ES1312847U - GUIDANCE SYSTEM FOR A LOAD SLAVE VEHICLE AND THE LOAD SLAVE VEHICLE THAT INCLUDES IT - Google Patents

Abstract

Guiding system (20) of a slave cargo vehicle (9) comprising: 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 the 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) relative to the second member (23); an interface (28) configured for the generation of an instruction according to a direction and a sense, where the instruction involves the actuation of at least one motor (29) associated with the slave vehicle (9), where the direction and sense for the applied external force depends on the change in position measured by each sensor (7). (Machine-translation by Google Translate, not legally binding)

Description

DESCRIPTION

GUIDANCE SYSTEM FOR A LOAD AND VEHICLE SLAVE

LOAD SLAVE THAT INCLUDES IT

Technical field of the invention

The invention relates to guidance aids adapted to direct a vehicle and control its movement. The invention relates to a system for guiding a vehicle, preferably an industrial one. Specifically, for guiding a motorised cargo vehicle by means of a mechanism which, coupled to the vehicle, translates a relative movement of a part around another part into a movement of the vehicle. This allows the direction and speed at which the vehicle must move to be set. The force used to guide the cargo 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 loads, companies must have different types of vehicles, which greatly affect versatility and scalability. These vehicles are usually 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 noted that such mechanisms are generally complex, manufacturer-specific and incompatible with each other. This results in a limited capacity for updating and adapting industrial vehicles.

A particular case where the above problem is accentuated is with robotic loading 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, commercial AMRs are expensive because they need to be specifically manufactured. For example, loads that are heavy, longer than a pallet or that need to be lifted to different heights. In addition, any resizing of the loads that the AMR handles and for which it is designed often means 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 slave cargo vehicle, or simply slave vehicle. Particular embodiments are defined in the dependent claims.

The invention also relates to a slave vehicle comprising the guidance system and combined with a modular design capable of mounting various auxiliary equipment for operation in the industrial environment. Versatility is improved thanks to the ability to easily transform, according to a standardised 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 called a puller.

Brief description of the figures

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

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

FIG. 2B is an exploded view of an embodiment of the guiding system.

FIG. 3A is an exemplary embodiment 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 composite vehicle with a lifting accessory.

FIG. 4A is an exemplary embodiment of a composite vehicle with a pin coupled to the guidance system located at its upper part.

FIG. 4B is an exemplary embodiment of a composite vehicle with a platform that mounts a lifting accessory and that is driven thanks to the guidance system. FIG. 4C is an enlargement of the connection of the guidance system between the slave vehicle and the master vehicle of the exemplary embodiment of FIG. 4B.

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

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

FIG. 5B is an exemplary embodiment of a platform guidance system with a lifting system manually controlled by a puller.

LIST OF NUMERICAL REFERENCES

1 Bolt hole.

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 (auxiliary equipment of the slave vehicle).

13 Master vehicle.

14 Master vehicle pin.

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 preceding 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 pin or bolt or some other similar mechanism, an external force can be applied to the system 20 itself. This 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 contemplated.

The guidance system 20 includes two members cooperating with each other. A first member 22 is formed by a piece adapted to receive the guiding element 21, for example, by mechanically joining it. The system 20 includes a second member 23 which is formed by a piece with a housing formed therein. Said housing is intended to contain, at least partially, the first member 22 (see embodiments of the housing in later figures under numerical reference 16). In this way, the dimensions of the housing must ensure a certain margin for the 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 by reproducing a movement such as that to be carried out by applying the external force. An interface 28 performs the translation.

As indicated, the first member 22 must be movable relative to the second member 23, which houses it at least in part. It must also be capable of returning to an original reference position in the absence of external force. To this end, 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 of implementing this centring mechanism. For example, a series of self-centring elements are provided distributed around the housing. So that, if the external force ends, the first member 22 returns to its reference position in the housing.

An option for self-centering elements is to use elastic elements25 (see later figures under numerical reference 5) that elastically hold 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 a pole on the first member 22 facing (in line) another pole on the second member 23, both proximal poles having 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, 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 reference position 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 the position of the first member 22 relative to the second member 23 are detected by sensors 7 which communicate this information to an interface 28. The interface 28 establishes the characteristics of the applied external force, 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 actuate one or more motors of the slave vehicle 9 to direct its movement. The interface 28 is preferably made of electronic components and may include a processor or computer, a controller, a memory, a programmable logic controller (PLC), etc.

