Automatic guided vehicle, system, method of transporting loads by AGV, method of transporting loads by system

Abstract

The present invention relates to an automated guided vehicle, i.e. an AGV, in particular an inverted pendulum AGV, comprising a load platform for carrying a load, a first leg system coupled to first wheels and a second leg system coupled to second wheels, characterized in that: - the AGV comprises a first rotary motor for rotating the first leg system about a rotation axis, and / or - the AGV comprises a first linear actuator for linearly extending and / or shortening at least a part of the first leg system.

Description

[Technical Field]

[0001] The present invention relates to an automated guided vehicle (AGV), in particular an inverted pendulum AGV, comprising a payload platform for carrying a payload, a first leg system coupled to first wheels, and a second leg system coupled to second wheels. Furthermore, the present invention relates to a system comprising the AGV and a further AGV. Furthermore, the present invention relates to a method for transporting a payload by an AGV, and a method for transporting a payload by a system. [Background technology]

[0002] The development of two-wheeled inverted pendulum AGV systems has attracted increasing attention in research and development because such systems have a wide range of potential applications in transporting goods and people. Furthermore, such two-wheeled self-balancing vehicles are of great interest for control development.

[0003] Inverted pendulum AGVs are based on a precisely controlled vertical balance. Known AGVs of this type have significant problems with heavy or oversized payloads, as such payloads can affect the balance of the robot. These AGVs generally have only two wheels and therefore only two contact points, so their stability polygon is a line, making stability a limiting factor and allowing the robot to handle only small payloads relative to their dimensions. (For example, see the inverted wheel type vehicle described in Japanese Patent Application Laid-Open No. 2008-265697.) .

[0004] Therefore, known robotic structures have severe limitations regarding their stability and payload carrying capacity, which prevents their use in a variety of different fields. In particular, systems known from the state of the art are generally limited by the static mechanical configuration of each agent. Summary of the Invention [Problem to be solved by the invention]

[0005] It is an object of the present invention to provide an AGV, in particular an inverted pendulum AGV, that allows for improved and / or more flexible load transport. A further object is to provide a system that allows for improved and / or more flexible load transport. [Means for solving the problem]

[0006] The object of the present invention is to provide an automated guided vehicle, i.e., an AGV, in particular an inverted pendulum AGV, which comprises: a loading platform for carrying loads; a first leg system coupled to the first wheel; a second leg system coupled to the second wheel; the AGV comprises a first rotation motor for rotating the first leg system about a rotation axis; and / or -Achieved by an AGV, characterized in that the AGV comprises a first linear actuator for linearly extending and / or retracting at least a portion of the first leg system.

[0007] This allows for the implementation of an advantageous and flexible AGV. The AGV can rotate its first leg system about a rotation axis and / or linearly extend (i.e., lengthen) and / or shorten at least a portion of its first leg system. Therefore, the position of at least the first wheel can be changed relative to the position of the AGV's payload platform. This allows for adjustment for different payload configurations, thereby improving the AGV's usability for transporting payloads in various situations and applications. Preferably, the AGV according to the present invention is particularly suitable for use in a modular system of two or more AGVs, which can be used to transport payloads using a combination of two or more AGVs. This invention provides an advantageous solution for increasing the payload-carrying capacity of an AGV and / or an inverted pendulum AGV system comprising two or more AGVs. This invention allows for improved flexibility for transporting payloads with different weights and weight distributions, significantly increasing the application range of the AGV.

[0008] According to an embodiment of the present invention, the AGV can be understood as an agent and / or a robot. In particular, the AGV according to the present invention can be an inverted pendulum robot. In the case of an inverted pendulum AGV, the weight of the payload on the platform can be balanced by varying the speed, especially with the wheels. The weight of the payload is balanced especially directly above the contact point (vertical plane).

[0009] According to one embodiment of the present invention, the first leg system and the second leg system may also be understood as limbs and / or arms of the AGV.

[0010] According to one preferred embodiment of the present invention, the axis of rotation about which the first leg system is rotatable extends at least partly perpendicular to a main plane of the load platform, and / or The first linear actuator is configured to linearly extend and / or retract at least a portion of the first leg system at least partially parallel to a main plane of the load platform, thereby allowing the first leg system to be flexibly adjusted so that the first wheel can be freely positioned.

[0011] According to one preferred embodiment of the present invention, the AGV comprises a second rotation motor for rotating the second leg system, in particular about an axis of rotation extending at least partly perpendicular to the main plane of the load platform; and / or The AGV comprises a second linear actuator for linearly extending and / or retracting at least a portion of the second leg system, in particular at least partially parallel to the main plane of the load platform. In this case, preferably, both leg systems of the AGV can be rotated and linearly extended and / or retracted, thereby achieving particularly advantageous flexibility for adapting to various load situations and load configurations. It is also conceivable to implement the first and second rotation motors as a single rotation motor. As an alternative, the first and second rotation motors can be separate rotation motors. It is also conceivable that the first and / or second rotation motors are stepper motors.

[0012] According to a preferred embodiment of the invention, the first and second rotation axes are parallel to each other and perpendicular to the main plane of the load platform. According to a further preferred embodiment of the invention, the rotation axes of the first and second leg systems are coincident, such that the rotation axis of the first leg system and the rotation axis of the second leg system are the same axis. However, it is also conceivable that the first and second rotation axes are different axes, preferably parallel to each other.

