Drive unit with interface for mounting and identifying several different payload configurations

Abstract

A drive unit (200, 500, 800, 900), comprising: a front case (902); a rear housing (904) coupled to the front housing (902); an upper frame mounted to the front housing (902) and the rear housing (904), the upper frame comprising several mounting surfaces configured to couple selectively with at least two different payload arrangements; and a payload identification module (222) configured to communicate with a payload arrangement (690) from at least two different payload arrangements, wherein the payload identification module (222) serves to: to identify a coupling of the payload arrangement (690); to identify a payload arrangement type (690); and to determine a drive mode corresponding to the type of payload arrangement (690), wherein the drive mode specifies one or more drive parameters related to the operation of the drive unit (200, 500, 800, 900).

Description

BACKGROUND

[0001] Ground vehicles can operate in an environment to perform specific tasks, including transporting materials from one point to another. The environment may require ground vehicles to transport several different types of materials to meet a variety of applications. For example, the transported materials may have a range of different shapes, sizes, weights, dimensions, and so on. Since the environment may also include other physical objects (such as personnel, other ground vehicles, walls, equipment, etc.), the safe transport and placement of this variety of materials and objects is a key objective.

[0002] The prior art according to DE 11 2019 001 516 B4 describes a mobile drive unit comprising a front chassis unit with a pair of drive wheel assemblies centrally located on the chassis and a front steering wheel mounted on a front chassis base, a rear chassis unit with a rear steering wheel assembly mounted on the rear chassis base, and a pivot connection between the rear chassis base and the front chassis base. From DE 10 2010 000 246 A1, an arrangement for transporting a heavy load is known, comprising a first and a second pair of support arms, wherein the load-remote first ends of each pair are supported on a chassis via a rotary device, and the load-facing second ends of each pair are either connected to the load or connected to each other via a support for receiving the load.German patent DE 10 2018 107 226 A1 relates to a transport cart for the internal transport of goods, wherein the transport cart has at least one support frame and several rollers attached to the support frame. US patent 2018 / 0 305 126 A1 relates to an automatically guided cart for the transport and / or handling of a load. The automatically guided cart comprises a main frame for holding the load and a support frame with two guide beams that are pivotally mounted relative to each other via a pivot point. US patent 2020 / 0 339 348 A1 relates to a system for transporting payloads, comprising one or more mobile robots that have a payload-bearing platform.

[0003] The invention is defined in the independent claims. Preferred embodiments of the invention are defined in the dependent claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0004] The present disclosure is more fully understood by reference to the detailed description set forth below and the accompanying drawings of various embodiments, although these are not to be interpreted as limiting the present disclosure to the specific embodiments, but merely serve for explanation and understanding. Fig. Figure 1 illustrates an exemplary drive unit including a mounting interface configured to mount several different payload arrangements according to one or more embodiments. Fig. Figure 2 illustrates exemplary components of a drive unit according to one or more embodiments. Fig. Figure 3 illustrates exemplary components of a front housing of a split-housing drive unit according to one or more embodiments. Fig. Figure 4 illustrates exemplary components of a rear housing of a drive unit with a split housing according to one or more embodiments. Fig. Figure 5 shows an exemplary payload mounting interface of a drive unit according to one or more embodiments. Fig. Figure 6 illustrates an exemplary system including a payload arrangement connected to a data module configured to couple with a rear panel assembly of a drive unit, according to one or more embodiments. Fig. Figure 7 illustrates an exemplary system including a data module connected to a payload identification module of a propulsion unit with a rear wall arrangement, according to one or more embodiments. The Fig. Figures 8A to 8C illustrate several examples of payload arrangements 890 which are optionally coupled to a drive unit 800 via a mechanical interface, according to one or more embodiments. The Fig. Figures 9A to 9C illustrate an exemplary split-case drive unit 900 with optimized pin spacing to manage critical accelerations of a drive unit, according to one or more embodiments. Fig. Figure 10 illustrates a diagram relating a critical acceleration of a drive unit as a function of distance to mounting locations for an upper frame of a drive unit according to one or more embodiments. Fig. Figure 11 shows a flowchart illustrating exemplary functionality implemented by a payload identification module of a propulsion unit, according to one or more embodiments. Fig. Figure 12 illustrates a diagrammatic representation of a machine in the exemplary form of a computer system including a series of instructions to be executed by a computer for identifying a modular payload arrangement coupled to a drive unit, according to one or more embodiments. DETAILED DESCRIPTION

[0005] The present disclosure relates to a drive unit of a robotic vehicle, including an upper surface with a mounting interface for selectively coupling with several different modular payload assemblies, configured to transport objects in a facility, at a workstation, or in an inventory management environment. The mounting interface is configured to engage securely with a mounting part of the variety of different payload assemblies to enable versatile exchange of the payload assembly for different transport applications. Exemplary payload assemblies include an under-capsule storage arrangement, one or more carrier bags, a carrier bag sorting arrangement, a package sorting arrangement, a carrier bag stacking arrangement, a high-profile pedestal arrangement, a low-profile pedestal arrangement, and the like.Exemplary payload configurations are shown in the . Fig. Figures 8A to 8C are shown. The drive unit includes an electrical interface for electrical coupling with the modular payload assemblies. The drive unit includes a payload identification module configured to identify the type of modular payload assembly mechanically coupled to the mounting interface using data communicated via the electrical coupling and the interface. By identifying the type of modular payload assembly, a drive unit controller can implement a drive or motion profile (e.g., one or more drive parameters or rules for use during drive unit operation, such as speed and acceleration parameters) associated with the identified payload assembly.Furthermore, one or more safety settings related to the drive unit are determined with regard to the identified modular payload assembly (e.g., one or more restricted access areas where the drive unit must not operate when mechanically coupled to a payload assembly of a specific type). In this respect, the payload assembly type detection can be used to define the parameters and rules for the operation of the drive unit when mechanically coupled to the payload assembly. Advantageously, different payload assemblies can have different tailored drive and safety profiles.

