Apparatus and method for and with a mobile platform for the transport of loads - Patents.com

Abstract

An embodiment according to a first aspect of the present invention includes an apparatus for transporting cargo, the apparatus including a moving platform formed as an inverted pendulum and a pick-up means arranged on the moving platform, the apparatus configured to lift the cargo by the pick-up means and transport the lifted cargo.

Description

[Technical field]

[0001] Embodiments according to the invention include apparatus and methods for and including a mobile platform for transporting loads.The invention further relates to an apparatus and method for picking up, dropping off and transporting loads.

[0002] Further embodiments according to the present invention include an apparatus and method having a moving platform for a load and / or for adapting the contact area of ​​the wheels.

[0003] A further embodiment according to the present invention includes an apparatus for transporting cargo having a moving platform configured as an inverted pendulum.

[0004] A further embodiment according to the invention comprises an apparatus for transporting cargo, having a pick-up means with at least two arms arranged on a moving platform.

[0005] A further embodiment according to the present invention includes an apparatus for transporting cargo having control means for providing a balancing movement.

[0006] A further embodiment according to the present invention includes an apparatus for transporting cargo having a support structure and an operating mode, where the support structure can be in contact with the ground or can be lifted off the ground.

[0007] A further embodiment according to the invention comprises an apparatus having control means for adapting the size of the contact area of ​​the wheels of a mobile platform. [Background technology]

[0008] Cheap automated vehicles for transporting luggage / luggage carriers are being used more and more frequently (market trends are moving towards automation using automated guided vehicles, especially at low cost). Up to now, the transfer of luggage has been mostly arranged to interact with conveyor technology / workstations. So far, there is no simple / cheap solution available on the market for unloading / picking up of loads to / from the floor (especially without aids). However, in particular no combined solution is available on the market for unloading / picking up of loads to / from the floor and to / from other heights (e.g. onto a table or into a shelf). In summary, picking up of loads from the floor and other heights by automated vehicles using generally cheap actuators has been problematic up to now. Another problem is that high accelerations cannot be applied to the load (e.g. bulk goods, liquid goods) without simultaneously balancing the moving mass (e.g. by tilting the container), since otherwise the load may be lost or spilled.

[0009] Prior Art The means of transport for the above-mentioned containers and other transport systems are often not fully in place. For example, the "Stack Access Machine" (Fraunhofer IML) can pick up containers, but cannot be used cost-effectively to transport individual containers. The relatively cheap automated guided transport vehicles available on the market, Leo Locative (BITO Lagertechnik) and Weasel (SSI Schafer), can transport smaller parcels cost-effectively, but the handover of these parcels can only take place at special transfer stations. It is not possible to pick up / drop parcels from / to any location on the floor. The "FLIP" (Fraunhofer IML) can pick up containers (and small stacks of containers) from the floor, transport them and drop them off again. The LoadRunner (Fraunhofer IML) can transport and sort loads at high speed. However, it cannot pick up parcels without assistance and can only passively drop parcels. Special robots for stacking are known (eg Magazino Soto) but are mechanically complex.

[0010] Typical solutions for lifting realized by vehicles (when driving underneath is not possible) include, for example, the use of separate lifting drives, as well as belts, ropes, spindles, and possibly linear guides. This means that such solutions are also associated with, for example, large amounts of hardware. Spillable loads are transported slowly or in sealed containers, which can slow down transport speeds or require additional storage (e.g., requiring special containers).

[0011] There is therefore a need for a concept that allows for an improved trade-off between the complexity of the hardware operations and the driving and / or transport characteristics of the mobile device. Summary of the Invention [Problem to be solved by the invention]

[0012] The object of the present invention is solved by an apparatus and a method as defined in the independent claims. Further developments according to the invention are defined in the dependent claims. [Means for solving the problem]

[0013] In the following, the embodiments according to the present invention are presented in a structured manner based on the aspects of the present invention. However, it should be noted that this classification is merely for a better understanding of the present invention, and the aspects of the present invention can be used in any combination. Thus, for example, an embodiment according to one of aspects 2, 3, 4 or 5 can be complemented by features, details or functions of an embodiment according to the first aspect, either individually or in combination.

[0014] One of the findings of the present disclosure is that the vehicle dynamics of a platform configured as an inverted pendulum includes synergistic advantages with respect to pickup of a load by a pickup means located on a moving platform and vehicle complexity.

[0015] An embodiment according to a first aspect of the invention includes an apparatus for transporting cargo, the apparatus including a moving platform formed as an inverted pendulum and a pick-up means arranged on the moving platform, the apparatus configured to lift the cargo by the pick-up means and transport the lifted cargo.

[0016] A mobile platform in the form of an inverted pendulum can be constructed with fewer moving parts and therefore can be provided with less complexity, less wear and lower cost, but at the same time, highly dynamic maneuvers are possible, for example in simple models with optional actuation of the "pendulum bar" of the inverted pendulum, by tilting the mobile platform with the pick-up means.

[0017] In particular, using pendulum dynamics, the cargo can be picked up and / or deposited independently from several different heights. The pick-up means can for example be constituted by one or several arms and can be equipped with several possible contact elements for contacting the cargo. For example, when using a single arm, a magnetic contact can be established or a contact element can hook onto the cargo. For example, when using several arms, the cargo can be gripped or clamped laterally by several contact areas. For example, a frictional connection and / or a positive connection can be established.

[0018] According to a further embodiment of the first aspect of the invention, the device is configured with a contact area for forming a contact with the ground. Furthermore, the device is configured to provide contact along exactly one axis of the contact area at least during a transport stroke for transporting the cargo. The inventors have realized that using exactly one axis of the contact area allows balancing according to an inverted pendulum on the axis, thus enabling a highly dynamic mode of travel.

[0019] According to a further embodiment of the first aspect of the invention, the platform comprises two leg elements arranged substantially parallel to each other and spaced apart from each other in the floor area. Furthermore, the device is configured for at least temporarily positioning the cargo between the leg elements. The inventors have realized that this allows the load to be picked up even from the ground on which the vehicle is moving.

[0020] According to a further embodiment of the first aspect of the invention, the device comprises a chassis having a set of wheels, a first subset of the set of wheels being arranged on a first leg element and a second subset of the set of wheels separate from the first subset being arranged on a second leg element different from the first leg element. The inventors have realised that by providing two separate subsets of wheels on two leg elements good running dynamics can be achieved.

[0021] According to a further embodiment according to the first aspect of the invention, the apparatus comprises control means configured to balance the apparatus and preferably the cargo using additional information comprising at least one of the following: a loading state of the apparatus, a speed of the apparatus, an acceleration of the apparatus, an inclination of the mobile platform, an orientation of the pick-up means with respect to the mobile platform, a relative motion of the pick-up means with respect to the mobile platform, a relative motion of the cargo with respect to the mobile platform, a weight of the cargo, a centre of gravity of the cargo, a torque of an actuator of the apparatus, information on the shape of the cargo and / or information on the type of cargo. The inventors have realised that the additional information can be used to adjust and / or control the vehicle dynamics in a particularly robust manner.

[0022] According to a further embodiment of the first aspect of the invention, the device comprises sensor means configured to detect the additional information and provide a sensor signal based thereon. Further, the control means is configured to balance the device and / or the device with a lifted load based on the sensor signal. The inventors have realised that the sensor means may provide real-time data for the device itself to adjust and / or control vehicle dynamics.

[0023] According to a further embodiment of the first aspect of the invention, the pick-up means is provided with at least one further pendulum segment. The inventors have realised that this can improve the range or agility of picking up the cargo or dropping off the cargo.

[0024] According to a further embodiment of the first aspect of the invention, the apparatus has a platform height relative to a travel surface during a transport journey for transporting the cargo, and the apparatus is configured to elevate the cargo to a height above the platform height during the transport journey. The inventors have realised that a stable, dynamically controllable common centre of gravity of the apparatus and the cargo can be balanced in this manner.

[0025] According to a further embodiment of the first aspect of the invention, the device is configured to align the moving platform along a first direction relative to a surface normal of the traveling ground and along the traveling direction or the opposite direction. Furthermore, the device is configured to align the pick-up means in a direction opposite to the first direction relative to the surface normal. The inventors have realized that in this way a particularly stable traveling mode can be achieved.

[0026] According to a further embodiment of the first aspect of the invention, the pick-up means comprises at least two arms and is configured to lift the cargo using the two arms by picking up the cargo between the two arms. The inventors have realised that the load can be lifted by form-fit and / or pressure-fit, for example, with no or only very low requirements on a special configuration of the cargo, such that a number of different loads can be lifted with the apparatus.

[0027] According to a further embodiment of the first aspect of the invention, the device comprises a control means, the control means being configured to control a first arm and a second arm of the at least two arms independently of each other and / or the control means being configured to control the first arm and the second arm dependently of each other. The inventors have realised that a common control can keep the complexity of the device low. Furthermore, the inventors have realised that asymmetric loads and / or loads with uneven weight distribution can be better lifted by controlling the arms individually.

[0028] According to a further embodiment according to the first aspect of the invention, at least one of the at least two arms comprises a contact element, which comprises an elastic material, in particular a viscoelastic material, which is configured to establish contact with the cargo and thereby conform to the shape of the cargo in order to lift the cargo under the action of the elastic material; thus, the inventors have realised that a particularly stable contact can be established between the pick-up means and the cargo.

[0029] According to a further embodiment of the first aspect of the invention, the pick-up means comprises exactly two arms. The inventors have realised that using only two arms can provide a good trade-off between hardware complexity and cargo pick-up stability.

[0030] According to a further embodiment of the first aspect of the invention, the at least two arms each comprise a contact element, the contact elements being configured to establish a friction fit and / or a pressure fit and / or a form fit with the cargo.

[0031] According to a further embodiment of the first aspect of the invention, the pick-up means is configured to pick up the cargo between a first contact element for contacting the cargo and a second contact element for contacting the cargo. The first and second contact elements are connected and rotatably mounted to actuator means, and the device is configured to control the actuator means during pick-up and / or acceleration of the cargo to rotate the first and second contact elements to adjust the orientation of the cargo. The inventors have realised that even spillable cargo can be safely lifted and moved in this way.

[0032] According to a further embodiment of the first aspect of the invention, the pick-up means comprises a bellows which is configured in a first state to release the cargo and in a second state to conform to the shape of the cargo to provide a form-fit and / or pressure-fit with the cargo and to lift the cargo. The inventors have realised that multiple loads may be lifted and transported in this manner, for example independently or substantially independently of the outer shape of the load.

[0033] According to a further embodiment of the first aspect of the invention, the bellows is a pneumatic bellows. The inventors have realised that a pneumatic bellows allows for simple actuation by compressed air and therefore minimise hardware costs.

[0034] According to a further embodiment of the first aspect of the invention, the pick-up means comprises two opposing contact elements, the contact elements being configured to pick up the cargo between the contact elements. Furthermore, the pick-up means comprises actuator means coupled to the contact elements and arranged to move the two contact elements towards each other. The inventors have realised that in this way the cargo can be reliably clamped between the contact elements.

[0035] According to a further embodiment of the first aspect of the invention, the at least one contact element is coupled to an actuator means via a lever means, the actuator means being configured to move the at least one contact element towards an opposing contact element by means of the lever means. The inventors have realised that in this way a delivery action can be provided with few moving parts.

[0036] According to a further embodiment of the first aspect of the invention, the two contact elements are coupled to an actuator means via respective lever means, one actuator means being configured to move the two contact elements towards each other by means of the respective lever means. The inventors have realised that in this way a large delivery movement can be provided with little hardware effort.

[0037] According to a further embodiment of the first aspect of the invention, the actuator means comprises a linear actuator, which is particularly robust and cost effective.

[0038] According to a further embodiment of the first aspect of the invention, the pick-up means comprises two opposing contact elements configured to pick up the cargo by contacting the cargo, at least one of the contact elements being configured to move towards the cargo by means of an eccentric. The inventors have realised that by means of an eccentric it is possible to provide a delivery action whilst keeping the hardware complexity low.

[0039] According to a further embodiment of the first aspect of the invention, the pick-up means comprises two opposing contact elements configured to pick up the cargo by contacting the cargo, at least one of the contact elements being configured to move towards the cargo by a rotational movement, the corresponding rotational movement being able to be actuated simply and with little complexity.

[0040] According to a further embodiment of the first aspect of the invention, the pick-up means comprises two opposing contact elements configured to pick up the cargo between them. The contact elements are tiltably mounted to match the inclination angle of the surface of the cargo. The inventors have realised that the contact elements are in this way able to establish better contact with the cargo.

[0041] According to a further embodiment of the first aspect of the invention, the contact element is mounted eccentrically, which allows for easy actuation of the delivery movement.