[0013] According to a preferred embodiment of the invention, in particular while the AGV is operating and / or carrying a load on its payload platform, the AGV: Preferably, in response to the load configuration on the load platform, in particular depending on the spatial distribution of the load on the load platform and / or depending on the local amount of load on the load platform and / or in response to changes in the load configuration on the load platform, the first leg system is rotated about its axis of rotation, and / or at least a portion of the first leg system is linearly lengthened or shortened, and / or the second leg system is rotated about its axis of rotation, and / or At least a portion of the second leg system is configured to be linearly lengthened or shortened. Advantageously, the AGV may be able to automatically adjust the leg system by linear extension / shortening and / or rotation, thereby eliminating the need for mechanical adjustment by a user or operator. Reconfiguration of the first and / or second leg system (by the first and / or second rotary motors and / or the first and / or second linear actuators) can occur while a load is being transferred to the load platform and / or before the load is transferred to the load platform and / or while the load is already placed on the load platform. In particular, it is conceivable that reconfiguration of the first and / or second leg system occurs while the AGV is already carrying a load. In particular, it is possible for the AGV to automatically adapt the configuration of the first leg system and / or the second leg system when a change in the load configuration of the load (local distribution of loads on the load platform and / or overall load on the load platform) is detected by suitable sensors.

[0014] The AGV preferably moves in response to the load configuration on the load platform, in particular depending on the spatial distribution of the load on the load platform and / or depending on the local amount of load on the load platform and / or in response to changes in the load configuration on the load platform, the first leg system is rotated about its axis of rotation, and / or at least a portion of the first leg system is linearly lengthened or shortened, and / or the second leg system is rotated about its axis of rotation, and / or At least a portion of the second leg system is configured to be linearly lengthened or shortened.

[0015] According to one embodiment of the present invention, the first leg system and / or the second leg system are configured to change the altitude of the AGV, particularly the altitude of the load platform. For this purpose, the first leg system and / or the second leg system may comprise means for changing the altitude and / or height of the load platform. In particular, the first leg system and / or the second leg system may comprise scissor legs that allow the altitude of the AGV and / or the platform of the AGV to be changed. The computer means of the AGV may be configured such that the altitude of the load platform can be changed by the computer means constituting the means for changing the altitude of the leg systems. The first leg system and the second leg system may each comprise means for changing the altitude and / or height of the load platform. The means for changing the altitude and / or height of the load platform may allow the first leg system and the second leg system to be individually extended or retracted in a direction perpendicular to the main plane of the load platform. This envisages that the first wheel and / or the second wheel may be lifted individually, particularly when the AGV is part of a system comprising two or more AGVs.

[0016] According to one embodiment of the present invention, the AGV is preferably moved by means of actuators included in the wheels (i.e. in the first wheel and / or in the second wheel), these actuators in the wheels being particularly usable for navigation and reconfiguration.

[0017] According to one embodiment of the present invention, it is possible to implement an adaptive reconfiguration mechanism for an AGV that is connected to a leg (i.e., the first leg system and / or the second leg system of the AGV).

[0018] According to a preferred embodiment of the invention, the AGV comprises coupling means for coupling the AGV with a further AGV, in particular reversibly, the coupling means preferably comprising a magnetic connector, preferably an electromagnetic connector that can be activated and / or deactivated by the computer means of the AGV and / or by a central controller of the system.

[0019] Furthermore, the invention relates to a system, in particular a modular system, comprising an AGV according to an embodiment of the invention and a further AGV according to an embodiment of the invention, where the further AGV is in particular an AGV according to an embodiment of the invention, in particular a system comprising a plurality of AGVs, each AGV being an AGV according to an embodiment of the invention.

[0020] This allows for an advantageous modular system for transporting loads to be formed by at least two, and preferably a plurality of, AGVs, where the AGVs of the system are configured such that the respective positions of their wheels relative to the load platform are adjustable, thereby allowing the wheel positions of individual AGVs in a combined system of at least two (or more) AGVs to be changed to achieve an advantageous and stable wheel position configuration for the entire system.

[0021] According to one preferred embodiment of the present invention, the AGV comprises coupling means for coupling the AGV with a further AGV, in particular reversibly; and / or The further AGV comprises a coupling means for coupling the further AGV to the AGV, in particular reversibly, the coupling means of the AGV and / or the coupling means of the further AGV in particular comprising a magnetic connector. It is conceivable that the coupling means of the AGV and the further AGV are complementary coupling means, such that the AGV and the further AGV can be coupled by their coupling means. According to one embodiment of the present invention, it is particularly preferred that the coupling means of the AGV and the further AGV comprise a magnetic connector, in particular an electromagnetic connector. If the system comprises several AGVs, it is particularly preferred that each of the AGVs is equipped with a corresponding coupling means, such that the several AGVs can be coupled to form a combined system, preferably with a combined platform. In this case, an advantageous modular system of interconnected AGVs can be realized.

[0022] According to one preferred embodiment of the present invention, In particular, while the system is operating and / or while the AGVs of the system are collectively carrying loads on their load platforms, in response to the load configuration on the load platforms of the AGVs and / or further AGVs and / or in response to changes in the load configuration on the load platforms of the AGVs and / or further AGVs, The AGV and the further AGV are arranged so that the respective first leg system and / or second leg system are adjusted, in particular the first leg system of the AGV is rotated about its axis of rotation, and / or - a part of the first leg system of the AGV is linearly lengthened or shortened, and / or the second leg system of the AGV is rotated about its axis of rotation, and / or - Part of the second leg system of the AGV can be adjusted to be linearly lengthened or shortened; and / or the first leg system of the further AGV is rotated about its axis of rotation, and / or a part of the first leg system of the further AGV is linearly lengthened or shortened, and / or the second leg system of the further AGV is rotated about its axis of rotation, and / or a portion of the second leg system of the further AGV is configured to be adjusted to be linearly lengthened or shortened. Preferably, the AGV and the further AGV comprise computer means, e.g. a controller, processor, etc., for configuring the respective first rotary motor, second rotary motor, first linear actuator, and / or second linear actuator to be adjusted.

