Self-Balancing Driverless Transport Vehicle with Dynamic Center of Mass Control
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Solution Overview
Problem
Existing driverless transport vehicles (AGVs) face challenges in transporting inhomogeneous general cargo due to issues like rolling, tipping, and shifting center of mass, requiring expensive chassis designs for stability on uneven surfaces and infrastructure adaptation.
Innovation Solution
A driverless transport vehicle with a single-axle chassis, a traction drive, a load transfer means, and a control system that balances on two wheels, using a conveyor belt to adapt the center of mass and a support wheel system for stability, allowing for flexible and cost-effective transportation of inhomogeneous goods.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single-axle self-balancing chassis is used, then device complexity and cost are reduced, but stability on uneven surfaces deteriorates
Solution Approach 1:
The patent applies dynamic balancing control to the single-axle chassis, using sensors to detect tilt angles and a control system to adjust motor torque in real-time, maintaining stability on uneven surfaces without requiring complex mechanical suspension systems
Solution Approach 2:
The patent replaces traditional mechanical suspension systems with an electronic control system that uses motor torque adjustment to compensate for surface irregularities, reducing mechanical complexity while maintaining stability
2Adaptability or versatility
If a load transfer means is added to adapt center of mass, then transportation flexibility improves, but device complexity increases
Solution Approach 1:
The conveyor belt serves multiple functions: it transports goods onto the vehicle, adjusts the center of mass position during transport, and can be integrated with the vehicle's propulsion system, reducing the need for separate mechanisms
Solution Approach 2:
The patent combines the load transfer mechanism with the vehicle's existing structure by integrating the conveyor belt into the chassis framework and using the same motor system for both propulsion and load management
3Stability of the object's composition
If conventional multi-axle statically stabilized AGVs are used, then stability is improved, but cost and device complexity increase significantly
Solution Approach 1:
The patent transitions from static stabilization (multi-axle design) to dynamic stabilization (single-axle with active control), using real-time sensor feedback and motor adjustment to maintain stability with fewer mechanical components
Solution Approach 2:
The patent extracts and removes unnecessary mechanical stabilization components (additional axles and suspension systems) by replacing them with a streamlined single-axle design that relies on electronic control for stability
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables efficient, cost-effective transportation of inhomogeneous goods over uneven surfaces, reduces energy consumption, and enhances maneuverability while maintaining stability during loading and unloading, with reduced risk of tipping and improved climbing ability.
Implementation Method 1
The control system (7) is embodied to control the traction drive (23) so that a tilting of the transport vehicle (1) about an axis (9) is prevented while the driverless transport vehicle (1) balances on only the at least two wheels (21) arranged on the axle (9)
Implementation Method 2
The load transfer means (3) is embodied as a conveyor means, for example as a conveyer line, conveyer belt, belt conveyer or roller conveyor
Implementation Method 3
the driverless transport vehicle additionally comprises a support wheel system (40) which is embodied, when the control system (7) is switched off, to ensure that the driverless transport vehicle (1) stands in a stable manner
Data Source
AI summary
A driverless transportation vehicle for piece goods has a chassis, a traction drive, a load-transfer device with a load-transfer drive, and a control system. The chassis has at least two wheels arranged on an axle and the traction drive is configured to drive the wheels. The load-transfer device picks up an item of piece goods and transfer its center of mass on the vehicle. The control system controls the traction drive to prevent the transportation vehicle from tilting about the axle of the chassis, while the driverless transportation vehicle balances on only the at least two wheels. The control system additionally actuates the load-transfer drive in such a way that the position of the center of mass of the cargo is adapted for a driving maneuver that is to be carried out.