• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Mobile system (1) movable relative to a surface at least in a forward direction (4) comprising a backbone (2), a first side rail (11) pivotally connected to the backbone (2) via a first pivot connection (10) second side member (21) pivotally connected via a second pivot joint (20), a first wheel (14) rotatably connected to the first side member (11) via a first pivot joint (13), and a second gear (24) ), which is connected via a second rotary joint (23) rotatably connected to the second longitudinal carrier (21), wherein the pivoting movements of the first and second pivotal connection (10, 20) are controlled controllable, the first rotary joint (13) having a first wheel drive, with in which the first wheel (14) can be driven in a controlled manner and the first rotary connection (13) behind the first pivot connection (10) with respect to the forward direction (4) and the second rotary connection (23) behind the second n pivot connection (20) relative to the forward direction (4) are located.
    公开号:AT521087A1
    申请号:T50232/2018
    申请日:2018-03-20
    公开日:2019-10-15
    发明作者:George Todoran Horatio；Bader Markus
    申请人:Univ Wien Tech；
    IPC主号:
    专利说明:

    Summary
    Mobile system (1) movable relative to a surface at least in a forward direction (4) comprising a backbone (2), a first side rail (11) pivotally connected to the backbone (2) via a first pivot joint (10) second side member (21) pivotally connected via a second pivot joint (20), a first wheel (14) rotatably connected to the first side member (11) via a first pivot joint (13), and a second gear (24) ), which is connected via a second rotary joint (23) rotatably connected to the second longitudinal carrier (21), wherein the pivoting movements of the first and second pivotal connection (10, 20) are controlled controllable, the first rotary joint (13) having a first wheel drive, with in which the first wheel (14) can be driven in a controlled manner and the first rotary connection (13) behind the first pivot connection (10) with respect to the forward direction (4) and the second rotary connection (23) behind the second n pivot connection (20) relative to the forward direction (4) are located.
    (Fig. 1) / 26
    The invention relates to a mobile system movable relative to a surface at least in a forward direction comprising a backbone, a first side member which is connected via a first pivotal connection about an axis substantially normal to the surface pivotally connected to the skeleton, a second side member, via a second pivotal connection about an axis substantially normal to the surface is pivotally connected to the skeleton, a first wheel rotatable about a first rotational connection about an axis substantially parallel to the surface and substantially normal to the longitudinal direction of the first longitudinal member rotatable with the first side member, ie in particular normal to the forward direction, and a second wheel connected via a second pivotal connection about an axis substantially parallel to the surface and substantially normal to the longitudinal direction of extension of the second longitudinal beam, i. in particular normal to the forward direction, is rotatably connected to the second side member. Furthermore, the invention relates to a method for controlling a mobile system that is movable relative to a surface at least in a forward direction, the mobile system having a backbone, a first side member pivotable about a first pivot about an axis substantially normal to the surface the backbone, a second side member pivotally connected to the backbone about an axis substantially normal to the surface via a second pivotal connection, a first wheel connected through a first pivot about an axis substantially parallel to the surface and substantially normal is rotatably connected to the longitudinal direction of the first longitudinal member with the first longitudinal member, a second wheel, via a second rotary connection about an axis substantially parallel to the surface and substantially normal to the longitudinal direction of the second longitudinal member rotatable with the two iten longitudinal beams is connected, has.
    By default, today for mobile systems, especially for mobile robots, two drive wheels are used in a differential drive. This allows the vehicle to spin through the wheels at any point on the axle. Alternatively, Independent Steering Wheels, i. independently controlled steering wheels, or Mecanum wheels that allow omnidirectional Fahrrichtun2 / 26 conditions used, especially if the vehicle should also be able to rotate while driving.
    Mobile systems often require a great deal of freedom of movement to do their job. Such mobile systems often use a synchronized drive mechanism, through which the wheels are given by a complex transmission system certain restrictive conditions with respect to the steering and movement excursion. While this may allow a high degree of maneuverability, the mechanical complexity makes it expensive and prone to error. Furthermore, this type of mobile system is limited by the constraints of mobility.