[0042] According to a further embodiment of the first aspect of the invention, the pick-up means comprises at least one arm with a joint structure between the first and second arm elements. Furthermore, the device is configured to vary the relative inclination of the first and second arm elements by the joint structure in order to pick up or drop off the cargo. The inventors have realised that in this way a robust and easily actuated delivery movement of the contact element can be provided.

[0043] According to a further embodiment according to the first aspect of the invention, the device is configured to comprise a contact area for establishing contact with the ground. Furthermore, the device is configured to provide contact along exactly one axis of the contact area at least during a transport stroke for transporting the cargo. Furthermore, the device comprises a support structure for contacting the ground and a control means configured to control the pick-up means to lift the cargo and switch, starting from a first operating mode in which the contact area and the support structure are in contact with the ground, to a second operating mode in which the support structure is lifted from the ground. Thus, the inventors have realized that in the first operating mode, a particularly stable vehicle configuration, e.g. with a stable rest position, can be provided as, for example, a travelling mode, and in the second operating mode, a particularly dynamic travelling can be enabled.

[0044] According to a further embodiment of the first aspect of the invention, the support structure is arranged on the pick-up means away from the axis. The inventors have realised that in this way a particularly stable vehicle configuration can be provided in the first operating mode with regard to vehicle balance.

[0045] According to a further embodiment of the first aspect of the invention, the support structure comprises omni-directional wheels and / or Mecanum wheels. The inventors have realised that in this way it is possible to provide versatile travel modes in the first mode of operation.

[0046] According to a further embodiment of the first aspect of the invention, the apparatus is configured to assume an unstable equilibrium state in the second operating mode, the inventors realised that this allows for a particularly dynamic driving mode, for example when picking up cargo.

[0047] According to a further embodiment of the first aspect of the invention, the device is configured to control the pick-up means to move in a rotational manner from a lying position, thereby raising the device from the lying position. The inventors have realised that this allows an autonomous change from the first operating mode to the second operating mode.

[0048] According to a further embodiment of the first aspect of the invention, the device is configured to transport the cargo using at least temporarily a shovel or fork as part of the pick-up means. The inventors have realised that in this way the device can be used for a number of possible loads, i.e. with a high degree of flexibility.

[0049] According to a further embodiment of the first aspect of the invention, the pick-up means is configured to pick up the cargo, including the transport means and the cargo placed in the transport means, and to move this cargo in one movement. Furthermore, the device comprises a control means configured to maintain, during the movement of the cargo, the acceleration forces of the cargo acting on the transport means under the effect of the movement within a tolerable range in a predefined orientation by providing a balancing movement. Thus, the inventors have realized that even spillable cargo can be accelerated at least approximately so that it cannot, for example, fly out of the open transport means.

[0050] For example, high accelerations may not be a problem as long as the acceleration vector is perpendicular to the surface of the cargo, e.g., the box, or the running surface, e.g., the "floor." For example, high translational accelerations can be achieved by tilting the cargo, e.g., luggage, without subjecting it to significant lateral accelerations.

[0051] According to a further embodiment according to the first aspect of the invention, the balancing movement comprises at least one of tilting the device, for example by tilting the chassis or by causing a pressure change in the tires of the device, rotation of the pick-up means, for example relative to the platform, tilting the transport means by a rotational relative movement of the two arms of the pick-up means relative to each other, and / or tilting the transport means by a rotational movement of an eccentrically mounted contact area on the arms of the pick-up means. The inventors have realised that the orientation can be efficiently stabilised by corresponding balancing movements.

[0052] According to a further embodiment according to the first aspect of the invention, a mobile platform for traveling on a ground surface comprises a set of wheels, and the apparatus comprises an actuator system connected to the set of wheels for adapting a size of a contact area of ​​one of the set of wheels with the ground surface, the apparatus comprising control means for controlling the actuator system, the control means being configured to vary the size of the contact area of ​​the wheels by the actuator system depending on at least one of the travel speed of the apparatus, a change in the direction vector of the apparatus, the ground surface characteristics and / or the ground surface conditions. The inventors have realised that by dynamically adjusting the contact area, the energy requirements and / or stabilisation or balancing efforts of the apparatus can be minimised.

[0053] For example, relevant or even most important factors or properties of the ground may be the topology and elasticity of the ground, which may include or contain both regular, e.g. structurally determined features (e.g. gaps in a paving stone profile) or random features (e.g. pebbles or bumps).

[0054] For example, the ground may provide excitations that can be countered by natural frequencies. For example, by adapting the size of the contact area of ​​the wheels, the natural frequency of the device can be changed. Alternatively or additionally, for example, "bumps" in the ground can be counteracted.

[0055] According to a further embodiment of the first aspect of the invention, the control means is configured to set a first size of the contact area by the actuator system at a first running speed and to set a second size of the contact area larger than the first size at a second running speed lower than the first running speed. The inventors have realised that by adapting the contact area to the running speed energy can be saved.

[0056] According to a further embodiment of the first aspect of the invention, the control means is configured to adapt the air pressure in the wheel by means of an actuator system to vary the size of the contact area. The inventors have realised that when using pneumatic tyres the adjustment of the contact area can be actuated by compressed air means.

[0057] A further finding of the present invention is that a pick-up means with two arms is also advantageous independently of the equally advantageous embodiment with an inverted pendulum. The inventors have realized that by using two arms, multiple loads can be lifted, for example, without special requirements for the configuration of the load. In this way, multiple loads can be picked up or clamped between the arms in a form-fit and / or pressure-fit manner. Furthermore, loads can be loaded and unloaded from a wide variety of heights. Furthermore, such a process can be automated or autonomous.

[0058] An embodiment according to a second aspect of the present invention includes an apparatus for transporting cargo, the apparatus comprising a moving platform and a pick-up means arranged on the moving platform, the pick-up means including at least two arms and configured to lift the cargo using the two arms by picking up the cargo between the two arms.

[0059] A further finding of the invention is that, even independently of the advantageous embodiment with an inverted pendulum, generating a balancing movement against the acceleration forces acting on the cargo brings advantages, especially with regard to preventing any spillage of the cargo. The inventors have realized that in this way, spillable cargo can be kept in the transport container by a balancing movement, while allowing high accelerations and agile vehicle dynamics. The balancing movement can, for example, include an acceleration of the mobile platform and / or a relative movement between the pick-up means and the mobile platform. Furthermore, contact elements of the pick-up means can also be actuated, for example to introduce accelerations. Furthermore, a particularly stable driving behavior can be achieved. For example, it can be prevented that the moving load rolls in the transport container. Also, it can be prevented that the cargo swaying up.

[0060] An embodiment according to a third aspect of the present invention includes an apparatus for transporting cargo, the apparatus comprising a moving platform, a transport means movably arranged on the moving platform, and a pick-up means configured to lift cargo, the pick-up means including the transport means and the cargo arranged in the transport means. The apparatus further comprises a control means and is configured to move the cargo in a single movement. In addition, the control means is configured to maintain, during the movement of the cargo, an acceleration force of the cargo acting on the transport means under the effect of the movement within an acceptable range in a predetermined orientation by providing a counterbalancing movement.

[0061] A further finding of the present invention is that, independent of the advantageous configuration of the pick-up means of the first aspect, the temporary support of the inverted pendulum has advantages in terms of stability, for example when stationary or at rest. The inventors have realized that a support structure can be used to provide a particularly stable vehicle configuration in the first operating mode. Thus, for example, a driving mode can be provided in which the vehicle can navigate essentially stably (for example without load). For example, failure of the balancing control will not result in the corresponding vehicle "tumbling over". Such an operating mode can therefore be used, for example, to move the device from one location to another, especially in areas where safety is critical, for example areas where people work.

[0062] Furthermore, it is also possible to switch to the second operating mode, for example when picking up cargo in an unstable resting position. In this way, high vehicle dynamics can be achieved. A synergistic advantage may consist in the dual use of the pick-up means both as a support for an essentially stable vehicle configuration and as a support for cargo pick-up. Thus, a corresponding device can be provided with little hardware effort.

[0063] An embodiment according to a fourth aspect of the present invention comprises an apparatus for transporting cargo, the apparatus comprising a mobile platform, the mobile platform comprising a set of wheels on an axle for running on a ground surface, the apparatus further comprising pick-up means arranged on the mobile platform, a support structure for contacting the ground surface arranged on the pick-up means, the apparatus further comprising control means configured to control the pick-up means for lifting the cargo starting from a first operating mode in which the set of wheels and the support structure are in contact with the ground surface and to switch to a second operating mode in which the support structure is lifted from the ground surface.

[0064] According to a further embodiment according to the fourth aspect of the invention, the set of wheels is a first set of wheels and the support structure comprises a second set of wheels, the second set of wheels being in contact with the ground in the first mode of operation, the inventors have recognised that the use of wheels has advantages in terms of wear and agility.

[0065] A further finding of the present invention is that, independently of the advantageous configuration of the pick-up means or the inverted pendulum of the first aspect, adapting the contact area size of the wheels brings several advantages to the device, and temporary support of the inverted pendulum brings advantages in terms of stability, e.g. when stationary or at rest.

[0066] An embodiment according to a fifth aspect of the invention comprises an apparatus having a mobile platform comprising a set of wheels for running on a ground surface and an actuator system connected to the set of wheels for adapting a size of a contact area of ​​one of the set of wheels with the ground surface, further comprising control means for controlling the actuator system, the control means being configured to vary the size of the wheel contact area by the actuator system in response to a running speed of the apparatus, a change in the direction vector of the apparatus, a property of the ground surface or a condition of the ground surface.

[0067] According to a further embodiment according to the fifth aspect of the invention, the control means is configured to set a first size of the contact area by the actuator system at a first running speed and to set a second size of the contact area larger than the first size at a second running speed slower than the first running speed. The inventors have realised that this can improve stability and / or energy requirements.

[0068] According to a further embodiment according to the fifth aspect of the invention, the control means is configured to adapt the air pressure of the wheel by means of the actuator system in order to vary the size of the contact area. The inventors have realised that when using air-filled wheels with compressed air devices, the adaptation of the contact area can be performed fast and with little effort. This means that the contact area can be used as a fast input adjustment quantity.

[0069] According to a further embodiment of the fifth aspect of the invention, the device is configured for transporting cargo and the control means is configured for varying the size of the wheel contact area by means of the actuator system depending on the loading state of the device, thereby making it possible to adapt e.g. adhesion, resistance, vehicle tilt etc. depending on the load.

[0070] According to a further embodiment according to the fifth aspect of the invention, the pick-up means is arranged on the moving platform and the apparatus is configured for lifting the cargo by the pick-up means and transporting the lifted cargo.

[0071] In general, embodiments in accordance with the present invention include an apparatus that is an automated guided vehicle.

[0072] The method of the present invention is described below, where it is noted that the corresponding method may be based on the same or similar considerations as the associated device, and therefore the method may be supplemented by all the features, functions and details of the device described above, individually or in combination, appropriately or in a similar manner.

[0073] An embodiment according to a first aspect of the present invention includes a method for transporting cargo comprising the steps of lifting the cargo by a pick-up means, the pick-up means being disposed on a moving platform, the moving platform being configured as an inverted pendulum, and transporting the lifted cargo.

[0074] An embodiment according to a second aspect of the invention comprises a method of transporting cargo comprising the steps of picking up the cargo between at least two arms of a pick-up means, the pick-up means being disposed on a moving platform, and lifting the cargo using the two arms.

[0075] An embodiment according to a third aspect of the invention comprises a method for transporting cargo comprising the steps of lifting the cargo by a pick-up means movably arranged on a moving platform, the pick-up means comprising a transport means and cargo arranged within the transport means, moving the cargo in a single movement, and providing by a control means a balancing motion during the movement of the cargo to maintain acceleration forces of the cargo acting on the transport means under the effect of the movement within an acceptable range in a predetermined orientation.

[0076] An embodiment according to a fourth aspect of the invention comprises a method for transporting cargo, the method comprising the steps of controlling a pick-up means for lifting the cargo starting from a first mode of operation in which a set of wheels and a support structure are in contact with the ground and switching to a second mode of operation in which the support structure is lifted from the ground, where the pick-up means is disposed on a moving platform and the support structure for contacting the ground is disposed on the pick-up means, and further the moving platform comprises a set of wheels on an axle for running on the ground.

[0077] An embodiment according to a fifth aspect of the invention comprises a method comprising the step of controlling an actuator system by a control means such that the actuator system varies a size of a contact area of ​​one of the set of wheels in response to a travel speed of the mobile platform, a change in a direction vector of the mobile platform or in response to a ground condition. The mobile platform comprises a set of wheels for travelling on a ground surface, and an actuator system is connected to the set of wheels for adapting a size of a contact area of ​​one of the set of wheels with the ground surface.

