Transportation robot

Abstract

The invention relates to a transport robot which is designed to receive, transport and drop articles in a separate operation and / or a fleet operation, said transport robot having a frame on which a plurality of travel modules are arranged at least indirectly. In order to provide a transport robot which allows a resource-saving and precise steering, according to the invention a clutch device is arranged between the travel module and the frame, which clutch device allows a height setting of the frame in a first clutch setting, and in the second clutch setting, the free rotation of the driving module relative to the frame is allowed.

Description

Technical Field

[0001] The present invention relates to a transport robot configured to receive, transport and place items in solo and / or convoy operation, wherein the transport robot has a frame on which at least indirectly arranged a plurality of driving modules are arranged. Background Technology

[0002] Transport robots and their associated controls are known, in particular, from WO 2023 / 274689 A1, US 2022 / 0307281 A1 and US 11,447,025 B2.

[0003] If a known transport robot allows height setting, then the height setting is directly related to the steering motion of the driving module, and vice versa. This means that steering motion is not independent of height setting, which negatively impacts energy consumption and accuracy during transport robot scheduling. Summary of the Invention

[0004] Therefore, the objective of this invention is to provide a transport robot that allows for resource-efficient and precise steering.

[0005] This task is solved by the transport robot according to claim 1. According to the invention, a clutch device is arranged between the travel module and the frame, which allows for frame height setting in a first clutch setting and allows free rotation of the travel module about the frame in a second clutch setting. Thus, the steering motion of the travel module is decoupled from the frame height setting, and the steering motion can also be performed independently of the possible height setting. Therefore, the steering motion can be energy-efficient and performed with higher precision.

[0006] Advantageous improvements of the invention will be described below and in the dependent claims.

[0007] Preferably, the frame is configured with multiple carriers connected to the driving module. In an advantageous improvement of the invention, the carriers are constructed as flat profiles arranged parallel to the frame surface at the frame. In particular, the carriers can be selected according to their required length, wherein carriers of the same length are installed at the transport robot for uniform geometry.

[0008] According to an advantageous design of the invention, the frame has two L-shaped sections mirror-aligned to each other, the sections being interconnected at their short ends via linear actuators. Alternatively, the frame has two C-shaped sections mirror-aligned to each other, the ends of the sections being interconnected via linear actuators. A specific design of the sections, independent of the frame, is configured such that at least one linear actuator is a lead screw actuator comprising a motor, a lead screw, and a nut.

[0009] Preferably, each travel module has a wheelset, the wheels of which are rotatably supported at journals, wherein the journals are preferably coaxially aligned with each other. Each wheel of the wheelset is preferably connected to a separate motor, wherein, according to a preferred design of the invention, a belt drive is arranged between the motor and the corresponding wheel. The journal is preferably connected to a nut that receives a load-bearing bolt, which is at least indirectly connected to the frame via a clutch device, wherein the clutch device has: a first clutch that establishes a lockable connection between the rotating bracket and the carrier; and a second clutch that establishes a lockable connection between the load-bearing bolt and the nut, such that when the first clutch is engaged and the wheels rotate in the same magnitude but opposite orientation, the load-bearing bolt moves axially relative to the nut. The first clutch and the second clutch are preferably each constructed as a two-piece ring clutch with friction linings between the rings of the ring clutch, the friction linings being connected to each other by spring friction in the engaged state. To disengage such clutches, a coil is preferably provided, which opens in the energized state and closes the first clutch and the second clutch in the de-energized state. The energization of such a coil can be preset using simple control technology, allowing the clutch to engage and disengage precisely. Alternatively, the first and second clutches have magnetic coils that alternately disengage one mechanical connection and establish the other.

[0010] The transport robot is preferably connected to a control unit configured to execute a control method that presets the theoretical rotational speed of each wheel of all wheelsets based on the theoretical magnitude of the linear speed and yaw rate of the transport robot.

[0011] According to a particularly preferred design of the present invention, the transport robot can be controlled in different operating modes, wherein a precision mode is preferably provided, which allows the steering angle of the driving module to be adjusted only when the transport robot is stationary (i.e., the changes in horizontal speed and yaw angle are equal to zero).