    The article "Expressive navigation and local path planning of independent steering autonomous systems", Todoran and Bader,
    IROS 2016, shows an approach of local rail planning for an independent four-wheel steering of a mobile platform. While usually, due to the risk of breakage of mechanical parts while the wheels are being driven, they are steered in a stop-and-go manner, here a center of curvature-based kinematic constraint condition is ensured during continuous motion with a surface-input controller operating at 100 Hz. Thus, the trajectory of the center of curvature is both predictable and suitable for predictive model control (MPC). The implemented MPC produces collision-free tracks optimized at several meters in advance with an operating frequency of 10 Hz, provided a set of points along a path and laser contour measurements. The mobile platform knows eight drives two for each wheel.
    Furthermore, the article "Kinematic Analysis and Singularity Robust Path Control of a Non-Holonomic Mobile Platform with Several Steerable Driving Wheels", Stoeger, Muller and Gattringer, IROS 2015, shows a control scheme with improved robustness regarding kinematic singularities. This is based on non-holonomic constraining (acceleration) second order conditions. The remaining singularity is solved by regular parameterization of the movement of the robot. Further, Fig. 26 discloses a control concept based on input / output linearization with respect to the path parameters. The mobile platform has four wheels, from which two diagonally mounted wheels can be actuated. These are centered steerable wheels with DC motors. The other two wheels are castors.
    US 9,436,926 B2 shows a robot that can autonomously navigate to a destination. This has a substantially cylindrical shape and a variety of image-based depth sensors. Navigating involves determining the presence of objects in the path of the robot with at least one forward-looking image-based depth sensor.
    Further, US 5,952,796 A shows a variety of possible configurations of a collaborative robot (cobot) using at least one non-holonomic transmission element and a number of small servomotors associated therewith.
    The article "Expressive Motion in Mobile Robots," Gard Braga, 2015, describes the mobile motion capabilities of a mobile robot and their effect on human responses.
    Finally, US 6,853,877 B1 shows a mobile platform which is movable relative to a surface. In this case, a skeleton has at least two wheels which are mounted pivotably and rotatably on the skeleton, wherein in each case the rotation and the pivot axis do not intersect. Further, there is a drive device for rotating and rolling the wheels over the surface, pivoting a control device about the wheels and changing their orientation with respect to the surface, and a control device. However, the mobile platform has no preferential or forward direction, with the rotation and pivot axes offset in a particular manner with respect to them. Thus, the control of the mobile platform is difficult, resulting in the need for a powerful control unit and the application of a complex control algorithm or a complex control technology. It is further provided that the drive devices can drive both wheels independently.
    / 26
    Object of the present invention is therefore to provide a system that uses independent steering wheels with an offset for navigation, especially during a collision, or sends signals to people and uses the rotation of the structure to interact with people, the wheels placed particularly favorable so that, for example, a collision with an automatic, d. H. mechanically induced, directional change can result. Further, in a conventional differential drive, a vehicle in a collision can not damp contact with the obstacle. It can only drive away by the wheels are driven. The same applies to systems where the steering axle of the wheels sits directly above the wheel. Thus, it is a further object of the invention to remedy these deficiencies and in particular to propose a system which, without the wheels must be driven, the fuselage or the skeleton can swing away from the obstacle, which advantageously also the wheels in a favorable Driving direction from the obstacle away should.
    This is achieved by a mobile system as stated in the introduction, in which the pivoting movements of the first and second pivot connection are controllably controlled, the first rotary connection has a first wheel drive, with which the first wheel is controllably driven at least in a forward direction and the first rotary connection behind the first pivotal connection relative to the forward direction and the second pivotal connection are located behind the second pivotal connection with respect to the forward direction. Furthermore, this is achieved by a method for controlling a mobile system as defined above, wherein the first and second pivot connections are pivoted regulated and the first wheel is driven at least in a forward direction with a first wheel drive, wherein the first pivot connection is behind the first pivot connection are located behind the second pivot connection with respect to the forward direction and the second pivot connection with respect to the forward direction.
    The forward direction preferably defines a forward direction with respect to a home position in which the side members / 26 are parallel and point in the direction of a front side of the backbone. By "relative to the forward direction, it is preferably understood that the respective ratio results in the basic position in which the longitudinal members are parallel and point in the direction of a front side of the basic framework. Thus, these ratios, which are referred to as "referred to the forward direction, change when the side members are pivoted with the pivotal connections from the home position.