Additionally, in one embodiment, the slave vehicle 9 equipped with the guidance system 20 allows an auxiliary equipment to be duly controlled. For example, a lifting element with its movements of raising, lowering, opening, extension of forks, lateral movement, etc. It can also incorporate other auxiliary logistical equipment equally 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 the instructions passing through the interface 28 is that they can be managed jointly. 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 information on the movement of the slave vehicle. Which, in some circumstances, can avoid collisions or incompatible movements.

FIG. 2A shows several elements of the guiding system 20 according to a particular embodiment. An annular disk 2 is seen attached to a fixed body 6, with an elastic self-centering mechanism based on springs 5 (similarly, it could be magnetic). The fixed body 6 houses the annular disk 2 in a housing. The springs 5 can be, for example, made of elastomeric material. These springs 5, in a resting state, (without external forces applied) keep the annular disk 2 floating and internally centered with respect to the fixed body 6 that acts as a cover surrounding it. The annular disk 2 is decentered when a force is applied, in any direction. For the transmission of the external force on the floating annular disk 2, a bolt 14 is included inserted in a hole 1 made in the annular disk 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 disk 2 returns to the rest position when 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, sense and also magnitude of the vector representing the external force. In total, six springs 5 have been used that connect the fixed body 6 with the floating annular disk 2. It can be seen that the annular disk 2 has a central hole 1 and has four sensors 7 incorporated distributed in quadrants to measure the displacement in any direction of the floating annular disk 2. Thus, the orientation of the externally exerted force is obtained thanks to the measurement of distances to transmit speeds in the traction and interpolation between the four sensors 7 for its orientation. In one embodiment, for example, these sensors 7 can be implemented by means of inductive detectors. The sensors 7 are installed inside the housing 3 that is assembled to the fixed body 6.

The information captured by the sensors 7 is communicated to an interface (not shown in this figure) which converts it into movement instructions for one or more motors associated (not shown) with the steered wheels and/or drive wheels. The instruction may include a portion with information to move the drive wheels and another portion with information to turn the steered wheels through an angle in accordance with the direction of that force. In a particular embodiment, the interface may further manage and process instructions to control one or more motors of 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 of a master vehicle 13 and a slave vehicle 9 coupled together by means of 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 their own mechanisms and drives to perform specific tasks. In this case, the slave vehicle 9 is coupled with a lifting element 12 that is used for loading and/or unloading goods. In this way, it can be provided with new dimensional characteristics, load capacity, lifting capacity and handling of different volumes. For this purpose, the slave vehicle 9 can be designed with a platform that can be coupled 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 by means of 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, when handled by an operator, allows the master vehicle 13 to be driven. The maneuvers of the master vehicle 13 are replicated by the slave vehicle 9, forming a composite vehicle 19 that moves together, as if it were a single vehicle, thanks to the guidance system 20.

The operation of the guidance system 20 is shown in greater detail in FIG. 3B, the composite vehicle 19 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, through 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, this floating annular disk 2 is offset in the direction of the applied stress with a controlled tension (e.g. approximately 10 N) and a displacement “D” of the concentricity (e.g. up to 15 mm) according to an orientation angle “O”.

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

This displacement “D” of the concentricity can be translated into a movement with a multiplying effect on the slave vehicle 9 to be moved. Thus, an external guiding force of 10 N can be used to pilot slave vehicles 9 of several tons. The direction of traction is replicated and depending on whether the pin 14 is more or less off-centre. Also, the speed of the master vehicle 13 or the manual puller 15 can be replicated. The interpretation and replication is carried out through the interface.

With reference to FIGS. 4A-4D, an exemplary embodiment of a composite vehicle 19 is explained, with the union of a master vehicle 13 and a slave vehicle 9 thanks to the introduction of the coupling pin 14 in the master vehicle 13. The slave vehicle 9 mounts the lifting element 12 on a platform.

FIG. 4A shows an image of the pin 14 protruding from the upper base of the master vehicle 13 which is intended to couple (i.e. engage) with the guidance system of the slave vehicle. This allows a wide variety of combinations of transformation 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 means of the pin connection with the guidance system 20 of the slave vehicle 19.

FIG. 4C shows an image of various components of the guidance system 20. Coupling is via pin 14 actuated by a master vehicle 13 or by a simple manual puller. A self-centering mechanism with springs 5, already described, allows the thrust information to be collected by sensors 7, as well as the direction (and sense) by the master vehicle 13 or the puller 15. This information is processed by the electronic part of the interface (not shown).

