WO2023078943A1 - Système de transport mobile - Google Patents

Système de transport mobile Download PDF

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Publication number
WO2023078943A1
WO2023078943A1 PCT/EP2022/080573 EP2022080573W WO2023078943A1 WO 2023078943 A1 WO2023078943 A1 WO 2023078943A1 EP 2022080573 W EP2022080573 W EP 2022080573W WO 2023078943 A1 WO2023078943 A1 WO 2023078943A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive
transport system
mobile transport
markings
color
Prior art date
Application number
PCT/EP2022/080573
Other languages
German (de)
English (en)
Inventor
Dirk Degen
Josef Schmidt
Alexander Junginger
Gero Bockelmann
Andreas Tuskan
Jan-Patrick Ködderitzsch
Frank Erb
Original Assignee
Sew-Eurodrive Gmbh & Co. Kg
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 Sew-Eurodrive Gmbh & Co. Kg filed Critical Sew-Eurodrive Gmbh & Co. Kg
Publication of WO2023078943A1 publication Critical patent/WO2023078943A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/02—Steering linkage; Stub axles or their mountings for pivoted bogies
    • B62D7/023—Steering turntables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G06K19/06009—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code with optically detectable marking
    • G06K19/06046—Constructional details
    • G06K19/0614—Constructional details the marking being selective to wavelength, e.g. color barcode or barcodes only visible under UV or IR