    The described mobile system or the method for controlling the mobile system permits particularly efficient control and navigation, especially in confined spaces and in the vicinity of persons. Furthermore, a particularly secure control, even during contact of the mobile system with an object possible. The mobile system also gains holonomic properties over conventional mobile systems. These can be added to an additional purpose. These additional degrees of freedom make it easier to avoid collisions and to interact with people.
    When the wheels are parallel and rotate at the same speed, the instantaneous center of curvature (ICC) or center of rotation is located infinitely outside the mobile system and the mobile system is traveling straight. The active pivoting of the wheels about the pivot axis, however, it is possible to put the ICC at every point on the driving level and thus any curves with different orientations of the skeleton to drive and rotate while driving. However, the space of possible ICC positions is usually limited by the maximum steering angle and singularities in the control.
    Furthermore, the advantageous property that the wheels in a collision in a (favorable) travel direction away from the obstacle can be achieved only when the steering axis of the wheels (relative to the forward direction or the direction of travel) in front of the wheel. Furthermore, the mobile system allows the backbone to be swiveled without changing the direction of travel, this capability of the mobile system for / 26 additional functions such as: B. can be used as an interface for signaling (future) actions, in particular the display of a future direction of travel.
    In order to realize the desired holonomic properties, only one wheel around the axis of rotation and the associated steering axle and the second steering axle must be actuated with a freewheeling wheel.
    In a preferred embodiment of the mobile system, the second rotary connection has a second wheel drive, with which the second wheel is controllably driven at least in a forward direction. This improves the stability of the overall system.
    Preferably, the distance between the first pivot connection and the first pivot connection and the distance between the second pivot connection and the second pivot connection are substantially the same. It is advantageous if the first side member is substantially the same length as the second side member and / or if the side members have the same longitudinal extent. Further preferably, the diameter of the first wheel and the diameter of the second wheel are substantially equal. Particularly preferably, the features specified in this paragraph are combined. By this choice of features, the control and the behavior in collisions takes place in a particularly advantageous manner.
    In a preferred embodiment of the mobile system, the latter has a third longitudinal beam, which is pivotally connected to the skeleton via a third pivotal connection about an axis substantially normal to the surface and with which via a third pivotal connection about an axis substantially parallel to the surface and in the Substantially normal to the longitudinal direction of the third longitudinal member, ie in particular normal to the forward direction, a rotatable one, preferably free-rotating, third wheel is connected. In the same way, a fourth or further longitudinal members, pivot connections, slewing rings, wheels can be provided, which interact in the same way as the respective third entity. A third wheel will be particularly advantageous for load bearing.
    It is particularly advantageous if the third pivot connection is behind the first and / or second pivot connection with respect to the forward direction and / or the third pivot connection behind the first and / or second pivot connection. Furthermore, it is advantageous if the distance between the third pivot connection and the third pivot connection is smaller than the distance between the first pivot connection and the first pivot connection and / or the second pivot connection and the second pivot connection. Advantageously, the diameter of the third wheel is smaller than the diameter of the first and / or second wheel. Furthermore, the axis of rotation of the third wheel may be closer to the surface than the axis of rotation of the first and / or second wheel. Likewise, the intersection of the pivot axis and the pivot plane of the third pivot connection or the third longitudinal member may be closer to the surface than the intersection of the pivot axis and the pivot plane of the first and / or second pivot connection or the respective longitudinal member. The third pivot connection can be controlled pivot. Preferably, however, it is designed to pivot freely.
    In a preferred embodiment of the mobile system, the first and / or second wheel can be driven in both directions with the first wheel drive and / or second wheel drive. This results in further possibilities of movement for the mobile system.
    Preferably, the distance between the first pivot connection and the first pivot connection is greater, preferably more than twice the radius of the first wheel and / or the distance between the second pivot connection and the second pivot connection greater, preferably more than twice as large Radius of the second wheel.