[0006] Advantageously, the payload arrangement is detected during the mechanical and electrical coupling of a modular payload arrangement to the drive unit, and the corresponding motion profile and motion parameters for operating the drive unit with the respective payload arrangement mounted on the drive unit are determined. For example, when coupling a high-profile pedestal arrangement, a corresponding motion profile, including limits regarding permissible vertical clearance, speed, and acceleration, can be determined.

[0007] In one embodiment, the mounting interface includes several mounting pins located at appropriate points on the drive unit to optimize the stability and traction of the drive unit during operation.

[0008] The drive unit with the adaptable mechanical interface and the payload identification module can be a component of an autonomous robot system that enables flexible, safe, efficient and automatic movement of payloads (e.g. goods and materials) in a dynamic environment including one or more dynamic objects (e.g. people).

[0009] As described above, the embodiments described herein overcome the problems and challenges outlined above relating to conventional drive units, which are not configurable to connect mechanically and communicatively with several different types of payload arrangements for various conveying applications. The embodiments of the present application relate to a drive unit with a mechanical interface configured to connect mechanically with various different types of payload arrangements. Advantageously, the adaptable drive unit according to the present application can be used in an environment such that different payload arrangements can be used interchangeably with the drive unit.

[0010] Furthermore, the drive unit includes an electrical interface configured to couple electrically with an associated payload assembly. The electrical interface is configured to receive or retrieve data from the associated payload assembly for processing by a payload identification module of the drive unit. The payload identification module is a program or a set of executable instructions configured to detect or identify a type of payload assembly connected to the drive unit. In response to the identification of a payload assembly type, the payload identification module determines a drive mode or profile associated with the identified payload assembly. In one embodiment, the drive profile includes one or more rules, constraints, specifications, limits, limitations, etc.a drive unit that the drive unit is to use when operating with the associated payload assembly. Advantageously, the drive unit recognizes and identifies the coupled payload assembly and executes in a drive mode associated with that payload assembly. Furthermore, when the payload assembly is removed and a new payload assembly is coupled to the drive unit's mechanical and electrical interfaces, a new drive mode or profile associated with the new payload assembly is recognized and executed. This enables the safe, efficient, and dynamic exchange of payload assemblies within a single drive unit. Moreover, the drive unit can operate safely and efficiently according to a drive mode or profile configured for each of the various different types of payload assemblies.

[0011] The various embodiments described below relate to a type of drive unit configured for driving one of several different payload arrangements on the ground. These drive unit embodiments provide a solution that can be used in an uncertain environment, including one or more unknown and dynamic obstacles, according to a drive mode configured to meet the specifications of a particular payload arrangement coupled to the drive unit.

[0012] Fig. Figure 1 shows an exemplary drive unit 100 including a mechanical interface configured to mechanically couple to several different payload arrangements, according to one embodiment. The drive unit 100 includes a dual-housing configuration with a front housing 102 and a rear housing 104. The dual-housing configuration is described below with reference to Fig. 9A is described in more detail.

[0013] In one embodiment, an upper frame 101 of the drive unit 100 includes several payload mounting interface surfaces (110A, 110B, 110C, and 110D) configured to mechanically couple with a corresponding part of a payload assembly. Advantageously, the payload mounting interface (e.g., the series of payload mounting interface surfaces 110A to D) is adapted to mechanically couple and secure several different types of payload assemblies. Although the in Fig. Figure 1 shows an exemplary mechanical interface comprising four payload mounting interface surfaces 110A to D, including several holes or mounting points for mechanically securing a payload arrangement. It should be noted that fewer or more payload mounting interface surfaces may be used. Furthermore, it should be noted that the payload mounting interface surfaces 110A to D may be located at different locations on the drive unit 100 than those shown in Figure 1. Fig. The upper frame 101 can be arranged, positioned, or placed as shown in Figure 1. In one embodiment, the upper frame 101 is mounted on the front housing 102 and the rear housing 104 by means of one or more mounting pins arranged on each side of the drive unit.

[0014] Fig. Figure 2 illustrates an exemplary architecture of exemplary components of an exemplary drive unit 200 according to one embodiment. Fig. 2 The drive unit 200 includes a main electronics assembly (MEA) 220, a front user interface 230, a rear user interface 240, one or more sensors (e.g., a stereo camera assembly 270 and a satellite camera assembly 272), a battery 274, a charging interface 276, a charger docking assembly 278, and a payload identification module 222. In one embodiment, the drive unit 200 can be a component of a self-driving ground vehicle (AGV) and further include an autonomous mobility module (AMM) 250 and a motor controller 260. In one embodiment, the AMM is a subsystem including processing based on information obtained from one or more sensors (e.g., the stereo camera assembly 270 and the satellite camera assembly 272) to provide functionality including object avoidance and speed modulation (e.g.,to perform motion planning, perception functions (including object recognition and classification), localization, and mapping. In one embodiment, the motor controller 260 can communicate with the left-right locomotion motors 261 to process signals related to drive commands regarding the drive mode and sensor data related to the drive unit 200 and the environment. It should be noted that one or more of the functions described here and in . Fig. The exemplary components shown in the two illustrations according to embodiments of the present application may not be included in the drive unit 200. Furthermore, the drive unit 200 may include other components not shown in the illustrations. Fig. The two components shown include, for example, storage devices, one or more actuators, one or more processing devices, further data storage, a GPS (Global Positioning System) unit, radios, antennas, or the like. The radios may include cellular radios, WLAN (Wireless Local Area Network) radios, PAN (Personal Area Network) radios, or the like. Furthermore, the drive unit 200 may include one or more sensors, such as one or more cameras of one or more types, accelerometers, inertial sensors, temperature sensors, proximity sensors, infrared sensors, pressure sensors, light sensors, ultrasonic sensors, humidity sensors, rotary encoder wheels, a LiDAR (Imaging / Scanning Light Detection and Ranging) sensor, an RGB-D sensor, one-dimensional distance sensors such as an LED time-of-flight sensor / ranger (laser / light-emitting diode), an ultrasonic sensor / ranger,a reflectivity intensity sensor / ranger or a set of sensors configured to function as a triangulation sensor / ranger; two-dimensional image acquisition sensors or cameras, including visible light cameras and / or infrared / thermal imaging cameras; two-dimensional distance sensors such as grid or other suitable light pulse laser distance sensors; and / or three-dimensional imagers such as the LiDAR sensor, a solid-state LiDAR, one or more time-of-flight cameras, both active and passive stereo cameras, structured light cameras, or radar (radio detection and ranging) transmitters and receivers.

