Mobile vehicle and method for controlling the same

Abstract

A mobile vehicle of the present invention may include a body member, a plurality of support frames configured to support the body member and rotate relative to the body member about a first rotation axis, and a plurality of moving members respectively connected to the plurality of support frames and configured to move the body member and the support frames, the main body member and the support frame are configured to permit rotation relative to each other about the first rotation axis in a state in which the main body member and the support frame support each other in a direction in which the first rotation axis extends.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2024-0079382, filed with the Korean Intellectual Property Office on June 19, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to a mobility vehicle and a method for controlling it. Background Technology

[0004] Currently, there is active development of robots based on plug-and-drive (PnD) modules. These robots are equipped with a main body component capable of supporting objects, multiple wheels configured to propel the main body component, and a steering system configured to steer the multiple wheels.

[0005] Robots in related technologies are manufactured such that the position of the wheels relative to the main body is fixed. When the position of the wheels relative to the main body is fixed, there is a problem that the horizontal width of the mobile vehicle cannot be adjusted.

[0006] For example, there are problems such as the difficulty for mobile vehicles with relatively large horizontal widths to enter relatively narrow spaces such as elevators or corridors. Additionally, there is an increased risk of rollover accidents for mobile vehicles with relatively small horizontal widths when traveling at high speeds. Summary of the Invention

[0007] Embodiments of this disclosure may provide a mobile vehicle capable of adjusting its horizontal width.

[0008] In embodiments of this disclosure, a mobile vehicle may include: a main body component; a plurality of support frames configured to support the main body component and rotate relative to the main body component about a first rotation axis; and a plurality of moving components respectively connected to the plurality of support frames and configured to move the main body component and the support frames, wherein the main body component and the support frames are configured to allow rotation relative to each other about the first rotation axis while supporting each other in a direction extending from the first rotation axis.

[0009] The first axis of rotation may extend in the up / down direction, and the mobile vehicle may further include: a first engaging member formed on the lower surface of the main body member; and a second engaging member formed on the upper surface of the support frame, either the first engaging member or the second engaging member may be a protrusion, and the other of the first engaging member and the second engaging member may be a groove into which the protrusion is inserted.

[0010] The first engaging member may be a protrusion having a shape that protrudes downward from the lower surface of the main body member, and the second engaging member may be a groove having a shape that recesses downward from the upper surface of the support frame.

[0011] When viewed from the top of the mobile vehicle in a direction parallel to the top / bottom, the second engagement member may have an arcuate shape with a predetermined radius centered on the first axis of rotation. The second engagement member may be configured as a plurality of second engagement members respectively disposed on a plurality of support frames, and the plurality of second engagement members may be arranged to be spaced apart from each other in a circumferential direction that is the direction in which the first engagement member extends.

[0012] Multiple support frames can be configured to rotate about a first rotation axis relative to the main component between a first posture in which the horizontal width of the mobile vehicle is at its maximum horizontal width and a second posture in which the horizontal width of the mobile vehicle is at its minimum horizontal width, and the mobile vehicle may further include a motion limiting component configured to limit the movement of the multiple support frames, such that the multiple support frames move in postures between the first posture and the second posture.

[0013] The motion limiting component may be located between two second engaging components that are adjacent to each other in the circumferential direction.

[0014] The motion limiting component can be configured as multiple motion limiting components, each of which can have a shape protruding from the support frame in the horizontal direction, and when the multiple support frames are placed in the second posture, two adjacent motion limiting components among the multiple motion limiting components can contact each other.

[0015] The motion limiting component may have a shape that protrudes downward from the lower surface of the main component. Multiple motion limiting components may be provided, and multiple motion limiting components and multiple second engaging components may be alternately arranged in the circumferential direction.

[0016] The mobile vehicle may further include a connector configured to connect a plurality of support frames and define a first axis of rotation, wherein the connector may be located within a first engagement member when the top of the mobile vehicle is viewed parallel to the up / down direction. A second engagement member may be disposed between one end of a support frame and the connector.

[0017] The mobile vehicle may also include: a connector configured to connect a plurality of support frames and define a first axis of rotation; and an encoder configured to acquire information about the angle defined by the plurality of support frames, wherein the encoder may be disposed below the connector.

[0018] The mobile vehicle may also include a brake configured to stop relative movement of the plurality of support frames, wherein the brake may be located below the connector.

[0019] In embodiments of this disclosure, the mobile vehicle may include: a main body component; a plurality of support frames configured to support the main body component and rotate relative to the main body component about a first rotation axis; a plurality of moving components respectively connected to the plurality of support frames and configured to move the main body component and the support frames; and a controller configured to control the movement of the plurality of support frames to adjust the horizontal width of the mobile vehicle.