[0078] Examples according to the present disclosure are described in more detail below with reference to the attached drawings, in which: With regard to the illustrated schematic diagrams, it should be noted that the illustrated functional blocks are to be understood both as elements or features of the apparatus according to the present disclosure and as corresponding method steps of the method according to the present disclosure, from which corresponding method steps of the method according to the present disclosure can also be derived. [Brief description of the drawings]

[0079] [Figure 1] 1 is a schematic side view of an apparatus for transporting cargo according to an embodiment according to a first aspect of the present invention; [Diagram 2] FIG. 1 is a schematic diagram of an apparatus for transporting cargo having two leg elements according to an embodiment according to a first aspect of the invention; [Figure 3a] FIG. 3 is a schematic diagram of the apparatus of FIG. 2 with a cargo between the leg elements of the moving platform. [Figure 3b] FIG. 3 is a schematic side view of the apparatus of FIG. 2 with a cargo between the leg elements of the moving platform. [Figure 4] FIG. 2 is a schematic side view of an apparatus for transporting cargo having a further pendulum segment according to an embodiment according to the first aspect of the present invention; [Figure 5a] 3A-3D are schematic diagrams of the device of FIG. 2 in various states. [Figure 5b] 3A-3D are schematic diagrams of the device of FIG. 2 in various states. [Figure 5c] 3A-3D are schematic diagrams of the device of FIG. 2 in various states. [Figure 5d] 3A-3D are schematic diagrams of the device of FIG. 2 in various states. [Figure 6] 1 is a schematic diagram of an apparatus for transporting cargo having a bellows according to a first embodiment of the present invention; FIG. [Figure 7a] FIG. 2 is a schematic diagram of a pick-up means according to an embodiment according to the first aspect of the present invention; [Figure 7b] FIG. 2 is a schematic diagram of a pick-up means according to an embodiment according to the first aspect of the present invention; [Figure 7c] FIG. 2 is a schematic diagram of a pick-up means according to an embodiment according to the first aspect of the present invention; [Figure 8a] FIG. 2 is a schematic diagram of a pick-up means having an eccentric according to an embodiment according to the first aspect of the present invention; [Figure 8b] FIG. 2 is a schematic diagram of a pick-up means having an eccentric according to an embodiment according to the first aspect of the present invention; [Figure 9a] FIG. 2 is a schematic diagram of a further pick-up means according to an embodiment according to the first aspect of the present invention; [Figure 9b] FIG. 2 is a schematic diagram of a further pick-up means according to an embodiment according to the first aspect of the present invention; [Figure 9c] FIG. 2 is a schematic diagram of a further pick-up means according to an embodiment according to the first aspect of the present invention; [Figure 9d] FIG. 2 is a schematic diagram of a further pick-up means according to an embodiment according to the first aspect of the present invention; [Figure 10a] FIG. 2 is a schematic diagram of a further pick-up means having an articulated arm according to an embodiment according to the first aspect of the invention; [Figure 10b] FIG. 2 is a schematic diagram of a further pick-up means having an articulated arm according to an embodiment according to the first aspect of the invention; [Figure 10c] FIG. 2 is a schematic diagram of a further pick-up means having an articulated arm according to an embodiment according to the first aspect of the invention; [Figure 11a] 1 is a schematic side view of an apparatus for transporting cargo having a support structure according to an embodiment according to a first aspect of the present invention; FIG. [Figure 11b] 1 is a schematic side view of an apparatus for transporting cargo having a support structure according to an embodiment according to a first aspect of the present invention; FIG. [Figure 11c] 1 is a schematic side view of an apparatus for transporting cargo having a support structure according to an embodiment according to a first aspect of the present invention; FIG. [Figure 11d] 1 is a schematic side view of an apparatus for transporting cargo having a support structure according to an embodiment according to a first aspect of the present invention; FIG. [Figure 11e] 1 is a schematic side view of an apparatus for transporting cargo having a support structure according to an embodiment according to a first aspect of the present invention; FIG. [Figure 12a] 1 is a schematic side view of an apparatus for transporting cargo having a rotatable gripper according to an embodiment according to a first aspect of the present invention; FIG. [Figure 12b] 1 is a schematic side view of an apparatus for transporting cargo having a rotatable gripper according to an embodiment according to a first aspect of the present invention; FIG. [Figure 12c] 1 is a schematic side view of an apparatus for transporting cargo having a rotatable gripper according to an embodiment according to a first aspect of the present invention; FIG. [Figure 13a] FIG. 1 is a schematic diagram of a load-transporting tool according to an embodiment according to a first aspect of the present invention; [Figure 13b] FIG. 1 is a schematic diagram of a load-transporting tool according to an embodiment according to a first aspect of the present invention; [Figure 13c] FIG. 1 is a schematic diagram of a load-transporting tool according to an embodiment according to a first aspect of the present invention; [Figure 14a] 1 is a schematic diagram of an apparatus for transporting cargo comprising a transport vehicle and a package placed within the transport vehicle according to an embodiment according to a first aspect of the present invention; [Figure 14b] 1 is a schematic diagram of an apparatus for transporting cargo comprising a transport vehicle and a package placed within the transport vehicle according to an embodiment according to a first aspect of the present invention; [Figure 15] FIG. 2 is a schematic diagram of an apparatus for transporting cargo having an actuator system for adapting the size of the contact area of ​​the wheels according to an embodiment according to a first aspect of the invention; [Figure 16] FIG. 2 is a schematic diagram of an apparatus for transporting cargo according to an embodiment according to a second aspect of the present invention. [Figure 17] FIG. 4 is a schematic diagram of an apparatus for transporting cargo according to an embodiment according to a third aspect of the present invention. [Figure 18] FIG. 11 is a schematic diagram of an apparatus for transporting cargo according to an embodiment according to a fourth aspect of the present invention. [Figure 19a]FIG. 11 is a schematic diagram of an apparatus for transporting cargo according to an embodiment according to a fifth aspect of the present invention. [Figure 19b] FIG. 11 is a schematic diagram of an apparatus for transporting cargo according to an embodiment according to a fifth aspect of the present invention. [Figure 20a] 13 is a plot according to an embodiment comprising an actuator system for adapting the contact area of ​​a wheel. [Figure 20b] 13 is a plot according to an embodiment comprising an actuator system for adapting the contact area of ​​a wheel. [Figure 20c] 13 is a plot according to an embodiment comprising an actuator system for adapting the contact area of ​​a wheel. [Figure 20d] 13 is a plot according to an embodiment comprising an actuator system for adapting the contact area of ​​a wheel. [Figure 20e] 1A-1C illustrate examples of wheels before and after releasing air pressure, according to one embodiment. [Figure 21a] 13 is a schematic diagram of the dynamic state of a device according to an embodiment having an actuator system for adapting the wheel contact area; FIG. [Figure 21b] 13 is a schematic diagram of the dynamic state of a device according to an embodiment having an actuator system for adapting the wheel contact area; FIG. [Figure 21c] 13 is a schematic diagram of the dynamic state of a device according to an embodiment having an actuator system for adapting the wheel contact area; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0080] Before the embodiments of the present invention are described in more detail below with reference to the drawings, it should be noted that identical, functionally identical or equivalent elements, objects and / or structures in the various figures are provided with the same or similar reference numbers, and thus the descriptions of these elements shown in the different embodiments are interchangeable or mutually applicable.

[0081] In the following, we first explain the basic concept of the vehicle kinematics according to the present invention in general terms and then explain further inventive developments according to the present invention for performing further functions or, for example, the main functions (e.g., picking up, transporting and unloading a load).

[0082] Fig. 1 shows a schematic side view of an apparatus for transporting cargo according to an embodiment according to a first aspect of the present invention. Fig. 1 shows an apparatus 100 including a mobile platform 110 and a pick-up means 120 arranged on the mobile platform.

[0083] The mobile platform is configured to travel without a driver, i.e. automatically, remotely controlled or autonomously. To this end, the platform is provided with at least one wheel 112 as an optional feature. In addition, however, the mobile platform of the present invention may also be provided with several wheels or other devices for establishing ground contact with the ground 50.

[0084] The mobile platform is configured as an inverted pendulum. For example, several wheels can be arranged along or on the vehicle axles. The axis of rotation of the pendulum can form, for example, the wheel axis 114 of the wheels 112. Thus, the device can be configured to hold or balance the mobile platform in an upright position by controlling the wheels 112 by torque.

[0085] By means of the pick-up means 120, the device is configured to lift the cargo 140 so that the cargo can be transported. The cargo can include any object. These include, for example, crates, boxes, but also pallets or other objects that are to be transported from one place to another or lifted while remaining in one position, but not exclusively in the field of logistics. For the purpose of movement and / or balancing, the device 100 can perform a pendulum movement, for example, so that the pick-up means 120 for picking up the cargo 140 swings or oscillates in the direction of the cargo 120. Starting from the running surface 50, by positioning the center of gravity above the wheels, an inverted pendulum is obtained. Furthermore, the pick-up unit 120 itself can be actuated to facilitate or enable the lifting of the cargo 140.

[0086] The pick-up means 120 may be configured as a single arm as shown in Fig. 1. As an example, contact for lifting the cargo may be established, for example, via a magnet, or a hook that dynamically hooks onto an eye of the cargo. In a configuration with several arms, several contact areas may also be used to establish a friction fit and / or form fit with the cargo 140.

[0087] FIG. 2 shows a schematic diagram of an apparatus for transporting cargo with two leg elements according to an embodiment according to the first aspect of the invention. FIG. 2 shows an apparatus 200 including a mobile platform 210 configured as an inverted pendulum and a pick-up means 220 arranged on the mobile platform. The apparatus 200 is configured to lift the cargo using the pick-up means 210, to hold the cargo in a lifted state and / or to transport the cargo to another location. The apparatus can thus also unload or unload the cargo again. In particular, the cargo can be lifted from the ground (for example on which the apparatus 200 travels) or unloaded to the ground, for example the ground 50. For this purpose, the pick-up means 220 can be optionally activated and configured accordingly to lift the cargo from any height within the reach of the pick-up means or to unload the cargo at such height.

[0088] As a further optional feature, the device 200 comprises a contact area 230 for establishing contact with the ground. The device 200 is configured to provide contact along exactly one axis 240 of the contact area 230, at least during a transport stroke for transporting the cargo. The mobile platform is thus in contact with the ground via two contact areas 230, for example during the transport of the cargo. For example, the platform can be in contact with the ground via exactly two contact areas during the transport of the cargo. Possible further contact areas according to such an embodiment are thus located on the same axis 240 during transport. The uniaxial arrangement of the contact areas 230 allows good dynamics of the device in the sense of an inverted pendulum, at least during transport.

[0089] As a further optional feature, the moving platform 210 comprises two leg elements 250a, 250b arranged substantially parallel to each other and spaced apart from each other in the floor area. The device 200 is also further configured to at least temporarily position the cargo between the leg elements 250a, 250b. Now, with reference to Figures 3a) and 3b).

[0090] Figure 3a shows a schematic perspective view of the device of Figure 2 with cargo 260 between the leg elements of the moving platform, and Figure 3b shows a schematic side view. For example, to lift the cargo, the device 200 can run over the cargo 260 and then pick up the cargo 260 with the pick-up means 220. Thus, the cargo 260 can be lifted from the ground or placed on the ground. It should be noted that in Figures 3a and 3b, for the sake of clarity, not all optional elements according to Figure 2 are marked, which can be present individually or in combination.

[0091] As a further optional feature, the device 200 comprises a chassis 270 with a set of wheels, as shown in FIG. 2 and also in FIGS. 3a and 3b. Here, a first subset 280a of the set of wheels is arranged on the first leg element 250a, and a second subset 280b of the set of wheels is separated from the first subset and arranged on the second leg element 250b. Simply put, one wheel is arranged on each of the leg elements 250a, 250b. Each wheel can provide a contact area 230. Thus, in one configuration, the wheels of the device 200 are located exactly on one axis. Thus, the embodiment according to FIG. 2 can be made do with only two wheels, and the device can be balanced both at rest and while moving, with or without cargo, by appropriate adjustment techniques based on the adjustment concept of an inverted pendulum, for example to prevent tipping. This means, for example, that the device 200 requires fewer hardware components (such as wheels), which means that a construction can be provided with lower costs and fewer wear parts.

[0092] For example, embodiments include exactly one wheel axis so that during driving there are no three-point (triangle) or four-point (quadrilateral) systems, i.e., systems having, for example, three or four contact areas that are not all located on one axis.

[0093] Thus, embodiments include in principle mechanically simple vehicles (although their technical implementation is complex) capable of performing a wide range of functions with a number of very flexibly usable assemblies, with optional special emphasis on the coordination concepts and algorithms required for challenging operation sequences.