[0015] In one embodiment, the drive unit 200 includes the payload identification module 222, which is configured to detect a coupled payload assembly, identify a type, category, or class of the coupled payload assembly, and identify a drive mode or profile associated with the detected payload assembly type. In one embodiment, the payload identification module 222 includes programmed instructions stored in memory 223, which can be executed by one or more processing devices 221 of the MEA 220. In one embodiment, the payload identification module 222 of the drive unit 200 can be electrically connected to the electrically and mechanically coupled payload assembly by means of a cable or other electrical connector.In one embodiment, in response to the establishment of electrical or communicative coupling with the payload arrangement, the payload identification module 222 obtains information from the payload arrangement that can be used to identify the type or nature of the associated payload.

[0016] Furthermore, the payload identification module 222 determines an appropriate drive mode to enable the drive unit 200 to operate safely and appropriately, such as operating in a mode that restricts movement to acceleration profiles and available ground cells appropriate for this payload arrangement (e.g., including the identification of areas with limited accessibility). In one embodiment, the payload identification module 222 can store an assignment or other relationship between each payload arrangement type and a corresponding drive mode. For example, a first payload arrangement type can be assigned or associated with a first drive mode (or drive mode profile) that specifies one or more drive parameters to be used when a payload arrangement of the first payload arrangement type is detected.

[0017] In one embodiment as in Fig. As shown in Figure 6, the payload assembly 690 can be connected via a cable to a pre-programmed data module 691, which is configured to communicate with the payload identification module 222. The pre-programmed data module 691 (e.g., an EEPROM data module) can connect to a backplate assembly 625 of the drive unit. In one embodiment, the backplate assembly 625 of the drive unit is configured to accept the data module 691 from the payload assembly to obtain and identify information used to identify the payload assembly (e.g., the payload information) and to determine the drive mode to enable system performance and traceability. In one embodiment, the payload information is specific to the type of payload assembly associated with the drive unit. In one embodiment, the data module 691 can include an external EEPROM. Fig. Figure 7 shows an example of an external EEPROM 791 coupled with a rear panel assembly 725 of a drive unit.

[0018] Referring to Fig. In one embodiment, the drive unit 200 is configured to provide real-time resource planning and path optimization to enable the drive unit to operate safely and efficiently alongside people in a dynamic environment (e.g., a warehouse or processing site) with the modular payload arrangement belonging to the drive unit 200.

[0019] In one embodiment, the motor controller 260 can provide the left-right locomotion motors 261 with drive mode information corresponding to the payload arrangement coupled to the drive unit in order to establish a path and route for the drive unit 200, enabling dynamic obstacle detection and avoidance in real time. The drive unit 200 is configured to interpret the current environment, including detected dynamic objects, and determines updated or adapted route data for provision to the motor controller 260 to generate drive instructions for execution by the left-right locomotion motors 261.

[0020] In one embodiment, the drive unit can be configured in a split housing configuration, which includes a front housing and a rear housing. Fig. Figure 3 illustrates an exemplary front housing 302 of a drive unit according to embodiments of the present application. As in Fig. As shown in Figure 3, an exemplary front housing can include the MEA 320, a stereo camera 370 (or other suitable sensor), a caster 327 (e.g., a low-profile caster plate), an upper frame mount 329, a satellite camera assembly 372, the motor controller 360, a rear panel assembly 325, and a front user interface 330. In one embodiment, the components within the front housing 302 can be arranged to optimize the use of the area or space within the form factor of the drive unit. For example, in one embodiment, the split-housing drive unit can be approximately 36.9 inches long and approximately 25.7 inches wide. Furthermore, the split-housing drive unit can be configured to meet desired drive and performance specifications, such as maximum object capacity (e.g., 30 lbs), maximum payload (e.g., 100 lbs), drive mass (e.g., 80 lbs), and maximum speed (e.g., 100 lbs).2.0 m / s), greatest acceleration (e.g. 2.0 m / s). 2 ) etc. to fulfill.