[0023] Thereby, advantageously, the respective positions of the first and / or second wheels of the AGV and / or the respective positions of the first and / or second wheels of the further AGV relative to the load platform can be changed in response to the load configuration on the load platform of the AGV and the further AGV and / or in response to changes in the load configuration on the load platform of the AGV and the further AGV, in particular it is conceivable that the load configuration on the load platform relates to the spatial distribution of the load on the load platform and / or to the local and / or total amount of load on the load platform of the AGV and / or the further AGV. The AGV and the further AGV may therefore be configured such that the respective first leg system and / or second leg system is adjusted in response to a current spatial distribution of loads on the load platforms of the AGV and the further AGV, and / or in response to a current local amount of loads on the load platforms, and / or in response to a current total amount of loads on the load platforms.

[0024] According to a preferred embodiment of the invention, the load configuration is a detected load configuration, which can be detected in particular by a load sensor. The load sensor can be part of the AGV and / or the further AGV. Both the AGV and the further AGV can be equipped with a load sensor. The load sensor can be any type of sensor suitable for detecting a load or a load configuration, for example a mass sensor.

[0025] According to a preferred embodiment of the present invention, the AGV and the further AGV are configured such that their respective first and / or second leg systems are adjusted in response to the load configuration on the platforms of the AGV and the further AGV, such that the positions of the first and / or second wheels of the AGV and the further AGV are adjusted depending on the load configuration. This causes the load polygon formed by the imaginary lines interconnecting the wheels of the AGV and the further AGV (or, if the system comprises multiple AGVs, the wheels of all AGVs in the system) to be adjusted accordingly. The AGVs of the system are preferably able to change their shape by rotating and / or extending and / or shortening their limbs, i.e., their respective leg systems. According to a particularly advantageous embodiment, the position of the leg systems of each AGV can be changed to maximize the area of ​​the stability polygon of the entire system, especially in the case of a system comprising multiple AGVs. The reconfiguration process can be performed automatically and adaptively by computer means while the system is carrying a load. If the weight of the payload shifts on the platform of the combined AGV system, or if the shape and / or size of the payload changes during the course of a task (especially while manipulating and / or transporting the payload), the system can dynamically reconfigure the leg systems of one, several or all AGVs that form the system to maintain adequate stability at all times.

[0026] According to one embodiment of the present invention, a modular system, particularly based on inverted pendulum robots, can be implemented, capable of automatically reconfiguring its shape and / or kinematic configuration to adapt to the needs of the payload. According to one embodiment of the present invention, all AGVs of the system can be two-wheeled inverted pendulum balance robots with mechanically elastic scissor legs connected to the wheels. Each AGV preferably has a shape reconfiguration mechanism, particularly connected to the center of its payload platform. According to one embodiment of the present invention, the shape reconfiguration mechanism of each AGV preferably comprises a first rotary motor for rotating the first leg system, a second rotary motor for rotating the second leg system, a first linear actuator for linearly extending and / or retracting at least a portion of the first leg system, and a second linear actuator for linearly extending and / or retracting at least a portion of the second leg system. This mechanism is used to move the position of the AGV's legs (or leg systems) throughout the footprint. It is particularly preferred that this reconfiguration method is only applied when the AGV is coupled to one or more further AGVs for stability reasons. Preferably, the reconfiguration mechanism, or at least part of it, is located at the center of the AGV and is mechanically connected to both legs. A rotary motor (or two rotary motors) can be located at the center of the mechanism. The rotary motors rotate each leg independently around the payload area. The beams connecting this mechanism to the legs preferably each have a linear actuator that can extend or retract the leg individually. Thus, the legs and / or wheels can be positioned anywhere below the payload. It is particularly preferred that each wheel includes a wheel hub motor for translation, i.e., for moving the AGV.

[0027] According to one embodiment of the present invention, it is particularly possible for each AGV module to perform independent movement and navigation based on the task scheduler and handler of the central agent. Therefore, individual AGVs can be used for relatively small transport tasks below or up to their capacity. For tasks requiring the transport of very large or very heavy payloads, individual AGVs can be coupled together to operate as a single system. When a system of two or more coupled AGVs is in a coupled state, i.e., when the AGVs are coupled to form a combined system, a reconfiguration mechanism of each AGV can be used to move the AGV's contact points (legs) to different positions depending on the nature of the payload that is or will be placed on the AGV's payload platform. This allows the modular system to expand or contract its stability polygon depending on the size of the payload and / or to form an irregularly shaped stability polygon in the case of payloads with unevenly distributed weight points. This configuration mechanism allows the robot to reconfigure automatically, thus eliminating the need for mechanical adjustments by a human operator. Advantageously, reconfiguration of an AGV or a combined system of AGVs is therefore part of the system's autonomous capabilities.