[0094] As a further optional feature, the device 200 comprises a control means 290 configured to balance the device 200 and preferably the cargo 260 using additional information. For example, the control means 290 can be configured to control the device using a regulation law and / or based on sensor information. A model of the device 200 can optionally be stored in the control means, on the basis of which the regulation is performed. Different regulation concepts can be used here, for example a PID regulator (Proportional-Integral-Derivative regulator), a state regulator, a predictive control concept, an optimal regulator (for example optimizing a quality function), a non-linear regulator, for example a fuzzy regulator, and / or a regulation concept based on machine learning techniques.

[0095] The additional information may include at least one of the following: a loading state of the device 200, a speed of the device 200, an acceleration of the device 200, a tilt of the mobile platform 210, e.g., with respect to the ground, with respect to other components of the device 200, or with respect to the cargo 240 in an intended or actual orientation, an orientation of the pick-up means 220 with respect to the mobile platform 210, a relative motion of the pick-up means 220 with respect to the mobile platform 210, a relative motion of the cargo 260 with respect to the mobile platform 210, a weight of the cargo 260, a center of gravity of the cargo 260 (e.g., a position of the cargo 260 in space or with respect to the device 200), a torque of an actuator of the device 200, information regarding a shape of the cargo 260, and / or information regarding a type of cargo 260. In particular, the additional information may include information regarding a size of the cargo 260, a weight of the cargo 260, and / or a torque of an actuator of the device 200.

[0096] More generally, in the device 200 according to the embodiment, the contact areas 230 of the first and second subsets of the set of wheels with the ground may form one axis 240 of the contact areas, and furthermore the axis 240 of the contact areas or the axis of the associated wheels may form the axis of rotation of an inverted pendulum. The device may thus be configured, for example by the control means 290, to apply a torque to the first and second set of wheels to balance the device 200 and preferably the cargo 260 on the axis 240 of the contact areas or on the axis of the wheels.

[0097] It is further noted that, optionally, the respective device 200 or the associated control means 290 can be configured to bring about a relative movement between the pick-up means 220 and the mobile platform 210 to balance the device 200 and preferably the cargo 260 on the axis 240 of the contact area 230 or on the axis of the wheels. Here, it becomes clear that the task of balancing during lifting on the one hand and / or during a change in the direction vector (acceleration, deceleration, change of direction, combinations thereof, etc.) means that the control for balancing advantageously takes into account the changed conditions.

[0098] Generally speaking, the vehicle concept according to the embodiment therefore comprises an automated guided transport vehicle, e.g. 200, for the transport of a load, e.g. 260, which in its basic form uses the principle of an inverted pendulum for locomotion. The vehicle may optionally comprise two driven wheels suspended from long "legs", e.g. 250a, 250b, as shown in FIG. 2. The centre of gravity of the vehicle may be higher than the wheels. The vehicle may be balanced and therefore moved forward by the coordinated movement of the drive units. The unit 200 may thus comprise respective drive means for applying a torque to the wheels.

[0099] Even if the additional information can be received, for example via a communication interface, the device 200 comprises as a further optional feature sensor means 300 configured to detect a parameter on which the additional information is based and to provide a sensor signal on the basis thereof. Furthermore, the control means can be configured accordingly to balance the device 200 and preferably the lifted cargo 260 on the basis of the sensor signal. The sensor means 300 can comprise multiple sensors such as weight sensors, torque sensors, optical sensors (for example laser sensors, radar sensors, ultrasonic sensors), acceleration sensors and / or position sensors. The sensors can be mounted at different positions on the device 200 (for example torque sensors on the wheels and optical sensors, for example at the top of the moving platform, to provide a good viewing radius).

[0100] As a further optional feature, the pick-up means can be provided with at least one additional pendulum segment. Reference is now made to FIG. 4, which shows a schematic side view of a device 220a for transporting cargo with an additional pendulum segment according to an embodiment according to the first aspect of the invention. The device 200a optionally comprises, apart from some of the features already described in relation to the device 200, a pick-up means 220a subdivided by additional joints 222a and 222b relative to the pick-up means 220. Thus, the pick-up means 220a comprises at least two pendulum segments 224a, 224b and 226a, 226b, respectively, the elements 226a and 226b each of which can form an additional pendulum segment of the device 200a. The joints can for example be actuated (for example controlled by sensor means).

[0101] An additional degree of freedom of movement can be provided by the pick-up means 220a with the additional pendulum segments. This can be advantageous, for example, when loading a shelf, since the pendulum segments 226a and 226b can be used to push the cargo as far as possible into the shelf compartment. Furthermore, the device of the present invention can also be configured to stabilize itself on the object by the pick-up means, for example, to support itself on the shelf so that the cargo can be pushed further into the shelf compartment.

[0102] Note that in FIG. 4, for clarity, not all optional elements are marked as shown in FIG. 2, but these elements can be present individually or in combination.

[0103] As a further optional feature, the device 200 or 200a may be configured to elevate the cargo during the journey relative to the traveling surface to a height above the platform height. Referring now to FIG.

[0104] Figures 5a-5d show schematic diagrams of the device of Figure 2 in various states. It should be noted that in Figures 5a-5d, for the sake of clarity, not all optional elements according to Figure 2 are marked, but these elements can be present individually or in combination.

[0105] In a first state, referring to Fig. 5a, the device 200 can transport cargo "overhead", for example, such that the cargo 260 is transported above the platform height h. Fig. 5b shows a further illustration of this case. Thus, for example, the cargo 260 can be balanced above the contact area 230 when at rest or moving uniformly, such that the common center of gravity of the device 200 and the cargo 260 is located above the contact area.

[0106] However, as a further optional feature, the apparatus 200 may also be configured to align the moving platform 210 along a first direction (e.g., at a positive angle α) relative to the surface normal N of the running ground 50 and along the running direction or the opposite direction, and to align the pick-up means 220 in a direction opposite to the first direction (e.g., at a negative angle β) relative to the surface normal N.

[0107] Thus, during steady travel, the common center of gravity of the cargo 260 and the device 200 can also be maintained above the contact area 230 (and generally, optionally for all embodiments, e.g. vertically above the contact area, i.e. above a possible wheel axis located parallel to the axis of the contact area).

[0108] Such a position can have particular advantages when accelerating and decelerating the apparatus, so that by adapting the tilt angle, a robust balance of the apparatus 200 can be obtained with or without cargo 260.

[0109] Here again, in general terms, a mobile platform configured as an inverted pendulum is described. As already explained above, the common axis of rotation of the wheels of the device 200 can form the axis of rotation of the inverted pendulum. Such a pendulum can be subdivided into a pendulum bar and a pendulum weight for clarity of explanation. The pendulum bar can then be, for example, a mobile platform with legs 250a and 250a and a corresponding chassis or robot frame connecting the legs.

[0110] An additional movable, e.g. actuated, pick-up means 220 can form an additional input quantity in the adjustment model of the inverted pendulum, while any cargo 260 and / or accelerations can form disturbances. It is therefore noted that a corresponding structure, e.g. according to Fig. 2, can also be understood, optionally, as an overall structure as an inverted pendulum. In this regard, the inventors have realized that a corresponding actuation of the pick-up means 220 can, on the one hand, make it possible to pick up and / or put down the cargo 260, and at the same time be used to balance the device 200, e.g. by a relative movement between the platform 210 and the pick-up means 220, and thus possibly the cargo 260.

[0111] In general, therefore, embodiments according to the invention may also include a multi-pendulum, for example having any number of pendulum segments that may be optionally actuated. Thus, both the leg elements and the pick-up means segments may optionally include additional actuation joints.

[0112] As a further optional feature, the pick-up means 220 (see, for example, Figs. 2 and 5b) includes at least two arms 310a, 310b and is configured to lift the cargo 260 using the two arms by picking up the cargo between the two arms. Optionally, the arms 310a, 310b can be equipped with further joints to form one or several pendulum segments. As explained above, the arms can pick up and put down the cargo from different heights and at the same time cause a relative movement between the arms 310a, 310b and the platform 210 for balancing purposes. The arms 310a, 310b can also be used to balance acceleration forces on the cargo 260.

[0113] As a further optional feature, the control means 290 can be configured to control the first arm 310a and the second arm 310b of the at least two arms independently of each other and / or to control the first arm and the second arm dependently of each other. By independent actuation, for example, a cargo 260 comprising two different sides can be lifted by adapting the holding positions of the arms, so that even asymmetrical loads can be transported safely. In particular, for example, asymmetrical centers of gravity of the cargo 260 can be compensated for.

[0114] With regard to embodiments with optional arms 310a, 310b, in other words, reference should be made again to Figures 3a and 3b, and thus, according to a corresponding embodiment, pickup of cargo is effected by two "arms" which are movable, for example, independently of the "legs" 250a, 250b and which are able, for example, to pick up (e.g., clamp) the cargo 260 via a gripping principle.

[0115] As shown in Fig. 5a-b, the cargo 260 may, for example, be normally elevated during transportation and transported in an "overhead" or "bent" position. Potentially spillable items may also be transported with high accelerations, for example due to a necessary or advantageous tilt during the balancing movement (see, for example, Fig. 5c and Fig. 5d), and therefore due to an acceleration directed, for example, essentially purely or at least approximately vertically in the inertial system of the vehicle. These advantages can also be used for other cargoes, but in the illustrative example of a possibly lidless tub with liquid or similar filling (solid balls, sand, ...), in order to prevent the cargo from spilling or splashing, the velocity vector can only be changed slowly in the absence of a corresponding adaptive action. With a corresponding adaptive action, the velocity vector can be changed accordingly more quickly, which may lead to a reduction in the travel time.

[0116] Another optional feature shown in Figures 5a-5d is an embodiment with a gripper that can be actively rotated within the arm in order to hold the cargo 260 in a horizontal (or other defined) orientation. This is not fundamentally necessary in principle (e.g. for closed loads that can also be rotated), but it greatly expands the range of applications. The mechanics can be kept relatively simple, but complex adjustment algorithms may be used or even required for the control.

[0117] As a further optional feature, at least one of the at least two arms 310a, 310b comprises a contact element. As an optional example, Fig. 2 shows two arms 310a, 310b, each of which comprises a contact element 320a, 320b. Optionally, one of the contact elements 320a, 320b may comprise an elastic material, in particular a viscoelastic material. At least one of the contact elements 320a, 320b may be configured to establish contact with the cargo and to conform to the shape of the cargo in order to lift the cargo under the influence of the elastic material.

[0118] As shown in FIG. 2, the device 200 according to the embodiment can comprise, for example, exactly two arms 310a, 310b. Regardless of whether the contact elements 320a, 320 comprise an elastic or viscoelastic material, the contact elements can be configured to establish a friction fit and / or a pressure fit with the cargo. For this, the arms 310a, 310b can be actuated, for example, and can be configured to move towards each other in order to establish a friction fit. Furthermore, the contact elements 320a, 320b can be actuated, for example, to shorten the distance between the two contact elements and thus also achieve a friction fit with the cargo located between them (see, for example, FIGS. 5a-5d). Contact elements with an elastic or viscoelastic material can also establish a form fit with the cargo, for example, to lift the cargo.

[0119] As a further optional feature, the contact elements 320a, 320b can be connected to the actuator means 330 and can optionally be rotatably mounted. Thus, the device 200 can pick up the cargo 260 by the pick-up means 220 between the first contact element 320a for contacting the cargo and the second contact element for contacting the cargo (see, for example, Figures 3 and 5). As shown in Figures 5a-5d, the device 200 can be configured to control the actuator means 330 during lifting and / or acceleration of the cargo in order to rotate the first contact element 320a and the second contact element 320b to set the orientation of the cargo. Thus, as shown in Figures 5a-5d, the cargo 260 can always be kept in the same orientation. Thus, for example, even items that are particularly prone to spilling can be transported in an open container.

[0120] Generally, according to the embodiments, there are several different solution variants for picking up cargo, which have different advantages depending on the expected cargo range. In the possible application range, according to the embodiments, it is possible to provide or aim for a cargo pick-up means with a high or e.g. as high as possible delivery path (e.g. to be able to pick up different size loads) and a low or e.g. as low as possible arm weight. Some cargo pick-up concepts or cargo pick-up principles at the arm, including e.g. simple ones, are presented below.

[0121] Figure 6 shows a schematic diagram of an apparatus for transporting cargo with bellows according to an embodiment according to the first aspect of the invention. The apparatus 200b comprises, in addition to one or more of the features of the apparatus 200 of figure 2 already described and further described below, a pick-up means 220b with bellows 340a, 340b each arranged at one end of the pick-up means. It is noted here that according to an embodiment only one bellows can be used, for example either 340a or 340b.

[0122] The bellows 340a, 340b are each configured to release the cargo in a first state and to conform to the shape of the cargo in a second state to provide a form fit and / or friction fit with the cargo to lift it. As a further optional feature, the bellows 340a, 340b may be pneumatic bellows. As a further optional feature, the pick-up means 220b comprises pneumatic means 350 which may be configured to place the bellows 340a and 340b in the first state or the second state, or, for example simply, to supply or release compressed air.