Definitions

  • the invention relates to a mobile transport system for transporting objects, in particular in a technical system, which comprises a drive unit which has a first drive wheel which can be rotated about a first drive axis running in a transverse direction and a second drive wheel which can be rotated about a second drive axis running in the transverse direction.
  • the drive unit has a slewing ring and a drive frame, and wherein the drive frame can be pivoted about a steering axis relative to the slewing ring, and wherein the drive unit has a marking carrier which is arranged stationary relative to the drive frame and on which optically detectable markings are applied, with the drive unit has a camera for detecting the markings, which is arranged in a stationary manner in relation to the slewing ring.
  • mobile transport systems in particular autonomous mobile transport systems, are used to transport objects, for example small parts or boxes.
  • the mobile transport systems mentioned bring, among other things, components from logistics areas, such as a material warehouse, to workplaces where the components are processed.
  • Generic mobile transport systems are able to overcome slight inclines or declines as well as small speed bumps or similar obstacles.
  • Document DE 102020 002 676 B3 discloses a mobile transport system for transporting objects, in particular in a technical system, which comprises a drive unit which has a first drive wheel which can be rotated about a first drive axle running in a transverse direction and a first drive wheel which can be rotated about a second drive axle running in the transverse direction Drive axle having rotatable second drive wheel.
  • the drive unit also has a marking carrier, on which optically detectable markings are applied, and a camera for detecting the markings.
  • An optical two-dimensional code is known from the document EP 0 672 994 A1.
  • Such a code comprises a number of position symbols and a data region which has a number of cells, the cells containing binary-coded data.
  • the document DE 102008 032 786 A1 discloses a device and a method for determining a position of a vehicle.
  • a plurality of position markers are arranged along a path, and the vehicle has an optical position marker reader for scanning the position markers.
  • a method for positioning a vehicle and a positioning system are known from the document DE 102007 043 498 A1.
  • a marker is arranged in a stationary manner, and the vehicle includes a camera which captures the marker.
  • JAB code Just Another Bar Code
  • the object of the invention is to further develop a mobile transport system for transporting objects.
  • a mobile transport system for transporting objects, in particular in a technical system, comprises a drive unit which has a first drive wheel which can be rotated about a first drive axis running in a transverse direction and a second drive wheel which can be rotated about a second drive axis running in the transverse direction.
  • the drive unit has a slewing ring and a drive frame, the drive frame being pivotable about a steering axis relative to the slewing ring.
  • the drive unit has a marking carrier which is arranged in a stationary manner in relation to the drive frame and on which optically detectable markings are applied.
  • the drive unit also has a camera for detecting the markings, which is arranged in a stationary manner in relation to the slewing ring.
  • the markings applied to the marking carrier are designed as a two-dimensional barcode, in particular as a QR code.
  • the markers each include at least one element having a first color, at least one element having a second color, at least one element having a third color, and at least one element having a fourth color.
  • the said colors are different from each other.
  • the design of the mobile transport system according to the invention enables a visual detection of a pivoting position of the drive unit. In particular, as a result, an alignment of the drive wheels relative to a vehicle frame of the mobile transport system can be reliably and precisely detected. By detecting the instantaneous pivoting position of the drive unit, it is possible to regulate this pivoting position and the alignment of the drive wheels relative to the vehicle frame.
  • a two-dimensional barcode allows information to be displayed reliably and with redundancy, which advantageously avoids loss of information even if individual details are incorrectly identified. Markings with elements in different colors also ensure safety-related detection of the swivel position of the drive unit.
  • the markings applied to the marking carrier contain information from which a pivoting angle of the drive frame relative to the slewing ring about the steering axis can be determined.
  • the markings contain information about an absolute position, for example. An initialization of the drive unit, for example by moving to a defined reference position of the drive frame relative to the slewing ring, is therefore not necessary.
  • the first color is white
  • the second color is black
  • the third color is blue
  • the fourth color is red.
  • the steering axis extends in a vertical direction, and an extent of the marking carrier in the vertical direction is at least 1.1 times, at most 1.3 times, preferably 1.2 times the extent of a marking in vertical direction.
  • a free area between two adjacent markings in a circumferential direction with respect to the steering axis is smaller than a width of a marking.
  • the width of a marking is its extent in the circumferential direction in relation to the steering axis.
  • the camera and the markings are arranged in such a way that there are always five markings simultaneously in a detection cone of the camera.
  • a pivoting angle of the drive frame is relative to the slewing ring can also be determined if individual markings are damaged, dirty or illegible for other reasons.
  • the markings are applied to a surface of the marking carrier that faces away from the steering axis.
  • This arrangement allows the camera to be located at a position remote from the steering axis.
  • a central area around the steering axis can advantageously be used for the transmission of energy and data by means of a rotary transmitter if the camera is arranged outside of this central area.
  • the marking carrier is advantageously arranged at least partially between the steering axis and the camera.
  • the camera is located outside of the central area around the steering axis, which means that this central area can be used to transmit energy and data using a rotary transmitter.
  • the marking carrier is preferably configured at least approximately rotationally symmetrically to the steering axis. This enables exact detection of the swivel angle over a full swivel range of 360°.
