A Motion Module Management System and Method

Abstract

The invention relates to a motion module management system and method for collecting, optimizing, and managing data for controlling the movements of wheel modules used in vehicles equipped with at least one wheel module propelled by a propulsion system, in response to changes in the vertical and / or horizontal planes.

Description

1 TARIFF A Motion Module Management System and Method TECHNICAL AREA 5 The invention relates to vehicles equipped with a wheel module that provides propulsion using at least one propulsion system. used, the mentioned wheel modules coming from vertical and / or horizontal planes data to be used in monitoring actions that will occur according to changes A motion management module that enables the collection, optimization, and management of motion data. It is related to the system and method. PREVIOUS TECHNIQUE In current applications, vehicles consisting of at least 2 wheel modules have a movement speed of 15. There are various combinations for this. The vehicle is called front-wheel steering, by controlling only the front wheel(s) and letting the rear wheels of the vehicle idle specific (such as straight-line and left-right turning movements, requiring a more restricted, wider range of turn) Movements can be performed. Similarly, in a rear-wheel steering system, the front of the vehicle... not the rear wheels where the motion control mechanism is activated and the front wheels are idling 20 There are situations where it remains unchanged. Furthermore, in the existing 4-wheel steering modules, each... Various algorithms have been developed for steering a wheel individually. For example, the vehicle When a command is given to turn right, the successive distance between each wheel module and Using data collected from angle measuring systems, the angles at which the wheels must turn are determined. Each is calculated and applied differently within its own context. The Cancer movement is 25. even in complex motion mechanisms such as (ability to move in cross-axes) The processes for carrying out and executing these actions are made easier with the data obtained from the system. It has been used before, but active measurement of motion in the vertical plane is also necessary. It needs to be activated during movement. In current techniques, the vertical and rotational movements of the wheel modules are independent of each other. The data obtained from different systems that are in operation are measured through these systems. In this way, the movement of various mechanisms within the system is ensured. However, this The systems used in the structure and their associated control mechanisms are compact and interdependent. It does not work in an integrated manner. This situation is particularly problematic for multi-axis and simultaneous motion. 35 In applications requiring this, it leads to system-wide coordination problems. It is known... In these applications, vertical movement is controlled via position changes in the pistons. 2 These piston movements are mostly controlled by external commands. Specifically... When the pistons located on the upper plate of the vehicle need to move, these movements are directly transmitted. It is initiated via operator notification or manual commands. Therefore, the system It does not have an automatic, situation-dependent decision-making mechanism within itself. However, In current techniques, pressure-controlled systems rely on pistons that only have their own 5 It is used to control the movements of the system, and pressure data is used to monitor other moving parts of the system. It is not associated with its components. Therefore, pressure information is system-wide. It is not considered to be capable of ensuring synchronization. Similarly, angle measurements performed on rotating elements such as bearings are 10 solely for the purpose of rotating the wheel modules at the desired orientation angles. These measurements are used. The data obtained from these measurements are directly expressed as the wheel's turning angle. It is being evaluated and integrated data sharing with other motion components of the system. This is not provided. This approach, in particular, requires the simultaneous and coordinated performance of multiple movements. In applications where this should be done, it causes synchronous motion problems. 15 This is especially true in systems that function as a whole, with all their components working together. the technique of managing the movement through separate systems and independent control mechanisms This leads to disruptions, delays, and inconsistent actions. Therefore, different The data obtained from the systems are evaluated together and optimized, and this data synchronous and 20 that enables transmission integrated into motion systems. Solutions with an integrated structure are needed. The document US4531604A, which was found as a result of research in the literature, is a straddle-tip document. In (bridge / portal type) mobile cranes, the hydraulic steering wheels located on both sides The wheels are controlled via cylinders and due to hydraulic leakage / differential, the wheels rotate 25 degrees. When an alignment / synchronization problem occurs between them, it aims to resolve this mismatch. This describes a hydraulic steering synchronization solution. US4531604A The document states that the wheels are not mechanically connected to each other, therefore they are hydraulic. Differences in the circuit disrupt synchronization, resulting in issues such as tire friction / wear. It is explained that this leads to problems and the solution is for the operator to activate the system with a button. 