US 11,884,338 B2
Self-balancing driverless transport vehicle
Peter Enenkel, Constance (DE); Michael Matt, Goerwihl (DE); and Max Umbach, Constance (DE)
Assigned to Körber Supply Chain Logistics GmbH, Constance (DE)
Appl. No. 17/432,560
Filed by Körber Supply Chain Logistics GmbH, Constance (DE)
PCT Filed Feb. 17, 2020, PCT No. PCT/EP2020/054093
§ 371(c)(1), (2) Date Aug. 20, 2021,
PCT Pub. No. WO2020/169528, PCT Pub. Date Aug. 27, 2020.
Claims priority of application No. 19158310 (EP), filed on Feb. 20, 2019.
Prior Publication US 2022/0144353 A1, May 12, 2022
Int. Cl. B62D 37/04 (2006.01); B62D 61/00 (2006.01)
CPC B62D 37/04 (2013.01) [B62D 61/00 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A driverless transportation vehicle for piece goods, the transportation vehicle comprising:
a chassis with at least two wheels arranged on an axle;
a traction drive for driving said at least two wheels;
a load transfer device having a load transfer drive, said load transfer device being configured to receive an item of cargo and to shift a center of mass thereof on the driverless transportation vehicle; and
a control system configured to control said traction drive so that a tilting of the transportation vehicle about said axle of said chassis is prevented while the transportation vehicle balances only on said at least two wheels, said control system being configured to control said load transfer drive so that a position of the center of mass of said item of piece goods is adapted for a driving maneuver to be carried out;
a support wheel system configured to ensure a stable stance of the driverless transportation vehicle, and wherein said support wheel system is configured, in an extended state, to allow the transportation vehicle to steer in any direction on a driving surface; and
at least one controllable ratchet or force-controlled brake, which is arranged in an articulated joint of said support wheel system and which is configured, in an extended state thereof, to keep on or more wheels of said support wheel system in position on the ground.