  • the marking carrier preferably surrounds the drive frame at least approximately concentrically. This enables exact detection of the swivel angle over a full swivel range of 360°.
  • the steering axis preferably runs in a vertical direction, which extends at right angles to the transverse direction.
  • the vertical direction runs in particular at right angles to a floor on which the mobile transport system is standing.
  • the drive unit has a servomotor for driving the drive frame relative to the slewing ring about the steering axis.
  • a gear is preferably provided, via which the servomotor drives the drive frame about the steering axis.
  • Appropriate control of the servomotor enables the pivoting position of the drive unit and the alignment of the drive wheels to be regulated relative to the vehicle frame.
  • the first drive wheel is rotatably mounted on a first rocker pivotable about a first swing axis relative to the drive frame
  • the second drive wheel is rotatably mounted on a second rocker pivotable about a second swing axis relative to the drive frame.
  • the mobile transport system Due to the configuration of the mobile transport system according to the invention, uneven floors can be compensated for.
  • the pivoting movement of the rockers around the swing axles when driving over uneven ground ensures that both drive wheels are always in contact with the ground and have a sufficiently high contact pressure. It is not necessary to use springs to achieve a sufficiently high contact pressure of the drive wheels on the ground.
  • the mobile transport system has rigid kinematics, which advantageously prevent yielding or deflection when driving over uneven ground.
  • the drive unit has a first drive motor for driving the first drive wheel and a second drive motor for driving the second drive wheel, the first drive motor being arranged on the first rocker and the second drive motor being arranged on the second rocker.
  • Gears are preferably also provided, via which the drive motors drive the drive wheels.
  • the gears are also arranged on the rockers. The drive motors and the gears are thus arranged in a space-saving manner in a space between the drive wheels.
  • the first axis of oscillation runs in the transverse direction and the second axis of oscillation runs in the transverse direction.
  • the first oscillation axis and the second oscillation axis are preferably aligned with one another.
  • the oscillating axes thus run parallel to one another and parallel to the drive axles.
  • a pivoting movement of the rockers about the swing axles thus causes a displacement of the drive axles toward or away from the ground.
  • the mobile transport system comprises a vehicle frame and a pendulum frame, which can be pivoted about a pendulum axis relative to the vehicle frame, with a pair of first support wheels being arranged on the vehicle frame, and a pair of second support wheels being arranged on the pendulum frame, and the drive unit is arranged on the pendulum frame.
  • the pendulum axis runs at right angles to a vertical direction, which extends at right angles to the transverse direction.
  • the slewing ring is fixed in place on the pendulum frame.
  • the drive unit includes a rotary transmitter, by means of which electrical energy and data can be transmitted from the drive frame to the pendulum frame and from the pendulum frame to the drive frame.
  • the rotary transmitter has, for example, at least one slip ring.
  • the first support wheels are each rotatably mounted about a first axis of rotation running in a horizontal direction relative to the vehicle frame and pivotable about a first pivot axis running in a vertical direction relative to the vehicle frame.
  • the second support wheels are also each rotatably mounted about a second axis of rotation running in a horizontal direction relative to the pendulum frame and pivotable about a second pivot axis running in a vertical direction relative to the pendulum frame.
  • the vertical direction extends at right angles to the transverse direction. Horizontal directions extend perpendicularly to the vertical direction. Support wheels designed in this way are relatively inexpensive and also make cornering easier for the mobile transport system.
  • a braking device is arranged on each of the second support wheels, by means of which a rotation of the respective second support wheel about a second axis of rotation running in the horizontal direction can be braked.
  • the braking devices can be actuated electromagnetically, for example.
  • the second support wheels with the braking devices are also in constant contact with the ground. This means that the mobile transport system can be braked at any time, almost independently of the condition of the ground. Additional braking devices on the first support wheels and/or on the drive wheels are not required.
  • the mobile transport system has an additional sensor for detecting a pivoting angle of the drive frame relative to the slewing ring about the steering axis.
  • the additional sensor enables redundant detection of the pivoting position of the drive unit in a safety-relevant application of the mobile transport system according to the invention.
  • the additional sensor is designed, for example, as an optical sensor, as an inductive sensor or as a mechanical sensor using microswitches.
  • the invention is not limited to the combination of features of the claims. For the person skilled in the art, there are further meaningful combinations of claims and/or individual claim features and/or features of the description and/or the figures, in particular from the task and/or the task posed by comparison with the prior art.
  • Figure 1 a schematic side view of a mobile transport system
  • Figure 2 a side view of a drive unit
  • FIG. 3 a perspective view of a drive unit.
  • FIG. 1 shows a schematic side view of a mobile transport system 10.
  • the mobile transport system 10 is used to transport objects in a technical installation.
  • the technical installation is an industrial application, for example a production plant.
  • the transport system 10 is also used, for example, to deliver goods to a home of a private recipient in a city or in a residential area.
  • the mobile transport system 10 is an autonomous vehicle.
  • the mobile transport system 10 is located on a level floor within a technical installation.
  • the mobile transport system 10 comprises a vehicle frame 12 and a pendulum frame 14.
  • the pendulum frame 14 can be pivoted about a pendulum axis 13 relative to the vehicle frame 12.
  • the pendulum axle 13 runs in the lateral direction S.
  • the vehicle frame 12 has an approximately rectangular cross section and extends primarily in a basic direction T and in the transverse direction S.