    In a preferred embodiment of the mobile system, an outer circumference of the skeleton is formed part-circular. In the event of a collision, this allows a particularly favorable conversion of a force acting on the outer circumference force into / on the 26 the pivotal connections acting torque. In particular, a portion of the outer periphery at a front side of the skeleton in relation to the forward direction flattened, flat or straight, in particular normal to the forward direction, executed, since in a frontal collision, the force effect usually can not be diverted in acting on the pivotal torque.
    Preferably, the mobile system allows a compliance control against side-acting forces on the mobile system, in particular the backbone or the outer circumference of the backbone. Thus, preferably, the pivotal connections are yielding to a torque caused by a force acting on the skeleton, in particular on its outer circumference. If a collision with an obstacle occurs, the side members pivot around the respective pivot axis by a torque caused by the mechanical force, so that the base frame is moved away from the obstacle relative to the wheels. This also changes the direction of travel of the mobile system, in particular, the new direction opposite to the original direction of travel is turned away from the obstacle. This feature is especially useful in the human environment and can be used to get past it. Furthermore, the collision is damped by the flexibility of the pivotal connections and possible damage to the mobile system or the obstacle can be prevented or reduced.
    Advantageously, the first and / or second pivot connection has a first and / or second torque-measuring device for measuring a torque caused by a force acting on the basic framework, in particular on its outer circumference. In this way, in the event of a torque caused by a collision, the mobile system (optionally in addition to the self-induced by the compliance of the pivot joints self-steering) to control the pivot and rotary joints or drives in a special way, for example, wegzusteuern the obstacle or the speed to reduce.
    / 26
    In a preferred embodiment of the mobile system, the backbone comprises distance measuring devices for measuring distances to the mobile system surrounding objects and / or pressure sensors for detecting objects in contact with the mobile system, in particular with the outer periphery of the frame. Distance measuring devices allow the mobile system to detect surrounding objects and adjust their orbits accordingly. Furthermore, the mobile system can detect impending collisions and prevent or mitigate them by proactively countering them. For this purpose, the pivoting devices are pivoted in such a way that the mobile system changes its direction of travel away from the obstacle. Collisions can be detected by the pressure sensors and the mobile system can change the settings of the swivel joints and swivel joints or drives, for example, to steer away from the obstacle and / or reduce speed.
    Referring to the method according to the invention, it is advantageous if the method includes that the mobile system with a torque measuring device due to a force on the skeleton, in particular on an outer circumference of the skeleton, preferably one caused by a collision of the mobile system with an object Force on the skeleton, in particular on an outer circumference of the skeleton, measured torque produced. Furthermore, it is advantageous if the mobile system detects a collision of the mobile system with an object with pressure sensors. Preferably, the mobile system measures with a distance measuring device distances to objects surrounding the mobile system and preferably calculates impending collisions. By means of these method steps, either an imminent collision can be prevented by the mobile system controlling the pivoting and pivoting connections or drives in order to deflect away from the object and / or to reduce or decelerate the speed. Furthermore, in the event of a collision, their effects can be reduced by steering the mobile system away from the obstacle.
    The collision can be detected in particular with the torque measuring device and / or the pressure sensors. The torque-measuring device is preferably designed as a / 26 first and / or second torque-measuring device of the first and / or second pivotal connection.
    In the case of a collision of the mobile system with an object, the basic framework preferably pivots due to the force effect of the collision with respect to the first and / or second rotary connection and / or in the case of a collision of the mobile system with an object, the basic framework is controlled by a pivoting of the first and or pivoted relative to the first and / or second pivot connection, wherein preferably the direction of travel of the mobile system is pivoted in a direction away from the object. In this case, it is advantageous that the construction of the mobile system is carried out in such a way that a collision automatically leads to such a pivoting that the mobile system changes its direction of travel away from the obstacle.
    In a preferred variant of the method, the mobile system indicates impending changes in direction by pivoting the skeleton with the first and second pivotal connection relative to the longitudinal beams while the longitudinal beams remain parallel, preferably the skeleton facing the first and second pivotal connection in the opposite direction pending direction change is pivoted. This allows the mobile system to intuitively signal a change of course to people in the environment and improve interaction. Since the mobile system can rotate its backbone while driving, the direction of travel does not have to coincide with a front of the mobile system. Thus, a future change in direction by means of a rotation of the skeleton relative to the direction of travel can be displayed in advance. Thus, the interaction of the mobile system and people can be improved.
