and direction that will be guided by this basic AMR. This allows you to integrate, scale and multiply functionalities.

There is a coupling of sensors that implies that all the sensors of both can be shared through the interface of the guidance system. For example, both navigation and positioning sensors (Bluetooth, ultrasound, laser, NFC, etc.) and data collection sensors (weight, temperature, humidity, etc.).

Additionally, through the interface, the correct connection and supply of electrical energy sources (batteries) can be managed in a balanced manner. For example, slave platforms (much heavier) can be permanently recharging the batteries of the master vehicle (AMR), but also vice versa. The interface can monitor the charge level of each battery, and give instruction accordingly. It is allowed to recharge an electric battery with a lower charge with the other battery with a higher charge, if the greater charge exceeds a threshold that allows part of the excess charge to be transferred.

Although the invention has been described, without limitation, through several specific embodiments. It should be understood that various changes can be made to adapt to specific circumstances within the scope defined by the attached claims.

Claims (12)

1. Guidance system of a cargo slave vehicle (9) that includes: a guiding element (21) configured to apply an external force; a first member (22) configured to receive the guiding element (21); a second member (23) comprising a housing (16) capable of receiving the first member (22); a self-centering mechanism configured to maintain, in the absence of external force, the first member (22) in a reference position within the housing (16) of the second member (23); a plurality of sensors (7), where each sensor (7) is configured to measure a change in position of the first member (22) with respect to the second member (23); an interface (28) configured to receive each position change measured by a sensor (7) and determine a direction and a sense for the applied external force and generate an instruction according to said direction and said sense, where the instruction is to operate at least one motor (29) associated with the slave vehicle (9). 2. Guidance system according to claim 1, wherein the self-centering mechanism comprises a plurality of elastic elements (5) distributed in a plurality of locations of the housing (16), where the elastic elements (5) connect the first member (22) with the second member (23), so that the first member (22) is movable within the housing (16) due to the external force, and in the absence of said external force it remains in a fixed reference position. 3. Guidance system according to claim 1, wherein the self-centering mechanism comprises a plurality of magnetic elements distributed to support, by means of magnetic repulsion, the first member (22) in the housing (16) of the second member (23), so that The first member (22) is movable within the housing (16) due to the external force, and in the absence of said external force it remains in a fixed reference position. 4. Guidance system according to any one of claims 1 to 3, wherein the interface (28) is configured to process the change in position of the first member (22) with respect to the second member (23) and assign a magnitude to the external force. applied according to the change in position. 5. Guidance system according to claim 4, wherein the interface (28) is configured to generate a first type of instruction for a first motor associated with a motor movement of the slave vehicle (9), and a second type of an instruction for a second motor associated with a steering movement of the slave vehicle (9). 6. Guidance system according to claim 5, wherein the interface (28) is configured to identify the presence of an auxiliary equipment mounted by the slave vehicle (9) with a third engine associated with the auxiliary equipment, and where the interface (28) It is also configured to generate a third type of instruction to control the third motor. 7. Guidance system according to any one of claims 1 to 6, wherein the guidance element (21) is configured to join the slave vehicle (9); where the first member (22) comprises an annular disc (2); where the second member (23) comprises an annular cover (6) and a housing (3), where the annular disc (2) is floating within the housing (3) by means of the elastic elements (5), where the elastic elements ( 5) that are distributed and connect the exterior part of the annular disc (2) with the interior part of the casing (3). 8. Guidance system according to any one of claims 1 to 7, wherein the guidance element (21) is connectable with a bolt (14) of a master vehicle (13), where the master vehicle (13) is configured to move and applying an external force on the guiding element (21). 9. Guidance system according to claim 8, where, if the slave vehicle (9) and the master vehicle (13) are each powered by an electric battery, the interface (28) is configured to monitor the charge level of each battery, and to generate an instruction to recharge the lower charge electric battery with the higher charge battery, if the higher charge exceeds a threshold. 10. Guiding system according to any one of claims 1 to 8, wherein the guiding element (21) is connectable to a handle (15) to manually apply an external force. 11. Guidance system according to claims 5 and 10, wherein the handle (15) comprises one or more buttons (17) to be operated by a user, where, in the absence of external force applied to the self-centering mechanism, a third type is generated. of instruction on the interface (28) to act on the third motor associated with the auxiliary equipment. 12. Slave cargo vehicle (9) comprising the guidance system according to any one of claims 1 to 11.