[0012] Finally, according to an advantageous improvement of the invention, the transport robot can be connected to a control unit configured to execute a formation control method, which allows the theoretical rotational speeds of each wheel of all wheelsets to be preset based on the theoretical magnitudes of the linear speeds and yaw rates of the multiple transport robots in the formation. Attached Figure Description

[0013] Specific embodiments of the present invention are described below with reference to the accompanying drawings. Wherein: Figure 1a , Figure 1b An implementation of the transport robot is shown. Figure 1c , Figure 1d A side view of the driving module is shown. Figure 2a A top view of the vehicle and four transport robots is shown. Figure 2b A side view of the accepted vehicle is shown. Figure 3a A schematic diagram of a transport robot is shown. Figure 3b The wheelset is shown. Figure 3c , Figure 3d , Figure 3e The diagrams show the movement of the transport robot in modes 1, 2, and 3, respectively. Figure 4a The control method is shown. Figure 4b A sub-method for setting the angle is shown. Figure 5a The diagram shows a formation consisting of multiple transport robots, and Figure 5b Formation control is shown. Detailed Implementation

[0014] This invention includes various aspects of transport robots or formations consisting of multiple interconnected / associated transport robots. Various aspects of the invention are described in detail below.

[0015] a) Height adjustment Figure 1a , Figure 1b Different embodiments of a single transport robot 100 are shown. The transport robot 100 has a frame 10 configured to receive items to be transported. Figure 1a The frame 10 of the embodiment has two L-shaped sections 111, 112 that are mirror-aligned to each other, and the short ends of the sections are connected to each other via a linear actuator 12. Thus, the frame 10 is U-shaped in an assembled or assembled state and has an end 13 that opens to one side. According to... Figure 1b In one embodiment, the frame is assembled from two C-shaped segments 141 and 142 that are mirror-aligned and flipped together, the ends of which are respectively connected to the linear actuator 12. Therefore, according to... Figure 1b The frame has a closed and substantially circular profile. In both cases, the linear actuator 12 is constructed as a screw actuator 121 with a motor 15, a lead screw 16, and a nut 17. In both embodiments, the linear actuator 12 allows setting the frame length F, which is advantageous when receiving items in the manner described later.

[0016] In the illustrated embodiment, the frame 10 of the transport robot 100 is connected to four travel modules 19 via a carrier 18. Each travel module 19 has a wheel pair 20, with wheels 211, 212 rotatably supported at axle 22. The axle 22s of the wheel pairs 20 are coaxially aligned and extend along a common axis of rotation. The wheels 211, 212 are connected to individual drive motors 23, allowing them to be driven at independent speeds. The axle 22s of the wheel pairs 20 are connected to a rotating support 24. The rotating support 24 of the travel module 19 is connected to the carrier 18, allowing the wheel pairs 20 to rotate about their respective vertical axes about the frame 10. Such a transport robot 100 can move on a support plane in a preset manner by controlling the rotational speeds of the individual wheels 211, 212.

[0017] Figure 1c A first embodiment of the travel module 19 is shown in a side view. Accordingly, the rotating bracket 24 has a nut 25 to which the journal 22 of the wheelset 20 is fixed. The nut 25 is pierced by a bearing bolt 26 having a bolt head 27 for fastening to the carrier 18. The nut 25 and the bearing bolt 26 have corresponding threads, allowing the bearing bolt 26 to move axially within the nut 25 by rotation in the direction of arrow 28. By rotating the wheels 211, 212 of the wheelset 20 in the same but opposite directions, the nut 25 rotates about the anti-rotation bearing bolt 26 arranged on the carrier 18, thereby moving the nut in the direction of arrow 29. Thus, the height of the frame 10 relative to the support plane can be set. If necessary, the inclination of the frame 10 relative to the support plane can also be set by setting different heights for different travel modules 19. Because when the transport robot 100 with such a rotating bracket 24 is used as specified, the wheels 211, 212 of the wheelset 20 can also rotate around the bearing bolt 26 independently of the height setting of the frame 10, so the set height varies at least within a small range, which depends on the specific steering motion and the pitch of the combination formed by the nut 25 and the bearing bolt 26.