    The mobile system preferably changes the direction of travel by pivoting the first and / or second pivoting connection in such a regulated manner that the first and second side members are not parallel, with one axis preferably being related by the first side member and one axis by the second side member Cut the direction of travel of the mobile system in front of the mobile system. When reversing the / 26 cut
    Axes are accordingly preferred behind the mobile system. If the wheels are parallel, the ICC or the center of rotation is located infinitely outside the mobile system. Thus, the mobile system goes straight ahead. By actively rotating the side members about the axes of the pivot connections, it is possible to place the ICC at any point on the drive level and thus to drive any curves with different orientations of the backbone and to rotate them during the ride without changing direction. The space of the possible ICC positions, and thus the maximum steering deflection, is usually given by a maximum steering angle, i. the pivot angle of the pivotal connections, limited.
    The invention will be explained in more detail below with reference to preferred embodiments illustrated in the drawings, to which, however, it should by no means be restricted.
    In detail, in the drawings:
    Fig. 1 shows a preferred embodiment of the mobile system;
    Figures 2a and 2b show the behavior of a preferred embodiment of the mobile system in the event of a collision;
    FIGS. 3a and 3b show a future direction change by the mobile system; and
    Fig. 4a and 4b different positions of the ICC and thus steering options through the mobile system.
    Fig. 1 shows a mobile system 1 with a skeleton 2, which has a part-circular outer periphery 3. The mobile system 1 in this case has a forward direction 4, which is indicated by a dashed arrow. The basic framework 2 is connected via a first pivot connection 10 to a first longitudinal member 11 about an axis 12 substantially normal to the surface. The axis 12 about which the first side member 11 is pivotable, is indicated by a dotted curved line with arrows on both sides about the axis 12 around. The axis 12 is in this case substantially normal to the drawing plane. Via a first rotary joint 13, with the first side member 11, a first gear 14 is rotatable about an axis 15 substantially parallel to the surface and substantially normal to the longitudinal direction of the first side member 11, i. substantially normal to the forward direction 4, connected. The axis 15 is indicated by a dashed straight line and a dashed curved line with arrow. Furthermore, the skeleton 2 is connected via a second pivot connection 20 with a second side member 21 about an axis 22 substantially normal to the surface. The axis 22 about which the first longitudinal member 21 is pivotable, is indicated by a dotted curved line with arrows on both sides about the axis 22 around. The axis 22 is in this case substantially normal to the plane of the drawing. Via a second rotary joint 23, with the second side rail 21, a second wheel 24 is rotatable about an axis 25 substantially parallel to the surface and substantially normal to the longitudinal extension direction of the second side rail 21, i. substantially normal to the forward direction 4, connected. The axis 25 is indicated by a dashed straight line and a dashed curved line with arrow. By means of a first and / or second wheel drive (not shown), the first wheel 14 and / or second wheel 24 can be driven. With the marked position of the first and second longitudinal members 11, 21 and the first and second wheels 14, 24, a drive of the first wheel 14 leads exactly to a movement in the forward direction (if the second wheel 24 is freely rotatable or is driven equally) ,
    The mobile system 1 further comprises, in this preferred embodiment, a third side member 30 which is pivotally connected to the backbone 2 by a third pivotal connection 30 about an axis 32 substantially normal to the surface, and which is connected to the backbone 2 by a third pivot 33 Axis 35 substantially parallel to the surface and substantially normal to the longitudinal direction of the third longitudinal member 31 is a rotatable, preferably free-rotating, third wheel 34 is connected. In this case, there is the third pivot connection 30, the third rotary joint 33, the third longitudinal member 31 and the third wheel 34 in the undeflected state of the pivotal connections 10, 20, 30, in this case, even in an optionally deflected state, respectively behind their first / 26th and second counterparts 10, 20, 13, 23, 14, 24 with respect to the forward direction 4. The third wheel 34 serves in particular for the stabilization and load distribution of the backbone 2.
    In the illustrated setting of the pivotal connections 10, 20, 30, the direction of travel corresponds to the forward direction 4.