  • the basic direction T corresponds at least approximately to the usual direction of travel of the mobile transport system 10.
  • the lateral direction S runs at right angles to the basic direction T.
  • the basic direction T and the lateral direction S represent horizontal directions and run parallel to the level ground on which the mobile transport system 10 located.
  • a vertical direction Z is perpendicular to the flat ground and is thus perpendicular to the basic direction T and perpendicular to the lateral direction S. Any direction perpendicular to the vertical direction Z represents a horizontal direction.
  • Two first support wheels 41 are arranged on the vehicle frame 12 and can be rotated relative to the vehicle frame 12 .
  • the first support wheels 41 are offset in the lateral direction S arranged to each other.
  • Two second support wheels 42 are arranged on the pendulum frame 14 and can be rotated relative to the pendulum frame 14 .
  • the second support wheels 42 are offset from one another in the lateral direction S.
  • the first support wheels 41 can each be pivoted about a first pivot axis 61 running in the vertical direction Z relative to the vehicle frame 12 . Furthermore, the first support wheels 41 are each mounted so as to be rotatable relative to the vehicle frame 12 about a first axis of rotation 51 running in a horizontal direction. In the representation shown here, the first axes of rotation 51 run in the lateral direction S. Depending on a pivoting of the first support wheels 41 about the first pivot axis 61, the first axes of rotation 51 run, for example, in the basic direction T or in another horizontal direction. The first pivot axis 61 and the first axis of rotation 51 of a first support wheel 41 do not intersect in the present case.
  • the second support wheels 42 can each be pivoted about a second pivot axis 62 running in the vertical direction Z relative to the pendulum frame 14 . Furthermore, the second support wheels 42 are each mounted so as to be rotatable relative to the pendulum frame 14 about a second axis of rotation 52 running in a horizontal direction. In the representation shown here, the second axes of rotation 52 run in the lateral direction S. Depending on a pivoting of the second support wheels 42 about the second pivot axis 62, the second axes of rotation 52 run, for example, in the basic direction T or in another horizontal direction. The second pivot axis 62 and the second axis of rotation 52 of a second support wheel 42 do not intersect in the present case.
  • the mobile transport system 10 includes a drive unit 70 which is arranged on the pendulum frame 14 .
  • the drive unit 70 has a drive frame 75 and a slewing ring 88 .
  • the drive frame 75 can be pivoted about a steering axis 95 relative to the slewing ring 88 .
  • the slewing ring 88 is attached to the pendulum frame 14 .
  • the drive frame 75 can thus be pivoted about the steering axis 95 relative to the pendulum frame 14 .
  • the drive unit 70 is arranged in the basic direction T between the first support wheels 41 and the second support wheels 42 .
  • the drive unit 70 also has a marking carrier 78 which is arranged in a stationary manner on the drive frame 75 .
  • Optically detectable markings 79 (not shown here) are applied to the marking carrier 78 .
  • Those on the marking carrier 78 applied markings 79 contain information from which a pivoting angle of the drive frame 75 relative to the slewing ring 88 about the steering axis 95 can be determined.
  • the drive unit 70 also has a camera 31 for detecting the markings 79 .
  • the camera 31 is arranged in a stationary manner in relation to the slewing ring 88 and, in the present case, is fastened to the pendulum frame 14 .
  • the drive unit 70 includes a first drive wheel 71 and a second drive wheel 72, which are rotatably mounted. In the representation shown here, the second drive wheel 72 is covered.
  • the drive wheels 71, 72 are arranged in the basic direction T between the first support wheels 41 and the second support wheels 42.
  • a distance between the second support wheels 42 in the basic direction T and the pendulum axle 13 is at least approximately equal to a distance between the steering axle 95 in the basic direction T and the pendulum axle 13.
  • the distance between the second support wheels 42 and the pendulum axle 13 in the basic direction T corresponds to the distance of the second pivot axes 62 to the pendulum axis 13 in the basic direction T.
  • FIG. 2 shows a side view of the drive unit 70.
  • the marking carrier 78 is partially arranged between the steering axis 95 and the camera 31.
  • the camera 31 is arranged at a distance from the marking carrier 78 .
  • the markings 79 are applied to a surface of the marking carrier 78 facing away from the steering axis 95 . Said surface faces the camera 31 .
  • a part of the marking carrier 78 is located in a detection cone 33 of the camera 31.
  • the camera 31 can be used to detect markings 79 on the marking carrier 78 which are located in the detection cone 33 .
  • the camera 31 and the markings 79 are arranged in such a way that there are always five markings 79 in the detection cone 33 at the same time.
  • a vacant area between two adjacent marks 79 is smaller than a width of one mark.
  • the width of a marking 79 is its extent in a circumferential direction in relation to the steering axis 95.
  • the steering axis 95 extends in the vertical direction Z.
  • the markings 79 are each approximately square and extend in the vertical direction Z and in said circumferential direction.
  • An extension of the marking carrier 78 in the vertical direction Z is greater than an extension of a marking 79 in the vertical direction Z.
  • an extension of the marking carrier 78 in the vertical direction Z is approximately 1.2 times the extension of a marking 79 in the vertical direction Z.
  • the drive unit 70 comprises a first rocker 81 which can be pivoted about a first swing axis 91 relative to the drive frame 75 and a second rocker 82 which is concealed here and which can be pivoted about a second swing axis 92 relative to the drive frame 75 .
  • the first oscillating axis 91 and the second oscillating axis 92 run in a transverse direction Y and are aligned with one another.
  • the rockers 81 , 82 can each be pivoted in a first pivoting direction A and in a second pivoting direction B opposite to the first pivoting direction A about the pivoting axes 91 , 92 relative to the drive frame 75 .
  • the transverse direction Y is perpendicular to the vertical direction Z.
  • a longitudinal direction X is perpendicular to the vertical direction Z and perpendicular to the transverse direction Y.
  • the longitudinal direction X and the transverse direction Y represent horizontal directions.
  • Each direction perpendicular to the vertical direction Z represents a horizontal direction