[0123] It should be noted here that the pick-up means 220b is merely an exemplary configuration. For example, the pick-up means 220b can also include a single, for example, U-shaped bellows (for example, with a U-shaped opening in the direction of the cargo), which in the second state surrounds the cargo from above and from the side in order to lift the corresponding cargo. Thus, the configuration of the device 200b with two arms 310a, 310b is also merely optional (for example, the arms 310a, 310b can be replaced by U-shaped bellows).

[0124] In general, the one or more bellows may be, for example, a shape memory bellows.

[0125] Thus, in brief, an embodiment may include a clamping mechanism that uses a pneumatic bellows. Under pressure, the bellows expands and thus may perform a delivery action (e.g., transition from a first state to a second state). When the pressure is released, the bellows contracts and may unload the cargo (e.g., first state). The bellows may conform to the outer contour of the cargo and thus form, for example, a form fit. At the same time, materials with a high coefficient of friction may be used to allow friction fit pick-up even on smooth surfaces.

[0126] With respect to device 200b, it should be noted that the device may also include some or all of the optional features of the further disclosed embodiments, particularly those disclosed in relation to FIG.

[0127] Figures 7a-7c show schematic diagrams of pick-up means according to an embodiment according to the first aspect of the invention. Figure 7a shows a pick-up means 220c having two opposing contact elements 320a, 320b, which are configured to pick up a cargo item between the contact elements. Furthermore, the pick-up means 220c comprises actuator means 330a coupled to the contact elements 320a, 320b and arranged to move the two contact elements towards each other.

[0128] As an optional feature, the contact elements 320a, 320b are coupled to the actuator means 330a by lever means 332a, 332b, respectively. The actuator means 330a can thus for example move the contact elements 320a, 320b towards each other by linear movement using the lever means 332a, 332b, thus providing a pressure fit, or for example a form fit if the contact elements comprise bellows or a (visco)elastic material. The actuator means can thus for example comprise a linear actuator. The lever means can for example be attached to an arm of the pick-up means, or a corresponding arm can comprise the lever means 332a, 332b.

[0129] However, it should be noted that according to embodiments only one lever means can be provided, for example saving on moving parts by using only one movable contact element.

[0130] Fig. 7b shows the movement sequence: for example, an optional motor 334a as part of the actuator means 330a can apply a force F to move the tops of the lever means 332a, 332b apart, which causes the contact elements 320a and 320b to move towards each other according to the lever pivot axes 336a and 336b.

[0131] Thus, in the configurations according to Fig. 7a and 7c, the two contact elements can be controlled together by one actuator and moved towards each other. Fig. 7c shows a cross section of a further optional configuration of the pick-up means 220d. Here, each contact element (here 320a as an example) can be assigned its own actuator or its own actuator means 330d, so that the contact elements can be controlled individually. In this way, the delivery path of the respective contact element can be adapted, for example, to the asymmetry of the cargo.

[0132] In other words, the embodiment includes a mechanical gripper that may be configured, for example, as shown in Figures 7a-7c.

[0133] For example, there could be linear actuators (e.g., 330a, 334a, 330b) that expand or contract when actuated, similar to the bellows solution. This allows a corresponding delivery action to be achieved via levers (e.g., 332a, 332b). For example, the following two variants could be used:

[0134] -One with a linear actuator (e.g. 330a) connecting two levers - 1 time with a linear actuator (e.g. 330b) attached to only one lever.

[0135] This means, for example, that actuators can be saved or that independent delivery actions can be performed.

[0136] Figures 8a-b show schematic views of parts of a pick-up means with an eccentric according to an embodiment according to the first aspect of the invention. Figures 8a-b each show a part of a pick-up means 220e with a contact element 320a, where the complete pick-up means 220e may comprise two opposing contact elements set to pick up a cargo by contacting the cargo.

[0137] As shown in Figures 8a-b, at least one of the contact elements 320a can be configured to move in the direction of the cargo by means of an eccentric 360. In this case, the gripper, for example the arm of the pick-up means 220e, at the end of which the contact element 320a and the eccentric 360 are arranged, can itself perform a linear delivery movement. This can be achieved by means of the eccentric disk 360 and its corresponding rotational movement.

[0138] Figures 9a-9d show schematic diagrams of further pick-up means according to an embodiment according to the first aspect of the invention, where parts of the pick-up means (220f in Figures 9a and 9b, 220g in Figures 9c-d) are shown, e.g. one arm element respectively or arm of the pick-up means.

[0139] As an optional feature, the pick-up means 220f includes an actuator 330c configured to move the contact element 320a, for example by a linear motion. The pick-up means can, for example, comprise or be configured as an articulated arm, as optionally indicated by a rotation axis 370.

[0140] As an optional feature, the pick-up means 220g also includes an actuator 330d configured to move at least one of the contact elements 320a towards the cargo by a rotational motion. Optionally, the actuator can be located remotely from the contact elements 320a and configured to move the contact elements towards the cargo by, for example, a rotational motion.

[0141] For the sake of completeness, it is noted that in the embodiment according to Figures 9a to 9d, the pick-up means 220f, 220g may comprise two opposing contact elements arranged to pick up the cargo by contacting the cargo. It is also noted that the pick-up means 220g may include an articulated arm.

[0142] In other words, the embodiment according to Fig. 9a-9d includes an actuator for clamping. For example, the cargo pickup can be moved via a linear actuator and a delivery movement can be generated. The cargo can be clamped and lifted in a pressure-fit or alternatively / additionally form-fit manner. To rotate the cargo after picking it up, the actuator itself can be rotated (actively via an additional motor on the flange) or a rotating element can be installed on the delivery element.

[0143] Figures 10a to 10c show schematic diagrams of a further pick-up means with an articulated arm according to an embodiment according to the first aspect of the invention. Figure 10 shows a part of the pick-up means 220h, for example one arm element respectively or arm of the pick-up means.

[0144] As a further optional feature, the pick-up means comprises a contact element 320c which is tiltably mounted to accommodate the angle of inclination of the cargo surface.

[0145] For the sake of completeness, it is noted again that in the embodiment according to Fig. 10 the pick-up means 220h may comprise two opposing contact elements set to pick up the cargo by contacting it, so that both or only one of the opposing contact elements may also be tiltably mounted.

[0146] It should also be noted that, although tiltable mounting may be particularly advantageous in the context of an articulated arm, tiltable mounting of the contact element is not limited to such a configuration. For example, tiltable contact elements may also be used in devices having pick-up means according to Fig. 7. Optionally, the contact element 320c may be mounted eccentrically.

[0147] Furthermore, as an optional feature, the pick-up means 220h comprises an arm including a joint structure 370 between the first arm element 224a and the second arm element 226a. Each of the inventive devices can be configured to vary the relative inclination of the first arm element 224a and the second arm element 226a by means of the joint structure 370 in order to pick up or drop off the cargo. The arm elements can thus form a pendulum segment (e.g. corresponding to the device 200a of FIG. 4).

[0148] An example of the change in tilt is shown in the transition from Figure 10a to Figure 10b to Figure 10c. It should be noted here that the configuration of the contact element 320c in a tiltable form is merely optional. For example, here, a (visco)elastic material could also be arranged as the contact element without a tilt function of the contact element, so that shape conformity can be achieved by this material.

[0149] Figure 10c also shows a possible configuration of the tilting function of the arm by means of a rope winch. However, a corresponding mechanism can also be optionally arranged in the arm, as shown in Figures 10a and 10b.

[0150] Thus, for example, regardless of the actuator used, it is also possible to use joint 370 on the arm instead of a molded lever, which allows for delivery movement of a gripper, for example a contact element.

[0151] Figures 11a-11e show schematic side views of an apparatus for transporting cargo having a support structure according to an embodiment according to the first aspect of the present invention. Figures 11a-11e show an apparatus 200c configured with a contact area 230 for forming contact with the ground 50. The apparatus 200c can be configured to provide contact along exactly one axis of the contact area 230 at least during a transport stroke for transporting the cargo (not shown) as described in relation to an inverted pendulum as described herein (see e.g. Figure 2).

[0152] As an additional optional feature, the device 200c comprises a support structure. The support structure can be arranged, for example, on the moving platform 210 or, for example, on a pick-up means of the device. In general, the support structure can be any structure configured to at least temporarily establish contact with the ground 50. Thus, simple elements such as additional legs or wheels with low friction ground contact areas can be used.

[0153] In a particularly preferred configuration of Figures 11a-11e, the pick-up means 220i comprises a support structure 390. The support structure can therefore be arranged on one or two arms of the pick-up unit. The support structure 390 can therefore be arranged on the pick-up means 220i away from the axis or can form contact with the ground away from the vehicle axis, thus turning, for example, a two-point system into a more stable three-point system. It is noted that such a configuration is merely optional.

[0154] The device 220c comprises control means arranged to start from a first operating mode in which the contact area 230 and the support structure 390 are in contact with the ground, to control the pick-up means 220i and to control the pick-up means for lifting the cargo, to switch to a second operating mode in which the support structure 390 is lifted from the ground. In other words, if necessary, for example in a parking position or with a particularly large or unstable cargo, on the one hand, or when traveling empty without a load, an additional support structure can be used to obtain additional stability. This also allows the energy consumption of the device to be temporarily reduced, for example by using the control system and / or the actuator system only partially or not at all.

[0155] In the configuration of device 200c, support structure 390 includes wheels 380 as an optional feature, which may be formed, for example, as omni-directional wheels and / or as omni-directional wheels (e.g., miniature omni-directional wheels) and / or as Mecanum wheels. It is again noted that the support structure may also be configured, for example, as simple frictional contact areas (having a low coefficient of friction).

[0156] The steps of switching from the first to the second operating mode, as well as the steps of self-righting of the device after, for example, an intentional or unintentional tipping or rolling over, are shown in Fig. 11a-e. First, the self-righting is described. As shown in Fig. a, the device 200c can be configured to control the pick-up means 220i to perform a rotational movement from a lying position, which is shown at different times in Fig. 11b and Fig. 11c. This movement can be used continuously to gradually raise the device from the lying position (see Fig. 11d-e). Starting from the first supported operating mode of Fig. 11c or Fig. 11d, the device 200c in the representation of Fig. 11e may assume an unstable equilibrium state in the second operating mode, especially if the support in the state of Fig. 11e no longer contacts the floor or at least only along the axis 240, thereby allowing the pendulum movement of the inverted pendulum.

[0157] Thus, according to a preferred embodiment, an omni-directional wheel can be attached to the end of the arm. This allows the vehicle, for example the device 200c, to be in a stable resting position. In this case, the vehicle is placed on the arm or on the omni-directional wheel (see, for example, a) and, simply put, the vehicle lies on its side and can be equipped with rollers at the end or head of the arm. The actuator for the rotation of the arm is self-locking, so that the whole vehicle can be switched off and the vehicle is in a stable position. This also allows it to run in an essentially stable manner. In a stable position, there is no longer any potential energy in the system. This means that the vehicle can be stopped or switched off at any time without causing damage due to its proper movement. Simply put, the device can be equipped with small omni-directional wheels for a non-balancing running mode or for standing up.

[0158] Thus, for example, with regard to moving the arm of device 200c according to Fig. 11 to stand up, the vehicle can move from a lying position to a standing position with the help of rollers, for example wheels 380. The arm can now make one full rotation. In the last part of the standing up movement, the upright position needs to be adjusted.

[0159] The first operating mode can thus be a driving mode for operating with different driving characteristics than the second driving mode, for example in order to be able to drive through areas where people are present, since the stable driving position allows particularly quick braking maneuvers and a safe driving method, and moreover there is no risk of an uncontrolled rollover which could injure people in case of a breakdown of the device.

[0160] Generally speaking, the inventors have recognized the advantages of the special design of the apparatus of the present invention, which allows vehicle dynamics to be utilized in two modes of operation.

[0161] 12a-c show schematic side views of an apparatus for transporting cargo with a rotatable gripper 221 according to an embodiment according to the first aspect of the invention. The apparatus 200d (see, for example, FIG. 12a) comprises a moving platform 210a and a rotatable gripper 221 as an optional feature, e.g. a pick-up means 220j with a rotatable contact element coupled to an exemplary open container 400. In this way, the cargo can be rotated around a rotation axis by a rotatable gripper actuator (see FIG. 12b). This allows, for example, to eject the cargo. As shown in FIG. 12c, the corresponding apparatus 200d can, for example, lift bulk material to a relatively high height of up to 1 m, 1.2 m or even 1.5 m or more.

[0162] Fig. 13 is a schematic diagram of an embodiment of a load transport tool according to the first aspect of the invention. According to an embodiment, the device of the invention can be configured to transport cargo using, at least temporarily, a shovel 410 (see Fig. 13c) or a fork 420 (see Fig. 13a) as part of the pick-up means 220k. Furthermore, other transport tools, such as a fork set 430 (see Fig. 13b), actuated by a contact element 320d, can also be used.