[0020] The plurality of support frames may include: a first support frame extending in a first direction; and a second support frame having a central portion configured to intersect with the central portion of the first support frame, the second support frame extending in a second direction intersecting the first direction. The first support frame may include: a first-first frame region configured to define one end of the first support frame and extend from the central portion of the first support frame to one side of the first support frame based on the first direction; and a first-second frame region configured to define the other end of the first support frame and extend from the central portion of the first support frame to the other side of the first support frame based on the first direction. The second support frame may include: a second-first frame region configured to define one end of the second support frame and extend from the central portion of the second support frame to one side of the second support frame based on the second direction; and a second-second frame region configured to define the other end of the second support frame and extend from the central portion of the second support frame to the other side of the second support frame based on the second direction, and the first-first frame region, the second-first frame region, the first-second frame region, and the second-second frame region may be alternately arranged in a circumferential direction.

[0021] The controller can control the movement of multiple support frames such that when a shrinking signal is input, one end of the first-first frame region and one end of the second-first frame region move closer to each other. The shrinking signal can be a signal indicating that the horizontal width of the mobile vehicle needs to be reduced. The controller can also control the movement of multiple support frames such that when an expanding signal is input, one end of the first-first frame region and one end of the second-first frame region move away from each other. The expanding signal can be a signal indicating that the horizontal width of the mobile vehicle needs to be increased.

[0022] The moving component may include: a front wheel, which is respectively connected to one end of the first-first frame region and one end of the second-first frame region; and a rear wheel, which is respectively connected to one end of the first-second frame region and one end of the second-second frame region, and when either a shrinking signal or an expanding signal is input, the controller may control the moving component such that the speeds of the front wheel and the rear wheel are different from each other.

[0023] The mobile vehicle may further include: a plurality of moving parts, which are respectively connected to a plurality of support frames and configured to move the main body parts and the support frames; and a detection unit, which is configured to detect the movement of objects in the peripheral area of ​​the mobile vehicle, wherein when the movement of objects in the peripheral area is detected by the detection unit, the controller receives an avoidance signal from the detection unit, the avoidance signal being a signal indicating that the mobile vehicle needs to avoid the object, wherein the moving parts include: a plurality of wheels respectively connected to one end of a first-first frame region, one end of a first-second frame region, one end of a second-first frame region, and one end of a second-second frame region, and wherein when the wheel closest to the object is the near-distance wheel and the wheel furthest from the object is the far-distance wheel, the controller with the avoidance signal controls the moving parts such that the far-distance wheel moves in a direction intersecting with the near-distance wheel.

[0024] In embodiments of this disclosure, a method for controlling a mobile vehicle may include: a shrinking signal input operation, inputting a signal indicating that the horizontal width of the mobile vehicle needs to be reduced, i.e., a shrinking signal; a contraction control operation, controlling the movement of a plurality of support frames such that when the shrinking signal input operation is performed, one end of a first-first-frame region and one end of a second-first-frame region move closer to each other; an expansion signal input operation, inputting a signal indicating that the horizontal width of the mobile vehicle needs to be increased, i.e., an expansion signal; and an expansion control operation, controlling the movement of the plurality of support frames such that when the expansion signal input operation is performed, one end of the first-first-frame region and one end of the second-first-frame region move further away from each other.

[0025] The moving component may include: a front wheel, which is respectively connected to one end of the first-first frame region and one end of the second-first frame region; and a rear wheel, which is respectively connected to one end of the first-second frame region and one end of the second-second frame region, and the speeds of the front wheel and the rear wheel may be different from each other during the reduced signal input operation or the expanded signal input operation.

[0026] The method may further include: a detection operation, detecting the movement of an object within a periphery of the mobile vehicle; a avoidance signal input operation, inputting an avoidance signal when the movement of an object within the periphery is detected, the avoidance signal being a signal instructing the mobile vehicle to avoid the object; and a wheel control operation, when the avoidance signal input operation is performed, causing the far-distance wheel to move in a direction intersecting with the near-distance wheel, wherein the moving component includes: a plurality of wheels respectively connected to one end of a first-first frame region, one end of a first-second frame region, one end of a second-first frame region, and one end of a second-second frame region, wherein the near-distance wheel may be defined as the wheel closest to the object among the plurality of wheels, and wherein the far-distance wheel may be defined as the wheel furthest from the object.

