# US 10,245,935 B2 · Mobile platform for materials transport > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,245,935 B2 - Document ID: US10245935B2 - Status: Granted - Kind: B2 - Application number: 15/257,233 - Filed: 2016-09-06 - Published: 2017-03-23 - Granted: 2019-04-02 - Earliest claimed: 2015-09-17 - Applicants: Clearpath Robotics, Inc. - Inventors: Matthew Lord; Roydyn Clayton; Michael Irvine; Ryan Christopher Gariepy - Web page: https://patentgrep.com/patent/US10245935B2 ## CPC - B60K 7/00: Disposition of motor in, or adjacent to, traction wheel - B60B 35/006: {with mounting plates or consoles fitted to axles} - B60K 7/0007: {the motor being electric} - B60K 17/00: Arrangement or mounting of transmissions in vehicles - B62D 61/10: with more than four wheels {(tractors of the low ground pressure type B62D49/002)} - B62D 61/12: with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels (for manoeuvring purposes only B60S) - B66F 9/063: {Automatically guided} - B60K 2007/0046: {the motor moving together with the vehicle body, i.e. moving independently from the wheel axle} - B60K 2007/0092: {the motor axle being coaxial to the wheel axle} - B60Y 2200/62: Conveyors, floor conveyors - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60B: VEHICLE WHEELS (making wheels or wheel parts by rolling B21H1/00, by forging, hammering or pressing B21K1/28); CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## Abstract A mobile platform for materials transport is provided. The platform includes a pair of suspension devices that in turn include a pair of rocker beams which can be rotated between two positions: a first position where central wheels attached thereto can be used to drive the platform; and a second position where the central wheels are retracted and the platform can be rolled on end wheels without the friction of the central wheels, and an associated drive system, impeding movement of the platform. Furthermore, data from sensors and/or load cells can be used to control movement of the platform; specifically, shifts in load distribution and/or sensed forces at the suspension devices can indicate that a load (and/or materials) has shifted and/or is shifting and movement of the platform is adjusted accordingly, for example to prevent the platform and/or the load (and/or materials) from tipping. ## Claims ### Claim 1 A mobile platform comprising: a chassis comprising a first end, a second end distal the first end, and opposite sides extending there between; a drive system comprising a differential drive motor pair configured to drive a respective pair of central wheels; a pair of suspension devices located on the opposite sides, each comprising: a respective rocker beam, pivotally connected to a respective side, and extending from about a centre of the chassis to about the first end, and being one of a pair of rocker beams; the pair of central wheels comprising, for each of the pair of suspension devices, a respective central wheel connected to the rocker beam at about the centre, and being one of a pair of central wheels; and, a respective first end wheel connected to the rocker beam at about the first end, and being one of a pair of first end wheels; and, one or more second end wheels located at the second end, each of the pair of rocker beams configured to rotate between at least: a first position, the pair of central wheels extending outwards from a bottom portion of the chassis in the first position, such that the chassis rolls using at least the pair of central wheels; and, a second position, the pair of central wheels retracting towards the bottom portion in the second position, such that the chassis rolls using the pair of first end wheels, and the one or more second end wheels without the pair of central wheels. ### Claim 2 (depends on 1) The mobile platform of claim 1, wherein, in the first position, the pair of central wheels, the pair of first end wheels, and the one or more second end wheels are all configured to contact ground, and in the second position, the pair of first end wheels, and the one or more second end wheels are configured to contact the ground, the pair of central wheels being retracted. ### Claim 3 (depends on 1) The mobile platform of claim 1, further comprising a pair of actuation devices configured to rotate the pair of rocker beams between the first position and the second position. ### Claim 4 (depends on 3) The mobile platform of claim 3, wherein each of the pair of actuation devices is located on a top side of the chassis, and between the pair of first end wheels and respective pivot points of the pair of rocker beams. ### Claim 5 (depends on 3) The mobile platform of claim 3, wherein the pair of actuation devices comprises a pair of jackscrews positioned in respective complementary threaded apertures in the chassis and configured to urge the pair of rocker beams from the first position to the second position when the pair of jackscrews are actuated downward, and release the pair of rocker beams from the second position to the first position when the pair of jackscrews are actuated upward. ### Claim 6 (depends on 1) The mobile platform of claim 1, wherein each of the pair of first end wheels and the one or more second end wheels comprises a respective caster wheel. ### Claim 7 (depends on 1) The mobile platform of claim 1, further comprising a further suspension device extending between the opposite sides of the chassis at the second end, the one or more second end wheels attached to the further suspension device. ### Claim 8 (depends on 1) The mobile platform of claim 1, wherein the one or more second end wheels comprises: a pair of second end wheels located at second end corners of the chassis. ### Claim 9 (depends on 1) The mobile platform of claim 1, wherein each of the pair of rocker beams further comprises a respective pivot point located between the respective central wheel and the respective first end wheel. ### Claim 10 (depends on 1) The mobile platform of claim 1, wherein the drive system connects the pair of central wheels, and the drive system is further configured to move together with the pair of central wheels when the pair of rocker beams rotate. ### Claim 11 (depends on 10) The mobile platform of claim 10, wherein the chassis comprises a space into which the drive system can move when the pair of rocker beams rotate from the first position to the second position. ### Claim 12 (depends on 1) The mobile platform of claim 1, further comprising one or more sensors positioned to sense one or more of force, a strain, and a rotation of one or more of the pair of suspension devices. ### Claim 13 (depends on 1) The mobile platform of claim 1, further comprising one or more load cells configured to sense a load on the chassis. ### Claim 14 (depends on 1) The mobile platform of claim 1, further comprising: a drive system configured to drive the pair of central wheels; one or more sensors positioned to sense one or more of force, a strain, and a rotation of one or more of the pair of suspension devices; one or more load cells configured to sense a load on the chassis; and, a control device in communication with the one or more sensors and the one or more load cells, the control device configured to adjust operation of the drive system according to data received from the one or more sensors and the one or more load cells. ### Claim 15 (depends on 14) The mobile platform of claim 14, wherein the control device is further configured to moderate speed of the drive system when the data received from the one or more sensors and the one or more load cells indicates one or more of: bumps encountered by the pair of central wheels; and load instability. ### Claim 16 (depends on 1) The mobile platform of claim 1, further comprising one or more lift points. ### Claim 17 (depends on 1) The mobile platform of claim 1, further comprising a fairing. ### Claim 18 (depends on 1) The mobile platform of claim 1, further comprising one or more of: a remote controlled vehicle, a remote guided vehicle, a robot, and an autonomous vehicle.