[0028] A particular advantage of a system according to an embodiment of the present invention is that the system is capable of reconfiguring the wheel positions of one, some, or all of the AGVs while the system of AGVs is carrying a payload, particularly if elements and / or weight of the payload shift during transport. A multi-module system (e.g., one, some, or all of the AGVs in the system) can detect changes in stability and adapt their contact points with the ground accordingly, particularly by changing the position of their wheels.

[0029] The present invention further provides a method for transporting a load by an AGV according to an embodiment of the present invention, comprising: The load is placed on the loading platform of the AGV, The present invention relates to a method in which an AGV transports a payload from a first location to a second location. In this manner, the payload (or payload) is transported by the AGV according to the present invention. The "first location" can relate, for example, to any starting point of the transport, and the "second location" can relate, for example, to any destination point of the transport.

[0030] The present invention further provides a method for transporting a payload with a system according to an embodiment of the present invention, comprising: the load is placed on the load platform of the AGV of the system, in particular on at least the load platform of the AGV and the further AGV, The present invention further relates to a method, in which the AGVs of the system collectively transport a payload from a first location to a second location. Thus, the payload (or payload) is transported by at least the AGV according to the present invention and the further AGV (or more AGVs). The "first location" can relate, for example, to any starting point of the transport, and the "second location" can relate, for example, to any destination point of the transport.

[0031] According to a preferred embodiment of the invention, in particular the method, during the transport of the load from the first location to the second location: The first leg system of the AGV and / or the second leg system of the AGV are moved relative to the payload platform of the AGV by the first rotary motor, the second rotary motor, the first linear actuator, and / or the second linear actuator of the AGV; and / or The first leg system of the further AGV and / or the second leg system of the further AGV are moved relative to the payload platform of the further AGV by the first rotary motor, the second rotary motor, the first linear actuator, and / or the second linear actuator of the further AGV, thereby allowing for improved adaptation during transport, thereby achieving improved stability and reducing failures and accidents.

[0032] According to a preferred embodiment of the invention, in particular the method, the movement of the first leg system of the AGV and / or the second leg system of the AGV and / or the movement of the first leg system of the further AGV and / or the second leg system of the further AGV is / are: - in response to detecting a load configuration on the load platform of the AGV and / or the further AGV; and / or - Executed in response to detecting a change in the load configuration on the AGV and / or the load platform of the further AGV.

[0033] These and other characteristics, features, and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which illustrate, by way of example, the principles of the invention. This description is given for purposes of illustration only, without limiting the scope of the invention. The reference figures quoted below refer to the attached drawings. [Brief explanation of the drawings]

[0034] [Figure 1] 1A and 1B are schematic front and side views of an AGV according to an embodiment of the present invention; [Figure 2] 1A and 1B are schematic front and side views of an AGV according to an embodiment of the present invention; [Figure 3] 1 illustrates a schematic diagram of an AGV according to an embodiment of the present invention. [Figure 4] 1 shows a schematic diagram of a portion of an AGV according to one embodiment of the present invention. [Figure 5] 1 is a schematic diagram illustrating a caster mechanism of an AGV according to an embodiment of the present invention. [Figure 6a] 1A-1C show schematic diagrams of an AGV according to an embodiment of the invention with different positions of the leg system and wheels; [Figure 6b] 1A-1C show schematic diagrams of an AGV according to an embodiment of the invention with different positions of the leg system and wheels; [Figure 6c] 1A-1C show schematic diagrams of an AGV according to an embodiment of the invention with different positions of the leg system and wheels; [Figure 6d] 1A-1C show schematic diagrams of an AGV according to an embodiment of the invention with different positions of the leg system and wheels; [Figure 7] 1 shows a schematic representation of an AGV according to one embodiment of the present invention, illustrating different sized payload platforms. [Figure 8] 1A and 1B illustrate schematic diagrams of possible positions of a leg system of an AGV according to an embodiment of the present invention. [Figure 9] 1 shows a schematic representation of a robotic system with a fixed static stability polygon. [Figure 10] 1 illustrates a schematic diagram of a modular system comprising multiple AGVs, according to one embodiment of the present invention. [Figure 11] 1 illustrates a schematic diagram of a modular system comprising multiple AGVs, according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0035] The present invention will hereinafter be described with respect to particular embodiments and with reference to certain drawings but the invention is not limited thereto but only by the claims. The drawings described are schematic only and are not limiting of the invention. In the drawings, the size of some of the elements may be exaggerated and not drawn to scale for illustrative purposes.

[0036] Where an indefinite or definite article is used when referring to a singular noun e.g. "a", "an" or "the", the plural of that noun is also included unless otherwise stated.

[0037] Moreover, the terms first, second, third, etc. in the description and claims are used to distinguish between similar elements and not necessarily to describe a sequential or chronological order. The terms so used are interchangeable under appropriate circumstances, and it is understood that the embodiments of the invention described herein are capable of operating in sequences other than those described or illustrated herein.

[0038] FIG. 1 shows a schematic front view of an inverted pendulum type automated guided vehicle 1, 1′, 1″, 1′″, i.e., an AGV, according to one embodiment of the present invention. The AGV 1 includes computer means, e.g., a controller, for controlling the various functions of the AGV. The AGV 1 comprises a load platform 70 (e.g., a plate portion), which is provided with or coupled to coupling means 91, in particular a magnetic connector 92, for coupling the AGV 1 to one or more further AGVs. The AGV 1 comprises a base 25 attached to or fixed to the underside of the load platform 70. The coupling between the base 25 and the load platform 70 is conceivable to be reversible so that the base 25 (and thus the leg systems 31, 41 and wheels 50, 60) can be coupled to different load platforms 70, 70′, 70″. Preferably, the base 25 is coupled to the center of the load platform 70. The AGV 1 includes a first leg system 31 and a second leg system 41, each leg system having a first portion and a second portion, the first portion extending from the base 25 in a direction substantially parallel to a main plane 72 of the load platform 70, and the second portion extending from a tip portion of the first portion in a direction away from the load platform 70. Furthermore, a first wheel 50 is rotatably coupled to a tip portion of the second portion of the first leg system 31, and a second wheel 60 is rotatably coupled to a tip portion of the second portion of the second leg system 41.