[0018] To allow for stepless height setting of frame 10 with respect to the support plane, according to... Figure 1dIn this embodiment, a switchable clutch device 30 is provided. The clutch device 30 has a first clutch 301, which, in its assembled state, establishes a connection between the rotating bracket 24 and the carrier 18. Furthermore, the clutch device 30 has a second clutch 302, which, in its engaged state, establishes an anti-rotation connection between the support bolt 26 and the nut 25. The states of the first clutch 301 and the second clutch 302 are mutually exclusive during operation of the travel module 19. This means that always one of the clutches 301 and 302 establishes an anti-rotation connection, while the other clutch disengages. For height setting purposes, the first clutch 301, in its engaged state, establishes an anti-rotation connection between the carrier 18 and the support bolt 26 of the rotating bracket 24, allowing for height setting with appropriate rotation of the wheels 211 and 212 of the wheelset 20. This is achieved by the relative movement between the support bolt 26 and the nut 25 under the condition that the second clutch 302 disengages the anti-rotation connection between the support bolt 26 and the nut 25. Once the desired height is set, the first clutch 301 can be disengaged, allowing the support bolt 26 to rotatably connect to the carrier 18. For this purpose, the second clutch 302 engages to establish an anti-rotation connection between the support bolt 26 and the nut 25. In both the disengaged state of the first clutch 301 and the engaged state of the second clutch 302, arbitrary rotational movement of the wheelset 20 about its vertical axis can be performed without changing the height of the frame 10 relative to the support plane, because the support bolt 26 rotates relative to the carrier 18 but not relative to the nut 25.

[0019] According to a specific embodiment of the present invention, the first clutch 301 and the second clutch 302 are each configured as two-piece ring clutches with friction linings between the rings, wherein the friction linings are pressed together by spring friction in the engaged state. For disengagement, coils are preferably provided respectively, which, when energized, open the first clutch 301 and the second clutch 302.

[0020] Alternatively, the first clutch 301 and the second clutch 302 may also be designed such that the magnet coil integrated into the bolt head 27 alternately disengages one mechanical connection and establishes another, for example by disengaging the first clutch 301 and engaging the second clutch 302, or vice versa.

[0021] Independent of the specific implementation of the first clutch 301 and the second clutch 302, the support of the rotating bracket can be designed in different ways using the axial bearing 32, such as ball or needle roller bearings, or sliding bearings. Furthermore, it can be implemented with or without seals.

[0022] With the help of Figure 1a , Figure 1b The single transport robot 100 shown can transport different items, which are received by or placed on the frame 10. According to Figure 1a The embodiment is configured to receive items placed on the support plane of the transport robot 100. Here, the transport robot 100 is positioned such that the L-shaped sections 111, 112 of the frame 10 surround the items on the left and right sides. By pushing the L-shaped sections 111, 112 of the frame 10 together using a linear actuator 12, the items are secured and lifted by means of the aforementioned height setting. The received items can then be transported along a preset trajectory and placed at their destination. Figure 1b The premise of this implementation is that the frame 10 can travel under the section of the item that can be supported, so that the item can be lifted after passing through the support surface adapted to the length of the frame 10 if necessary. In addition, the lifting and transport functions of the received item are performed in the same way.

[0023] The system utilizes a convoy of multiple transport robots 100, which can automatically park vehicles 31. Figure 2a A top view shows a vehicle 31 and four transport robots 100, which are each capable of traveling in the direction of (unlabeled) arrows such that they surround the vehicle wheels 33 on the left and right sides, respectively. By lifting the respective vehicle wheels 33 in the manner already described, a space is created between the vehicle wheels and the support plane 34 as... Figure 2b The spacing is 35 as shown in the side view. In this state, the vehicle can be parked by four transport robots in a manner that significantly exceeds the maneuverability of typical vehicles with two-wheel or four-wheel steering.

[0024] b) Kinematics of a single transport robot To control the movement of the transport robot 100, a method 200 is provided, which determines the theoretical rotational speed n of each wheel 211, 212 of all wheelsets 20 based on the theoretical magnitude of the desired linear speed v and the desired yaw rate of the transport robot 100. To execute method 200, a control unit is provided, which has multiple computing units for data exchange and data processing.

[0025] first, Figure 3a A schematic top view of a transport robot 100 is shown, which has parameters important for the control / regulation of its motion. Specifically, it is shown that: - Frame length F, as the basic length F0 and the variable length F set by the linear driver 12. v The sum of - A wheelset 20 with wheels 211 and 212. - Center point M1 of transport robot 100 - Center point M2 of wheelset 20 - The track gauge m for a single wheelset of 20, and - The track gauge w between the center points M2 of the two wheelsets 20.