[0027] The mobile vehicle according to embodiments of the present disclosure can be configured to adjust its horizontal width, thereby flexibly responding to various situations by adjusting the horizontal width. Attached Figure Description

[0028] Figure 1 A front view of the front side of a mobile vehicle according to an embodiment of the present disclosure is shown.

[0029] Figure 2 A top view of a mobile vehicle according to an embodiment of the present disclosure, with the main components removed.

[0030] Figure 3 A top view showing the state in which the motion limiting component according to an embodiment of the present disclosure is connected to the support frame.

[0031] Figure 4 A top view showing the state in which the motion limiting component is connected to the main body component according to a variation of an embodiment of the present disclosure.

[0032] Figure 5 A top view illustrating the state in which a mobile vehicle according to an embodiment of the present disclosure switches from a first posture to a second posture.

[0033] Figure 6 This is a top view illustrating the state of attitude transition of a mobile vehicle when motion of an object is detected in the peripheral area of ​​the mobile vehicle according to an embodiment of the present disclosure. Detailed Implementation

[0034] Hereinafter, some exemplary embodiments of the present disclosure will be described in detail with reference to the illustrative drawings. When providing reference numerals for the constituent elements of the various drawings, even if the constituent elements can be illustrated in different drawings, the same constituent elements may be represented by the same reference numerals if possible. Furthermore, in the following description of the exemplary embodiments of the present disclosure, detailed descriptions of related well-known configurations or functions may be omitted when it is determined that such detailed descriptions would obscure the understanding of the exemplary embodiments of the present disclosure.

[0035] Hereinafter, with reference to the accompanying drawings, a mobile vehicle 1 according to an exemplary embodiment of the present disclosure will be described.

[0036] Figure 1 A front view with a partial cross-sectional view is shown of the front side of the mobile vehicle 1 according to an embodiment of the present disclosure. Figure 2 A top view of a mobile vehicle 1 according to an embodiment of the present disclosure, with the main components removed. Figure 3 A top view showing the state in which the motion limiting component according to an embodiment of the present disclosure is connected to the support frame.

[0037] Reference Figures 1 to 3 The mobile vehicle 1 can travel on the ground. The mobile vehicle 1 can move objects that need / desir to move between locations to a target location. The mobile vehicle 1 may include: a main body component 100, a moving component 200, a support frame 300, a link 400, a motion limiting component 500a, a drive component 600, a detection component 700, and a controller 800, any combination or all of which may be multiple, or may include multiple components thereof.

[0038] The main body component 100 provides space for placing objects that need to be / desir to be moved. The main body component 100 is movable via the movable component 200. The main body component 100 may be positioned above the support frame 300. The main body component 100 may have a first engaging component 101.

[0039] The first engaging member 101 may engage with the second engaging member 301 described below. The configuration in which the two components engage with each other can be understood as including, for example, not only the case where the two components are completely and tightly attached to each other, but also the concept of preventing the two components from moving more than a predetermined distance relative to each other in either direction.

[0040] The first engaging member 101 may have a shape that protrudes downward from the lower surface of the body member 100. The first engaging member 101 may have an annular shape. For example, the first engaging member 101 may have a circular shape. The direction in which the first engaging member 101 extends may be referred to as the circumferential direction.

[0041] The movable component 200 is movable relative to the main component 100 on the ground. Each movable component 200 may be fixedly or mechanically coupled to the support frame 300. Each movable component 200 may be controlled by the controller 800. Each movable component 200 may include wheels 210 and a steering area 220.

[0042] The wheel 210 may be disposed below the steering area 220. The upper end of the wheel 210 may be disposed below the lower end of the main body component 100. As described above, the main body component 100 may be disposed above the wheel 210, which prevents the wheel 210 and the main body component 100 from interfering with each other when the wheel 210 moves relative to the main body component 100.

[0043] Steering region 220 allows wheel 210 to be steered. Steering region 220 allows wheel 210 to rotate relative to body component 100 about a steering rotation axis. For example, the steering rotation axis may be a virtual straight line passing through moving component 200 and extending parallel to the up / down direction. Steering region 220 and wheel 210 may be connected to each other and configured to be pivotable / rotatable relative to each other. Steering region 220 may be fixed to or mechanically coupled to one end of support frame 300.