[0163] In general, according to the embodiment, any load transport tool can be used, in particular forks 420 or shovels 410 (e.g. different ones, for different bulk materials), and by using a shovel (fork alternative 430 or alternative) between the gripping actuators, for example between the contact elements, it is possible to pick up the bulk items, transport them and unload them again by tilting the shovel. The transported items can be essentially immobilized by the necessary tilting of the vehicle during acceleration. By using soft pneumatic tires with lugs, for example with profiled tread, it is possible to drive without problems on loose ground. The dynamic and automatic tilting of the cargo pickup according to the acceleration of the vehicle (see for example Figs. 5a-5d) ensures the automation of discontinuous transport of bulk items. By using the forks 420, small pallets and, if the vehicle is scaled accordingly, Euro pallets can be picked up and transported. In this case, the advantages of the present vehicle concept are especially shown for such items, since stacked items can also be transported at high accelerations without tipping over.

[0164] For example, a device that can be equipped with forks can be configured to actuate the forks themselves, for example to draw the forks together. Furthermore, the arms of the device can also be drawn together (for example by actuating contact elements) for example to pick up the forks 420. For example, the forks can be used to pick up a pallet. Furthermore, a transport tool shown in FIG. 13, for example the specific tool 430, can be used to pick up a carton. In general, the device can also be equipped with, for example, a drawer-like linear actuator, see for example the possible movements in FIG. 13b).

[0165] 14a-b are schematic side views of an apparatus for transporting cargo, including a transport means and a cargo placed in the transport means, according to an embodiment according to the first aspect of the present invention. Figs. 14a-b show an apparatus 200e having a pickup means 220l configured to lift cargo 260a, including a transport means 262a and a cargo 260a placed in the transport means. The apparatus 200e is also configured to move the cargo 260a in one movement. As an optional feature, the apparatus 200e comprises a control means 290a configured to maintain, during the movement of the cargo 260a, within a tolerance range in a predetermined orientation, an acceleration force of the cargo 264a acting on the transport means 260a under the effect of the movement, by providing a counterbalancing movement.

[0166] In particular, the cargo 264a can be, for example, a bulk material or liquid transported in an open container 262a. To prevent drops or spills or even splashing, the control means can balance the accelerations by varying the inclination of the moving platform 210 and by varying the inclination of the pick-up means 220l, i.e., for example, by varying the angles α and β. Optionally, the actuating contact elements can also be controlled to achieve a corresponding counterbalanced acceleration.

[0167] This makes it possible to prevent the natural frequencies of the liquid from impairing the driving properties, e.g. the safety-relevant braking distance, or from causing the cargo 264a to fall out of the container 262a. The device 200e thus allows high accelerations and complex driving dynamics, even with difficult loads 262a.

[0168] Optionally, the balancing movement may include at least one of tilting the apparatus, e.g. by tilting the chassis or by causing a pressure change in the tires of the apparatus, rotation of the pick-up means relative to the platform, tilting of the transport means due to a rotational relative movement of the two arms of the pick-up means relative to each other, and / or tilting of the transport means due to a rotational movement of an eccentrically mounted contact area on the arms of the pick-up means.

[0169] Fig. 15 shows a schematic diagram of a device for transporting cargo with an actuator system for adapting the size of the contact area of ​​the wheels according to an embodiment according to the first aspect of the invention. It should be noted that in Fig. 15, for the sake of clarity, not all optional elements are marked, for example according to Fig. 2 or the pick-up means described above, but these elements can be present individually or in combination.

[0170] FIG. 15 shows a device 200f having a mobile platform 210b configured as an inverted pendulum, the platform 210 comprising a set of wheels 280 (for example a first and second set 280a, 280b according to the device 200) for running on a ground surface. As an optional feature, in addition to the features and functions according to the device 200 for example, the device 200f comprises an actuator system 440 connected to the set of wheels 280 for adapting the size of the contact area 230 of one of the set of wheels with the ground surface. For this purpose, the device 200f further comprises a control means 290b (for example the control means 290 may include the functions of the control means 290b) for controlling the actuator system 440, the control means being configured to vary the size of the contact area 230 of the wheels by the actuator system in response to at least one of the running speed of the device, the change in the direction vector of the device and / or the condition of the ground surface.

[0171] Thus, for example in an unstable rest position where the device 200f is upright, as shown for example in FIG. 15, the contact area 230 of the set of wheels 280 can be increased in order to save energy, since increasing the area reduces the effort of the coordination and actuator systems and therefore the energy requirements. Conversely, the contact area can be reduced during travel in order to reduce the rolling resistance of the wheels. At the same time, a corresponding control can be used, for example, to temporarily increase the contact area during cornering or braking maneuvers, thus temporarily increasing the traction control, for example, to reduce the braking distance, take a sharper curve or increase the speed in a curve. It can also be advantageously turned in a narrow area, for example if a skid is intended.

[0172] In some configurations, these descriptions relate to symmetric (e.g., left / right) control or adaptation of the contact area. However, embodiments also provide, in combination or as an alternative, for asymmetric adaptation of the contact area, for example by applying different pressures to different wheels, which can also generate a lean or tilt of the vehicle, which can be advantageous, for example, when cornering.

[0173] Both symmetric and asymmetric control can be controlled quasi-statically, for example for longer journeys or depending on the loading conditions, but can also be controlled dynamically, for example to counter bumps, for example to keep the cargo stationary or to avoid swaying, as will be explained in more detail in Figures 21a-c.

[0174] Generally speaking, the control means 290b may optionally be configured to set a first size of the contact area 230 by the actuator system 440 at a first running speed, and to set a second size of the contact area larger than the first size at a second running speed lower than the first running speed.

[0175] An optional way of varying the size of the contact area is to adapt the gas pressure of the gas-filled wheel or tire of the device 200f by means of an actuator system, which can thus provide, for example, compressed air (the actuator system can also provide a compressed air supply for the bellows, for example, or vice versa). Depending on the application, any gas can be used as the filling medium or filling gas, air may already be suitable, but it is also possible to arrange closed circuits in which different gases, such as inert gases or special gas compositions, are used, for example, in areas of aggressive media. The pressure can be varied, for example, via control by the control means 290b. Instead of or in addition to varying the filling pressure, the contact surface can be varied by actuatable individual elements, such as blades, spikes, etc.

[0176] 16 shows a schematic diagram of an apparatus for transporting cargo according to an embodiment according to the second aspect of the invention. The apparatus 500 comprises a mobile platform 510 and a pick-up means 520 arranged on the mobile platform 510, comprising at least two arms 522, 524 and configured to lift a cargo 530 using the two arms by picking up the cargo between the two arms.

[0177] For example, lifting between two arms does not impose special requirements on the cargo 530, except for, for example, sufficient mechanical stability. Thus, for example, no special geometry is required to establish a form fit, and multiple loads 530 can be lifted with, for example, a pressure fit and / or a friction fit.

[0178] Fig. 17 shows a schematic diagram of an embodiment of an apparatus for transporting cargo according to the third aspect of the present invention. Fig. 17 shows an apparatus 600 including a mobile platform 610 and a pickup means 620 movably arranged on the mobile platform and configured to lift cargo 630 including a transport means 632 and cargo arranged on the transport means 632. The apparatus 600 is configured to move the cargo 630 in one movement. Furthermore, the apparatus comprises a control means 640 configured to maintain the acceleration force of the cargo 364 acting on the transport means 632 under the effect of the movement within a tolerance range in a predetermined orientation during the movement of the cargo by providing a balancing movement.

[0179] Fig. 18 shows a schematic diagram of an embodiment of an apparatus for transporting cargo according to the fourth aspect of the present invention. Fig. 18 shows an apparatus 700 including a mobile platform 710, the mobile platform including a set of wheels 720 on an axle 730 for running on the ground. Furthermore, the apparatus 700 includes a pick-up means 740 arranged on the mobile platform 710, and a support structure 750 arranged on the pick-up means away from the axle for contacting the ground. As an optional feature, the set of wheels 720 is a first set of wheels, and the support structure 750 includes a second set of wheels 760, the second set of wheels being in contact with the ground in a first mode of operation.

[0180] Furthermore, the apparatus 700 comprises control means 770 configured to control the pick-up means 740 to lift a load, starting from a first operating mode in which the set of wheels 720 and the support structure 750 (here wheels 760 as an optional feature) are in contact with the ground, and to switch to a second operating mode in which the support structure 750 is lifted from the ground. Alternatively or additionally, the set of wheels 760 or the support structure can also be moved to a position along the axis 730, allowing for the movement of the inverted pendulum.

[0181] Figures 19a-b show schematic diagrams of an apparatus for transporting cargo according to an embodiment according to the fifth aspect of the invention. Figure 19 shows an apparatus 800 having a mobile platform 810, which comprises a set of wheels 820 for running on a ground surface 50. Furthermore, the apparatus 800 comprises an actuator system 840 connected to the set of wheels for adapting the size of the contact area 230a, 230b of one of the set of wheels with the ground surface. Furthermore, the apparatus comprises control means 850 for controlling the actuator system 840, which are configured to vary the size of the contact area of ​​the wheels by the actuator system depending on the running speed of the apparatus, on a change in the direction vector of the apparatus or depending on the condition of the ground surface.

[0182] As an example, starting from the situation shown in Figure 19a, the control means 850 can control the actuator system 840 to reduce the contact area 230a (see Figure 19b) so that a larger contact area 230b with the ground 50 is created.

[0183] As a further optional feature, the control means 850 may be configured to set a first size of the contact area 230a by the actuator system 840 at a first running speed, and to set a second size 230b of the contact area larger than the first size at a second running speed slower than the first running speed.

[0184] As a further optional feature, the control means 850 may be configured to adapt the pressure of the filling medium or gas, e.g. the air pressure of the wheels, by means of the actuator system 840 in order to vary the size of the contact area.

[0185] As a further optional feature, the device 800 may be configured for transporting cargo 260 and the control means 850 may be configured to vary the size of the wheel contact areas 230a, 230b by the actuator system 840 depending on the loading state of the device. The functionality may for example be implemented in whole or in part according to the embodiment of the first aspect of Fig. 15.

[0186] As a further optional feature, the apparatus comprises a pick-up means 830 arranged on the moving platform 810. Furthermore, the apparatus 800 can be configured to lift the cargo 260 by the pick-up means 830 and transport the lifted cargo.

[0187] In general, the device according to the invention is capable of transporting cargo automatically, unmanned or in an automated manner, in other words, the device described above may be an automated guided transport vehicle.

[0188] In an embodiment, the device 800 may include more than one axle, but may alternatively be embodied as an inverted pendulum according to the first aspect.

[0189] Figures 20a-d show plots according to an embodiment including an actuator system for adapting the contact area of ​​the wheel. Figures 20a and 20b show a plot of the gas pressure, e.g. air pressure P, against time t on the one hand in Figure 20a and a plot of the associated Fourier transform P(f) (e.g. by FFT - Fast Fourier Transform) against frequency f on the other hand in Figure 20b when releasing the gas pressure from the tire (e.g. when releasing the filling medium or filling gas), e.g. when releasing the air pressure from the tire to change the contact area. Figures 20c and 20d show the corresponding plots when the corresponding wheel is inflated. Figure 20e shows an example of a wheel before releasing the gas pressure, e.g. air pressure, at the top and an example of a wheel after releasing the gas pressure, e.g. air pressure, at the bottom.

[0190] It should be noted that both the rolling resistance of a wheel and the spring constant of a wheel can exhibit pressure dependence, therefore the actuator system of the present invention can be used for the relationship of rolling resistance = f(p) and spring constant = f(p).

[0191] The frequencies that can be generated by active contraction and expansion can depend on the gas volume, e.g., air volume, in the system (or tire), and the gas flow, e.g., air flow, that can be generated. Essentially, the embodiments can operate according to two methods that can result in actively induced changes in, e.g., gas pressure, e.g., air pressure.

[0192] A) By rapidly and actively changing the air pressure, vibration damping can be generated by destructively superimposing existing and generated vibrations. There may be physical limits to this principle, for example vibrations up to a certain frequency can be effectively balanced. Such a frequency may be determined, for example, by at least one of the following: a volume, for example the gas volume of the gas in the tire, a cross section, for example the cross section of the tire, and / or the cross section of the gas lines for deflating or inflating the tire, and / or a maximum flow rate, for example the flow rate of the gas determined by the actuator system and the supply lines. These may form, for example, configuration parameters of the device according to the invention. Here, the frequency may be influenced by the actuator system and its dynamics, for example frequencies of 0.25 Hz, 0.5 Hz, 1 Hz or more, for example 2 Hz or 5 Hz, may be easily possible with a pneumatic system, although higher frequencies are nevertheless not excluded.