30 and by driving the wheels through a normal left-right limit cycle, the hydraulic flow by distributing / spreading the wheels evenly between the cylinders Resynchronization is provided. However, in this application, the wheel module by evaluating / optimizing data collected from different types of systems within the organization by applying multiple mechanisms in the system (e.g., vertical movement / piston movement, etc.) 35 An integrated transmission approach has not been encountered. The signal configuration in the document is predominantly... It is aimed at recapturing the wheel steering alignment, but in practice it has limitations. 3 Using elements such as switches and solenoid valves, a wheel is kept in a straight-line position, and It is described by routing the hydraulic circuit accordingly. In other words, the system data. a compact / integrated system that brings together the components to provide synchronized movement throughout the system Instruction on control architecture is not provided in document US4531604A. Ultimately, the problems mentioned above, which cannot be solved with current technology, are the subject of this technical analysis. This has made it necessary to make an innovation in the field. A BRIEF DESCRIPTION OF THE INVENTION The present invention aims to eliminate the aforementioned disadvantages and introduce new 10 technologies to the relevant technical field. It is related to a movement module management system and method to bring advantages. The main purpose of the invention is to enable wheel modules to withstand attacks from vertical and / or horizontal planes. data to be used in monitoring actions that will occur according to changes the collection, optimization, and wheel module 15 with the collected and optimized data. The goal is to ensure the system is managed. All the purposes mentioned above and those that will emerge from the detailed explanation below. The present invention aims to realize a wheel module that provides movement using a propulsive force. The aforementioned wheel modules, used in vehicles equipped with these features, have a vertical and / or horizontal plane distance of 20° data to be used in monitoring actions that will take place according to the changes that occur. enabling the collection, optimization and management of vehicles in mobile vehicles its movement combines lifting, suspension, steering and balancing functions. performing, containing at least one wheel module and transmitting data through systems It is the management system of the collected movement module, and its feature is; 25  By measuring the angle between the platform's movement surface and the ground, the platform's stability can be determined. It detects deviations in its movement and automatically controls the measured angle data. Platform angle measurement system that transmits to the mechanism,  located on the motion module and controlling the rotation angle and rotation of the motion module 30 measures the number of rotations of the element and sends the measured data to the automatic control mechanism. transmitting at least one angle system,  Integrating the motion module with the vehicle structure, allowing the module to rotate in the horizontal plane. providing, generating and transmitting the relevant rotational movement and synchronizing with the angle system. working bearing element, 4  The rotational movement generated on the bearing element is transmitted by the gear mechanism and the plate. transmitting the angle of rotation of the bearing to the angular system via the bearing, the angle of rotation of the bearing and the rotation motion transmission element that enables the measurement of the number  Transmission element for fluid and / or electric current that provides vertical motion 5 that enables the fluid and / or energy to be directed to the actuator. Rotating element that enables it to reach different locations,  Used in the transmission of fluid and / or electric current that provides vertical motion, A device that can move in the xy plane depending on the rotating element and the fluid and / or a conduction element that enables the transmission of electric current to at least one actuator,  By measuring the vertical and horizontal loads acting on the motion module, the system uses this load data. Automatic control for use in automation and optimization processes load measuring element that transmits the load to the mechanism,  The lifting mechanism moves in the vertical plane under the influence of driving energy. the drive element that initiates, sustains and controls the movement  Integrated into the motion module, it controls both suspension movement in the vertical plane. and also a load that operates with a drive element to perform the lifting operation. based on data obtained from the measuring element and / or pressure measuring device by adjusting the amount of vertical movement, the parallelism of the platform in the horizontal plane contributing to its preservation and initiating, maintaining and sustaining vertical movement. The aforementioned lifting mechanism, which enables it to be controlled, 20  operating parameters and / or fluid within the drive element By detecting changes in pressure and using data related to these changes, it automatically controls the system. pressure measuring device that transmits pressure to the mechanism,  Opens based on signals from the automatic control mechanism by closing the fluid and / or electrical energy input to the actuator and 25 controlling its exit and the amount of vertical movement of the lifting mechanism. at least one control element contributing to its regulation,  The movement of the lifting mechanism in the vertical / horizontal plane by measuring the distance, it transmits this movement data to the automatic control mechanism. motion measurement system, 30  Dampens the horizontal and vertical loads acting on the motion modulus, on the ground adapting the system to their differences and regulating suspension behavior swing mechanism,  The wheel, which makes contact with the ground and enables the vehicle to move forward.  