[0039] The first leg system 31 comprises a first linear actuator 11 for extending and / or retracting a first portion of the first leg system 31 in a direction parallel to the main plane 72 of the load platform 70. Furthermore, preferably as part of the base 25, the AGV 1 comprises a first rotation motor 12 for rotating the first leg system 31 about a rotation axis 101, which extends perpendicular to the main plane 72 of the load platform 70. The second leg system 41 comprises a second linear actuator 21 for extending and / or retracting a first portion of the second leg system 41 in a direction parallel to the main plane 72 of the load platform 70. Furthermore, preferably as part of the base 25, the AGV 1 comprises a second rotation motor 22 for rotating the second leg system 41 about a rotation axis 102, which extends perpendicular to the main plane 72 of the load platform 70. The first and second rotary motors 12, 22 are constructed in particular as stepper motors and are arranged below the load platform 70, in particular in the center of the load platform 70. In the illustrated embodiment, the rotation axes 101, 102 coincide and form a single rotation axis 101, 102.

[0040] The rotary motors 12, 22 and linear actuators 11, 21 of both leg systems 31, 41 are controlled by computer means of the AGV 1, in particular by a controller of the AGV 1. The rotary motors 12, 22 and linear actuators 11, 21 form a reconfiguration mechanism of the AGV 1, which allows flexible and advantageous reconfiguration of the positions of the leg systems 31, 41, in particular during operation. Both the first leg system 31 and the second leg system 41 are formed by scissor legs. Both leg systems 31, 41 are equipped with joints 31', 41'. The height of the load platform 70, i.e., the distance from the load platform 70 to the ground, can be changed by the leg systems 31, 41, in particular by the scissor legs and / or the joints 31', 41'. Furthermore, the first wheel 50 includes or is coupled to a first wheel actuator 52, and the second wheel 60 includes or is coupled to a second wheel actuator 62. The AGV 1 is moved by the wheel actuators 52, 62. The wheel actuators 52, 62 are used for navigation and reconfiguration.

[0041] A first caster mechanism 51 is coupled to the first wheel 50, and a second caster mechanism 61 is coupled to the second wheel 60. The caster mechanisms 51, 61 include active caster joints coupled to the wheels 50, 60 to enable automatic direction changes during use of the AGV 1, particularly as part of a system including multiple AGVs 1, 1', 1'', 1''',. The caster mechanisms 51, 61, particularly the caster joints, also enable omnidirectional movement of the AGVs 1, 1', 1'', 1''',. In particular, it is conceivable that in each of the AGVs 1, 1', 1'', 1''', of a system (e.g., FIG. 10) according to an embodiment of the present invention, an active caster joint is coupled to the first wheel 50 of each AGV 1, 1', 1'', 1''', and an active caster joint is coupled to the second wheel 60 of each AGV 1, 1', 1'', 1''',.

[0042] FIG. 2 shows a side view of the AGVs 1, 1', 1'', 1''' according to the embodiment of FIG. 1. A payload 80 that can be carried by the AGV 1 is represented by arrow 80. The weight of the payload 80 on the payload platform 70 can be balanced by varying the speed of the wheels 50, 60. The weight of the payload 80 is balanced directly above the contact / balance point (vertical plane 53).

[0043] FIG. 3 shows a schematic perspective view of the AGV 1 according to the embodiment of FIGS. 1 and 2. Coupling means 91, in particular a magnetic connector 92, for coupling the AGV 1 to one or more further AGVs are shown. Preferably, the coupling means 91 can be activated and / or deactivated by the computer means of the AGV 1 to reversibly couple (and / or detach) the AGV 1 to one or more further AGVs. The coupling means 91 can be formed as electromagnetic latches used to couple and secure two or more AGVs 1, 1', 1'', 1''' together to achieve swarm behavior. These electromagnetic latches are magnetized when supplied with voltage by the computer means (e.g., a central controller) of the AGV 1. The contact joint 71 between the base 25 and / or leg systems 31, 41 and the payload platform 70 is located in the center of the payload platform 70.

[0044] Figure 4 shows a schematic representation of a portion of the AGV 1 according to the embodiment of Figures 1 to 3. The extension / retraction of the first part of the first leg system 31 by the first linear actuator 11 and the extension / retraction of the first part of the second leg system 41 by the second linear actuator 11 are represented by horizontal arrows 401, 402.

[0045] 5 shows a schematic representation of a first wheel 50 with a caster mechanism 51 of an AGV 1 according to one embodiment of the present invention. The second wheel 60 and its caster mechanism 61 can be constructed as desired.