  • the drive frame 75 of the drive unit 70 can be pivoted about the steering axis 95 relative to the slewing ring 88 and to the pendulum frame 14 of the mobile transport system 10 .
  • the alignment of the drive frame 75 relative to the vehicle frame 12 and relative to the pendulum frame 14 changes.
  • the longitudinal direction X corresponds to the basic direction T
  • the transverse direction Y corresponds to the lateral direction S.
  • the first drive wheel 71 is rotatably mounted on the first rocker 81 about a first drive axis 73 running in the transverse direction Y.
  • the second drive wheel 72 is rotatably mounted on the second rocker 82 about a second drive axis 74 running in the transverse direction Y.
  • the second drive wheel 72 is covered.
  • the drive axles 73, 74 thus run parallel to the oscillating axles 91, 92, but are offset parallel to them.
  • the drive axles 73, 74 can be displaced relative to one another at right angles to the transverse direction Y by pivoting movements of the rockers 81, 82 about the swing axles 91, 92.
  • the drive axles 73, 74 intersect, at least approximately, the steering axle 95.
  • the drive unit 70 has a receiving unit 20 which is arranged on the drive frame 75 and to which energy can be transmitted inductively from a charging unit.
  • the charging unit is designed, for example, as a linear conductor or as a coil.
  • the energy inductively transmitted from the charging unit to the receiving unit 20 is used, for example, to charge an electrical energy store of the mobile transport system 10.
  • the drive unit 70 also has an inductive sensor 21 which is arranged on the drive frame 75 .
  • the inductive sensor 21 serves to detect a magnetic field. For example, if the magnetic field is generated by a linear conductor laid in the ground, the inductive sensor 21 allows to follow said linear conductor in order to reach a specific destination.
  • the drive unit 70 also has a rotary transmitter 94, not shown here.
  • the rotary transmitter 94 has slip rings, for example, by means of which electrical energy and data can be transmitted from the drive frame 75 to the slewing ring 88 and to the pendulum frame 14 . Electrical energy and data can also be transmitted from the slewing ring 88 and from the pendulum frame 14 to the drive frame 75 by means of the slip rings.
  • FIG. 3 shows a perspective view of the drive unit 70.
  • the marking carrier 78 is designed at least approximately rotationally symmetrically to the steering axis 95 and surrounds the drive frame 75 at least approximately concentrically.
  • the markings 79 (not shown here) are applied to a surface of the marking carrier 78 facing away from the steering axis 95 .
  • the camera 31 is not shown in this illustration.
  • the drive unit 70 has a servomotor 89 for driving the drive frame 75 relative to the slewing ring 88 about the steering axis 95 .
  • the servomotor 89 is stationarily arranged on the drive frame 75 and is operatively connected to a transmission, via which the servomotor 89 drives the drive frame 75 relative to the slewing ring 88 .
  • Said transmission comprises a pinion 97, which is arranged in a stationary manner on the drive frame 75, and a ring gear 98.
  • the ring gear 98 is arranged in a stationary manner on the ring gear 88.
  • the pinion 97 meshes with the ring gear 98.
  • the servomotor 89 drives the pinion 97, which meshes with the ring gear 98.
  • the rotary transmitter 94 has an approximately rotationally symmetrical, in particular circular-cylindrical, base body.
  • a cylinder axis of the base body of the rotary transmitter 94 runs in the vertical direction Z and is aligned with the steering axis 95 .
  • the rotary transmitter 94 is arranged in a stationary manner on the slewing ring 88 and can be pivoted about the steering axis 95 relative to the drive frame 75 .
  • the drive unit 70 includes a coupling unit, which has a rocker 80 that can be pivoted about a coupling axis relative to the drive frame 75 , a first strut 85 and a second strut 86 .
  • the first rocker 81 is connected to the rocker 80 by means of the first strut 85 .
  • the second rocker 82 is connected to the rocker 80 by means of the second strut 86 .
  • the coupling axis which is not visible here, runs in the longitudinal direction X. The first rocker 81 and the second rocker 82 are therefore coupled to one another via the said coupling unit.
  • the first drive wheel 71 drives onto a raised ground
  • the first drive wheel 71 is thereby moved upwards in the vertical direction Z.
  • the first rocker 81 is pivoted about the first pivot axis 91 in the first pivoting direction A.
  • the first rocker 81 thereby brings about a pivoting movement of the rocker 80 about the coupling axis via the first strut 85 .
  • the rocker 80 causes the second rocker 82 to pivot about the second pivot axis 92 in the second pivoting direction B via the second strut 86.
  • the second drive wheel 72 is moved downwards in the vertical direction Z.
  • the drive wheels 71, 72 move not only in the vertical direction Z, but also slightly in the longitudinal direction X. Due to the geometric arrangement of the rockers 81, 82 and the swing axles 91, 92, the movement of the drive wheels 71, 72 in the longitudinal direction X compared to the movement in the vertical direction Z, however, is negligible.
  • the first rocker 81 and the second rocker 82 are thus coupled to one another via the coupling unit in such a way that a pivoting movement of the first rocker 81 about the first pivoting axis 91 in the first pivoting direction A triggers a pivoting movement of the second rocker 82 about the second pivoting axis 92 in the second pivoting direction B causes.
  • the first rocker 81 and the second rocker 82 are also coupled to one another via the coupling unit such that an upward movement of the first drive wheel 71 in the vertical direction Z causes a downward movement of the second drive wheel 72 in the vertical direction Z, and vice versa.
  • the first strut 85 and the second strut 86 extend at least approximately in the vertical direction Z.
  • the first strut 85 and the second strut 86 are each independent adjustable in length from each other. That means an extension of the struts 85, 86 in the vertical direction Z can be adjusted.
  • the drive unit 70 has an inclination sensor, not shown here, which detects an inclination of the rocker 80 about the coupling axis relative to the drive frame 75 .
  • the drive unit 70 has an inclination sensor, not shown here, which detects an inclination of the first rocker 81 about the first swing axis 91 relative to the drive frame 75 .
  • the drive unit 70 has an inclination sensor, not shown here, which detects an inclination of the second rocker 82 about the second swing axis 92 relative to the drive frame 75 .