By making contact with the ground, it enables the vehicle to move in the horizontal plane and 35 a movement mechanism that works in conjunction with the wheels,  enables the movement mechanism and the swing mechanism to work together, Enabling simultaneous movement in both vertical and horizontal planes and the connecting element that enables load transfer,  by connecting the movement mechanism to the swing mechanism in the system The bearing mechanism, which ensures the damping and distribution of the generated forces, 5  Connecting the parts within the swing mechanism to the lifting mechanism connecting, controlling horizontal loads and creating suspension movement. swing-up upper body that provides  Power transmission within the motion module occurs along a single axis. A single-axis bearing element that contributes to power transmission by providing 10  holds the elements together within the motion mechanism and transmits force. swing lower body that provides  The drive source that provides the energy necessary for the operation of the motion mechanism,  Transforming the speed and torque values ​​of the power from the drive source to create motion. speed and torque converter that adapts to the mechanism, 15  To ensure synchronous and controlled operation of the wheel modules, the movement wheel power transmission element that transmits power to the wheels.  It enables movement by transmitting the power from the drive source to the wheels. motion transmission element  The power obtained from the motor and speed-torque converter is transferred to a moving part such as a chain, gear or wheel. a power transmission gear that converts power into motion by transmitting it to the parts,  angle system, load measuring element, pressure measuring device, motion measuring system and pressure, angle, load and vertical motion data from the platform angle measurement system by collecting this data in a way that ensures the vehicle remains parallel to the ground and stable. Optimizing and control elements and motion according to optimized signals 25 the aforementioned automatic control mechanism that transmits control commands to its elements It includes. The best way to utilize the advantages of the existing invention, together with its structure and additional elements. For it to be understood, it must be considered together with the figures explained below. 30 BRIEF DESCRIPTION OF THE FIGURES Figure 1 is a representative illustration of the system described in the invention. Figure 2 is a representative illustration of the method described in the invention. 35 Figure 3 is a representative illustration of the platform angle measurement system. 6 Figure 4 shows a perspective view of the motion module. Figure 5 shows the disassembled view of the motion module. Figure 6 shows the assembled lifting and swing mechanisms of the motion module. It is the appearance of its state. Figure 7 shows a bottom perspective view of the motion module. 5 Figure 8 shows a top view of the motion module. The drawings do not necessarily need to be scaled and are necessary for understanding the invention. Details that are not present may have been overlooked. Furthermore, at least to a large extent... Elements that are identical or at least have substantially identical functions are numbered 10 times with the same number. It is shown. REFERENCE NUMBERS 10. Lifting mechanism 15 11. Bearing element 12. Motion transmission element 13. Angle system 14. Fastener 15. Rotating element 20 16. Transmission element 17. Load measuring element 18. Drive element 18A. Pressure measuring device 18B. Control element 25 19. Motion measurement system 20. Swing mechanism 21. Bed mechanism 22. Swing upper frame 23. Single-axis bearing element 30 30. Movement mechanism 31. Swing lower frame 32nd Wheel 33. Motion transmission element 34. Power transmission gear 35 35. Speed ​​and torque converter 36. Propulsion source 7 37. Wheel drive transmission element 100. Motion module 101. Platform angle measurement system 102. Automatic control mechanism 5 1001. Operator's movement command to the transfer vehicle via electronic device. sending 1002. The vehicle starts moving. 1003. Pressure sensing in the vertical plane when the vehicle encounters an obstacle. 10 1004. When an obstacle is encountered, the movement module moves away from the obstacle in the vertical plane. the incoming pressure is transmitted to the lifting mechanism 1005. Transmission of pressure changes on the lifting mechanism to the drive element. 1006. The change in pressure acting on the drive element is measured using a pressure measuring apparatus. measurement 15 1007. Transmission of pressure change data to the automatic control mechanism. 