[0046] Figures 6a, 6b, 6c, and 6d show schematic diagrams of an AGV 1 according to an embodiment of the present invention, with different positions of the leg systems 31, 41 and the wheels 50, 60. Rotation motors 12, 12 allow the first leg system 31 and the second leg system 41 to rotate independently of each other (Figures 6a, 6b, and 6c). As an example, default positions of the leg systems 31, 41 are shown in Figure 6a. Such default positions may be useful, for example, for performing standard tasks. As shown in Figure 6b, both leg systems 31, 41 can be rotated together to change the orientation of the payload platform 70, for applications including target tracking, scanning, etc. As shown in Figure 6c, each leg system 31, 41 can be rotated independently to be positioned according to a series of discrete angles. The first linear actuator 11 and the second linear actuator 21 can move the first wheel 50 and the second wheel 60 outward and / or inward. As an example, Figure 6d shows a situation in which the first portion of the first leg system 31 has been extended by the first linear actuator 11 so that the first wheel 50 is positioned further from the center of the load platform 70 than the second wheel 60. Each leg system 31, 41 can be moved linearly independently of the other and repositioned to a series of discrete positions below the platform. In the case of a single AGV 1, 1', 1'', 1''', repositioning the leg system is particularly useful when an unbalanced (in terms of shape or weight) load 80 is to be carried by the single AGV 1, 1', 1'', 1'''.

[0047] Rotational re-localization of the leg systems 31, 41 by the rotational motors 12, 22 and linear re-localization by the linear actuators 11, 21 can be performed simultaneously. Preferably, the positioning range of each leg system 31, 41 and / or wheels 50, 60 is defined by the shape of the load platform 70. This mechanism creates a discrete set of positions available to the leg systems 31, 41, as shown in Figure 8.

[0048] FIG. 9 shows different payload platforms 70, 70', 70'' for AGV 1 having different sizes R, R', R''.

[0049] Because it is important to maintain a contact point under the payload platform 70, the radius of displacement available to the leg systems 31, 41 preferably depends on the size of the payload platform (as shown in FIG. 9 ). Furthermore, this mechanism allows each AGV 1, 1', 1'', 1''' to carry different payload platforms 70, 70', 70'' having different sizes and / or shapes without requiring any mechanical modifications to the AGVs 1, 1', 1'', 1'''. Different sizes R, R', R'' of the payload platforms 70, 70', 70'' can be automatically compensated for by a mechanism including rotary motors 12, 22 and linear actuators 11, 21. In this way, it is possible to implement advantageous AGVs 1, 1', 1'', 1''' with interchangeable payload platforms 70, 70', 70'' of different sizes R, R', R'' can be used with a single AGV 1, 1', 1'', 1''''.

[0050] FIG. 9 shows a system with multiple robots. The robots have linear legs connecting the payload platform to the wheels. This severely limits maneuverability. When these types of robots are modularly connected, the system becomes a kind of rolling platform with four, six, eight, etc. wheels. This means that the stability polygon 250 of the system has a static rectangular shape, which poses significant problems and challenges for large payloads or payloads with unevenly distributed weight points. The static rectangular shape of such a stability polygon 250 is shown as an example in FIG. 9. Therefore, using such inverted pendulum AGVs with fixed linear legs that cannot rotate or linearly extend as a modular system fails to address the limitations of each individual AGV, while at the same time hindering the mobility versatility of each AGV module on its own.

[0051] These drawbacks (discussed in connection with FIG. 9 ) can be overcome according to the present invention by implementing improved maneuverability through the use of AGVs 1, 1′, 1″, 1′″ with improved flexible leg systems 31, 41 equipped with rotary motors 12, 22 and / or linear actuators 11, 21. A modular system with four AGVs 1, 1′, 1″, 1′″ according to one embodiment of the present invention that overcomes the aforementioned drawbacks is shown in FIG. 10 . This system provides an advantageous solution for increasing the payload carrying capacity of AGV systems, particularly inverted pendulum AGV systems. In particular, improved flexibility for carrying payloads 80 of different weights and weight distributions is enabled, significantly enhancing the application range of AGVs.

[0052] According to the present invention (and by using AGVs 1, 1', 1", 1'" according to embodiments of the present invention), an advantageous automatic adaptability of the stability polygon 200, 210 of a system with two or more AGVs 1, 1', 1", 1'" can be achieved. The stability polygon 200, 210 can be interpreted as a polygon resulting from connecting the contact points 201, 202, 203, 204, 211, 212, 213, 214 (i.e., the first wheel 50 and / or the second wheel 60) by imaginary lines. FIG. 10 shows a sketched example of the inner stability polygon 210 formed by the contact points 211, 212, 213, 214 and the outer stability polygon 200 formed by the contact points 201, 202, 203, 204. This adaptive reconfiguration system is capable of reshaping the stability polygon 200, 210 of the multi-agent system in real time depending on the geometry of the system, the distribution of payload points on the platform 70, and / or the size and shape of the payload 80. Advantageously, the system is able to calculate the ideal placement of the wheel / leg system with respect to these needs and automatically move the wheel / leg system without the need for human intervention. The system is able to provide maximum stability by expanding and / or reshaping the outer and inner stability polygons 200, 210 as needed. Thus, combining two or more AGVs 1, 1', 1'', 1''' according to the present invention in a modular system allows for a particularly improved and flexible system for transporting payloads 80. Preferably, the computer means of the AGVs and / or the external controller are configured such that the height of the load platform 70 of each AGV 1, 1', 1'', 1''' and / or the attitude of the leg systems 31, 41 can be configured (or reconfigured) based on at least the number and configuration of the coupled AGVs and / or the weight and / or position of the load 80 on the load platform 70 of the AGV 1, 1', 1'', 1'''.