[0044] The moving part 200 can be configured as multiple moving parts 200. The multiple moving parts 200 may include: a first moving part, a second moving part, a third moving part, and a fourth moving part. The first moving part, the second moving part, the third moving part, and the fourth moving part can be arranged sequentially in the peripheral direction of the main body part 100. Wheels 210, which can be respectively provided in the first moving part, the second moving part, the third moving part, and the fourth moving part, can be referred to as the first wheel, the second wheel, the third wheel, and the fourth wheel. Steering regions 220, which can be respectively provided in the first moving part, the second moving part, the third moving part, and the fourth moving part, can be referred to as the first steering region, the second steering region, the third steering region, and the fourth steering region.

[0045] The first moving part, the second moving part, the third moving part, and the fourth moving part can be respectively connected to one end of the first-first frame region 311, one end of the second-first frame region 321, one end of the first-second frame region 312, and one end of the second-second frame region 322.

[0046] The support frame 300 can support the main body component 100. The support frame 300 can rotate relative to the main body component 100 about a first rotation axis X1. The first rotation axis X1 can be defined as a virtual straight line passing through the connector 400 and extending parallel to the up / down direction.

[0047] The support frame 300 and the main body component 100 may be configured such that the support frame 300 and / or the main body component 100 can rotate relative to each other about a first rotation axis X1 while the support frame 300 and the main body component 100 are supporting each other in the up / down direction. For example, the support frame 300 may be configured to be rotatable relative to the main body component 100 when a first engaging member 101 of the main body component 100 is engaged with a second engaging member 301 of the support frame 300. As described above, since the support frame 300 can be rotatably disposed on the main body component 100 while the first engaging member 101 and the second engaging member 301 are engaged with each other, the horizontal movement of the support frame 300 relative to the main body component 100 may be restricted when the support frame 300 rotates. The support frame 300 may have at least one second engaging member 301.

[0048] The second engaging member 301 may engage with the first engaging member 101. For example, the second engaging member 301 may be a groove having a shape that is recessed downward from the upper surface of the support frame 300. When the top of the mobile vehicle 1 is viewed parallel to the up / down direction, the second engaging member 301 may have an arcuate shape with a predetermined radius centered on the first axis of rotation X1. In a more detailed example, the second engaging member 301 may overlap at least a portion of a virtual circle C having a center intersecting the first axis of rotation X1 and having a predetermined radius. The second engaging member 301 may be disposed between one end (e.g., the distal end) of the support frame 300 and the connector 400.

[0049] The support frame 300 can be configured as multiple support frames 300. When the multiple support frames 300 with the maximum horizontal width of the mobile vehicle 1 are in a first posture and the multiple support frames 300 with the minimum horizontal width of the mobile vehicle 1 are in a second posture, the multiple support frames 300 can rotate relative to the main body component 100 about a first rotation axis X1 between the first posture and the second posture.

[0050] The plurality of support frames 300 may include a first support frame 310 and a second support frame 320. The first support frame 310 may extend in a first direction, which is one of the horizontal directions. The central portion of the first support frame 310 may be configured to intersect with the central portion of the second support frame 320. The first support frame 310 may include a first-first frame region 311 and a first-second frame region 312.

[0051] The first-first-frame region 311 may be one side of the first support frame 310 based on the first direction. For example, the first-first-frame region 311 may have a shape that extends from the central portion of the first support frame 310 to one side of the first support frame 310 based on the first direction.

[0052] The first-second frame region 312 may be the opposite side of the first support frame 310 in the first direction. For example, the first-second frame region 312 may have a shape that extends from the central portion of the first support frame 310 to the opposite side of the first support frame 310 in the first direction. For example, the first-first frame region 311 and the first-second frame region 312 may be integrated.

[0053] The second support frame 320 may extend in a second direction intersecting the first direction. The angle defined between the virtual first straight line extending in the first direction and the virtual second straight line extending in the second direction may be variable. For example, when the plurality of support frames 300 are in a first posture, the first and second straight lines may be perpendicular to each other. As another example, when the plurality of support frames 300 are in a second posture, the minimum critical angle between the first and second straight lines may be an acute angle. The second support frame 320 may include a second-first frame region 321 and a second-second frame region 322.

[0054] The second-first frame region 321 may define one side of the second support frame 320 based on the second direction. For example, the second-first frame region 321 may have a shape that extends from the central portion of the second support frame 320 to one side of the second support frame 320 based on the second direction.

[0055] The second-second frame region 322 may define the other side of the second support frame 320 based on the second direction. For example, the second-second frame region 322 may have a shape extending from the central portion of the second support frame 320 to the other side of the second support frame 320 based on the second direction. For example, the second-first frame region 321 and the second-second frame region 322 may be integrated.