1008. Automatic control mechanism, pressure change data, vertical / horizontal movement. data including platform angle data, rotating element rotation angle data and load measurement data. by continuously collecting and optimizing all data sent, including... to provide evaluation 20 1009. The data / signals collected by the automatic control mechanism continuously / dynamically optimizes through software 1010. The automatic control mechanism based on optimized signals. sending on / off commands to the control elements inside the actuator 1011. The energy and / or 25 within the actuator of the opening / closing control elements. By enabling the entry and exit of the fluid to the actuator, the energy and / or fluid to which it is connected is provided. initiation of transmission with a transmission element 1012. Lift in the vertical plane during energy and / or fluid transmission. starting with the mechanism 1013. Motion measurement of vertical / horizontal plane movement in the lifting mechanism 30 measurement with the help of the system 1014. Automatic control of measured vertical / horizontal plane motion data. transmission to the mechanism 1015. Angle measurement on a system containing at least one motion module simultaneously. Collecting angle data between the system and the main system relative to the ground 35 1016. Transmission of the acquired platform angle data to the automatic control mechanism. 8 1017. Simultaneously connected to the table rotary element and the motion transmission element. The rotation angle data of the rotating element from the angle system within the motion module. gathering 1018. Automatic control mechanism for processing rotation angle data received from the rotating element. transmission 5 1019. Simultaneously on the load measuring element within the motion module collection of measured load data 1020. Automatic control of load measurement data collected from motion modules. sent to the mechanism DETAILED DESCRIPTION OF THE INVENTION In this detailed description, the subject of the invention is a motion module (100) management system and The method will not only contribute to a better understanding of the subject but will also have no limiting effects. This is explained with examples. 15 A motion module (100) management system, lifting mechanism (10), bearing element (11), motion transmission element (12), angle system (13), connecting element (14), rotating element (15), transmission element (16), load measuring element (17), drive element (18), pressure measuring apparatus (18A), control element (18B), vertical / horizontal motion measurement system (19), swing mechanism (20), 20 bed mechanism (21), swing upper body (22), single-axis bearing element (23), motion mechanism (30), swing lower body (31), wheel (32), motion transmission element (33), power transmission gear (34), speed and torque converter (35), drive source (36), wheel movement transmission element (37), motion module (100), platform angle measurement system (101), automatic It includes a control mechanism (102). The lifting mechanism (10) is both 25 in the vertical plane. It is the entirety of the mechanisms that perform both suspension and lifting processes. The bearing element (11) connects the motion module (100) to the large structure and rotates It is the part that transmits the motion. Motion transmission element (12), motion transmission mechanism, By connecting the bearing element (11) and the angle system (13), the rotation of the rotating element It enables the measurement of the number and angle. Angle system (13), motion module (100) 30 The angle of the motion module (100), the number of turns, etc., including at least one. It is the unit used for data collection. The connecting element (14) is used for the movement mechanisms. (30) and swing mechanisms (20) together, vertical and horizontal It is an element designed specifically for movement in planes. Rotary element (15) vertical 35 which allows it to descend downwards and rotate, to the transmission element (16) to which it is connected. It is the element that enables the end to reach the desired locations. Transmission element (16), vertical 9 (15) used in the transmission of fluid and / or energy that provides motion to the rotating element It is the element that provides movement in the xy plane depending on the load measuring element (17). to the system for use in automation processes that enable the measurement of loads It is the unit that enables the collection of incoming loads and controlled data. The drive element (18) is vertical. motion-providing fluid and / or energy-driven pressure and in the system 5 It is equipment that provides vertical movement. Pressure measuring device (18A), energy and / or force It is a system that measures pressure changes in the flow of energy and / or fluid. The control element (18B) measures the energy and / or fluid flow. It is an element that is opened and closed to enable the movement of material, such as a valve, relay, or drive. There may be elements. The motion measurement system (19) measures the movement in the lifting mechanism (10). It is a system used for analysis, with at least one in each module. Swing 10 mechanism (20) dampens the horizontal and vertical loads acting on the module, adapting the system to the situations It is the mechanism that adapts according to the bed mechanism (21), which has at least one movement. used to connect the mechanism (30) and the swing mechanism (20) to each other. It is the part used in exploiting the forces generated in the system. Swing upper body (22), The parts (20) in the swing mechanism and the lifting mechanism (10) are connected to each other 15 for connecting, controlling the movement of horizontal loads and for suspension movement. It is the unit used. The single-axis bearing element (23) is used as a power transmission element. It is used. The movement mechanism (30) provides the movement that is in contact with the