[0026] Figure 3b Taking wheelset 20 as an example, feasible motion is illustrated. Wheels 211 and 212 of wheelset 20 can rotate with the same magnitude and in the same direction, causing wheelset 20 to move at a linear velocity v. To set or change the set angle δ, wheels 211 and 212 of wheelset 20 can be driven at different rotational speeds n, causing wheelset 20 to yaw around an instantaneous center M3. By independently setting the rotational speeds n of wheels 211 and 212 of wheelset 20, a preset trajectory can be traversed on the support plane. Regarding the transport robot 100, considering the linear velocity component v... x ,v y In the case of yaw rate ω, the following modes are distinguished: Mode 1: Translation of transport robot 100, with a yaw rate of zero (ω=0).

[0027] Mode 2: The transport robot 100 yaws around its center point M1, where the linear velocity component v x ,v y It is zero (ω≠0, vx=0, vy=0).

[0028] Mode 3: A combination of translation and yaw ([ω≠0, v x ≠0,v y =0] or [ω≠0,v x =0,v y [≠0] or [ω≠0,v] x ≠0,v y ≠0]), where translation and yaw are performed instantaneously.

[0029] Figure 3c The transport robot 100 is shown in the settings according to Mode 1 and therefore a pure translation setting. Regarding the vehicle coordinate system, all wheel pairs 20 of each driving module 19 are identically aligned. The corresponding angle δ to be set relative to the x-axis... n The following conclusions can be drawn: For the special case where translation should be performed along the y-axis, for angle δ n It must be determined as follows: Therefore, for velocity v, we can conclude the following: The rotational speed n of wheels 211 and 212 is determined by the wheel diameter r.轮 Conclusion: Here, through and Determine the maximum speed.

[0030] Figure 3d The transport robot 100 is shown in a configuration according to Mode 2 and therefore in a configuration of rotation (yaw) around the vertical axis. For this purpose, the wheelsets 20 are aligned such that the virtual axes of rotation of all wheelsets 20 intersect at the center point M1 of the transport robot 100. For the angle δ... n The following applies: In the existing geometry, the distance D between the center point M1 of the transport robot 100 and the center point M2 of the wheelset 20 is given as follows: For velocities v with the same magnitude but different directions n The following applies: Given the geometry, the rotational speed of the (virtual) wheel located at the center point of wheelset 20 is obtained. Among them, it can also be achieved through n i =lim(n i Preset speed limit. Based on this, the rotational speed n of wheels 211 and 212 of each wheelset 20 is derived as follows: Figure 3e The diagram illustrates a transport robot 100 in a configuration based on Mode 3 and thus a motion generated by a linear combination of translation and yaw. Here, the travel module 19 is configured such that the rotation axes of the wheelsets 20 intersect at the instantaneous center M3 of the rotational motion, wherein the instantaneous center M3 is spaced apart from the center point M1 of the transport robot 100. When applying abs(y) R )>0.5*w and abs(x) R Under the condition that ) < 0.5*F, the following conclusions are drawn: Therefore, the angle δ is derived. n : The speed v of the center point M2 of wheelset 20i The following applies: The (virtual) wheels here should each have a rotational speed n. i Here, n i =lim(n i The preset speed limit is used. Therefore, the theoretical magnitude of the rotational speed n of each wheel 211, 212 of wheelset 20 is derived as follows: In summary, for all three modes, there exist computational rules considered when controlling the transport robot 100. In particular, these computational rules allow the transport robot 100 to be controlled by presetting the rotational speed n of each wheel 211, 212, which is determined based on the theoretical magnitudes of the speed v and yaw rate ω of the transport robot 100.