[0056] The first-first frame region 311, the second-first frame region 321, the first-second frame region 312, and the second-second frame region 322 may be arranged in a circumferential direction. A plurality of second joining members 301 may be provided. The plurality of second joining members 301 may be formed in the first-first frame region 311, the first-second frame region 312, the second-first frame region 321, and the second-second frame region 322, respectively. The plurality of second joining members 301 may be arranged to be spaced apart from each other in a circumferential direction. For example, all of the plurality of second joining members 301 may overlap with a virtual circle C.

[0057] The connector 400 can connect the first support frame 310 and the second support frame 320. The connector 400 can be configured to pass through the central portion of the first support frame 310 and the central portion of the second support frame 320. The upper end of the connector 400 can be connected to the lower surface of the main body component 100. For example, the main body component 100 can be supported not only by the connector 400 but also by the support frame 300.

[0058] Return to reference Figure 3The motion limiting member 500a can limit the angular movement of the plurality of support frames 300, allowing the plurality of support frames 300 to move at an angle about a first rotation axis X1 between a first posture and a second posture. For example, the motion limiting member 500a can be used as a stop to prevent the angle between the first straight line and the second straight line from being less than a minimum critical angle. The motion limiting member 500a may have a shape that protrudes from the support frame 300 in the horizontal direction.

[0059] The motion limiting member 500a may be located between two second engaging members 301 that are adjacent to each other in the circumferential direction. For example, the motion limiting member 500a may be integrated with the support frame 300. For example, the motion limiting member 500a may be a component included in the support frame 300.

[0060] The motion limiting component 500a can be configured as multiple motion limiting components 500a. These multiple motion limiting components 500a can be respectively disposed in / on the first-first frame region 311, the first-second frame region 312, the second-first frame region 321, and the second-second frame region 322. The motion limiting components respectively disposed in the first-first frame region 311, the first-second frame region 312, the second-first frame region 321, and the second-second frame region 322 can be referred to as the first-first motion limiting component, the first-second motion limiting component, the second-first motion limiting component, and the second-second motion limiting component.

[0061] The first-first motion limiting member may have a shape protruding from the first-first frame region 311 toward two opposite sides in a direction intersecting with the first direction. The first-second motion limiting member may have a shape protruding from the first-second frame region 312 toward two opposite sides in a direction intersecting with the first direction. The second-first motion limiting member may have a shape protruding from the second-first frame region 321 toward two opposite sides in a direction intersecting with the second direction. The second-second motion limiting member may have a shape protruding from the second-second frame region 322 toward two opposite sides in a direction intersecting with the second direction.

[0062] When the multiple support frames 300 are positioned in the second posture, two adjacent motion limiting members of the multiple motion limiting members 500a can contact each other. In other words, the two contacting motion limiting members can prevent angular movement of the multiple support frames 300, so that the first straight line and the second straight line are not at an angle less than the minimum critical angle.

[0063] The motion limiting member 500b (hereinafter referred to as a variation of the present disclosure) of the embodiments of the present disclosure may be configured differently from the motion limiting member 500a of the embodiments of the present disclosure.

[0064] Figure 4 This is a view showing the state in which the motion limiting component is connected to the main body component 100 according to a variation of an embodiment of the present disclosure.

[0065] Reference Figure 4 According to a variation of this disclosure, the motion limiting member 500b may be disposed on the lower surface of the main body member 100. The motion limiting member 500b may have a shape that protrudes downward from the lower surface of the main body member 100. When the plurality of support frames 300 are positioned in the second posture, the motion limiting member 500b may contact the plurality of support frames 300.

[0066] The motion limiting member 500b can be configured as a plurality of motion limiting members 500b. The plurality of motion limiting members 500b can be arranged to be spaced apart from each other in the circumferential direction. For example, the plurality of motion limiting members 500b and the plurality of second engaging members 301 can be alternately arranged in the circumferential direction.

[0067] The drive unit 600 provides power for rotating the plurality of support frames 300 relative to the main body 100. For example, the drive unit 600 may be configured as an electric motor, a hydraulic actuator, etc. The drive unit 600 may be controlled by a controller 800. The drive unit 600 may include an encoder 610 and a brake 620.

[0068] The encoder 610 can acquire information about angles defined by the multiple support frames 300. For example, the encoder 610 can acquire information about angles defined by the first support frame 310 and the second support frame 320. The encoder 610 can be electrically connected to the controller 800.

[0069] Brake 620 can stop the movement of multiple support frames 300 relative to each other. For example, brake 620 can stop the rotation of the first support frame 310 and the second support frame 320 relative to each other. Brake 620 can be configured as various types of brakes such as electronic brakes, disc brakes, or drum brakes.