ground. It is the mechanism. The swing lower body (31) holds the movement mechanism (30) together. Wheels (32) are parts that come into contact with the ground and enable movement. Motion transmission 20 The element (33) is the part that transmits the power required for the movement of the wheels (32). Power transmission gear (34), the motor and gearbox are used for the movement of moving parts such as chains, wheels (32). It is used to convert power into motion. Speed ​​and torque converter (35), power supply It is a mechanism. The drive source (36) is the power transmitting mechanism. Wheel motion transmission element (37) is used for the operation of the wheel modules. The motion module (100) is movable 25 It is the module in vehicles that enables vehicle movement and is the subject of the invention. Platform angle measurement. The system (101) measures the angle between the platform's moving surface and the platform's stability. It is the unit that measures the deviations according to the movement. Automatic control mechanism (102), from systems Checking the incoming data and determining and transmitting automatic control parameters according to the software. It is a mechanism. 30 A motion module (100) management system, thanks to the software contained within it, can accommodate at least four It collects data on a number of points. This data includes the angle of the vehicle relative to the ground, movement. The angle(s) of rotation of the module (100), the distance of movement in the vertical plane (Lifting and / or (movement of suspension mechanisms) and 35 in the drive element-like system It is the pressure of the fluid and / or energy. Data obtained from these four fundamental points determine the vehicle's performance. Apart from the angle relative to the ground, all other data comes from each wheel module and the vehicle Each wheel module is assigned its respective angle of inclination relative to the ground. The changes are being communicated. Initially, considering a vehicle moving on a flat surface, two... This vehicle, which has several wheel modules, has a right wheel module that encounters a 50 mm obstacle. When it encounters this change in pressure on the wheel (32), the drive element (18) inside The pressure measuring system detects the pressure change. From there, a signal of pressure change is sent to the main box. The data related to the pressure change is transmitted to the actuator element (18) and the vertical movement is transmitted. is initiated and the vertical in the system is activated by the change in pressure inside the drive element (18) Plane motion is initiated. As motion progresses, the change in the vertical plane within the system is observed. The length change data obtained by the measuring system is transmitted to the main box; simultaneously, 10 from the mechanism that measures the angle of the vehicle's top surface relative to the ground in the system. Data measuring the angle of the wheel module is transferred to the main box, thus ensuring system stability. The collected data is optimized to prevent corruption. The optimization here is basically about the path... The aim is to prevent the balance on the parallel upper plate from being disrupted by the obstacle. To ensure that the top plate does not change with the movement of the drive element (18), what is required for each wheel module? How much suspension will be applied, and how much lifting systems will be used if needed? The drive is based on data such as the distance it will be used at and the rotation angle of the wheel module. The data is measured to determine how much pressure there will be inside element (18). The aim is to measure the pressure in motion. The goal is to maintain the stability of the top plate. Here, optimization is performed simultaneously. The rotation angle of the wheel module, the amount of pressure on the piston, indirectly affects the piston and similar lifting mechanisms. The vertical movement distance of the systems is transmitted. Simultaneously, 20 to the wheel modules. Incoming loads are measured due to the effect of distance and pressure changes (vertical loads). The changes are checked, and if they exceed the desired amount, the system reduces the load internally. It can control movements by transmitting data to the wheel modules for distribution. With a movement module (100) management method, the following operations are performed; 25  The operator sends a movement command to the transfer vehicle via the electronic device. (1001),  The vehicle starts to move (1002),  Perception of pressure in the vertical plane when the vehicle encounters an obstacle (1003),  When an obstacle is encountered, the movement module (100) moves 30 meters away from the obstacle in the vertical plane. Transmission of the incoming pressure to the lifting mechanism (10) (1004),  The pressure change coming to the lifting mechanism (10) to the drive element (18) transmission (1005),  The change in pressure on the drive element (18) is measured with the pressure measuring apparatus (18A). measurement (1006), 35  Transmission of pressure change data to the automatic control mechanism (102) (1007), 11  Automatic control mechanism (102), pressure change data, vertical / horizontal movement data including platform angle data, rotating element (15) rotation angle data and load measurement data by continuously collecting and optimizing all data sent, including... evaluation to provide (1008),  5 included in the collected data / signals of the automatic control mechanism (102) continuously / dynamically optimizes through software (1009),  The automatic