    Figs. 2a and 2b show the behavior of a preferred embodiment of the mobile system 1, the structure of which is analogous to that described in connection with Fig. 1, in a collision. The collision is indicated by a polygon. Due to the collision, a force 5, which is indicated as an arrow, acts on the basic framework 2 or its outer circumference 3. As a result, the basic framework 2 and with it the pivotal connections
    10, 20, 30 pivoted relative to the wheels 14, 24, 34 and the longitudinal extension directions of the side members 11, 21, 31 are no longer parallel to the forward direction 4 (not shown). Thus, also the direction of travel, which is shown as a dotted arrow, deviates from the forward direction 4, and the direction of travel turns away from the obstacle. In particular, Fig. 2b shows a greater steering angle caused by a larger force 5, i. the direction of travel points even more strongly away from the forward direction 4 (not shown) than in FIG. 2b. The pivoting of the longitudinal members 14, 24 can also be active or amplified if the collision has been detected by pressure sensors or torque measuring devices (not shown).
    Figures 3a and 3b illustrate how the mobile system 1, the structure of which is analogous to that described in connection with Figure 1, may indicate a future direction change in a preferred embodiment. In this case, the first and second pivot connections 10, 20 are pivoted in such a regulated manner relative to the representation in FIG. 1 that the first and second side members 11, 21 continue to remain parallel. Since the third pivot connection 30 is designed to pivot freely, the third side member 31 also follows this pivoting movement due to the contact of the third wheel 34 with the surface and is parallel to the first and second side members
    11, 21 a. By parallel is meant in this context, / 26 that the longitudinal extension directions of the side members 11, 21, 31 and the axes of rotation 15, 25, 35 of the wheels 14, 24, 34 are substantially parallel. If the second wheel 24 also has a wheel drive, it may need to be driven stronger or weaker during the pivoting movement for a short time. When pivoting in the direction shown in Fig. 3a and 3b, a wheel drive of the second wheel 24 would have to be driven more strongly during the pivoting movement.
    By the pivoting movement, the skeleton 2 rotates relative to its original orientation, while the direction of travel remains the same. By the rotation of the skeleton 2 in a future direction of travel, a person can be displayed. Only after the future direction of travel has been displayed for a certain time does an actual direction change take place in that direction. In this case, the skeleton 2 can preferably be rotated as strong as the direction of travel to be rotated. The skeleton 2 can also be twisted more or less. However, the subsequent change in direction of travel is preferably carried out in such a way that, after completion of the change in direction of travel, the basic framework is again in the starting position with respect to the direction of travel, i. the direction of travel and forward direction 4 match.
    The direction of travel is again shown as a dashed arrow.
    In Fig. 1, the ICC is located infinitely far from the mobile system 1 because the axes 14, 24, 34 are parallel. In contrast, the ICC of the mobile system, the structure of which is analogous to that described in connection with Figure 1, is approximately between the first, second and third wheels 14, 24, 34 in Figure 4a. In Figure 4b, the ICC is on the right outside the mobile system with respect to forward direction 4 (not shown). The ICC results in each case as an intersection of the axes of rotation 15,
    25, 35. The first, second and third wheels 14, 24, 34 and thus also the axes 15, 25, 35 are not parallel in pairs. Both in the position of the wheels shown in FIG. 4 a and in the position of the wheels shown in FIG. 4 b, the mobile system 1 makes a turn. However, in FIG. 4b, the ICC is further away from the mobile system 1 than in FIG. 4a where the ICC is approximately between the / 26
    Wheels 14, 24, 34, prevails in Fig. 4b, the translation part of the movement of the mobile system 1, while in Fig. 4a, the rotary part of the movement of the mobile system 1 outweighs. By corresponding pivoting of the first and second side members 11, 21 by means of the controlled pivotal connections 10, 20 it is therefore possible for the mobile system 1 to move the ICC while driving.
    The exemplary embodiments illustrated in the figures and explained in connection therewith serve to explain the invention and are not restrictive of it.