[0053] A system according to an embodiment of the present invention is capable of generating irregularly shaped stability polygons 200, 210, in particular stability polygons 200, 210 that are not rectangular. In particular, the shape and geometry of the stability polygons can be freely adjusted by the leg systems 31, 41 of the combined system AGVs 1, 1', 1'', 1''', in particular by a reconfiguration mechanism comprising rotary motors 12, 22 and / or linear actuators 11, 21. Such systems allow the creation of complexly shaped multi-agent platforms for countless applications. An example according to an embodiment of the present invention is shown in FIG. 11, where the system comprises three AGVs 1, 1', 1''. The leg systems 31, 41 of the AGVs 1', 1'', 1''' are positioned such that their contact points 201, 202, 203, 204, 205 form the stability polygon 200. The direction of movement 300 of the system of AGVs 1, 1', 1'' is indicated by arrow 300. Based on the payload and the configuration of the multi-module system, the dynamic reconfiguration system creates the shape of the stability polygon needed to provide the best stability for the system. The system also ensures that the wheel actuators 52, 62 always rotate in the same direction, providing torque for the overall movement. Each wheel is equipped with or coupled to an active caster wheel, which allows the multi-module system to quickly change direction in any direction without the need for disassembly. [Explanation of symbols]

[0054] 1 AGV 1' More AGVs 1'',1'' More AGVs 11 First Linear Actuator 12 First rotary motor 21 Second Linear Actuator 22 Second rotary motor 25 base 31 First Leg System 31' Joint 41 Second Leg System 41' Joint 50 First Wheel 51 First caster mechanism 52 First Wheel Actuator 53 Vertical plane 60 Second Wheel 61 Second caster mechanism 62 Second Wheel Actuator 70 Loading platform 70' Loading Platform 70'' Loading Platform 71 Joint between leg system and load platform 72 Principal plane 80 cargo 91 Connection means 92 Magnetic Connector 101 Rotation axis 102 Rotation axis 200 stability polygon 201,202,203,204,205 Contact points 210 Internal Stability Polygon 211, 212, 213, 214 contact points 250 Stable polygons with static rectangular shapes 300 Movement direction 401 Linear Extension / Shortening 402 Linear Extension / Shortening R Loading platform size R' Loading platform size R'' Loading platform size

Claims

1. An inverted pendulum type automated guided vehicle, i.e., an inverted pendulum AGV, wherein the inverted pendulum AGV (1) is a load platform (70) for carrying a load (80); a base (25) attached to the underside of the loading platform (70); a first leg system (31) connected to a first wheel (50); a second leg system (41) coupled to a second wheel (60); the inverted pendulum AGV (1) comprises a first rotation motor (12) configured as part of the base (25) for rotating the first leg system (31) about a rotation axis (101), and a second rotation motor (22) configured as part of the base (25) for rotating the second leg system (41) about a rotation axis (102); and / or the inverted pendulum AGV (1) comprises a first linear actuator (11) connected to the base (25) for linearly extending and / or retracting at least a portion of the first leg system (31), and a second linear actuator (21) connected to the base (25) for linearly extending and / or retracting at least a portion of the second leg system (41); the axis of rotation (101) about which the first leg system (31) can rotate extends at least partly perpendicular to the main plane (72) of the load platform (70), and / or an inverted pendulum AGV (1), characterized in that the first linear actuator (11) is configured to linearly extend and / or retract the at least part of the first leg system (31) at least partially parallel to the main plane (72) of the load platform (70).

2. An inverted pendulum type automated guided vehicle, i.e., an inverted pendulum AGV, wherein the inverted pendulum AGV (1) is a load platform (70) for carrying a load (80); a base (25) attached to the underside of the loading platform (70); a first leg system (31) connected to a first wheel (50); a second leg system (41) coupled to a second wheel (60); the inverted pendulum AGV (1) comprises a first rotation motor (12) configured as part of the base (25) for rotating the first leg system (31) about a rotation axis (101), and a second rotation motor (22) configured as part of the base (25) for rotating the second leg system (41) about a rotation axis (102); and / or the inverted pendulum AGV (1) comprises a first linear actuator (11) connected to the base (25) for linearly extending and / or retracting at least a portion of the first leg system (31), and a second linear actuator (21) connected to the base (25) for linearly extending and / or retracting at least a portion of the second leg system (41); While the inverted pendulum AGV (1) is operating and / or carrying a load (80) on its load platform (70), the inverted pendulum AGV (1) depending on the spatial distribution of the load (80) on the load platform (70), and / or depending on the local amount of load on the load platform (70), and / or in response to changes in the load configuration on the load platform (70), - said first leg system (31) is rotated about its axis of rotation (101), and / or - said at least part of said first leg system (31) is linearly lengthened or shortened, and / or - said second leg system (41) is rotated about its axis of rotation (102), and / or An inverted pendulum AGV (1), characterized in that said at least part of said second leg system (41) is configured to be linearly lengthened or shortened.

3. the axis of rotation (102) about which the second leg system (41) can rotate extends at least partly perpendicular to the main plane (72) of the load platform (70), and / or 3. The inverted pendulum AGV (1) according to claim 1 or 2, wherein the second linear actuator (21) is configured to linearly extend and / or retract the at least part of the second leg system (41) at least partially parallel to a main plane (72) of the load platform (70).