control mechanism (102) in line with the optimized signals sending the on / off command to the control elements (18B) inside the actuator (1010),  The energy and / or 10 of the opening / closing control elements (18B) inside the actuator By enabling the entry and exit of the fluid to the actuator, the energy and / or fluid to which it is connected is provided. Initiation of transmission with transmission element (16) (1011),  Lift during movement in the vertical plane during energy and / or fluid transfer starting with mechanism (10) (1012),  Motion measurement of the vertical / horizontal plane movement in the lifting mechanism (10) 15 Measurement with the help of the system (1013),  Automatic control mechanism of the measured vertical / horizontal plane motion data (102) transmission (1014),  Angle measurement on the system which includes at least one motion module (100) simultaneously Collection of angle data of the main system with respect to the ground with the system (1015), 20  Transmission of the received platform angle data to the automatic control mechanism (102) (1016),  Motion that is simultaneously connected to the table rotary element and the motion transmission element. rotation angle data of the rotating element (13) from the angle system in module (100) collection (1017),  The rotation angle data received from the rotating element is fed into the automatic control mechanism (102) 25 transmission (1018),  Simultaneously on the load measuring element (17) inside the motion module (100) Collection of measured load data (1019),  Automatic control of load measurement data collected from motion modules (100) sending to the mechanism (102) (1020). 30 A transfer system with a movement module (100) management system has at least one movement module (100). It is used in transport, lifting and stacking vehicles and the platform opens on the vehicle. The measurement system (101) is available. The operator sends a movement command to the vehicle and The vehicle receiving the signal starts moving. During movement, it encounters a difference in elevation. The movement module (100) in the transfer, transport, lifting and stacking vehicle primarily highlights this difference. 12 It detects the change signal via the wheel (32), which is a small number. This pressure change on the wheel (32) causes the swing lower body in the movement mechanism (30). (31) and the difference in the vertical plane with the elements in the other motion mechanism (30). The swing is transmitted to the upper body (22). This vertical is transmitted to the lifting mechanism (10). The pressure measuring apparatus (18A) in the force acting on the drive element (18) in the plane 5 It is detected by the pressure measuring apparatus (18A). This difference detected by the pressure measuring apparatus (18A) is automatically controlled. The pressure change data received is transmitted to the mechanism (102), where it is optimized and given accordingly sent to the control elements (18B) inside the drive element (18) The opening / closing process is managed by the movement of energy and / or fluid material inside. The motion transmission element (12) connected to this starts to work and lift 10 The movement of the mechanism (10) in the vertical plane begins. This movement in the vertical plane For the quantity and control of the process, data is continuously collected simultaneously from different points. Opening / closing movement control of the control elements (18B) inside the drive element (18) These checks are performed. For these checks, the lifting mechanism (10) of the system is in the vertical plane. Data were collected via the vertical / horizontal motion measurement system (19) to measure its movement. It transmits the data to the automatic control mechanism (102). With the data received from here, the motion module (100) The amount of motion in the vertical plane is learned. At least one module of motion (100) The platform angle is measured by the platform angle measuring system located on the transfer vehicle containing the platform. Changes in the angle relative to the ground are measured and sent to the automatic control mechanism (102) It is transmitted. Here, it can be grouped into multiple types, including a platform angle measuring system. 20 To control the vertical pressures that will be on the motion module (100) drive element (18) connected load measurement (This location is not mandatory, it was chosen simply because it is the optimum location) It measures the load coming to the motion module (100) using the system and automatic control It is transmitted to the mechanism (102). For the movement of the motion module (100) in the horizontal plane, 25 The angle of rotation of the motion module (100) with the angle system (13) connected to the bearing element (11) is also It is collected as data and transmitted to the automatic control mechanism (102) for optimization. Data collected in the automatic control mechanism (102) ensures that the vehicle is parallel and stable to the ground. optimized to stay in the control element (18B) inside the drive element (18) It sends the opening / closing command. Thus, the vertical 30 in the lifting mechanism (10) The movement is both as a suspension and as a drive element (18) depending on the future data. It continues the process by lifting. In the invention, the motion module (100) has at least one motion. It can be used in a transfer, conveying, lifting and stacking vehicle containing module (100). The mechanisms of the invention include this motion module (100) and the systems mounted on the vehicle. It is used in relation to. 35