[0021] Fig. Figure 4 illustrates an exemplary rear housing 404 of the split-housing drive unit according to embodiments of the present application. As shown, the rear housing 404 can include a disconnect switch 480, a charging interface 476, an infrared communication interface 442, a rear user interface 440, a battery 474, and one or more power cables 475 (e.g., power cables 475 connected to the rear panel assembly 325). Fig. 3 connectable) include. In one embodiment, the arrangement of the components within the front housing 302 and the rear housing 404 enables optimization and efficiency in the number of different components of the drive unit and the total number of its components. For example, the drive unit can have a number of different components of approximately sixty-three (63) (compared to conventional drive units with a number of different components ranging from one hundred and fifty (150) to more than three hundred (300) components) and a total number of components of approximately one hundred and fifty-seven (157) (compared to conventional drive units with a total number of components ranging from six hundred (600) to more than one thousand one hundred (1100) components). Fig. Figure 5 illustrates an exemplary drive unit 500 with an upper frame 501 including a payload identification module 510, which is configured to mechanically couple with several different types of payload arrangements, according to embodiments of the present application. As shown in Fig. As shown in Figure 5, the payload identification module 510 can include multiple payload mounting interface surfaces 510A, 510B, 510C, and 510D. The payload mounting interface surfaces 510A to 510D are parts or areas of an outer shell of the drive unit adapted to mechanically couple and secure corresponding parts of the payload assembly. According to embodiments, the payload mounting interface surfaces 510A to 510D can include any suitable coupling mechanism or coupling arrangement configured to connect to, join, couple, fasten, engage, or interlock with the payload assembly to form a stable and secure mechanical coupling.In one embodiment, each of the payload mounting interface surfaces 510A to 510D can include a series of holes or other engagement mechanism to enable mechanical coupling with a corresponding part of a payload assembly. Advantageously, the payload mounting interface surfaces 510A to 510D are configured to mechanically engage with a variety of different modular payload assemblies (e.g., those described in the [reference to be added]). Fig. Payload arrangements shown in Figures 8A to 8C) are coupled. Furthermore, the payload mounting interface surfaces 510A to 510D are arranged and configured to allow a first payload arrangement to be mechanically coupled to and removed from the drive unit 500 so that another payload arrangement can be mounted on the drive unit 500. As shown in Figure 8A to 8C, the payload mounting interface surfaces 510A to 510D are arranged and configured to allow a first payload arrangement to be mechanically coupled to and removed from the drive unit 500 so that another payload arrangement can be mounted on the drive unit 500. Fig. As shown in Figure 5, the drive unit also includes a communication interface 511, which is configured to enable communication of payload information between the payload assembly and the payload identification module 222, in order to identify that payload assembly from among the several different payload assemblies that can be interchangeably mounted on the drive unit 500. In one embodiment, the interface can enable electrical coupling between the payload assembly and one or more components of the drive unit. In another embodiment, the payload assembly can include a component that is configured to electrically couple with the drive unit via the interface 511. In another embodiment, the payload identification module can obtain the payload information via the communication interface 511.In one embodiment, the drive unit 500 includes several housing mounting parts 512 for mutually connecting or mounting the front housing and the rear housing. Although in . Fig. Figure 5 shows two housing mounting parts 512; it is understood that two further and corresponding housing mounting parts may be present on the opposite side of the drive unit. In the figure shown in Fig. In the example shown in 5, the housing mounting parts 512 include a screw or pin and a corresponding hole or opening arrangement to allow the front housing and rear housing to be joined together. It should be noted that in addition to the [missing information] Fig. The screw-hole arrangement shown in Figure 5 illustrates that alternative coupling mechanisms can be used to connect the front case to the rear case. As discussed above, this illustrates Fig. Figure 6 is an example in which the payload assembly 690 is communicatively connected to a data module 691 via a cable or other suitable mechanism. In one embodiment, the payload assembly 690 can be connected to a data module 691 via a physical connection (e.g., by means of a cable, as in Figure 6). Fig. 6) or a non-physical connection (e.g., a wireless connection, RFID, a barcode scanner, DIP switches, etc.) can be communicatively coupled to the drive unit. In one example, the drive unit can include a sensor or camera configured to read the payload assembly 690 in order to identify information for use by the payload identification module to identify the payload assembly type. Furthermore, [Figure 6] illustrates Fig. 7, as described above, an exemplary external EEPROM 791 (including a connector, an I 2C-buffers and an EEPROM module), coupled to the rear panel assembly 725 of the drive unit to enable communication of payload information with the payload identification module 222. The communicative coupling or connection between the payload assembly 690 and the drive unit includes the transmission of at least one signal, including information relating to the payload assembly 690, for use in identifying the payload assembly type.

[0022] The Fig. Figures 8A to 8C illustrate several examples of payload arrangements 890 that are coupled to a drive unit 800 via a mechanical interface, as described in detail above. According to embodiments, the payload arrangements shown in the Fig. Figures 8A to 8C illustrate various exemplary payload configurations that can be mechanically and communicatively coupled to the drive unit 800 or to an autonomous mobility module 850. In any case, the payload configuration 890 can be mounted, removed, and replaced by another payload configuration 890. Specifically, the following are illustrated: Fig. 8A several views of a drive unit 800 mechanically coupled to a payload arrangement 890A (e.g. a carrier bag sorting arrangement). Fig. Figure 8B illustrates an exemplary drive unit 800 that is mechanically coupled to several different modular payload arrangements, including payload arrangement 890D (e.g., a storage arrangement under a capsule), payload arrangement 890E (e.g., a carrier bag moving arrangement), payload arrangement 890F (e.g., a parcel sorting arrangement), payload arrangement 890G (e.g., a parcel sorting arrangement), and payload arrangement 890L (e.g., a storage arrangement under a capsule).

[0023] Fig. Figure 8C illustrates an exemplary drive unit 800 including an autonomous mobility module 850 with the mounting interface (e.g., the payload mounting interface surfaces) for interchangeable coupling with several different payload arrangements including payload arrangement 890I (e.g., an autonomous carrier bag movement arrangement), payload arrangement 890J (e.g., an autonomous carrier bag sorting arrangement), payload arrangement 890K (e.g., an autonomous stacking movement arrangement), and payload arrangement 890H (e.g., an autonomous sorting arrangement).