In one embodiment, the angular information of the vector associated with the direction of the external force is used 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 floating annular disk with respect to the body) of the guidance system 20 is used to traction the driving wheels 11 thus achieving a multiplying effect. That is, a minimum load exerted by the master vehicle 13, or by the manual puller 15 orders 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, it is possible to control this multiplied force in a precise and at the same time simple way.

The master vehicle 13 can be a very basic AMR with low-force drive elements coupled with pin 14. It can also be operated by an operator using a simple manual puller 15 with its own pin. In both cases, it is possible to manually control high-tonnage and complex industrial vehicles by means of a copying and multiplying effect. Manual control is intuitive and operators can master its use with precision and with hardly any need for learning.

FIG. 4D shows a section of the composite vehicle 19, where the connection of the different parts can be better appreciated. Specifically, the pin 14 is responsible for mechanically connecting the guidance system 20 with the master vehicle 13. For this purpose, there is a linear actuator in the master vehicle 13 that raises the pin 14 to couple with the guidance unit mounted on the slave vehicle 9. Motors 29 located at the rear of the slave vehicle 9 are responsible for driving the drive wheels. Similarly, other motors 29 located at the front 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 puller 15 coupled with this guiding system 20 allows pushing or pulling various machinery, i.e. slave vehicles 9. With this option, they are steered manually, acting on their motor(s) through the interface, even if they weigh several tons. Simply, in the case of a driving motor and a steering motor, on the one hand, the thrust direction is detected and copied. On the other hand, the external force exerted is detected to produce an equivalent force acting on the slave vehicle. Thus, they can be steered, with hardly any effort, for certain operations or simply to change their location.

When the slave vehicle 9 is driven manually with the puller 15, in some embodiments it is provided with control capacity. For this purpose, the puller 15 is also connected, through the interface 28, to the parts to be controlled of the auxiliary equipment of the slave vehicle 9. For example, the puller 15 can have simple buttons 17 with progressive pressing (the longer the travel, the faster, for example, defining two or more speed levels). With the buttons 17, this auxiliary equipment (for example, a lifting device for raising or lowering merchandise) can be acted upon, via the interface 28. It may be appropriate to establish some safety checks. First, that the bolt for the puller is correctly coupled with the slave vehicle 9 through the interface of the guidance system (it can additionally provide it with power). Second, that the guidance system 20 is in a concentric reference position (indicative of absence of external force) to prevent acting on the auxiliary equipment when there is displacement.

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

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

Additionally, the correct connection and supply of electrical power sources (batteries) can also be managed via the interface 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 instructions accordingly. It is possible to recharge an electric battery with a lower charge with the other battery with a higher charge, if the higher charge exceeds a threshold that allows part of the excess charge to be transferred.

While the invention has been described, without limitation, through several specific embodiments, it is to be understood that various changes may be made to suit particular circumstances within the scope defined by the appended claims.

Claims (8)

1. Guiding system (20) of a slave cargo vehicle (9) comprising: 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) relative to the second member (23); an interface (28) configured to generate an instruction according to a direction and a sense, where the instruction involves the actuation of at least one motor (29) associated with the slave vehicle (9), where the direction and sense for the applied external force depends on the change in position measured by each sensor (7). 2. Guiding system (20) according to claim 1, wherein the self-centering mechanism comprises a plurality of elastic elements (25) distributed in a plurality of locations of the housing (16), where the elastic elements (25) 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. Guiding system (20) according to claim 1, wherein the self-centering mechanism comprises a plurality of magnetic elements distributed to support, by 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. Guiding system (20) according to any one of claims 1 to 6, wherein the guiding element (21) is configured to be connected to the slave vehicle (9); wherein the first member (22) comprises an annular disc (2); wherein the second member (23) comprises an annular cover (6) and a casing (3), wherein the annular disc (2) is floating within the casing (3) by means of elastic elements (25), wherein the elastic elements (25) are distributed and connect the outer part of the annular disc (2) with the inner part of the casing (3). 5. Guiding system (20) according to any one of claims 1 to 4, wherein the guiding element (21) is connectable with a pin (14) of a master vehicle (13), wherein the master vehicle (13) is configured to move and apply an external force on the guiding element (21). 6. Guiding system (20) according to any one of claims 1 to 5, wherein the guiding element (21) is connectable to a handle (15) to manually apply an external force. 7. Guiding system (20) according to claim 5, wherein the handle (15) comprises one or more buttons (17) to be operated by a user. 8. Slave cargo vehicle (9) comprising the guidance system (20) according to any one of claims 1 to 7.