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un système de transport mobile (10), pour le transport d'objets, en particulier dans une installation technique, comprenant une unité d'entraînement (70) qui comporte une première roue motrice (71) pouvant tourner autour d'un premier essieu moteur (73) s'étendant dans une direction transversale (Y), et une deuxième roue motrice (72) pouvant tourner autour d'un deuxième essieu moteur (74) s'étendant dans la direction transversale (Y) ; l'unité d'entraînement (70) possédant une couronne d'orientation (88) et un cadre d'entraînement (75) ; ledit cadre d'entraînement (75) pouvant pivoter autour d'un essieu directeur (95) par rapport à la couronne d'orientation (88) ; l'unité d'entraînement (70) possédant un support de marquage (78) qui est disposé de manière fixe par rapport au cadre d'entraînement (75) et sur lequel sont disposés des marquages (79) optiquement détectables ; l'unité d'entraînement (70) présentant une caméra (31) servant à détecter les marquages (79) qui est disposée de manière fixe par rapport à la couronne d'orientation (88). Les marquages (79) appliqués sur le support de marquage (78) se présentent sous forme de code-barres bidimensionnels, en particulier sous forme de code QR, chacun comprenant au moins un élément ayant une première couleur, au moins un élément ayant une deuxième couleur, au moins un élément ayant une troisième couleur et au moins un élément ayant une quatrième couleur, lesdites couleurs étant différentes les unes des autres.
PCT/EP2022/080573 2021-11-08 2022-11-02 Système de transport mobile WO2023078943A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021005504 2021-11-08
DE102021005504.7 2021-11-08

Publications (1)

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WO2023078943A1 true WO2023078943A1 (fr) 2023-05-11

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DE (1) DE102022004097A1 (fr)
WO (1) WO2023078943A1 (fr)

Citations (5)

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EP0672994A1 (fr) 1994-03-14 1995-09-20 Nippondenso Co., Ltd. Méthode et appareil pour lire un code optique à deux dimensions
DE102007043498A1 (de) 2007-09-12 2009-03-19 Pepperl + Fuchs Gmbh Verfahren zur Positionierung eines Fahrzeugs sowie Positioniersysteme
DE102008032786A1 (de) 2008-07-11 2010-06-10 Pepperl + Fuchs Gmbh Vorrichtung und Verfahren zum Bestimmen einer Position eines Fahrzeugs
US20190279059A1 (en) * 2015-09-10 2019-09-12 Alibaba Group Holding Limited Generating and decoding two-dimensional code
DE102020002676B3 (de) 2020-05-05 2021-03-25 Sew-Eurodrive Gmbh & Co Kg Mobiles Transportsystem

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