Vehicle, logistics system and method for transferring unit loads

Abstract

A vehicle (1) for transferring a unit load to a unit load receiving device (100) is provided, having a chassis (5), a drive device (30) which drives the chassis based on a control command to adjust a speed vector of the vehicle (1), and a vehicle frame (10) having a receiving member (7) for receiving a unit load (L), wherein the vehicle (1) has a vehicle system (S) having a vehicle control function (50), wherein the vehicle control function (50) uses or determines target trajectory following commands as control target specifications with which the vehicle (1) is moved along a target trajectory (ST) on a vehicle movement path (210, 310), wherein the drive device (30) implements a transfer acceleration of the vehicle (1) based on the control command at least in a section having a target transfer point (211, 311), at which transfer acceleration the unit load (L) arranged on the receiving member of the vehicle is moved by its inertia onto the unit load receiving device (100). A logistics system (A) and a method for transferring a unit load (L) from a vehicle (1) to a unit load receiving device (100) are also provided.

Description

Technical Field

[0001] The present invention relates to a vehicle, a logistics system, and a method for transferring unit loads. Background Technology

[0002] The vehicle, logistics system, or method according to the invention can be applied, particularly in sorting equipment areas, to parcel-carrying or unit-loaded cargo in sorting equipment areas, and especially in parcel centers or unit-loaded cargo centers in airports, or generally in distribution centers. Unit-loaded cargo can be transported to the sorting equipment area, particularly by transport vehicles such as trucks, shuttle buses, or ships or aircraft.

[0003] US3297179A describes a vehicle having a trailer for loading a load. The load is unloaded onto a conveyor belt by sliding the trailer onto a lane section with a ramp and by moving the trailer close to a bollard near the lane section.

[0004] Supplementary publication DE102019122055A1 describes a vehicle having a cargo storage section. In order to deliver cargo disposed on the surface of the cargo storage section to a cargo receiving station, the coefficient of friction of the cargo storage section's surface can be reduced.

[0005] A transportation system with a transportation device is known from WO2008 / 148513A1. Summary of the Invention

[0006] The object of the present invention is to provide a vehicle and a method by which a unit load disposed on the vehicle can be moved in an efficient manner to a load receiving device.

[0007] This objective is achieved using the features of the independent claim. Further embodiments of the invention are given in the dependent claims that respectively reference the independent claim.

[0008] The term "unit load" in this document can generally be understood as a load carrier or container, which thus contains or does not contain the material to be transported, such as a single load or also liquids or gases. A unit load can also be a package or, in particular, a closed or, open on the upper side in the direction of gravity.

[0009] The expression “along” regarding a reference direction or reference axis, in conjunction with the references herein, may particularly refer to the direction of a route or component or structural element, such as an axis or shaft or its central axis, meaning that a segment of the route or the tangent or direction of the corresponding profile or corresponding surface deviates, locally or segmentally, from the corresponding reference direction or reference axis referred to by the corresponding direction indication at an angle of up to 45 degrees and especially up to 30 degrees in the explicitly or implicitly specified direction of observation.

[0010] The term "lateral" in relation to a reference direction or reference axis, when used in conjunction with the directions of a route or component or structural element, such as an axis or shaft or its central axis, as mentioned herein, refers to a segment of the route or the tangent or direction of the corresponding route or corresponding surface at an angle between 45 degrees and 135 degrees, and preferably between 67 degrees and 113 degrees, deviating from the corresponding reference direction or reference axis to which the corresponding direction indication pertains, either locally or segmentally, in the explicitly or implicitly specified direction of observation.

[0011] The expression "reversal of movement direction" regarding the reversal point of a vehicle's trajectory in this article refers to a vehicle moving along a trajectory such that the tangent of the trajectory segment leading to the reversal point at that reversal point extends along the tangent of the trajectory segment leading away from the reversal point at the same reversal point.

[0012] In particular, the term "distance" between two surfaces can be understood in this article as the shortest distance.

[0013] More specifically, the “distance” between two objects or two surfaces or reference points may be understood in particular herein as the shortest gap or shortest distance between two objects or surfaces or reference points, wherein, unless otherwise expressly stated herein, the value of the shortest gap or shortest distance is not equal to zero.

[0014] The "longitudinal direction," or another reference direction of the reference line, is generated, for example, particularly the central axis or centrally extending line or centerline of at least one structural component or member, and particularly the centerline of a guide rail, which herein is generated, particularly as the centroid of the surface of the corresponding minimum cross-sectional area of ​​the corresponding structural component, along a defined or specified direction or as a connecting line between two defined or specified ends. Where the reference line may be curved or at least segmentally curved, the reference direction can generally be understood as the local longitudinal direction. However, here, the reference direction can also be understood as the direction of a reference line defined by a straight line, wherein the position of the straight reference line relative to the curve generally gives the minimum deviation or minimum deviation area between these lines. The same applies if the straight reference line is derived from a curve herein.