[0070] The brake 620 can be controlled by the controller 800 based on information acquired by the encoder 610. For example, when a target angle is defined by the first support frame 310 and the second support frame 320, the brake 620 can stop the rotation of the first support frame 310 and the second support frame 320 relative to each other.

[0071] Reference Figure 1 and Figure 5The detection component 700 can detect changes in the width of the space S within the peripheral region of the mobile vehicle 1. For example, the detection component 700 can detect the difference between the width of the space where the mobile vehicle 1 is currently located and the width of the space S located along a predetermined travel route. (Refer to...) Figure 1 and Figure 6 The detection component 700 can detect the movement of an object A within the surrounding area of ​​the mobile vehicle 1. For example, the detection component 700 may include at least one of an infrared sensor, an ultrasonic sensor, and a lidar sensor capable of detecting the object A.

[0072] The controller 800 can control the horizontal width of the mobile vehicle 1. For example, the controller 800 can control the movement of multiple support frames 300.

[0073] Figure 5 This is a view showing a mobile vehicle switching from a first posture to a second posture according to an embodiment of the present disclosure.

[0074] Further reference Figure 5 When a reduction signal is input to the controller 800, the controller 800 can control the movement of multiple support frames 300, causing one end of the first-first frame region 311 and one end of the second-first frame region 321 to move closer to each other. The reduction signal can be a signal indicating that the size of the mobile vehicle 1 needs to be reduced. For example, the reduction signal can be generated by the detection unit 700 based on the detection result from the detection unit 700. For example, when the detection unit 700 detects that the width of the space in the predetermined travel route becomes smaller than the width of the space where the mobile vehicle 1 is currently located based on the driving state of the mobile vehicle 1, the detection unit 700 can generate a reduction signal, and the generated reduction signal can be input to the controller 800.

[0075] When the extended signal is input to the controller 800, the controller 800 can control the movement of the multiple support frames 300, causing one end of the first-first frame region 311 and one end of the second-first frame region 321 to move further apart from each other. The extended signal can be a signal indicating that the size of the mobile vehicle 1 needs / desirs to increase. For example, the extended signal can be generated by the detection unit 700 based on the detection result from the detection unit 700. For example, when the detection unit 700 detects that the width of the space in the predetermined travel route becomes greater than the width of the space currently occupied by the mobile vehicle 1 based on the driving state of the mobile vehicle 1, the detection unit 700 can generate an extended signal, and the generated extended signal can be input to the controller 800.

[0076] Figure 6This is a view illustrating the state of attitude transition of a mobile vehicle when motion of an object is detected in the peripheral area of ​​the mobile vehicle, according to an embodiment of the present disclosure.

[0077] Further reference Figure 6 When the detection unit 700 detects movement of object A within the surrounding area, the controller 800 can receive a avoidance signal from the detection unit 700. The avoidance signal can be a signal indicating that the mobile vehicle needs / expects to avoid object A. For example, the avoidance signal can be generated by the detection unit 700 based on the detection results from the detection unit 700.

[0078] A controller 800, receiving a avoidance signal, controls a moving part 200 such that the speed of the short-distance wheel is greater than the speed of the long-distance wheel. The short-distance wheel can be the wheel closest to object A among multiple wheels. The long-distance wheel can be the wheel furthest from object A among multiple wheels.

[0079] When a clearance signal is input to the controller 800, the controller 800 can control the moving parts (e.g., multiple steering zones) so that the far-distance wheels are oriented in a direction that intersects with the direction in which the near-distance wheels are oriented (e.g., a direction perpendicular to it). As described above, when a clearance signal is input to the controller 800, the far-distance wheels can firmly support the mobile vehicle 1 on the ground while the near-distance wheels are moving.

[0080] In the detailed example, return to the reference. Figure 2 and Figure 6 When the avoidance signal is input to the controller 800, the first wheel (based on Figure 6 The wheel located on the lower right side) and the second wheel (based on Figure 6 The wheels located on the upper right side can move away from each other (e.g., in the left / right direction) to increase the width of the mobile vehicle 1 in the left / right direction, and the third wheel (based on Figure 6 The wheel located on the upper left side) and the fourth wheel (based on Figure 6 The wheel located on the lower left side can move toward the first wheel and the second wheel (e.g., forward) so that the mobile vehicle 1 can avoid the object A located behind the mobile vehicle 1.

[0081] The controller 800 can be electrically connected to the moving part 200, the driving part 600 and the detection part 700, and is implemented as a process for decoding and executing instructions based on input information.