[0031] Figure 4a Within the scope of the flowchart, a control method 200 and a computing unit for a single transport robot 100 are shown. The method 200 begins with a request 50 for executing a movement request, wherein the position and orientation of the transport robot 100 are determined as (x, y, ψ). DES This data is transmitted to the computing unit 51 "Individual Robot Navigation" for a single transport robot 100, which determines the theoretical values ​​(v) for horizontal speed and yaw rate, taking into account the position data 521 of the digital map 52. x ,v y ,ω) DES These data are transmitted to the computing unit 53, "Inverse Differential Kinematics," which determines the theoretical values ​​(δ1,...,δ4) of the angles of the driving module 19. DES and the initial rotational speeds (n) of each wheel 211, 212 11 ,n 12 ,...,n 42 ) pDES With the help of the calculation unit 54 "angle controller", the theoretical values ​​(δ1,...,δ4) of the angle of the driving module 19 are obtained. DES and the initial rotational speeds (n) of each wheel 211, 212 11 ,n 12 ,...,n 42 ) pDES Determine the theoretical values ​​(n) of the rotational speeds of each wheel 211, 212. 11 ,n 12 ,...,n 42 ) DESIf necessary, the height and angle of frame 10 relative to support plane 34 can be set via request 71. Typically, request 71 for adjusting the height or angle relative to the support plane is made in the stationary state of the transport robot, i.e., the horizontal speed and yaw rate of the transport robot are zero during height adjustment. This is done after the theoretical rotational speed (n) of the wheels is finally determined. 11 ,n 12 ,...,n 42 ) DES These values ​​are then transmitted to the drive regulator 55. The drive regulator controls the drive motors 56 of the transport robot, that is, they provide pulse-width modulated voltage signals, which can be preset according to theoretical values ​​(n). 11 ,n 12 ,...,n 42 ) DES Adjust the drive motor and thus the wheel speed. The instantaneous (or current) actual value (n) of the wheel speed. 11 ,n 12 ,...,n 42 ) ACT Instantaneous angles of the wheelset (δ1,...,δ4) ACT The data is transmitted to the computing unit 57, the "odometer," which determines the horizontal speed and yaw rate (v). x ,v y ,ω) odom1 The data is then transmitted to the computing unit 58 for "positioning". Furthermore, data from the inertial measurement unit 59 (IMU) is also transmitted to the computing unit 58 for "positioning". Here, the values ​​of acceleration and yaw rate are converted into horizontal velocity and yaw rate (v) using integrator 60. x ,v y ,ω) odom2 In addition, the calculation unit 58 "positioning" also acquires image data 611 from camera 61 and lidar data 621 from lidar 62. The calculation unit 58 "positioning" determines the instantaneous position and instantaneous yaw angle (x, y, ψ) from the received input data. ACT This data is then forwarded to the computing unit 51 "Individual Robot Navigation," thereby closing the loop of control method 200. Once there is no request to perform driving, method 200 is interrupted.

[0032] Control method 200 also allows switching to formation control 400, for which a switch 63 is provided. Within the scope of formation control 400, which will be discussed in detail later, calculation unit 58 "positions" the instantaneous position data and instantaneous yaw angle (x, y, ψ). ACT The data is transmitted to computing unit 64, "Multi-robot Formation Controller," which determines (v x ,v y ,ω)Des,FC The theoretical speed and theoretical yaw rate are given. Furthermore, the control of a single transport robot 100 is performed according to the method 200.

[0033] To set the length F of frame 10, a substantially complementary sub-method 65 is provided. Accordingly, transport robot 100 receives a request 66 for extending or shortening the length F of frame 10, for example, when accepting or placing an item. The request 66 for changing the frame length F corresponds to the desired frame length F. DES Together, they are transmitted to the computing unit 67 "position controller", which takes into account the instantaneous frame length and the required frame length F. DES Preset the rotational speed n of lead screw 16 LS,Des So that the frame length F can be changed according to a preset by means of the control unit 68 "lead screw drive controller" and the motor 69 "lead screw controlled object", in order to set the instantaneous speed n of the lead screw 16. LS,ACT The resulting instantaneous frame length F ACT The data is continuously transmitted to the computing unit 67 "position controller," which interrupts submethod 65 once the instantaneous frame length matches the theoretical frame length. Instantaneous frame length F ACT It is also transmitted to calculation unit 57 "odometer" and calculation unit 53 "inverse differential kinematics" to calculate the theoretical rotational speed (n) of wheels 211 and 212. 11 ,n 12 ,...,n 42 ) pDES and angles (δ1,...,δ4) DES The instantaneous frame length of the transport robot 100 is taken into account.