[0015] The term “substantially” regarding a feature or value may be understood in particular herein to mean that the feature contains a deviation of 20%, and especially 10%, from the feature or its geometric properties or value.

[0016] The “orientation” of a surface, and especially a surface, can be understood in this paper as the normal on the corresponding surface. In the case where the relevant surface is not straight, but for example curved, the surface normal can be determined using the normal on a straight surface of the same size, with minimal deviation in position relative to the curved surface overall.

[0017] The "extension" of a facial segment can be understood as the direction of a flat facial segment that extends along the facial segment in question and has a position relative to that facial segment where the sum of the deviations between the two facial segments is minimized. Regarding the length of the extension of a facial segment, it can be understood herein as the length of an imaginary facial segment of the same size in the direction to be defined, which has a position relative to a reference facial segment where the sum of the deviations between the two facial segments is minimized.

[0018] In particular, the term “continuous” or “continuously” relating to a surface or a structural component extending in at least one longitudinal direction, such as a skin, plate, or wall, may be understood herein to mean that the surface or structural component extends without interruption.

[0019] A "continuous path" of a line, edge, or surface refers to a path that has no corners when viewed along a reference direction across its entire width extending laterally to the reference direction; that is, it has a differentiable path. A "curved path" of a line, edge, or surface refers to a path that has no corners when viewed along a reference direction across its entire width extending laterally to the reference direction; that is, it has a differentiable path.

[0020] In this article, "a uniformly curved route" can be understood as a curve without an inflection point.

[0021] The term "operating area" is understood herein to refer to the area of ​​movement of the vehicle or device described herein when it is moved or repositioned as intended. The operating area specifically includes a surface comprising an operating surface or a running support for the vehicle used in this invention. The operating surface or running support is, for example, a flat, extending surface. Here, the operating surface may have a continuous path. Alternatively or additionally, the operating surface may have steps, small ramps, or thresholds. The operating surface may also be formed by the floor of multiple halls.

[0022] The vehicle according to the invention is particularly equipped for performing driving movements on an operating surface in the operating area. The operating surface is formed as a driving support for the vehicle. The operating surface can be a continuous surface or a discontinuous surface, such as a grille, wherein the operating surface constitutes a flat, extending surface. Here, the surface may also have steps and shaped portions, such as ramps or steps or drainage ditches.

[0023] The term "position" in this text, referring to a point such as a reference point or an object, can be understood as the location of that point in planar / spatial coordinates, and especially in three spatial coordinates. The position of an object in this text can be understood, in particular, as the location of its center or midpoint, and especially its center of gravity.

[0024] The vehicle according to the invention is particularly an automatically controlled vehicle, that is, the automatically controlled vehicle can perform a predetermined task without manual control, and the driving and movement of the vehicle to complete the task is carried out automatically, that is, without manual intervention.

[0025] The term "vehicle state" in this document can be understood as the state of a vehicle defined by one or more of the following information: the vehicle's position, speed, and current orientation, especially the current orientation of the vehicle's longitudinal axis. Vehicle state can be, in particular, the vehicle's target state or actual state, which is the current state of the vehicle in time.

[0026] The combination of a vehicle's speed and direction of travel can be defined by its velocity vector, as this vector indicates both the magnitude of the vehicle's speed and its direction of travel. In this context, the velocity vector can be understood as a combination of data indicating the vehicle's speed and direction of travel. The velocity vector can also define a state where the vehicle is not moving, i.e., when its speed is zero.

[0027] The term "orientation" in vehicle terminology can be understood as the direction of the vehicle's defined or predetermined longitudinal axis. The longitudinal axis can be, in particular, the vehicle's centerline or central axis. The vehicle's orientation can be stored in the control functions as a reference direction. The vehicle's orientation can be, in particular, aligned with the vehicle's direction of travel, which the vehicle has at the neutral position of the chassis or the wheels of the chassis, and especially at the neutral position of the chassis or the wheels of the chassis adjusted by the steering mechanism.

[0028] The vehicle's position and speed can be particularly relevant to the vehicle's intended reference point.

[0029] The term "automatic control" for a vehicle can be understood in particular as the vehicle performing a transfer mission based on control commands or adjustment commands sent to the drive unit for controlling the vehicle to move along a trajectory, as specified and determined by the target sent to the control function. Here, the transfer mission specifically includes transporting unit loads carried or transported by the vehicle by moving the vehicle along a trajectory based on control commands or adjustment commands sent to the drive unit, and transferring the unit loads from the vehicle to or onto a unit load receiving device.