[0024] The Fig. Figures 9A to 9C illustrate an exemplary drive unit with a split housing 900 according to embodiments of the present application. As shown in the Fig. As shown in Figures 9A to 9C, the split-housing drive unit 900 includes a front housing 902, a rear housing 904, a housing joint 906, drive wheels 901A, 901B, a front housing support wheel 903, and a rear housing support wheel 904. In an embodiment as shown in the Fig. 9B and Fig. As shown in Figure 9C, an upper frame is mounted to the front housing 902 and the rear housing 904 via one or more housing mounting parts (e.g., mounting pins) 912. In one embodiment, the split-housing drive unit 900 is configured to hold the upper frame in a rigid or stable position (e.g., to hold the mounting interface and the corresponding payload arrangement in a rigid or stable position), while the rear housing 904 forms a hinge such that the payload arrangement and objects mounted on it do not require any further design features in terms of relative movement.In one embodiment, the rigidity of the upper frame, including the mounting interface, is maintained by mounting the upper frame to a round passage, a round hole or a round opening 912A on the front of the drive unit 900 and to a slotted passage, a slotted hole or a slotted opening 912B on the rear of the drive unit 900, as shown in the . Fig. 9B and Fig. Figure 9C illustrates this. In one embodiment, the round hole 912A and the slotted hole 912B (and corresponding pins secured to the respective holes) are spaced apart from each other at an optimized distance relative to the drive wheel (referred to herein as the "pin spacing"). For example, if the pin spacing 920A, 920B is too large (i.e., the pins are too far from the drive wheel), then more weight force from the payload assembly is directed into the support wheels (e.g., caster wheels), generating suboptimal traction and wheel slip at relatively low acceleration (i.e., a slipping condition). In another example, if the pins are too close to the drive wheel, the housing becomes unstable and may lift off and tip over at relatively low acceleration (i.e., a lifting condition).To counteract these deficiencies, the drive unit 900 is configured to select a pin spacing that allows maximum acceleration of the drive unit 900 before either the slip or the lifting state occurs. In one embodiment, the pin spacing 920A can be the same as the spacing 920B or different from it. In another embodiment, the pin spacing(s) 920A, 920B can be selected according to different payload arrangements with different centers of gravity. In another embodiment, the respective centers of gravity of a series of several different payload arrangements can be analyzed to identify one payload arrangement in the series that is the most unstable (and, for example, most prone to tipping over or tilting). In another embodiment, the pin spacings 920A, 920B are selected based on the identified payload arrangement with the greatest instability (e.g.,selected (the lowest lifting or slip acceleration), thus taking into account the centers of gravity of the several different types of payload arrangements. Fig. Figure 10 illustrates a diagram that plots a critical acceleration (e.g., a slip acceleration 1001 and a stroke acceleration 1002) of a drive unit as a function of the pin spacing. In one embodiment, an optimal pin spacing is determined with respect to a maximum slip acceleration 1001 and stroke acceleration 1002. In the Fig. The example shown in Figure 10 is based on the fact that the corresponding slip acceleration is 1001 and the corresponding lifting acceleration is 2 m / s². 2 are optimized, an optimal or selected pin spacing of 0.132 m is determined. In one embodiment, the mounting pins (and the corresponding round hole 912A and the corresponding slotted hole 912B) can be inserted into the Fig. 9B and Fig. 9C at a pin spacing of 0.132 m from the corresponding drive wheel (e.g., the drive wheel 901B of the Fig. 9B and Fig. 9C).

[0025] Fig. Figure 11 shows a flowchart illustrating an example of functionality provided by a payload identification module (e.g., the payload identification module 222 from Fig. 2) is implemented to identify and manage several different payload arrangements that can be mounted on a drive unit, according to various embodiments of the present disclosure. It is understood that the flowchart from Fig. 11 provides an example of the many different types of functional arrangements that can be used to implement the operation of the payload identification module as described herein. The processing flow procedure 1100 from Fig. Procedure 11 can be performed by processing logic of the payload identification module (e.g., a drive unit), which may include hardware (e.g., a circuit arrangement, dedicated logic, programmable logic, microcode, etc.), software (e.g., instructions executed on a processing device to perform hardware simulation), or a combination thereof. The steps of Procedure 1100 can be performed in any order, as appropriate to meet the requirements of the functionality to be provided.

[0026] In block 1110, the processing logic detects a first coupling of a first payload arrangement to a drive unit. In one embodiment, the first payload arrangement is communicatively coupled to the drive unit via a suitable communication mechanism, including, for example, wired communication (e.g., a cable or other connection method), wireless communication (e.g., Bluetooth communication, Wi-Fi communication, RFID (Radio-Frequency Identification) communication, etc.), or another mechanism, in order to transmit one or more signals from the processing logic and a corresponding system or program of the first payload arrangement.

[0027] In block 1120, the processing logic identifies a first type of first payload arrangement with respect to a signal from the first payload arrangement. In one embodiment, the signal or series of signals includes information that can be processed by the processing logic to identify the type of payload arrangement. In one embodiment, the information may include an identifier or other similar data that the processing logic can recognize and that is related to one of the many different types of payload arrangements (e.g., a carrier bag sorting arrangement, a capsule storage arrangement, a package sorting arrangement, a capsule storage arrangement, a carrier bag movement arrangement, etc.).In one embodiment, the processing logic can store several different types of payload arrangements and corresponding identification information to determine the type of payload arrangement coupled to the drive unit.