[0034] Control method 200 also includes a sub-method 70 for setting the angle of wheelset 20. Sub-method 70 in Figure 4b The process is presented as a flowchart. In response to request 71 regarding raising frame 10, the required rotational speeds of wheels 211, 212 of all wheelsets 20 are determined so that these wheels rotate in such a way that they are based on a preset height of carrier 18 and therefore the angle of frame 10 relative to support plane 34. The height is set while the transport robot is in a stationary state, i.e., the horizontal speed and yaw rate of the transport robot are zero during height adjustment. During travel, the angles of wheelsets 20 are set based on theoretical values ​​(δ1,...,δ4) of the angles of travel module 19. DES and the initial rotational speeds (n) of each wheel 211, 212 11 ,n 12 ,...,n 42 ) pDES Proceed. The final theoretical value (n) of the rotational speed of each wheel 211, 212. 11 ,n12 ,...,n 42 ) DES This is additionally affected by the positive or negative contribution of the differential rotational speed used for angle setting.

[0035] c) Precision Mode The system is configured such that a single transport robot 100 can be controlled in different operating modes, the operating mode being determined based on the task at hand. The control architecture and therefore the available operating modes are described in detail below.

[0036] The first operating mode BM1 involves the movement of a single transport robot 100 and is independent of possible loading conditions.

[0037] The second operating mode BM2 relates to a precision mode 300, which is selected, for example, when accepting and / or unloading transported items. In precision mode 300, when the direction of travel of the transport robot 100 is changed, the transport robot 100 is stopped, and then the driving module 19 rotates to a preset steering angle before continuing to travel. In other words, precision mode 300 interrupts the normal driving operation of the transport robot 100. Normal driving operation is characterized by the possibility of changing the steering angle of the driving module 19 on an instant during travel. This results in good maneuverability but limits the form of the trajectory curve of changes in horizontal speed and yaw angle. In precision mode 300, improved maneuverability and therefore more precise control in a very small space are achieved by adjusting the steering angle of the driving module 19 not during travel but only when the transport robot 100 is stationary (i.e., when the changes in horizontal speed and yaw angle are zero). This has the advantage that unintended changes in the attitude of the transport robot 100 are minimized due to the steering motion of the driving module 19 during travel, thus maintaining the previous alignment of the transport robot. In summary, by adjusting the steering angle of the driving module while stationary, the constraints imposed by the kinematic trajectory curve that determines the posture of the transport robot can be removed. Therefore, significantly improved maneuverability can be achieved, resulting in more precise control within a very small space.

[0038] Example: In operating mode BM1, the transport robot 100 first travels in a straight line to the height of the wheels of the vehicle 31 to which it is to be grouped and parked. Then, a command is issued to approach the wheels laterally in parallel to lift them, requiring translation and yaw due to the change in direction. Because translation and yaw occur instantaneously during the change in direction in operating mode BM1, it is possible that the transport robot 100 twists about its vertical axis and mispositions. In contrast, in precision mode 300, the transport robot 100 will stop between straight-line and parallel travel and align with the driving module 19 while stationary.

[0039] Furthermore, in Precision Mode 300, compared to Operation Mode BM1, the distance between the transport robot 100 and obstacles is reduced, which improves the navigation capability of the transport robot 100, especially when receiving items.

[0040] At the same time, the possible driving speed is also reduced so that the reduced distance to obstacles can be processed in the navigation data calculation. The preset low speed in the precision mode is also used for manual operation via the remote control.

[0041] In precision mode 300, the transport robot 100 primarily performs translation in the form of straight-line and parallel travel, rather than rotation. This is particularly advantageous when parking vehicle 31, as precise positioning inside the tires can be achieved in the small space under vehicle 31.

[0042] When approaching the vehicle wheels below vehicle 31, transport robot 100 can also access camera images aligned with the inside of the vehicle wheels in precision mode 300 in order to identify (track) the position and achieve adjusted alignment with respect to the vehicle wheels.

[0043] The third operating mode BM3 involves adjusting the length of the frame, especially when receiving and placing items to be transported or already transported. During operating mode BM3, the center point M1 of the transport robot 100 does not move.

[0044] The fourth operating mode BM4 involves a stationary mode in which the transport robot 100 does not move.

[0045] The fifth operating mode, BM5, involves lifting and lowering an object. Here, a first clutch 301, which may exist between the driving module 19 and the carrier 18, is engaged (locked), and a second clutch 302, which may exist, is disengaged to release the frictional engagement between the carrier bolt 26 and the nut 25. Subsequently, the wheels 211, 212 of the wheelset 20 are manipulated such that the wheelset 20 rotates about its common center point M2, thereby lifting or lowering the frame 10. Once the frame 10 reaches its theoretical height, the possible clutch 301 can be disengaged again, and the possible clutch 302 can be engaged, thus eliminating the need for height adjustments during possible steering movements.

