Mobile platform for materials transport

Patent metadata

Field	Value
Publication number	US-10974585-B2
Application number	US-202016808508-A
Country	US
Kind code	B2
Filing date	Mar 4, 2020
Priority date	Sep 17, 2015
Publication date	Apr 13, 2021
Grant date	Apr 13, 2021

Abstract

A mobile platform for materials transport is provided. The platform includes a pair of suspension devices that in turn include a pair of rocker beams which can be rotated between two positions: a first position where central wheels attached thereto can be used to drive the platform; and a second position where the central wheels are retracted and the platform can be rolled on end wheels without the friction of the central wheels, and an associated drive system, impeding movement of the platform. Furthermore, data from sensors and/or load cells can be used to control movement of the platform; specifically shifts in load distribution and/or sensed forces at the suspension devices can indicate that a load (and/or materials) has shifted and/or is shifting and movement of the platform is adjusted accordingly, for example to prevent the platform and/or the load (and/or materials) from tipping.

First claim

What is claimed is:

1. A mobile platform comprising:
a chassis comprising a first end, a second end distal the first end, and opposite sides extending there between;
a pair of suspension devices located on the opposite sides, each comprising:
a respective rocker beam, pivotally connected to a respective side, and extending from about a centre of the chassis to about the first end, and being one of a pair of rocker beams;
a respective central wheel connected to the rocker beam at about the centre, and being one of a pair of central wheels; and,
a respective first end wheel connected to the rocker beam at about the first end, and being one of a pair of first end wheels; and,
one or more second end wheels located at the second end, each of the pair of rocker beams configured to rotate between at least: a first position, the pair of central wheels extending outwards from a bottom portion of the chassis in the first position, such that the chassis rolls using at least the pair of central wheels; and, a second position, the pair of central wheels retracting towards the bottom portion in the second position, such that the chassis rolls using the pair of first end wheels, and the one or more second end wheels without the pair of central wheels;
a drive system configured to drive the pair of central wheels;
one or more sensors positioned to sense one or more of force, a strain, and a rotation of one or more of the pair of suspension devices; and
a control device in communication with the one or more sensors, the control device configured to adjust operation of the drive system according to data received from the one or more sensors.

2. The mobile platform of claim 1 , wherein, in the first position, the pair of central wheels, the pair of first end wheels, and the one or more second end wheels are all configured to contact ground, and in the second position, the pair of first end wheels, and the one or more second end wheels are configured to contact the ground, the pair of central wheels being retracted.

3. The mobile platform of claim 1 , further comprising a further suspension device extending between the opposite sides of the chassis at the second end, the one or more second end wheels attached to the further suspension device.

4. The mobile platform of claim 1 , wherein the drive system connects the pair of central wheels, and the drive system is further configured to move together with the pair of central wheels when the pair of rocker beams rotate.

5. The mobile platform of claim 4 , wherein the chassis comprises a space into which the drive system can move when the pair of rocker beams rotate from the first position to the second position.

6. The mobile platform of claim 1 , wherein the control device is further configured to moderate speed of the drive system when the data received from the one or more sensors indicates one or more of: bumps encountered by the pair of central wheels; and load instability.

7. The mobile platform of claim 1 , wherein the control device is operable to:
detect a load instability event based on the data received from the one or more sensors; and
adjust a speed of the drive system in response to detecting the load instability event.

8. The mobile platform of claim 7 , wherein the control device is operable to:
determine a detected change at the one or more sensors that triggers the load instability event.

9. The mobile platform of claim 8 , wherein the control device is operable to:
determine the detected change is from a shift in load distribution detected by the one or more sensors; and
adjust the speed of the drive system to compensate for the shift in load distribution.

10. The mobile platform of claim 8 , wherein the control device is operable to:
determine the detected change is from a force differential detected by the one or more sensors resulting from encountering rugged terrain; and
adjust the speed of the drive system to compensate for the force differential.

11. A mobile platform comprising:
a chassis comprising a first end, a second end distal the first end, and opposite sides extending there between;
a pair of suspension devices located on the opposite sides, each comprising:
a respective rocker beam, pivotally connected to a respective side, and extending from about a centre of the chassis to about the first end, and being one of a pair of rocker beams;
a respective central wheel connected to the rocker beam at about the centre, and being one of a pair of central wheels; and,
a respective first end wheel connected to the rocker beam at about the first end, and being one of a pair of first end wheels; and,
one or more second end wheels located at the second end, each of the pair of rocker beams configured to rotate between at least: a first position, the pair of central wheels extending outwards from a bottom portion of the chassis in the first position, such that the chassis rolls using at least the pair of central wheels; and, a second position, the pair of central wheels retracting towards the bottom portion in the second position, such that the chassis rolls using the pair of first end wheels, and the one or more second end wheels without the pair of central wheels;
a drive system configured to drive the pair of central wheels;
one or more load cells configured to sense a load on the chassis; and,
a control device in communication with the one or more load cells, the control device configured to adjust operation of the drive system according to data received from the one or more load cells.

12. The mobile platform of claim 11 , wherein, in the first position, the pair of central wheels, the pair of first end wheels, and the one or more second end wheels are all configured to contact ground, and in the second position, the pair of first end wheels, and the one or more second end wheels are configured to contact the ground, the pair of central wheels being retracted.

13. The mobile platform of claim 11 , further comprising a further suspension device extending between the opposite sides of the chassis at the second end, the one or more second end wheels attached to the further suspension device.

14. The mobile platform of claim 11 , wherein the drive system connects the pair of central wheels, and the drive system is further configured to move together with the pair of central wheels when the pair of rocker beams rotate.

15. The mobile platform of claim 14 , wherein the chassis comprises a space into which the drive system can move when the pair of rocker beams rotate from the first position to the second position.

16. The mobile platform of claim 11 , wherein the control device is further configured to moderate speed of the drive system when the data received from the one or more load cells indicates one or more of: bumps encountered by the pair of central wheels; and load instability.

17. The mobile platform of claim 11 , wherein the control device is operable to:
detect a load instability event based on the data received from the one or more load cells; and
adjust a speed of the drive system in response to detecting the load instability event.

18. The mobile platform of claim 17 , wherein the control device is operable to:
determine a detected change at the one or more load cells that triggers the load instability event.

19. The mobile platform of claim 18 , wherein the control device is operable to:
determine the detected change is from a shift in load distribution detected by the one or more load cells; and
adjust the speed of the drive system to comp

Assignees

• Clearpath Robotics Inc

Inventors

• Lord Matthew
• Clayton Roydyn
• Irvine Michael
• Gariepy Ryan Christopher

Classifications

• B66F9/063 Primary

  Automatically guided · CPC title

• B62D61/10

  with more than four wheels {(tractors of the low ground pressure type B62D49/002)} · CPC title

• B62D61/12

  with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels (for manoeuvring purposes only B60S) · CPC title

• B60B35/006

  with mounting plates or consoles fitted to axles · CPC title

• B60K17/00

  Arrangement or mounting of transmissions in vehicles · CPC title