    权利要求:
    Claims (16)
    [1]
    A mobile system (1) movable relative to a surface at least in a forward direction (4) comprising a backbone (2), a first side rail (11) substantially normal about an axis (12) via a first pivot connection (10) pivotally connected to the backbone (2), a second side rail (21) pivotally connected to the backbone (2) about a second pivot (20) about an axis (22) substantially normal to the surface; A wheel (14) rotatably connected to the first side member (11) about an axis (15) about an axis (15) substantially parallel to the surface and substantially normal to the longitudinal extension direction of the first side member (11) via a first pivot joint (13) and a second one A wheel (24) rotatable about a second pivot (23) about an axis (25) substantially parallel to the surface and substantially normal to the longitudinal direction of extension of the second side rail (21) is connected to the second longitudinal member (21), characterized in that the pivoting movements of the first and second pivotal connection (10, 20) are controlled controllable, the first rotary joint (13) has a first wheel drive, with which the first wheel (14) regulated is drivable at least in the forward direction (4) and the first rotary joint (13) behind the first pivot connection (10) with respect to the forward direction (4) and the second rotary joint (23) behind the second pivot connection (20) with respect to the forward direction ( 4) are located.
    [2]
    2. Mobile system (1) according to claim 1, characterized in that the second rotary joint (23) has a second wheel drive, with which the second wheel (24) controlled drivable at least in a forward direction (4).
    [3]
    3. Mobile system (1) according to claim 1 or 2, characterized in that
    17/26 the distance between the first pivot connection (13) and the first pivot connection (10) and the second pivot connection (23) and the second pivot connection (20) is substantially equal, the first side member (11) is substantially the same length as the second side rail (21) and / or the diameter of the first wheel (14) and the second wheel (24) are substantially equal.
    [4]
    4. Mobile system (1) according to any one of the preceding claims, characterized in that the mobile system (1) has a third longitudinal member (31) via a third pivotal connection (30) about an axis (32) substantially normal to the surface is pivotally connected to the skeleton (2) and connected to the via a third rotary joint (33) about an axis (35) substantially parallel to the surface and substantially normal to the longitudinal direction of the third longitudinal member (31) rotatable one, preferably free-rotating, third wheel (34) is connected.
    [5]
    A mobile system (1) according to claim 4, characterized in that the third pivot connection (30) is behind the first and / or second pivotal connection (10, 20) with respect to the forward direction (4), the distance between the third pivot connection (30) and the third rotary joint (33) is smaller than the distance between the first pivot connection (10) and the first pivot connection (13) and / or the second pivot connection (20) and the second pivot connection (23) and / or the diameter of the third wheel (34) is less than the diameter of the first and / or second wheel (14, 24).
    [6]
    6. Mobile system (1) according to one of the preceding claims, characterized in that the first and / or second wheel drive the first and / or second wheel (14, 24) are driven in both directions.
    [7]
    7. Mobile system (1) according to one of the preceding claims, characterized in that the distance between the first
    18/26
    Pivot connection (10) and the first pivot connection (13) is larger, preferably more than twice as large as the radius of the first wheel (14) and / or the distance between the second pivot connection (20) and the second pivot connection (23) is larger, preferably more than twice as large as the radius of the second wheel (24).
    [8]
    8. Mobile system (1) according to one of the preceding claims, characterized in that an outer circumference of the skeleton (2) is formed part-circular.
    [9]
    9. Mobile system (1) according to one of the preceding claims, characterized in that the pivotal connections (10, 20,
    30) against a by a force (5) on the skeleton (2), in particular on an outer circumference (3) of the skeleton (2), caused by the yielding torque are yielding.
    [10]
    10. Mobile system (1) according to one of the preceding claims, characterized in that the first and / or second pivotal connection (10, 20) comprises a first and / or second torque measuring device for measuring one of a force (5) on the skeleton (2 ), in particular on the outer circumference (3), caused torque.
    [11]
    11. Mobile system (1) according to one of the preceding claims, characterized in that the basic framework (2) distance measuring devices for measuring distances to the mobile system (1) surrounding objects and / or pressure sensors for detecting with the mobile system (1) , in particular with the outer periphery (3) of the frame (2), in contact with objects.
