Sensor-Guided Dolly Layout for Uneven Terrain and Loading Access
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Solution Overview
Problem
Existing dollies, both AGV and remote-controlled, face challenges with flexibility, ease of use, and obstacle detection, particularly when navigating uneven outdoor terrain and handling large or tall loads, due to suboptimal sensor distribution and wheel configurations that make them difficult to maneuver and impractical for loading/unloading operations.
Innovation Solution
A dolly design featuring a pivoting steering and drive wheel, adjustable wheel configurations, and a control structure with sensors for autonomous navigation, along with a sliding loading platform to accommodate varying load sizes and shapes, enabling efficient trajectory changes and obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If large wheels are used for outdoor dollies, then the dolly can navigate uneven terrain, but the loading platform height increases making loading/unloading difficult
Solution Approach 1:
The dolly is divided into functional modules: a propulsion module with first wheels for terrain navigation, and a load-bearing module with second wheels supporting the loading platform. This segmentation allows each module to be optimized independently - the propulsion module uses larger wheels for outdoor terrain while the load-bearing module uses smaller wheels to maintain practical loading platform height.
Solution Approach 2:
The patent introduces a vertical dimension differentiation by positioning the propulsion module and load-bearing module at different heights and functions. The first wheels (propulsion) are positioned to handle terrain variation while the second wheels (load-bearing) are positioned to maintain optimal loading platform elevation, effectively solving the height conflict through spatial differentiation.
2Extent of automation
If AGV dollies follow predetermined trajectories, then automated transport is achieved, but the dollies cannot steer to avoid obstacles
Solution Approach 1:
The dolly transitions from static trajectory following to dynamic adaptive navigation. The control system continuously processes sensor data (cameras, LIDAR, ultrasonic sensors) and dynamically adjusts the trajectory in real-time, enabling the dolly to autonomously detect and avoid obstacles while maintaining automated operation. This dynamic adaptation resolves the contradiction between predetermined automation and flexible steering.
Solution Approach 2:
The patent implements a closed-loop feedback system where sensors continuously monitor the environment and feed information to the control system, which then adjusts the dolly's path accordingly. This feedback mechanism enables the dolly to maintain automated operation while adapting to obstacles, resolving the contradiction between following predetermined trajectories and steering to avoid obstacles.
3Difficulty of detecting and measuring
If sensors are added to detect obstacles, then obstacle recognition is improved, but sensor distribution must be optimized for efficiency
Solution Approach 1:
Different sensor types are strategically positioned at specific locations on the dolly based on their optimal detection characteristics. Cameras are positioned for visual field coverage, LIDAR for distance measurement, and ultrasonic sensors for close-range detection. This localized optimization of sensor placement and type maximizes detection efficiency while minimizing unnecessary complexity.
Solution Approach 2:
The control system is designed to process data from multiple sensor types (cameras, LIDAR, ultrasonic) using a unified algorithmic approach. This multi-functional control architecture efficiently handles diverse sensor inputs without requiring separate complex processing systems for each sensor type, thus optimizing the balance between detection capability and system complexity.
Data Source
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AI summary
Described is a dolly (1) for indoor and outdoor use comprising a supporting frame (2) extending along a main axis of extension (X) and a loading platform (3) mounted above said frame (2). The dolly (1) also comprises at least one steering and drive wheel (4) coupled to the bottom of the frame (2) and at least one pair of idle wheels (5) coupled to the bottom of the frame (2) and positioned symmetrically relative to the main axis of extension (X). The dolly (1) also comprises a control structure (6) comprising a plurality of sensors configured for measuring a plurality of operating parameters of the dolly (1) and for generating respective signals representing operating parameters and a processing unit configured to receive the representative signals and to impart a steering command to the at least one steering and drive wheel (4) at least as a function of the representative signals.