Claims

13 REQUESTS 1. Used in vehicles with wheel modules that provide movement using propulsion power, 5 the mentioned wheel modules to changes from vertical and / or horizontal planes the collection of data to be used in monitoring the actions that will take place accordingly, enabling optimization and management of vehicle movement in mobile vehicles, performing lifting, suspension, steering and balancing functions together, containing at least one wheel module and transmitting data via systems / sensors 10 The collected motion module (100) is the management system, and its feature is;  The angle between the platform's movement surface, which is parallel to the ground, and the ground itself. by measuring and detecting deviations in the platform's movement, and the measured angle data Platform angle measurement system (101) transmitting to automatic control mechanism (102),  located on the motion module (100) and the rotation of the motion module (100) 15 Measures the angle, the number of rotations of the rotating element, and automatically controls the measured data. at least one angle system (13) transmitting to its mechanism (102),  Transmission element for fluid and / or electric current that provides vertical motion the fluid that enables its direction to the drive element (18) and / or Rotating element that makes it possible for energy to reach different locations (15), 20  in the transmission of fluid and / or electric current that provides vertical motion used, which can move in the xy plane depending on the rotating element (15). and enables the transmission of fluid and / or electric current to at least one actuator. transmission element (16),  The lifting mechanism (10) moves vertically by the effect of the driving energy 25 drive element that initiates, maintains and controls the movement in the plane (18),  suspension integrated into the motion module (100) in the vertical plane Drive element (18) to perform both the movement and the lifting operation working with, taken from the measuring element and / or pressure measuring apparatus (18A) By adjusting the amount of vertical movement based on the data, the platform's horizontal movement is 30 degrees. contributes to maintaining parallelism in the plane and vertical motion. the aforementioned removal that enables its initiation, maintenance and control mechanism (10), 14  operating parameters and / or fluid within the drive element (18) by detecting changes in pressure and automatically collecting data on these changes. pressure measuring apparatus (18A) which transmits to the control mechanism (102),  opens in accordance with the signals from the automatic control mechanism (102) closing and cutting off fluid and / or electrical energy input to the actuator and 5 vertical movement of the lifting mechanism (10) controlling its exit at least one control element contributing to the regulation of the quantity (18B),  by measuring the distance of movement performed by the lifting mechanism (10) motion measurement that transmits motion data to the automatic control mechanism (102) system (19), 10  Dampens the horizontal and vertical loads acting on the motion modulus, on the ground adapting the system and suspension behavior according to their differences regulating swing mechanism (20),  the wheel (32) that makes contact with the ground and enables the vehicle to move forward,  By making contact with the ground, it enables the vehicle to move in the horizontal plane and 15 Movement mechanism (30) working together with the wheels (32),  movement mechanism (30) and swing mechanism (20) together its operation is enabled by the combined movement in vertical and horizontal planes. a connecting element that enables this to happen and facilitates load transfer (14), 20  connect the movement mechanism (30) with the swing mechanism (20) by connecting them, the forces generated in the system are damped and distributed. bed mechanism (21),  drive that provides the energy required for the operation of the motion mechanism (30) source (36), 25  Transmiting the power taken from the drive source (36) to the wheels (32) and thus the movement motion transmission element that enables its formation (33),  angle system (13), pressure measuring apparatus (18A), motion measuring system (19) and Pressure, angle and vertical / horizontal from platform angle measurement system (101) by collecting motion data and using this data to keep the vehicle parallel to the ground and stable 30 optimizing in a way that ensures it remains stable and according to the optimized signals transmitting control commands to control elements (18B) and motion elements the mentioned automatic control mechanism (102) It includes. 35 2. The system is compliant with Claim 1 and its feature is that it includes the motion module (100) with the vehicle structure. by combining them, the module can rotate in the horizontal plane, the relevant rotational movement. bearing element (11) which forms and transmits and works synchronously with the angle system (13) It includes.

3. The system is compliant with claim 2 and its feature is the rotation that occurs on the bearing element (11). its movement by at least one mechanical, electromechanical or hydromechanical transmission mechanism transmitting the angle of rotation of the rotating element (15) to the angle system (13) through it. It contains a motion transmission element (12) that enables the measurement of the number.

