Automated guide device and automated guided system for transporting objects, and method for operating an automated guide device and an automated guided system for transporting objects

Patent metadata

Field	Value
Publication number	US-12128752-B2
Application number	US-202017772618-A
Country	US
Kind code	B2
Filing date	Jul 16, 2020
Priority date	Oct 29, 2019
Publication date	Oct 29, 2024
Grant date	Oct 29, 2024

Abstract

The present invention relates to an automated guide vehicle ( 10 ) for transporting objects ( 38 ) comprising a support structure ( 12 ) with an outer contour ( 14 ), a chassis ( 16 ) fastened to the support structure ( 12 ) having at least one first wheel ( 18 ) and one second wheel ( 20 ), wherein the first wheel ( 18 ) and the second wheel ( 20 ) are respectively rotatably mounted in the chassis ( 16 ) about a first axis of rotation (D 1 ) and a second axis of rotation (D 2 ), a drive unit ( 22 ), with which the first wheel ( 18 ) and the second wheel ( 20 ) can be driven independently from one another, a lifting mechanism ( 32 ) cooperating with the support structure ( 12 ) for lifting and lowering at least one support portion ( 39 ) which cooperates therewith to transport the objects, and a store ( 70 ) for electrical energy, which in plan view protrudes in portions beyond the outer contour ( 14 ) of the support structure ( 12 ), wherein the energy store ( 70 ) is movably fastened to the support structure ( 12 ).

First claim

The invention claimed is:

1. An automated guide vehicle ( 10 ) for transporting objects ( 38 ) comprising
a support structure ( 12 ) with an outer contour ( 14 ), wherein the outer contour ( 14 ) of the support structure ( 12 ) is substantially rotationally symmetrical around a rotational axis (R),
a chassis ( 16 ) fastened to the support structure ( 12 ) having at least one first wheel ( 18 ) and one second wheel ( 20 ), wherein the first wheel ( 18 ) and the second wheel ( 20 ) are respectively rotatably mounted in the chassis ( 16 ) about a first axis of rotation (D 1 ) and a second axis of rotation (D 2 ),
a drive unit ( 22 ) with which the first wheel ( 18 ) and the second wheel ( 20 ) can be driven independently one from the other, and
an energy store ( 70 ) for electrical energy, which in plan view protrudes in portions beyond the outer contour ( 14 ) of the support structure ( 12 ), wherein the energy store ( 70 ) is movably fastened to the support structure ( 12 ),
wherein the energy store ( 70 ) is rotatably fastened to the support structure ( 12 ) about the rotational axis (R), wherein the rotational axis (R) runs perpendicular to the first axis of rotation (D 1 ) or the second axis of rotation (D 2 ) and vertically.

2. The automated guide vehicle ( 10 ) according to claim 1 , wherein the energy store ( 70 ) is detachably fastened to the support structure ( 12 ).

3. The automated guide vehicle ( 10 ) according to claim 1 , wherein the automated guide vehicle ( 10 ) comprises a lifting mechanism ( 32 ) cooperating with the support structure ( 12 ) for lifting and lowering at least one support portion ( 39 ) which cooperates therewith to transport the objects.

4. The automated guide vehicle ( 10 ) according to claim 1 , wherein
the outer contour ( 14 ) of the support structure ( 12 ) is substantially rotationally symmetrical about a rotational axis (R) in plan view, and
the support portion ( 39 ) and/or the first wheel ( 18 ) and the second wheel ( 20 ) are arranged within the outer contour ( 14 ) or are flush with the outer contour ( 14 ).

5. The automated guide vehicle ( 10 ) according to claim 1 , wherein
the automated guide vehicle ( 10 ) comprises a sensor unit ( 66 ) for capturing the surroundings of the guide vehicle ( 10 ), wherein
the sensor unit ( 66 ) is arranged in a sensor section ( 68 ) that is delimited by the outer contour ( 14 ) and the first axis of rotation (D 1 ) or the second axis of rotation (D 2 ), and
the sensor unit ( 66 ) is configured in such a way that it only captures the part of the surroundings on the side of the first axis of rotation (D 1 ) or of the second axis of rotation (D 2 ), on which the sensor unit ( 66 ) is arranged.

6. The automated guide vehicle ( 10 ) according to claim 4 , wherein the energy store ( 70 ) is arranged outside the sensor section ( 68 ).

7. The automated guide vehicle ( 10 ) according to claim 1 , wherein the automated guide vehicle ( 10 ) comprises at least one support wheel and/or one bristle portion ( 72 ).

8. The automated guide vehicle ( 10 ) according to claim 1 , wherein all wheels ( 18 , 20 ) are rotatably arranged around a common axis of rotation (D) and the automated guide vehicle ( 10 ) comprises a self-stabilizing device ( 74 ).

9. The automated guide vehicle ( 10 ) according to claim 1 , wherein the automated guide vehicle ( 10 ) comprises a signal generator ( 64 ) for output of an indication signal.

10. The automated guide vehicle ( 10 ) according to claim 1 , wherein the automated guide vehicle ( 10 ) comprises a carrying handle ( 78 ) for gripping the guide vehicle ( 10 ).

11. An automated transport system ( 81 ), comprising
a plurality of automated guide vehicles ( 10 ) according to claim 1 ,
a control unit ( 94 ) for controlling or regulating the automated guide vehicles ( 10 ), and
a communication device ( 76 ) with which information can be exchanged between the control unit ( 94 ) and the automated guide vehicles ( 10 ).

12. The automated transport system ( 81 ) according to claim 10 , wherein
one of the automated guide vehicles ( 10 ) is set up as a master ( 86 ) and the remaining automated guide vehicles ( 10 ) are set up as slaves ( 88 ),
the master ( 86 ) comprises a master sensor unit ( 90 ) for capturing the surroundings of the master ( 86 ), and
the master ( 86 ) transmits information relating to the surroundings of the master ( 86 ) to the control unit ( 94 ) and/or to the slaves ( 88 ).

13. The automated transport system ( 81 ) according to claim 10 , wherein
each of the guide automated vehicles ( 10 ) respectively comprises a sensor unit ( 66 ) for capturing the surroundings of the guide vehicle ( 10 ), wherein
the sensor unit ( 66 ) is arranged in a sensor section ( 68 ) that is delimited by the outer contour ( 14 ) and the first axis of rotation (D 1 ) or the second axis of rotation (D 2 ), and
the sensor unit ( 66 ) is designed to only capture the portion of the surroundings on the side of the first axis of rotation (D 1 ) or of the second axis of rotation (D 2 ), on which the sensor unit ( 66 ) is arranged, wherein
at least a first of the sensor units is oriented in a first direction and at least a second of the sensor units is oriented in a second direction.

Assignees

• Ims Gear Se & Co Kgaa
• Antrimon Deutschland Gmbh

Inventors

• Nagel Benedikt
• Belz Carsten
• Melnikov Egor
• Gruler Fabian
• Stöhr Johannes
• Huber Matthias
• Rosen Michael
• Teichmann Robin
• Hofschulte Wolfram
• Abelmann Yannik
• Fürderer Yvonne
• Schwörer Simon

Classifications

• B60L2220/46

  Wheel motors, i.e. motor connected to only one wheel · CPC title

• G05D1/692

  involving a plurality of disparate vehicles · CPC title

• G05D1/247

  using signals provided by artificial sources external to the vehicle, e.g. navigation beacons · CPC title

• B66F9/0755

  Position control; Position detectors · CPC title

• B66F9/065

  non-masted (mobile jacks of the garage type mounted on wheels or rollers B66F5/00) · CPC title