UWB Following Conversion for a Japanese MTR Six-Wheel Aluminum Cart

The reference chassis is the pictured MTR1000 six-wheel aluminum cart, with a UWB following kit, controller, drive, battery and sensing components added to the chassis.

A wristband or carried UWB tag provides target range and direction. The vehicle controller calculates starts, forward motion, steering, deceleration and stopping from the relative measurements.

A front/rear arrangement supports target-side selection. The front anchor measures range and angle, and the rear helps identify which side the person occupies before the controller selects an appropriate orientation.

Whether a six-wheel platform can turn in place or achieve a small turning radius depends on drive-wheel position, caster geometry, load distribution and surface, and must be tested.

System Components

Select the following according to chassis and environment:

• MTR1000 Six-Wheel Aluminum Flatbed Chassis
• Front and Rear UWB PDoA/AoA Anchors
• Wristband or Carried Following Tag
• Following Controller
• Motors, Powered Wheels and Motor Drives
• Battery, Charger and Power Management
• Ultrasonic Stopping Sensors or Other Environment Sensors
• Remote Control and Mode Selection
• Electronics Enclosure, Wiring, Brackets and Protection

PDoA/AoA-related processing uses phase or arrival-angle information to estimate target direction relative to the platform.

Operating Sequence

1. The worker powers the vehicle and carries the assigned UWB tag.
2. Vehicle anchors continuously measure target range and direction.
3. The controller calculates motion commands from target position, separation setting and vehicle state.
4. The drives control forward motion, steering, deceleration or stopping.
5. When the worker stops, the vehicle waits at the configured separation.
6. On obstruction, lost tag or emergency-stop conditions, the designed control logic reduces speed or stops.
7. Use remote mode for loading, narrow passages or setup where appropriate.

Application Benefits

Retaining the Load Platform

The aluminum frame and large flatbed carry containers, parts and tools. The conversion concentrates on drive, UWB and control components to retain the loading area where practical.

Operator-Led Routes

Following does not require a fixed magnetic-strip, reflector or QR route. The operator selects the path as tasks and layouts change.

Reducing Continuous Pushing

The vehicle maintains relative separation for picking, replenishment, tool transport and maintenance workflows.

Following and Manual Control

Optional remote control and mode selection support loading, parking and narrow-area maneuvering.

Custom Development

Haoru supplies following controls and integration resources for the chassis, motors, load and work process. Supported controller code/design materials can be used for development; PDoA internal firmware remains proprietary.

Reference-Chassis Information

The supplied MTR1000 image states:

• Six-Wheel Aluminum-Alloy Flatbed Cart
• Original Chassis Maximum Load: 1000kg
• Approximate Original Dimensions: 775 × 1225 × 262mm
• Approximate Original Weight: 27.4kg
• Replaceable Corners, Casters and Platform Components
• Direction Locks on Applicable Casters
• Stackable Storage

These are original cart specifications, not the converted vehicle's ratings. Approved load, braking distance, turning, runtime and stability must be reassessed after adding the drive and control system.

Application Examples

Candidate uses include:

• Production-Line Material Supply
• Warehouse Picking and Container Transport
• Tool Transport for Equipment Maintenance
• Parts Delivery and Line-Side Logistics
• Transport in Exhibitions, Venues and Large Facilities
• Conversions Retaining an Existing Flatbed Structure

Reported Project Outcomes

• Approximately 30% Better Transport Efficiency
  Less time spent pushing, parking and repositioning can improve continuity in picking, replenishment and transport.
• Approximately 70% Less Manual Pushing Time
  The cart follows the worker, leaving manual effort mainly for loading and task handling.
• Approximately 40% Lower Physical Workload
  Powered starts, long-distance transport and turns can reduce the physical burden. Reported outcomes depend on the converted platform and work conditions.