4. A modular system comprising an inverted pendulum AGV (1) and a further inverted pendulum AGV (1'), Each of the inverted pendulum AGV (1) and the further inverted pendulum AGV (1') a load platform (70) for carrying a load (80); a base (25) attached to the underside of the loading platform (70); a first leg system (31) connected to a first wheel (50); a second leg system (41) coupled to a second wheel (60); - each of the inverted pendulum AGV (1) and the further inverted pendulum AGV (1') further comprises a first rotation motor (12) configured as part of the base (25) for rotating the first leg system (31) about a rotation axis (101), and a second rotation motor (22) configured as part of the base (25) for rotating the second leg system (41) about a rotation axis (102); and / or - each of the inverted pendulum AGV (1) and the further inverted pendulum AGV (1') further comprises a first linear actuator (11) connected to the base (25) for linearly extending and / or retracting at least a portion of the first leg system (31), and a second linear actuator (21) connected to the base (25) for linearly extending and / or retracting at least a portion of the second leg system (41).

5. 5. The system of claim 4, wherein the inverted pendulum AGV (1) comprises a coupling means (91) for reversibly coupling the inverted pendulum AGV (1) with the further inverted pendulum AGV (1′) and / or the further inverted pendulum AGV (1′) comprises a coupling means for reversibly coupling the further inverted pendulum AGV (1′) with the inverted pendulum AGV (1), and the coupling means (91) of the inverted pendulum AGV and / or the coupling means of the further inverted pendulum AGV comprises a magnetic connector (92).

6. while the system is operating and / or while the inverted pendulum AGVs (1, 1') of the system are collectively carrying loads (80) on their load platforms (70), in response to a load configuration on the load platforms (70) of the inverted pendulum AGV (1) and / or the further inverted pendulum AGV (1') and / or in response to a change in the load configuration on the load platforms of the inverted pendulum AGV (1) and / or the further inverted pendulum AGV (1'), the inverted pendulum AGV (1) and the further inverted pendulum AGV (1') are adjusted so that their respective first leg systems (31) and / or second leg systems (41) are adjusted; - the first leg system (31) of the inverted pendulum AGV (1) is rotated about its axis of rotation (101), and / or - the part of the first leg system (31) of the inverted pendulum AGV (1) is linearly lengthened or shortened, and / or - the second leg system (41) of the inverted pendulum AGV (1) is rotated about its axis of rotation (102), and / or - the part of the second leg system (41) of the inverted pendulum AGV (1) is adjusted to be linearly lengthened or shortened, and / or the first leg system of the further inverted pendulum AGV (1') is rotated about its axis of rotation, and / or - the part of the first leg system of the further inverted pendulum AGV (1') is linearly lengthened or shortened, and / or the second leg system of the further inverted pendulum AGV (1') is rotated about its axis of rotation, and / or A system according to claim 4 or claim 5, wherein the part of the second leg system of the further inverted pendulum AGV (1') is adapted to be adjusted to be linearly lengthened or shortened.

7. The system of claim 6 , wherein the load configuration is a detected load configuration, the detected load configuration being detectable by a load sensor.

8. 8. A system according to claim 6 or claim 7, wherein the inverted pendulum AGV (1) and the further inverted pendulum AGV (1′) are configured to adjust their respective first leg systems (31) and / or second leg systems (41) in response to the payload configuration on the payload platform (70) of the inverted pendulum AGV (1) and the further inverted pendulum AGV (1′), whereby the positions of the first wheels (50) and / or the second wheels (60) of the inverted pendulum AGV (1) and the further inverted pendulum AGV (1′) are adjusted depending on the payload configuration.

9. A method for transporting a load (80) by an inverted pendulum AGV (1) according to any one of claims 1 to 3, comprising: The load (80) is placed on the load platform (70) of the inverted pendulum AGV (1), The method of claim 1, wherein the inverted pendulum AGV (1) transports the payload (80) from a first location to a second location.

10. 9. A method of transporting a load by a system according to any one of claims 4 to 8, comprising the steps of: the payload (80) is placed on the payload platform (70) of at least the inverted pendulum AGV (1, 1', 1'', 1''') of the system; The inverted pendulum AGVs (1, 1', 1'', 1''') of the system collectively transport the payload (80) from a first location to a second location.

11. During the transport of the load (80) from the first location to the second location, the first leg system (31) of the inverted pendulum AGV (1) and / or the second leg system (41) of the inverted pendulum AGV (1) are moved relative to the payload platform (70) of the inverted pendulum AGV (1) by the first rotary motor (12), the second rotary motor (22), the first linear actuator (11), and / or the second linear actuator (21) of the inverted pendulum AGV (1); and / or The method according to claim 10, wherein the first leg system of the further inverted pendulum AGV (1') and / or the second leg system of the further inverted pendulum AGV (1') is moved relative to the payload platform of the further inverted pendulum AGV (1') by the first rotary motor, the second rotary motor (22), the first linear actuator, and / or the second linear actuator (21) of the further inverted pendulum AGV (1').

12. the movement of the first leg system (31) of the inverted pendulum AGV (1) and / or the second leg system (41) of the inverted pendulum AGV (1) and / or the movement of the first leg system of the further inverted pendulum AGV (1′) and / or the second leg system of the further inverted pendulum AGV (1′) in response to detecting a payload configuration on the payload platform (70) of the inverted pendulum AGV (1) and / or the further inverted pendulum AGV (1′); and / or A method according to claim 11, which is carried out in response to detecting a change in the payload configuration on the payload platform (70) of the inverted pendulum AGV (1) and / or the further inverted pendulum AGV (1').

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