    [12]
    A method of controlling a mobile system (1) that is movable relative to a surface in at least one forward direction (4), the mobile system (1) comprising a backbone (2), a first side rail (11) extending over one first pivotal connection (10) is pivotally connected to the backbone (2) about an axis (12) substantially normal to the surface,
    19/26, a second side member (21) pivotally connected to the backbone (2) about an axis (22) about an axis (22) substantially normal to the surface via a second pivotal connection (20); Rotary connection (13) about an axis (15) substantially parallel to the surface and substantially normal to the longitudinal direction of the first longitudinal member (11) rotatably connected to the first side member (11), a second wheel (24) via a second rotary connection (23) about an axis (25) substantially parallel to the surface and substantially normal to the longitudinal direction of the second longitudinal member (21) rotatably connected to the second longitudinal carrier (21), characterized in that the first and second pivotal connection (10 , 20) are pivoted regulated and the first wheel (14) is driven with a first wheel drive controlled at least in the forward direction (4), wherein the first Drehverbind ung (13) behind the first pivot connection (10) with respect to the forward direction (4) and the second pivot connection (23) behind the second pivot connection (20) with respect to the forward direction (4) are located.
    [13]
    13. The method according to claim 12, characterized in that the mobile system (1) with a torque-measuring device due to a force (5) on the skeleton (2), in particular on an outer circumference (3) of the skeleton (2), preferably a torque (5) caused by a collision of the mobile system (1) with an object on the skeleton (2), in particular on an outer circumference (3) of the skeleton (2), measures the mobile system (1) with pressure sensors detects a collision of the mobile system (1) with an object and / or the mobile system (1) uses a distance measuring device to measure distances to objects surrounding the mobile system (1) and preferably calculates impending collisions.
    [14]
    14. The method according to claim 12 or 13, characterized in that in a collision of the mobile system (1) with an object, the skeleton (2) due to the force effect (5)
    Pivoted by the collision with respect to the first and / or second rotary joint (13, 23) and / or that in a collision of the mobile system (1) with an object, the basic framework (2) via a controlled pivoting of the first and / or second pivotal connection (10, 20) relative to the first and / or second rotary joint (10, 20) is pivoted, preferably the direction of travel of the mobile system (1) is pivoted in a direction away from the object.
    [15]
    15. The method according to any one of claims 12 to 14, characterized in that the mobile system (1) indicates imminent changes in direction by the backbone (2) with the first and second pivotal connection (10, 20) relative to the longitudinal beams (11, 21). is pivoted while the side rails (11, 21) remain parallel, preferably the base frame (2) relative to the first and second rotary joints (13, 23) is pivoted in the opposite direction of the forthcoming change in direction.
    [16]
    16. The method according to any one of claims 12 to 15, characterized in that the mobile system (1) changes the direction of travel by the first and / or second pivotal connection (10, 20) are pivoted regulated such that the first and the second side member (11, 21) are not parallel, wherein an axis through the first side member (10) and an axis through the second side member (20) preferably with respect to the direction of travel of the mobile system (1) in front of the mobile system (1) intersect.
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    同族专利:
    公开号 | 公开日
    WO2019178631A1|2019-09-26|
    AT521087B1|2020-02-15|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US4657104A|1983-07-23|1987-04-14|Cybermation, Inc.|Concentric shaft mobile base for robots and the like|
    US20030196840A1|2002-04-23|2003-10-23|Rohrs Jonathan D.|Omni-directional, holonomic drive mechanism|
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    US3404746A|1966-07-08|1968-10-08|Reginald A. Slay|Motor-driven wheeled vehicles|
    JPH0137294B2|1985-06-10|1989-08-07|Shinko Electric Co Ltd|
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    DE102006022242B4|2006-05-12|2012-07-12|Karlsruher Institut für Technologie|Traveling System|CN110733568B|2019-11-05|2021-02-26|湖北文理学院|Steering method and system of crawler-type unmanned rescue vehicle and storage medium|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50232/2018A|AT521087B1|2018-03-20|2018-03-20|Mobile system|ATA50232/2018A| AT521087B1|2018-03-20|2018-03-20|Mobile system|
    PCT/AT2019/060097| WO2019178631A1|2018-03-20|2019-03-20|Mobile system|
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