[0028] In block 1130, the processing logic determines a first drive mode corresponding to the first type of first payload arrangement, wherein the first drive mode specifies one or more first drive parameters related to the operation of the drive unit coupled to the first payload arrangement. In one embodiment, the processing logic stores an assignment or relationship between each type of payload arrangement and a corresponding drive mode. In another embodiment, the processing logic can process the identified drive mode to enable control of the drive unit according to the drive mode. For example, the drive mode or motion profile can include one or more parameters, limits, rules, motion plans, etc., that can be transmitted to one or more components of the drive unit configured to control the operation of the drive unit (e.g.,(to the motor control, the propulsion motors, the AMM, etc.). In one embodiment, the drive mode or motion profile, in connection with the type of payload arrangement, may include one or more settings, limits, rules, etc., corresponding to one or more first drive parameters of the drive unit, including a speed of the drive unit (e.g., a maximum speed) or an acceleration (e.g., a maximum acceleration, an optimal acceleration rate, etc.) of the drive unit when coupled to that particular type of payload arrangement.

[0029] In one embodiment, the first payload assembly can be disconnected from the drive unit and replaced by a second payload assembly (e.g., a different type of payload assembly). In another embodiment, the same drive unit can couple a different payload assembly (e.g., a second payload assembly) with a different type of payload assembly. The drive unit's processing logic can then recognize the newly coupled payload assembly and identify the type of the second payload assembly. In another embodiment, the type of the newly connected payload assembly can differ from the first payload assembly and be associated with a different drive mode or motion profile (e.g., the motion profile for the second type of payload assembly can include different drive parameters than the motion profile for the first type of payload assembly).

[0030] Fig. Figure 12 illustrates a diagrammatic representation of a machine in the exemplary form of a computer system 1200, including a set of computer-executable instructions for managing various payload arrangements, which may be interchangeably mounted and coupled to a drive unit, according to one or more of the methods discussed herein. In one embodiment, the computer may include instructions that control the execution of the processes and corresponding components associated with the Fig.Figures 1 to 11 illustrate and describe the following. In alternative embodiments, the machine can be connected (e.g., networked) to other machines in a LAN, intranet, extranet, or the Internet. The machine can operate in the function of a server machine in a client-server network environment. The machine can be a personal computer (PC), a set-top box (STB), a server, a network router, a switch or bridge, or any machine capable of executing a series of instructions (sequentially or otherwise) that specify actions to be performed by that machine. Furthermore, the term "machine," even when a single machine is shown, is to be interpreted as also including any collection of machines that, individually or collectively, execute a series (or series) of instructions, employing any one or more of the methods discussed herein.

[0031] The exemplary computer system 1200 includes a processing device (a processor) 1202, a main memory 1204 (e.g. a ROM (Read-Only Memory), a Flash memory, a DRAM (Dynamic Random Access Memory) such as a Synchronous DRAM (SDRAM), a static memory 1206 (e.g. a Flash memory, a SRAM (Static Random Access Memory)) and a data storage device 1218, which communicate with each other via a bus 1230.

[0032] The processing device 1202 represents one or more general-purpose processing devices such as a microprocessor, a central processing unit, or the like. Specifically, the processing device 1202 can be a CISC (Complex Instruction Set Computing) microprocessor, a RISC (Reduced Instruction Set Computing) microprocessor, a VLIW (Very Long Instruction Word) microprocessor, or a processor implementing other instruction sets, or processors implementing a combination of instruction sets. The processing device 1202 can also be one or more special-purpose processing devices such as an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), a network processor, or the like.In various implementations of the present disclosure, the processing device 1202 is configured to execute instructions for the payload identification module 222 to perform the operations and processes described herein.

[0033] The computer system 1200 may further include a network interface device 1208. The computer system 1200 may also include a video display unit 1210 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 1212 (e.g., a keyboard), a cursor control device 1214 (e.g., a mouse), and a signal generation device 1216 (e.g., a loudspeaker).

[0034] The data storage device 1218 may include a computer-readable storage medium 1228 (or a machine-readable medium) on which one or more sets of instructions of the payload identification module 222 are stored, embodying any one or more of the methods or functions described herein. During their execution by the computer system 1200, the instructions may also reside wholly or at least partially in the main memory 1204 and / or in the processing logic 1226 of the processing device 1202, the main memory 1204 and the processing device 1202 also being computer-readable media.

[0035] The instructions can also be transmitted or received via the network interface device 1208 through a network 1220. While the computer-readable storage medium 1228 is shown as a single medium in one embodiment, the term "computer-readable storage medium" is to be interpreted as including a single medium or multiple media (e.g., a centralized or distributed database and / or associated caches and servers) that store the one or more sets of instructions. The term "computer-readable storage medium" is also to be interpreted as including any medium capable of storing, encoding, or carrying a set of instructions for execution by the machine, causing the machine to apply any one or more of the methods of this disclosure.The term "computer-readable storage medium" should therefore be interpreted as including, but not being limited to, solid-state storage, optical media and magnetic media.

[0036] An embodiment of the present disclosure can be described with reference to the following paragraphs. In clause 1, a drive unit comprises: a front housing comprising: a set of drive wheels, comprising a first drive wheel and a second drive wheel; a first front housing side comprising a first front mounting pin at a pin spacing from the first drive wheel, the pin spacing being determined with respect to a slip acceleration or a stroke acceleration of the drive unit; a second front housing side comprising a second front mounting pin; a rear housing coupled to the front housing, the rear housing comprising: a first rear housing side comprising a first rear mounting pin at a pin spacing from the first drive wheel; and a second rear housing side comprising a second rear mounting pin;an upper frame comprising several mounting parts configured to couple interchangeably with at least two different payload assemblies; wherein the upper frame is mounted to the front housing via the first front mounting pin and the second front mounting pin; and wherein the upper frame is mounted to the rear housing via the first rear mounting pin and the second rear mounting pin; the second front housing, wherein the upper frame comprises several mounting surfaces configured to couple with at least two different payload assemblies; and a payload identification module, executable by a processing device, to communicate with one of the at least two different payload assemblies, wherein the payload identification module serves to: detect a coupling of the payload assembly; identify a type of payload assembly;and to determine a drive mode corresponding to the type of payload arrangement, wherein the drive mode specifies one or more drive parameters related to the operation of the drive unit.