[0082] All components constituting embodiments of this disclosure may be operated integrally or in combination, and embodiments of this disclosure are not necessarily limited to such configurations. That is, for embodiments of this disclosure, one or more of the components may be selectively combined and operated. Unless explicitly stated otherwise, the words “comprise,” “include,” or “have,” and variations thereof, are to be understood as including stated elements but not excluding any other elements. Unless otherwise defined, terms including technical or scientific terms may have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms such as those defined in common dictionaries are to be interpreted as having a meaning consistent with their meaning in the context of the relevant art and should not be construed as having an ideal or overly formal meaning unless expressly defined in this disclosure.

[0083] The above description of exemplary embodiments is provided simply to illustratively describe the technical spirit of this disclosure, and those skilled in the art will understand that various changes and modifications can be made without departing from the features and scope of this disclosure. Therefore, the exemplary embodiments disclosed herein are provided for illustrative purposes and are not intended to necessarily limit the technical spirit of this disclosure. The scope of the technical spirit of this disclosure is not necessarily limited thereto. The scope of protection of this disclosure can be interpreted based on the following claims, and the technical spirit within the equivalent scope thereof can be interpreted as falling within the scope of this disclosure.

Claims

1. A mobile transport vehicle comprising: Main components; Multiple support frames configured to support the main body component and pivot relative to the main body component about a first rotation axis; and Multiple movable parts, each connected to the support frame, wherein, The movable component is configured to move the main component and the support frame relative to the ground. The main body component and the support frame are configured to allow rotation about the first rotation axis relative to each other while supporting each other in the direction extending from the first rotation axis.

2. The mobile transport vehicle according to claim 1, wherein, The first axis of rotation extends in the up / down direction, and The mobile transport vehicle further includes: A first engaging member is located on the lower surface of the main body member; and The second engaging component is located on the upper surface of at least one of the support frames, and Either the first engaging member or the second engaging member is a protrusion, and the other of the first engaging member or the second engaging member is a groove into which the protrusion is inserted.

3. The mobile transport vehicle according to claim 2, wherein, The first engaging member is a protrusion having a shape that projects downward from the lower surface of the main body member, and The second engaging member is a groove having a shape that is recessed downward from the upper surface of at least one of the support frames.

4. The mobile transport vehicle according to claim 3, wherein, The second joining component has an arcuate shape with a first radius centered on the first axis of rotation. The second joining component is configured as a plurality of second joining components respectively disposed on the support frame, and The plurality of second engaging members are arranged to be spaced apart from each other in a circumferential direction that is the direction in which the first engaging member extends.

5. The mobile transport vehicle according to claim 4, wherein, The support frame is configured to rotate about the first rotation axis relative to the main body component between a first posture in which the horizontal width of the mobile vehicle is at its maximum and a second posture in which the horizontal width of the mobile vehicle is at its minimum. The mobile vehicle further includes a motion limiting component configured to limit the movement of the support frame in the second posture.

6. The mobile transport vehicle according to claim 5, wherein, The motion-limiting component is located between two adjacent components in the second engagement component in the circumferential direction.

7. The mobile transport vehicle according to claim 6, wherein, The motion limiting component is configured as multiple motion limiting components. Each of the plurality of motion-limiting components has a shape that protrudes horizontally from a corresponding support frame in the support frame, and When the support frame is in the second posture, two adjacent motion-limiting components of the plurality of motion-limiting components come into contact with each other.

8. The mobile transport vehicle according to claim 6, wherein, The motion limiting component is configured as multiple motion limiting components. Each of the plurality of motion-limiting components has a shape that protrudes downward from the lower surface of the main body component, and The plurality of motion limiting components and the plurality of second engaging components are alternately arranged in the circumferential direction.

9. The mobile transport vehicle according to claim 3, wherein, It also includes: a connector configured to pivotally link the support frames together and define the first axis of rotation, wherein the first engaging member is located radially outward of the connector relative to the first axis of rotation.

10. The mobile transport vehicle according to claim 9, wherein, The second engaging component is disposed between one distal end of at least one of the connector and the support frame.

11. The mobile transport vehicle according to claim 1, wherein Also includes: A connector configured to pivotally connect to the support frame and define the first axis of rotation; and An encoder configured to acquire information about the angle defined by the support frames relative to each other, wherein, The encoder is located below the connector.

12. The mobile transport vehicle according to claim 11, wherein, It also includes: a brake configured to stop the movement of the support frames relative to each other, wherein the brake is disposed below the connector.