[0193] B) By varying the gas pressure, e.g. the air pressure, the natural frequency of the system (vehicle) can be varied, so that the pressure in the tires can be changed more or less quickly (but not, e.g., with a frequency that is actively counteracted) to prevent disturbing vibrations.

[0194] See Fig. 21a-c. Fig. 21a-c show schematic diagrams of the dynamic state of the device according to the embodiment with an actuator system for adapting the contact area of ​​the wheel. Fig. 21a shows a rocking device 900 with a wheel 910. According to the embodiment, active intervention in the vehicle dynamics can be achieved by changing the contact area of ​​the wheel with the ground. For example, by adjusting the gas pressure, e.g. air pressure, of the wheel, vibration damping can be achieved by counteracting superposition of vibrations. As shown in Fig. 20b-c, when inflating or deflating a gas, e.g. air, frequencies can be introduced that can be stabilized through counteracting interventions while the vehicle is running. The limits of feasibility can be defined by the gas volume, e.g. air volume at the wheel, and the possible gas flows, e.g. air flows through the actuator system. In addition to the waving vibrations as shown in Fig. 21a, vertical vibrations can also be reduced in this way.

[0195] Furthermore, passive improvements in vehicle dynamics can also be achieved, as shown in FIG. 21c. For example, the natural frequency of the device can be changed by varying the air pressure. The damping of the wheels can be a function of the pressure (f(p)), so that, for example, the damping characteristics can be configured. Such adaptation does not require, for example, continuous pressure changes.

[0196] Generally, embodiments enable the following: For example, the mechanical complexity to achieve the required functionality (especially high lift to the shelves) is low, but the adjustment complexity is high.

[0197] -Acceleration that is essentially vertical from the point of view of the vehicle's inertial frame, which prevents the load from tipping over or spilling.

[0198] The advantage of the embodiment compared to other solutions in the field of intralogistics lies in the combination of high flexibility and low mechanical complexity.

[0199] Generally, the embodiments can be used in the following technical application areas: General intralogistics: Automated transportation of small cargo carriers such as containers, trays or cartons.

[0200] - If there are multiple suppliers and / or recipients, this is particularly advantageous here, otherwise multiple fixed installations of standardized transport devices for existing automated guided vehicles (which only have simple baggage pick-up means such as Leo Locative or Weasel) would entail higher costs.

[0201] -Production disposal from many machines or workstations to a shipping area or warehouse (e.g. machine disposal in an injection molding plant) -Production supply: e.g. transport of assembly materials from the warehouse to the assembly line, especially shelf stacking - Providing tools or materials to a person. The vehicle acts as a third hand for the user. It is conceivable to reinforce the "tray" with suitable tools or materials. Both the angle and the height can be adjusted. These parameters can be trained individually by the user by pushing the robot into the appropriate position. In this scenario, the distance from the user can also be maintained automatically. The position relative to the user can also be specified (always to the right, 54 cm and 30 degrees from the shoulder).

[0202] Furthermore, there are application areas in all other areas where containers or container-like articles (i.e. articles with at least two parallel outer surfaces) are transported, which can enable cooperation with other infrastructure-free automated systems (SAM or FLIP from Fraunhofer IML) when lowering to the floor or picking up.

[0203] All listings of materials, environmental effects, electrical properties and optical properties described herein should be considered exemplary and not exhaustive.

[0204] Although some aspects have been described in the context of an apparatus, it is clear that these aspects also represent a description of a corresponding method, and thus an apparatus block or device also corresponds to a respective method step or feature of a method step. Similarly, aspects described in the context of a method step also represent a description of a corresponding block or detail or feature of a corresponding apparatus. Some or all of the method steps may be performed by (or using) a hardware apparatus, such as a microprocessor, a programmable computer, or an electronic circuit. In some embodiments, some or some of the most important method steps may be performed by such an apparatus.

[0205] Depending on the specific implementation requirements, the embodiments of the present invention can be implemented in hardware or software. The implementation can be carried out using a digital storage medium, such as a floppy disk, a DVD, a Blu-Ray disk, a CD, a ROM, a PROM, an EPROM, an EEPROM or a flash memory, a hard drive or another magnetic or optical memory on which electronically readable control signals are stored, which cooperate or can cooperate with a programmable computer system to execute the respective method. Thus, the digital storage medium may be computer readable.

[0206] Some embodiments according to the invention include a data carrier comprising electronically readable control signals capable of cooperating with a programmable computer system to cause one of the methods described herein to be performed.

[0207] Generally, embodiments of the present invention may be implemented as a computer program product having program code that operates to perform one of the methods when the computer program product is run on a computer.

[0208] The program code may for example be stored on a machine readable carrier.

[0209] Other embodiments comprise the computer program for performing one of the methods described herein, the computer program being stored on a machine readable carrier.

[0210] In other words, an embodiment of the inventive method is, therefore, a computer program comprising a program code for performing one of the methods described herein, when the computer program runs on a computer.

[0211] A further embodiment of the inventive method is therefore a data carrier (or digital storage medium or computer readable medium) having recorded thereon a computer program for performing one of the methods described herein. The data carrier, digital storage medium or computer readable medium is typically tangible or non-volatile.

[0212] A further embodiment of the inventive method is therefore a data stream or a sequence of signals representing the computer program for performing one of the methods described herein. The data stream or the sequence of signals can for example be arranged to be transferred via a data communication connection, for example via the Internet.

[0213] A further embodiment comprises a processing means, for example a computer, or a programmable logic device, configured to or adapted to perform one of the methods described herein.

[0214] A further embodiment comprises a computer having installed thereon the computer program for performing one of the methods described herein.

[0215] Further embodiments according to the invention include an apparatus or system configured to transmit a computer program for performing at least one of the methods described herein to a receiver. The transmission may be, for example, electronic or optical. The receiver may be, for example, a computer, a mobile device, a memory device, or a similar device. The apparatus or system may, for example, include a file server for transmitting the computer program to the receiver.

[0216] In some embodiments, a programmable logic device (e.g., a field programmable gate array, FPGA) may be used to perform some or all of the functions of the methods described herein. In some embodiments, a field programmable gate array may cooperate with a microprocessor to perform one of the methods described herein. In general, the methods are preferably performed by any hardware apparatus. This may be a generally applicable hardware such as a computer processor (CPU), or a method-specific hardware such as an ASIC.

[0217] The apparatus described herein may be implemented, for example, by using a hardware apparatus, or by using a computer, or by using a combination of a hardware apparatus and a computer.

[0218] The apparatus described herein, or any components of the apparatus described herein, may be implemented at least in part in hardware and / or software (computer programs).

[0219] The methods described herein can be implemented, for example, by using a hardware apparatus, or by using a computer, or by using a combination of a hardware apparatus and a computer.

[0220] The methods described herein, or any components of the methods described herein, may be performed at least in part by hardware and / or software.

[0221] The above-described embodiments are merely illustrative of the principles of the present invention. It is understood that modifications and variations of the configurations and details described herein are obvious to those skilled in the art. Therefore, it is intended that the present invention be limited only by the scope of the appended claims, and not by the specific details presented as the description and explanation of the embodiments herein.

Claims

1. An apparatus (100, 200, 200a-f, 900) for transporting cargo (140, 260, 260a, 530, 630), said apparatus comprising: a moving platform (110, 210, 210a-b, 710) formed as an inverted pendulum; Pick-up means (120, 220, 220a-l) arranged on said moving platform; Equipped with the apparatus is configured to lift the cargo by the pickup means and transport the lifted cargo; Device.

2. The device (100, 200, 200a-f, 900) of claim 1, configured with a contact area (230, 230a-b) for forming contact with the ground (50), the device is configured to provide contact along exactly one axis (240) of a contact area at least during a transport stroke for transporting the cargo (140, 260, 260a, 530, 630); Device.

3. 3. Apparatus (100, 200, 200a-f, 900) according to claim 1 or 2, characterized in that the platform (110, 210, 210a-b, 710) comprises two leg elements (250a, 250b) arranged substantially parallel to each other and spaced apart from each other in a floor area, the device is configured to at least temporarily position the cargo (140, 260, 260a, 530, 630) between the leg elements; Device.

4. 4. The device (100, 200, 200a-f, 900) of claim 3, comprising a chassis (270) having a set of wheels, a first subset (280a) of the set of wheels being arranged on a first leg element (250a); a second subset (280b) of the set of wheels, separate from the first subset, is arranged on a second leg element (250b) different from the first leg element; Device.

5. An apparatus (100, 200, 200a-f, 900) according to any one of claims 1 to 4, said apparatus comprising control means (290, 290a-b) configured to balance said apparatus and preferably said cargo (140, 260, 260a, 530, 630) using additional information, said additional information being: the loading state of said device; the speed of the device; the acceleration of the device; the inclination (α) of said moving platform (110, 210, 210a-b, 710); the orientation of said pick-up means (120, 220, 220a-l) relative to said moving platform; Relative movement of said pick-up means with respect to said moving platform; Relative movement of the cargo with respect to the mobile platform; The weight of said cargo; the centre of gravity of said cargo; the torque of the actuator of the device; Information regarding the shape of the shipment; and / or Information regarding the type of said cargo; at least one of Device.

6. 6. The device (100, 200, 200a-f, 900) of claim 5, wherein said device comprises sensor means (300) configured to detect said additional information and to provide a sensor signal based on said additional information, said control means (290, 290a-b) being configured to balance said device and preferably said lifted cargo (140, 260, 260a, 530, 630) based on said sensor signals. Device.

7. The device (100, 200, 200a-f, 900) according to any one of the preceding claims, wherein said pick-up means (120, 220, 220a-l) provides at least one further pendulum segment (226a, 226b).

8. The device (100, 200, 200a-f, 900) according to any one of claims 1 to 7, comprising a platform height (h) relative to a running surface (50) during a transport journey for transporting the cargo (140, 260, 260a, 530, 630), the apparatus is configured to elevate the cargo during the transportation journey to a height above the platform height. Device.

9. 9. The apparatus (100, 200, 200a-f, 900) according to any one of claims 1 to 8, wherein the apparatus is configured to align the moving platform (110, 210, 210a-b, 710) along a first direction relative to a surface normal (N) of a traveling ground and along a traveling direction or a direction opposite thereto, and to align the pick-up means (120, 220, 220a-l) in a direction opposite to the first direction relative to the surface normal.

10. The apparatus (100, 200, 200a-f, 900) according to any one of claims 1 to 9, wherein the pick-up means (120, 220, 220a-l) comprises at least two arms (224a-b, 226a-b, 310a-b) and is configured to lift the cargo (140, 260, 260a, 530, 630) using the two arms by picking up the cargo between the two arms.

11. An apparatus (100, 200, 200a-f, 900) according to claim 10, characterized in that said apparatus comprises control means (290, 290a-b), the control means is configured to control a first arm and a second arm of the at least two arms (224a-b, 226a-b, 310a-b) independently of each other; and / or the control means is configured to control the first arm and the second arm interdependently; Device.

12. Device (100, 200, 200a-f, 900) according to any one of claims 10 to 11, characterized in that at least one of the at least two arms (224a-b, 226a-b, 310a-b) comprises a contact element (221, 320a-d), said contact element comprising an elastic material, in particular a viscoelastic material, the contact element is configured to establish contact with the cargo (140, 260, 260a, 530, 630) and thereby conform to the shape of the cargo in order to lift the cargo under the action of the elastic material. Device.

13. Apparatus (100, 200, 200a-f, 900) according to claims 10 to 12, wherein said pick-up means (120, 220, 220a-l) comprises exactly two arms (224a-b, 226a-b, 310a-b).

14. The device (100, 200, 200a-f, 900) according to any one of claims 10 to 13, wherein said at least two arms (224a-b, 226a-b, 310a-b) each comprise one contact element (221, 320a-d), the contact element is configured to establish a friction fit and / or a pressure fit with the cargo (140, 260, 260a, 530, 630); Device.

15. The device (100, 200, 200a-f, 900) according to any one of claims 1 to 14, wherein the pick-up means (120, 220, 220a-l) are configured to pick up the cargo (140, 260, 260a, 530, 630) between a first contact element (221, 320a-d) for contacting the cargo and a second contact element (221, 320a-d) for contacting the cargo, said first contact element and said second contact element are connected to and rotatably mounted on an actuator means (330, 330c, 440); the apparatus is configured to control the actuator means to rotate the first and second contact elements to adjust the orientation of the cargo during lifting and / or acceleration of the cargo. Device.

16. Apparatus (100, 200, 200a-f, 900) according to any one of the preceding claims, characterized in that the pick-up means (120, 220, 220a-l) comprise bellows (340a-b), said bellows comprising: Releasing the cargo (140, 260, 260a, 530, 630) in a first state; In a second state, the device conforms to a shape of the cargo to provide a form-fit and / or pressure-fit with the cargo and lift the cargo. The apparatus is configured to:

17. 17. The apparatus (100, 200, 200a-f, 900) of claim 16, wherein said bellows is a pneumatic bellows.