[0037] In clause 2: the drive unit according to clause 1, wherein the second front mounting pin is the pin spacing away from the second drive wheel; and wherein the second rear mounting pin is the pin spacing away from the second drive wheel.

[0038] In paragraph 3: the drive unit according to clause 1, wherein the upper frame includes a communication interface configured to communicate with the payload assembly and the payload identification module.

[0039] In Clause 4: the drive unit according to Clause 1, further comprising a control for adjusting the one or more drive parameters according to the drive mode corresponding to the payload arrangement, wherein the one or more drive parameters include a speed of the drive unit or an acceleration of the drive unit. In Clause 5: a drive unit comprising: a front housing; a rear housing coupled to the front housing; and an upper frame mounted to the front housing and the rear housing, wherein the upper frame comprises multiple mounting surfaces configured to couple interchangeably with at least two different payload arrangements.

[0040] In clause 6: the drive unit according to clause 5, further comprising: a payload identification module configured to communicate with a payload arrangement of at least two different payload arrangements, wherein the payload identification module serves to: detect a payload arrangement coupling; identify a payload arrangement type; and determine a drive mode corresponding to the payload arrangement type, wherein the drive mode specifies one or more drive parameters related to the operation of the drive unit.

[0041] In clause 7: the drive unit according to clause 6, wherein the upper frame includes a communication interface to couple communicatively with the payload arrangement and the payload identification module.

[0042] In clause 8: the drive unit according to clause 5, further comprising: a first drive wheel on a first side of the drive unit; and a second drive wheel arranged on a second side of the drive unit.

[0043] In clause 9: the drive unit according to clause 8, wherein the front housing comprises: a first front mounting pin on the first side of the drive unit; and a second front mounting pin on the second side of the drive unit.

[0044] In clause 10: the drive unit according to clause 9, wherein the rear housing comprises: a first rear mounting pin on the first side of the drive unit; and a second rear mounting pin on the second side of the drive unit.

[0045] In clause 11: the drive unit according to clause 10, wherein the upper frame is coupled to the front housing via the first front mounting pin and the second front mounting pin.

[0046] In clause 12: the drive unit according to clause 11, wherein the upper frame is coupled to the rear housing via the first rear mounting pin and the second rear mounting pin.

[0047] In clause 13: the drive unit according to clause 12, wherein the first front mounting pin is a first pin spacing away from the first drive wheel; and wherein the first rear mounting pin is a second pin spacing away from the first drive wheel.

[0048] In clause 14: the drive unit according to clause 13, wherein the second front mounting pin is a third pin spacing away from the second drive wheel; and wherein the second rear mounting pin is a fourth pin spacing away from the second drive wheel.

[0049] In clause 15: the drive unit according to clause 14, wherein at least the first pin spacing, the second pin spacing, the third pin spacing and / or the fourth pin spacing is determined with a view to optimizing a slip acceleration and a stroke acceleration of the drive unit.

[0050] In clause 16: a method comprising: detecting a first coupling of a first payload arrangement with a drive unit by a processing device of the drive unit; identifying a first type of the first payload arrangement with respect to a signal from the first payload arrangement; and determining a first drive mode corresponding to the first type of the first payload arrangement, wherein the first drive mode specifies one or more first drive parameters related to the operation of the drive unit coupled to the first payload arrangement.

[0051] Clause 17: the procedure according to Clause 16, further comprising controlling the operation of the drive unit according to the first drive mode.

[0052] In clause 18: the method according to clause 17, wherein the one or more drive parameters include at least a speed of the drive unit or an acceleration of the drive unit coupled to the first payload arrangement.

[0053] In clause 19: the procedure according to clause 16, further comprising: detecting a separation of the first coupling of the first payload arrangement with the propulsion unit; detecting a second coupling of a second payload arrangement with the propulsion unit; and identifying a second type of the second payload arrangement, wherein the first type and the second type are different.

[0054] In clause 20: the procedure according to clause 18, further comprising: determining a second drive mode corresponding to the second type of the second payload arrangement, wherein the second drive mode specifies one or more drive parameters related to the operation of the drive unit coupled to the second payload arrangement.

[0055] The preceding description presents numerous specific details, such as examples of concrete systems, components, methods, and the like, to provide a good overview of several embodiments of the present disclosure. However, the person skilled in the art will recognize that at least some embodiments of the present disclosure can also be applied without these specific details. In other cases, well-known components or methods are not described in detail or are presented in a simple block diagram format to avoid unnecessary confusion regarding the present disclosure. Thus, the specific details are presented merely as examples. Specific implementations may deviate from these exemplary details and still be considered to fall within the scope of protection of the present disclosure. Numerous details are set forth in the preceding description.

[0056] The person skilled in the art, who benefits from this disclosure, will, however, recognize that embodiments of the disclosure can also be applied without these specific details. In some cases, well-known arrangements and devices are shown in block diagram form and not in detail, in order to avoid confusion surrounding the description.

[0057] Some parts of the detailed description are presented in the form of algorithms and symbolic representations of steps on data bits in computer memory. These algorithmic descriptions and representations are the means used by professionals in the field of processing technology to most effectively communicate the substance of their work to other professionals. An algorithm is understood here, and generally, as a self-consistent sequence of steps that leads to the desired result. The steps are those that require physical manipulation of physical quantities. Usually, though not necessarily, these quantities take the form of electrical, magnetic, or optical signals capable of being stored, transmitted, combined, compared, and otherwise manipulated.It has sometimes proven practical, particularly for reasons of common usage, to refer to these signals as bits, values, elements, symbols, characters, terms, numbers or the like.