13. A mobile transport vehicle comprising: Main components; A support frame configured to support the main body component and pivot relative to the main body component about a first rotation axis; Moving parts, which are respectively connected to the support frame, wherein, The movable component is configured to move the main component and the support frame; as well as A controller configured to control the movement of the support frame to adjust the horizontal width of the mobile vehicle.

14. The mobile transport vehicle according to claim 13, wherein, The support framework includes: A first support frame extending in a first direction, wherein the first support frame has a first central portion; and The second support frame has a second central portion configured to intersect with the first central portion of the first support frame, wherein the second support frame extends in a second direction intersecting with the first direction.

15. The mobile transport vehicle according to claim 14, wherein, The first support framework includes: A first-first frame region, comprising a first-first end of the first support frame, and extending from a first central portion of the first support frame to a first-first side of the first support frame based on the first direction, and The first-second frame region includes the first-second ends of the first support frame and extends from the first central portion of the first support frame to the first-second sides of the first support frame based on the first direction; The second support frame includes: The second-first frame region includes a second-first end of the second support frame and extends from the second central portion of the second support frame to a second-first side of the second support frame based on the second direction; and The second-second frame region includes the second-second end of the second support frame and extends from the second central portion of the second support frame to the second-second side of the second support frame based on the second direction; and The first-first frame region, the second-first frame region, the first-second frame region, and the second-second frame region are arranged along the circumferential direction.

16. The mobile transport vehicle according to claim 15, wherein, The controller is configured to: The movement of the support frame is controlled such that when a reduction signal is provided, the first-first end of the first-first frame region and the second-first end of the second-first frame region move closer to each other, wherein the reduction signal indicates that the horizontal width of the mobile vehicle needs to be reduced, and The movement of the support frame is controlled such that when an extension signal is provided, the first-first end of the first-first frame region and the second-first end of the second-first frame region become further apart from each other, wherein the extension signal indicates that the horizontal width of the mobile vehicle needs to be increased.

17. The mobile transport vehicle according to claim 16, wherein, The movable component includes: The front wheel is connected to the first end of the first-first frame region and the second end of the second-first frame region, respectively. The rear wheel is connected to the first-second end of the first-second frame region and the second-second end of the second-second frame region, respectively; and The controller is configured to control the moving part in response to either the provided shrinking signal or the expanding signal, such that the speeds of the front wheel and the rear wheel are different from each other.

18. The mobile transport vehicle according to claim 17, wherein, It also includes: a detection component configured to detect the movement of external objects within the peripheral area of ​​the mobile vehicle, and The controller is configured as follows: The mobile vehicle receives a avoidance signal from the detection unit, wherein the avoidance signal indicates that the mobile vehicle needs to avoid the external object in response to the object movement of the external object in the surrounding area detected by the detection unit. The moving component is controlled such that the far-distance wheel is oriented toward a first rolling direction that intersects with the second rolling direction of the near-distance wheel, wherein either of the front wheel or the rear wheel that is closest to the external object is the near-distance wheel, and either of the front wheel or the rear wheel that is furthest from the external object is the far-distance wheel.

19. A method for controlling the mobile vehicle of claim 15, The method includes: Receive a reduction signal indicating that the horizontal width of the mobile vehicle needs to be reduced; The movement of the support frame is controlled in response to the received shrinkage signal, such that the first end of the first-first frame region and the second end of the second-first frame region move closer to each other; Receive an extension signal indicating that the horizontal width of the mobile vehicle needs to be increased; and The movement of the support frame is controlled in response to the received extended signal, such that the first end of the first-first frame region and the second end of the second-first frame region move further away from each other.

20. The method according to claim 19, wherein, The movable component includes: The front wheel is connected to the first end of the first-first frame region and the second end of the second-first frame region, respectively. The rear wheel is connected to the first-second end of the first-second frame region and the second-second end of the second-second frame region, respectively; and The method further includes controlling the speeds of the front wheels and the rear wheels at different speeds during a controlled movement in response to the shrinking signal or during a controlled movement in response to the expanding signal.

21. The method according to claim 19, wherein, Also includes: Detect the movement of external objects within the surrounding area of ​​the mobile vehicle; Provide a avoidance signal to the controller, wherein the avoidance signal instructs the mobile vehicle to avoid the external object in response to the detected object movement of the external object in the surrounding area; and In response to providing the avoidance signal to the controller, the far wheel is directed toward a first rolling direction that intersects with the second rolling direction of the near wheel, wherein either of the front wheel or the rear wheel closest to the external object is the near wheel, and either of the front wheel or the rear wheel furthest from the external object is the far wheel.

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