[0046] The sixth operating mode, BM6, involves a waiting period in which all existing or pending requests are deleted or overwritten.

[0047] d) Formation control In order to transport larger items (such as vehicle 31), multiple transport robots 100 operate together in a pre-set formation. For controlling the formation, a formation control method 400 and a formation control unit 80 are provided. Figure 5a A formation of four transport robots 100 is shown, which should travel along a specific trajectory to transport (not shown) items. There are essentially three different suggestions for the arrangement of the formation control unit 80. First, the formation control unit 80 can be located within a fixed-position control unit 81, which controls each individual transport robot 100 via a suitably configured interface. Alternatively, a guide robot 82 is provided, which receives the formation control unit 80 and is not used for transporting items. The guide robot 82 travels along the trajectory at a distance from the formation, and the individual transport robots 100 in the formation follow the guide robot 82, which controls the individual transport robots 100 for this purpose via a suitable interface. Furthermore, one of the transport robots 100 in the formation can also be designated as a guide robot 83 with transport functions, which controls the movement of the remaining transport robots 100 in the formation.

[0048] Figure 5b The flowchart illustrates the process flow of formation control method 400. Based on this, the target position and orientation (x, y, ψ) of the formation are first determined using the detection unit 92. F,DES And together with the map data 521 of map 52, it is transmitted to the computing unit 84 "formation path planning", which determines the path of the formation as "global planning" 85, which is based on the theoretical position and orientation (x,y,ψ) of the formation. F,DES The vector composition. "Global Planning" 85 supplements the possible kinematic constraints or conditions 86 and the relative position data 871 from the computational unit 87 "Formation Configurator," and transmits them to the computational unit 88 "Formation Trajectory Planning." There, the theoretical speed and theoretical yaw rate (v) of each transport robot 100 are determined. x ,v y ,ω) pn,Des These data utilize nested computing units 89, "cascaded position controllers," considering (x, y, ψ). pn,Des to (v) x ,v y ,ω) pn,Des,C By comparing the results under different conditions, the nested computational unit 90, "inverse differential kinematics of a single robot," thus determines the wheel speed n and angle δ of all transport robots 100. n The theoretical value. The nested computing unit 89, a "cascaded position controller," is connected to the position determination 91 of each individual transport robot 100, using this position determination in (x, y, ψ).pn,ACT The position and angle are determined in this form. This data is also combined into a matrix (x, y, ψ) by computing unit 93, "Individual Robot Pose Fusion". F,ACT And it is transmitted as input data to the computing unit 84 "formation path planning".

[0049] List of reference numerals 100 transport robots 200 Control Methods 300 Precision Mode 400 Formation Control Methods 10 Framework 111 L-shaped section 112 L-shaped section 12 Linear Drivers 121 Leadscrew Driver 13 Open end 141 C-shaped section 142 C-shaped section 15 motors 16 lead screw 17 Nuts 18 carriers 19. Driving Module 20 rounds 211 rounds 212 rounds 22 journals 23 Drive Motor 24 Rotating bracket 25 nuts 26 Bearing bolts 27 Bolt head 28. Arrow direction 29. Arrow direction 30 Clutch assembly 301 First Clutch 302 Second Clutch 31 vehicles 32 Axial bearings 33 Vehicle wheels 34 Supporting plane 35mm spacing 50 requests 51 Computational Unit "Single Robot Navigation" 52 Maps 521 Map Data 53. Computational Unit: "Inverse Differential Kinematics" 54. Calculation Unit "Angle Controller" 55 Drive Regulator 56 Actuators for driven robots 57. Calculation Unit "Odometer" 58. Location of the computing unit. 59 Inertial Measurement Units 60 Integrator 61 cameras 611 Camera Data 62 LiDAR 621 LiDAR data 63 Switch 64 Computational Units: "Multi-robot Formation Controller" 65 Sub-methods 66 Request 67. Computing Unit "Position Controller" 68 Control Unit 69 motors 70 Sub-methods 71 Request 80 Formation Control Unit 81 Fixed position control unit 82 Guided Robot 83 Guided Robot 84. Computational Unit "Formation Path Planning" 85 Global Planning 86 Kinematic Limitations 87. Computational Unit "Formation Configurator" 871 Location Data 88. Computational Unit "Formation Trajectory Planning" 89. Computing Unit "Cascaded Position Controller" 90 Computational Units: "Inverse Differential Kinematics of a Single Robot" 91 Location determined 92 detection units 93 Computational Units: "Single Robot Pose Fusion" v linear velocity v x ,v y Cartesian component of linear velocity ω Yaw rate n rotational speed n index F Frame Length F0 Basic Length F v Variable length The center point of the M1 transport robot The center point of the M2 wheelset M3 Instantaneous Center w track gauge m track gauge r 轮 Wheel diameter.