[0058] It should be borne in mind, however, that all these and similar terms must be related to the appropriate physical quantities and are merely practical labels for these quantities. Unless otherwise stated in the foregoing discussion, it is understood that throughout this description, discussions using terms such as "detect," "identify," "determine," or the like refer to actions and processes of a computer system or similar electronic computing device that manipulates data represented as physical (e.g., electronic) quantities in the registers and memories of the computer system and converts them into other data similarly represented as physical quantities in the memories or registers of the computer system or other such storage, transmission, or display devices.Embodiments of the disclosure also relate to an apparatus for carrying out the steps herein. This apparatus may be specially constructed for the required purposes or may comprise a general-purpose computer that is selectively activated or reconfigured by a computer program stored in the computer. Such a computer program may be stored in a computer-readable storage medium such as any type of disk, including floppy disks, optical disks, CD-ROMs and magneto-optical disks, ROM (Read-Only Memories), RAM (Random Access Memories), EPROM, EEPROM, magnetic or optical cards, or any type of medium suitable for storing electronic instructions.

[0059] The algorithms and displays presented herein are not inherently tied to any particular computer or other apparatus. Various general-purpose systems can be used with programs according to the teachings herein, or it may prove practical to construct a more specialized apparatus to perform the necessary procedural steps. The required arrangement for many of these systems will become apparent from the description below. Furthermore, the present embodiments are not described with respect to any particular programming language. It is understood that many programming languages ​​can be used to implement the teachings of this disclosure as described herein.It should also be noted that the terms “if” or the phrase “in response to”, as used herein, are to be understood as indicating that there may be an intervening period of time, intervening events, or both, before the identified step is carried out.

[0060] It is understood that the foregoing description is intended to be illustrative and not limiting. Many other embodiments will become apparent to those skilled in the art through reading and understanding the foregoing description. The scope of protection of the disclosure should therefore be determined by reference to the attached claims together with the full scope of protection of the equivalents to which these claims entitle the holder.

Claims

[1] A drive unit (200, 500, 800, 900), comprising: a front case (902); a rear housing (904) coupled to the front housing (902); an upper frame mounted to the front housing (902) and the rear housing (904), the upper frame comprising several mounting surfaces configured to couple selectively with at least two different payload arrangements; and a payload identification module (222) configured to communicate with a payload arrangement (690) from at least two different payload arrangements, wherein the payload identification module (222) serves to: to identify a coupling of the payload arrangement (690); to identify a payload arrangement type (690); and to determine a drive mode corresponding to the type of payload arrangement (690), wherein the drive mode specifies one or more drive parameters related to the operation of the drive unit (200, 500, 800, 900). [2] The drive unit (500) according to claim 1, wherein the upper frame comprises a communication interface (511) to communicate with the payload arrangement (690) and the payload identification module (222). [3] The drive unit (900) according to claim 1, further comprising: a first drive wheel (901A, 901B) on a first side of the drive unit (900); and a second drive wheel (901A, 901B) on a second side of the drive unit (900). [4] The drive unit (900) according to claim 3, wherein the front housing (902) comprises the following: a first front mounting pin on the first side of the drive unit (900); and a second front mounting pin on the second side of the drive unit (900). [5] The drive unit (900) according to claim 4, wherein the rear housing (904) comprises the following: a first rear mounting pin on the first side of the drive unit (900); and a second rear mounting pin on the second side of the drive unit (900). [6] The drive unit (900) according to claim 5, wherein the upper frame is coupled to the front housing (902) via the first front mounting pin and the second front mounting pin. [7] The drive unit (900) according to claim 6, wherein the upper frame is coupled to the rear housing (904) via the first rear mounting pin and the second rear mounting pin. [8] The drive unit (900) according to claim 7, wherein the first front mounting pin is a first pin distance (920A) away from the first drive wheel (901A, 901B); and wherein the first rear mounting pin is a second pin distance (920B) away from the first drive wheel (901A, 901B). [9] The drive unit (900) according to claim 8, wherein the second front mounting pin is a third pin spacing away from the second drive wheel (901A, 901B); and wherein the second rear mounting pin is a fourth pin spacing away from the second drive wheel (901A, 901B). [10] The drive unit (900) according to claim 9, wherein at least the first pin spacing (920A), the second pin spacing (920B), the third pin spacing and / or the fourth pin spacing is determined with regard to optimizing a slip acceleration (1001) and a stroke acceleration (1002) of the drive unit (900). [11] A procedure, encompassing: Detection of a first coupling of a first payload arrangement with a drive unit (200, 500, 800, 900) by a processing device (1200) of the drive unit (200, 500, 800, 900); Identifying a first type of first payload arrangement (690) with respect to a signal from the first payload arrangement (690); and Determining a first drive mode corresponding to the first type of the first payload arrangement (690), wherein the first drive mode specifies one or more first drive parameters related to the operation of the drive unit (200, 500, 800, 900) coupled to the first payload arrangement (690). [12] The method according to claim 11, further comprising controlling an operation of the drive unit (200, 500, 800, 900) according to the first drive mode. [13] The method according to claim 12, wherein the one or more drive parameters comprise at least a speed of the drive unit (200, 500, 800, 900) and / or an acceleration of the drive unit (200, 500, 800, 900) coupled to the first payload arrangement (690). [14] The method according to claim 11, further comprising: Detecting a separation of the first coupling of the first payload arrangement (690) with the drive unit (200, 500, 800, 900); Detection of a second coupling of a second payload arrangement with the drive unit; and Identifying a second type of the second payload arrangement, wherein the first type and the second type are different.

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