18. Apparatus (100, 200, 200a-f, 900) according to any one of the preceding claims, characterized in that said pick-up means (120, 220, 220a-l) comprise two opposing contact elements (221, 320a-d), the contact elements are configured to pick up the cargo (140, 260, 260a, 530, 630) between the contact elements; said pick-up means comprising actuator means (330, 330a-c, 334a, 360, 440) coupled to said contact elements and arranged to move said two contact elements towards each other; Device.

19. 19. Apparatus (100, 200, 200a-f, 900) according to claim 18, characterized in that at least one contact element (221, 320a-d) is coupled to said actuator means (330, 330a-c, 334a, 440) via lever means (332a-b), the actuator means is configured to move the at least one contact element towards the opposing contact element by the lever means; Device.

20. 20. The device (100, 200, 200a-f, 900) of claim 19, wherein said two contact elements (221, 320a-d) are coupled to said actuator means (330, 330a-c, 334a, 440) via respective lever means (332a-b), the one actuator means is configured to move the two contact elements towards each other by means of the respective lever means; Device.

21. Apparatus (100, 200, 200a-f, 900) according to any one of claims 18 to 20, wherein said actuator means (330, 330a-c, 334a, 440) comprise linear actuators (330a-b).

22. 22. The device (100, 200, 200a-f, 900) according to any one of claims 1 to 21, wherein the pick-up means (120, 220, 220a-l) comprises two opposing contact elements (221, 320a-d) configured to pick up the cargo (140, 260, 260a, 530, 630) by contacting the cargo, at least one of the contact elements being configured to move towards the cargo by an eccentric (360).

23. 23. The device (100, 200, 200a-f, 900) according to any one of claims 1 to 22, wherein the pick-up means (120, 220, 220a-l) comprises two opposing contact elements (221, 320a-d) configured to pick up the cargo (140, 260, 260a, 530, 630) by contacting the cargo, at least one of the contact elements being configured to move towards the cargo by a rotational movement.

24. Apparatus (100, 200, 200a-f, 900) according to any one of claims 1 to 23, characterized in that the pick-up means (120, 220, 220a-l) comprise two opposing contact elements (221, 320a-d) configured to pick up the cargo (140, 260, 260a, 530, 630) between said contact elements, the contact element is tiltably mounted to match the inclination angle of the cargo surface; Device.

25. 25. The device (100, 200, 200a-f, 900) of claim 24, wherein said contact element (221, 320a-d) is eccentrically mounted.

26. Apparatus (100, 200, 200a-f, 900) according to any one of claims 1 to 25, wherein said pick-up means (120, 220, 220a-l) comprises at least one arm (224a-b, 226a-b, 310a-b) including a joint structure (222a-b, 370) between a first arm element (226a) and a second arm element (224a), the device is configured to vary the relative inclination of the first arm element and the second arm element by the joint structure to pick up or drop off the cargo (140, 260, 260a, 530, 630); Device.

27. A device (100, 200, 200a-f, 900) according to any one of claims 1 to 26, configured such that the device comprises a contact area (230, 230a-b) for establishing contact with the ground (50), said device being configured to provide said contact along exactly one axis (240) of a contact area at least during a transport journey for transporting said cargo (140, 260, 260a, 530, 630); the apparatus comprises a support structure (390) for contacting the ground; said device comprises control means (290, 290a-b) configured to start from a first operation mode in which said contact area and said support structure are in contact with said ground, to control said pick-up means (120, 220, 220a-l) to lift said cargo and to switch to a second operation mode in which said support structure is lifted from said ground or positioned along said precisely one axis, Device.

28. 28. The device (100, 200, 200a-f, 900) of claim 27, wherein said support structure (390) is arranged on said pick-up means (120, 220, 220a-l) away from said axis.

29. 29. The device (100, 200, 200a-f, 900) according to any one of claims 27 or 28, wherein the support structure (390) comprises omni-directional and / or mecanum wheels.

30. The apparatus (100, 200, 200a-f, 900) of any one of claims 27 to 29, wherein the apparatus is configured to assume an unstable equilibrium state in the second mode of operation.

31. The device (100, 200, 200a-f, 900) according to any one of claims 1 to 30, wherein the device is configured to control the pick-up means (120, 220, 220a-l) to rotate from a lying position, thereby raising the device from the lying position.

32. The device (100, 200, 200a-f, 900) according to any one of claims 1 to 31, wherein the device is configured to transport the cargo (140, 260, 260a, 530, 630) at least temporarily using a shovel (410) or forks (420, 430) as part of the pick-up means (120, 220, 220a-l).

33. The apparatus (100, 200, 200a-f, 900) according to any one of claims 1 to 32, wherein the pick-up means (120, 220, 220a-l) is configured to lift the cargo (140, 260, 260a, 530, 630) including a transport means (262a) and a cargo (264a) disposed within the transport means, the apparatus is configured to move the cargo in one movement; said device comprising control means (290, 290a-b) configured to maintain, during said movement of said cargo (140, 260, 260a, 530, 630), within a tolerable range, in a predetermined orientation, acceleration forces of said cargo acting on said transport means under the effect of said movement, by providing a balancing movement; Device.

34. 34. The apparatus (100, 200, 200a-f, 900) of claim 33, wherein the balancing movement comprises: tilting the device, for example by tilting the chassis (270) or by causing pressure changes in the tires of the device; For example, rotation of said pick-up means (120, 220, 220a-l) relative to said platform (110, 210, 210a-b, 710), tilting of said transport means by a rotational relative movement of the two arms (224a-b, 226a-b, 310a-b) of said pick-up means relative to each other, and / or tilting of said transport means by rotational movement of an eccentrically mounted contact area on the arm of said pick-up means; at least one of Device.

35. Apparatus (100, 200, 200a-f, 900) according to any one of claims 1 to 34, characterized in that the mobile platform (110, 210, 210a-b, 710) comprises a set of wheels (280) for running on a ground surface (50), said device comprising an actuator system (330, 440) connected to said set of wheels for adapting the size of a contact area (230, 230a-b) of one of said set of wheels with said ground, The device comprises control means (290, 290a-b) for controlling the actuator system, the control means comprising: the running speed of the device; A change in the direction vector of the device; the characteristics of the ground surface, and / or The condition of the ground, and varying the size of the contact area of ​​the wheel by the actuator system in response to at least one of: Device.

36. 36. The device (100, 200, 200a-f, 900) of claim 35, wherein the control means (290, 290a-b) is configured to set a first size of the contact area (230, 230a-b) by means of the actuator system (330, 440) at a first running speed, and to set a second size of the contact area (230, 230a-b) larger than the first size at a second running speed slower than the first running speed.

37. The device (100, 200, 200a-f, 900) according to any one of claims 35 or 36, wherein the control means (290, 290a-b) are configured to adapt the air pressure in the wheels by means of the actuator system (330, 440) to vary the size of the contact area (230, 230a-b).

38. An apparatus (200, 200a-f, 500) for transporting cargo (140, 260, 260a, 530, 630), said apparatus comprising: A moving platform (110, 210, 210a-b, 510, 710); a pick-up means (120, 220, 220a-l) arranged on the moving platform, the pick-up means comprising at least two arms (522, 524) and configured to lift the cargo (140, 260, 260a, 530, 630) using the two arms by picking up the cargo between the two arms; An apparatus comprising:

39. An apparatus (600) for transporting cargo (140, 260, 260a, 530, 630), said apparatus comprising: A moving platform (110, 210, 210a-b, 510, 610, 710, 810); a pickup means (120, 220, 220a-l, 620) movably disposed on the mobile platform and configured to lift the cargo (630) including the transport means (632) and cargo (634) disposed within the transport means; A control means (640); Equipped with the apparatus is configured to move the cargo (140, 260, 260a, 530, 630) in one movement; the control means is configured to provide a balancing movement to maintain, during said movement of the cargo, acceleration forces of the cargo acting on the transport means under the effect of said movement within an acceptable range in a predetermined orientation; Device.

40. An apparatus (700) for transporting cargo (140, 260, 260a, 530, 630), said apparatus comprising: a mobile platform (110, 210, 210a-b, 510, 610, 710, 810) comprising a set of wheels (720) on axles (730) for running on a ground surface (50); a pick-up means (120, 220, 220a-l, 740) arranged on said moving platform, a support structure (390, 750) arranged on said pick-up means for contacting said ground; control means configured to start from a first operating mode in which the set of wheels and the support structure are in contact with the ground and to control the pick-up means (120, 220, 220a-l) to lift the cargo (140, 260, 260a, 530, 630) and switch to a second operating mode in which the support structure is lifted off the ground or positioned along the axis of the wheels which in the first operating mode are located apart; An apparatus comprising:

41. 41. The apparatus (700) of claim 40, wherein the set of wheels (720) is a first set of wheels and the support structure (390, 750) comprises a second set of wheels (380, 760), the second set of wheels being in contact with the ground (50) in the first mode of operation.

42. An apparatus (800), comprising: a mobile platform (110, 210, 210a-b, 510, 610, 710, 810) having a set of wheels (820) for running on a ground surface; an actuator system (330, 440, 840) connected to said set of wheels for adapting the size of a contact area (230a-b) of one of said set of wheels with said ground surface (50); control means (850) for controlling the actuator system, the control means being configured to vary the size of the contact area of ​​the wheel by the actuator system in response to a travel speed of the device, a change in a direction vector of the device, a characteristic of the ground, or a ground condition; An apparatus comprising:

43. 43. The apparatus (800) of claim 42, wherein the control means (850) is configured to set a first size of the contact area by means of the actuator system (840) at a first running speed, and to set a second size of the contact area larger than the first size at a second running speed slower than the first running speed.

44. 44. The device (800) according to any one of claims 42 or 43, wherein the control means (850) is configured to adapt the air pressure in the wheels by means of the actuator system (840) to vary the size of the contact areas (230a-b).

45. 45. The device (800) according to any one of claims 42 to 44, wherein said device is configured for transporting cargo (140, 260, 260a, 530, 630) and said control means (850) is configured for varying the size of the contact areas (230a-b) of the wheels by means of the actuator system (840) depending on a loading state of the device.

46. 46. ​​The apparatus (800) of claim 45, further comprising: A pickup means (120, 220, 220a-l, 830) is arranged on the moving platform, the device is configured to lift the cargo (140, 260, 260a, 530, 630) by the pickup means and to transport the lifted cargo (260); Device.

47. 47. The apparatus (100, 200, 200a-f, 500, 600, 700, 800, 900) of any one of the preceding claims, wherein the apparatus is an automated guided transport vehicle.

48. 48. Apparatus according to any one of claims 38 to 47, comprising: the moving platform being configured as an inverted pendulum; Device.

49. A method for transporting cargo (140, 260, 260a, 530, 630), comprising: - lifting said cargo by a pick-up means (120, 220, 220a-l), said pick-up means being arranged on a moving platform (110, 210, 210a-b, 710), said moving platform being configured as an inverted pendulum; transporting the lifted cargo; and A method comprising:

50. A method for transporting cargo (140, 260, 260a, 530, 630), comprising: picking up said cargo (140, 260, 260a, 530, 630) between at least two arms (522, 524) of a pick-up means (520), said pick-up means being disposed on a moving platform (110, 210, 210a-b, 510, 710); lifting the cargo using the two arms; The method includes:

51. A method for transporting cargo (630), comprising the steps of: lifting said cargo by a pickup means (620) movably disposed on a moving platform (610), said cargo comprising a transport means (632) and cargo (634) disposed within said transport means; moving the cargo in one move; providing a balancing movement by control means (640) during said movement of said cargo to maintain acceleration forces of said cargo acting on said transport means under the effect of said movement within an acceptable range in a predetermined orientation; A method comprising:

52. A method for transporting cargo (140, 260, 260a, 530, 630), comprising: Starting from a first operating mode in which a set of wheels (720) and a support structure (750) are in contact with said ground, controlling a pick-up means (740) for lifting said cargo to switch to a second operating mode in which said support structure is lifted from the ground. Including, the pick-up means is disposed on a moving platform (710), and the support structure for contacting the ground is disposed on the pick-up means; the mobile platform comprises a set of wheels on one axis for running on a ground surface; method.

53. 1. A method comprising: controlling said actuator system (840) by means of a control means (850) so as to vary said size of the contact area (230a-b) of one of the set of wheels (820) by means of said actuator system in response to a travel speed of the mobile platform (810), a change in the direction vector of said mobile platform or in response to ground conditions. Including, the mobile platform includes the set of wheels for traveling on the ground; the actuator system for adapting the size of the contact area of ​​the one wheel of the set of wheels with the ground is connected to the set of wheels; method.

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