Claims

1. A transport robot (100) configured to receive, transport, and unload items in solo and / or platooning operation, wherein, The transport robot (100) has a frame (10) on which a plurality of driving modules (19) are arranged at least indirectly. The robot is characterized in that a clutch device (30) is arranged between the driving modules (19) and the frame (10), the clutch device allowing the height setting of the frame (10) in a first clutch setting and allowing the driving modules (19) to rotate freely about the frame (10) in a second clutch setting.

2. The transport robot (100) according to claim 1, characterized in that, The frame (10) has multiple carriers (18) connected to the driving module (19).

3. The transport robot (100) according to claim 1 or 2, characterized in that, The frame (10) has two L-shaped segments (111, 112) that are mirror-aligned to each other and are connected to each other at their short ends via a linear actuator (12).

4. The transport robot (100) according to claim 1 or 2, characterized in that, The frame (10) has two C-shaped sections (141, 142) that are mirror-aligned to each other, and the ends of the sections are connected to each other via linear actuators (12).

5. The transport robot (100) according to any one of claims 1 to 4, characterized in that, At least one linear drive (12) is configured as a screw drive (121) having a motor (15), a lead screw (16) and a nut (17).

6. The transport robot (100) according to any one of claims 1 to 5, characterized in that, Each driving module (19) has a wheelset (20) with wheels (211, 212) rotatably supported at axle journals (22), wherein the axle journals (22) are preferably coaxially aligned with each other.

7. The transport robot (100) according to claim 6, characterized in that, Each wheel (211, 212) of the wheelset (20) is connected to a separate motor (23).

8. The transport robot (100) according to claim 6 or 7, characterized in that, The journal (22) is connected to a nut (25), which receives a bearing bolt (26) connected at least indirectly to the frame (10) via a clutch device (30), wherein the clutch device (30) has: a first clutch (301) that establishes a lockable connection between the rotating bracket (24) and the carrier (18); and a second clutch (302) that establishes a lockable connection between the bearing bolt (26) and the nut (25), such that when the first clutch is engaged and the wheels (211, 212) rotate in the same magnitude but opposite orientation, the bearing bolt (26) moves axially relative to the nut (25).

9. The transport robot (100) according to any one of claims 1 to 8, characterized in that, The first clutch (301) and the second clutch (302) are respectively constructed as two-piece ring clutches with friction linings between the rings of the ring clutch, the friction linings being connected to each other by spring frictional engagement in the engaged state.

10. The transport robot (100) according to claim 9, characterized in that, For disengagement, coils are provided respectively, which open when energized and close the first clutch (301) and the second clutch (302) when de-energized.

11. The transport robot (100) according to any one of claims 1 to 8, characterized in that, The first clutch (301) and the second clutch (302) have magnet coils that alternately disengage one mechanical connection and establish another mechanical connection.

12. The transport robot (100) according to any one of claims 1 to 11, characterized in that... A control unit is configured to execute a control method (200) which presets the theoretical rotational speeds of each wheel (211, 212) of all wheelsets (20) based on the theoretical magnitudes of the linear speed and yaw rate of the transport robot (100).

13. The transport robot (100) according to claim 12, characterized in that, The transport robot (100) can be controlled in different operating modes by means of the control method (200), wherein a precision mode (300) is preferably provided, in which the steering angle of the driving module is allowed to be changed only when the robot is stationary.

14. The transport robot (100) according to any one of claims 1 to 13, characterized in that, The transport robot (100) can be connected to a control unit (80, 81) configured to execute a formation control method (400) which allows the theoretical rotational speeds of each wheel (211, 212) of all wheelsets (20) to be preset based on the theoretical magnitudes of the linear speeds and yaw rates of the multiple transport robots (100) in the formation.

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