4. The system is compliant with claim 1 and its feature is; vertical and horizontal to the motion module (100). by measuring the loads and using this load data in the automation and optimization processes of the system. load measuring element that transmits to the automatic control mechanism (102) for use. (17) is included.

5. The system is compliant with Claim 1 and its feature is; parts within the swing mechanism (20). connecting the lifting mechanism (10) to the control of horizontal loads and It includes a swingarm upper body (22) that supports the suspension movement.

6. The system complies with Claim 1, and its feature is that the power transmission within the motion module is a single 20 single-axis, contributing to power transmission by enabling it to occur on the axis. It contains a bearing element (23).

7. The system is compliant with claim 1 and its feature is; the movement mechanism (30) inside swing lower body (31) 25 which holds the elements together and provides force transmission It includes.

8. The system conforming to claim 1, its feature being; the speed and torque of the power from the drive source (36). speed and torque, which transform their values ​​to suit the motion mechanism. It includes a converter (35). 30 9. The system is compliant with claim 8 and its feature is that it is obtained from the motor and speed-torque converter (35). converting power into motion by transmitting it to moving parts such as chains, gears, or wheels. It includes a power transmission gear (34). 35 16 10. The system complies with Claim 1, and its feature is that the wheel modules are synchronized and controlled. the wheel which transmits the motion to the wheels (32) in order to make it work It contains a motion transmission element (37).

11. The system is in accordance with Claim 1 and its feature is that the mentioned angle measurement system (101) wheels 5 (32) A measuring device to control the rotational movement around the Z-axis It is a system.

12. Used in vehicles equipped with wheel modules that provide movement using propulsion force, The mentioned wheel modules are subject to changes from vertical and / or horizontal planes. 10 the collection of data to be used in monitoring the actions that will take place accordingly, enabling optimization and management of vehicle movement in mobile vehicles, performing lifting, suspension, steering and balancing functions together, containing at least one wheel module and transmitting data via systems / sensors. The management method of the collected movement module (100) is; 15 - Operator's movement command to the transfer vehicle via electronic device. reference (1001), - The vehicle starts to move (1002), - Pressure is detected in the vertical plane when the vehicle encounters an obstacle. (1003), 20  When an obstacle is encountered, the motion module (100) in the vertical plane Transmission of pressure from the obstacle to the lifting mechanism (10) (1004), - Pressure change on the lifting mechanism (10) on the drive element (18) transmission (1005), - Pressure change on the drive element (18) is measured by the pressure measuring apparatus (18A) 25 measured with (1006), - Transmission of pressure change data to the automatic control mechanism (102) (1007), - Automatic control mechanism (102), pressure change data, vertical / horizontal motion data, platform angle data, rotating element (15) rotation angle data and load 30 by continuously collecting all data sent, including measurement data evaluation to ensure its optimization (1008), - Within the collected data / signals of the automatic control mechanism (102) continuously / dynamically optimizes through the software found (1009), 17 - Optimized signals of the automatic control mechanism (102) in line with the on / off control elements (18B) inside the actuator sending the command (1010),  Energy of the opening / closing control elements (18B) inside the actuator and / or by enabling the fluid to enter and exit the actuator, the energy to which it is connected is 5 and / or initiation of transmission with fluid transmission element (16) (1011), - Lifting motion in the vertical plane during energy and / or fluid transfer. starting with mechanism (10) (1012), - The movement of the vertical / horizontal plane in the lifting mechanism (10) Measurement by means of a measurement system (1013), 10 - Automatic control of measured vertical / horizontal plane motion data. transmission to the mechanism (102) (1014), - Angle on the system containing at least one motion module (100) simultaneously Collecting angle data that the main system makes with the ground using the measurement system. (1015), 15 - Transmission of the received platform angle data to the automatic control mechanism (102) (1016), - Simultaneously connected to the table rotary element and the motion transmission element. rotation of the rotating element from the angle system (13) inside the motion module (100) Collection of angle data (1017), 20 - The rotation angle data received from the rotating element is fed into the automatic control mechanism. (102) transmission (1018), - Simultaneously, the load measuring element (17) inside the motion module (100) Collection of load data measured on (1019), - Automatic control of load measurement data collected from motion modules (100) 25 sending to the mechanism (102) (1020) It includes the steps of the process.

Images