[0030] In this article, "trajectory" can be understood as the route that a vehicle has already traveled or is to travel due to a mission. Trajectory, and especially target trajectory, can be defined as a mathematical function, a series of discrete points, or a combination of a mathematical function and a series of discrete points.

[0031] The term "target velocity route" in this text can be understood as a specified or defined series or route of target velocities along a trajectory, and especially the target trajectory, and in transition regions of the target trajectory or segments of these trajectories. Here, the target velocity can be constant or variable along the corresponding trajectory. The target velocity also defines the target acceleration at a point on the target trajectory.

[0032] In this paper, the “transfer acceleration” of the vehicle at the corresponding time point can be understood as the actual transfer acceleration, which is specifically intended to achieve such that, in the case of the transfer area of ​​the target trajectory or the actual trajectory, the unit load located on the storage component of the vehicle moves from the storage component to the unit load storage device by its inertia.

[0033] In this paper, "function" is understood as a functional association or algorithm stored in a relevant device. For example, a target trajectory determination function can be implemented through an algorithm implemented in a vehicle system or a logistics center device.

[0034] Control commands are determined or generated by the vehicle control function at discrete points in time. For this purpose, the vehicle system may have a clock that determines or generates control commands at predetermined time points at a predetermined iteration rate and sends them to the drive unit.

[0035] The vehicle according to the invention is equipped with a unit load storage device for transferring unit loads to the operating area.

[0036] According to one embodiment of a vehicle for a unit load storage device for transferring unit loads to an operating area according to the invention, the vehicle comprises: a chassis; a drive unit connected to the chassis and driving the chassis based on control commands to adjust the vehicle's speed vector; and a frame disposed on the chassis, the frame having storage members for storing unit loads, wherein the vehicle has a vehicle system having vehicle control functions.

[0037] The vehicle control function uses or determines a target trajectory following command as a control target specification. This control target specification causes the vehicle to move along the target trajectory on the vehicle's movement path. The target trajectory (ST) extends between a start point and an end point and has a transfer area with target transfer points assigned to the unit load receiving device.

[0038] Specifically, the vehicle control function uses or determines the target speed and route as the control target at least for the transition area of ​​the target trajectory.

[0039] The vehicle control function includes a drive control function, which translates the specified control target into control commands. These control commands define the corresponding current target velocity vector based on the actual vehicle state.

[0040] The drive unit, based on control commands, enables the vehicle to accelerate at least in the section with the target transfer point, and during this acceleration, the unit load mounted on the vehicle's storage component moves to the unit load storage device by its inertia.

[0041] According to one embodiment of a vehicle for transporting and transferring unit loads to an operating area, as per the invention, the vehicle comprises: a chassis; a drive unit connected to and driving the chassis such that the chassis adjusts the velocity vector of the vehicle on an operating surface of the operating area; and a frame disposed on the chassis, the frame having a storage member for storing the unit load, wherein the vehicle has a vehicle system having:

[0042] The vehicle control function is functionally connected to the drive unit and determines control commands based on the specified control objectives and sends them to the drive unit in order to adjust the vehicle's corresponding current speed vector.

[0043] Specifically, the vehicle control function sends target trajectory following commands as control commands to the drive unit. These control commands enable the vehicle to move along the target trajectory on the vehicle's movement path. The target trajectory extends between a start point and an end point and has a transfer area with target transfer points assigned to the unit load receiving device.

[0044] Specifically, the vehicle control function sends speed commands as control commands to the drive unit, which adjusts the vehicle's transfer speed at the target transfer point based on the specified control target.

[0045] The shape of the transfer area, the position of the transfer point relative to the unit load storage device, and the transfer speed are set such that the unit load set on the storage component of the vehicle moves to the unit load storage device by its inertia.

[0046] In embodiments of the vehicle according to the invention, and in conjunction with any other variations or embodiments of the vehicle described or included herein, the vehicle control function has:

[0047] The target trajectory following function places the current actual state of the vehicle, which has at least the actual position of the vehicle, into a deviation relationship when the vehicle is moving, and determines the target trajectory following command based on the deviation relationship and sends it as a control command to the drive unit. The control command is used to make the vehicle move along the target trajectory on the vehicle movement path, wherein the target trajectory extends between the start point and the end point and has a transfer area with a target transfer point assigned to the unit load receiving device.

[0048] The load transfer control function determines a speed command based on the vehicle's target speed route and sends it as a control command to the drive unit, which then adjusts the vehicle's transfer speed at the target transfer point.

[0049] The shape of the transfer area, the position of the transfer point relative to the unit load storage device, and the transfer speed are set such that the unit load set on the storage component of the vehicle moves to the unit load storage device by its inertia.

[0050] According to one embodiment of the vehicle according to the invention, the vehicle includes: a chassis; a drive unit connected to and driving the chassis, such that the chassis adjusts the velocity vector of the vehicle on an operating surface of the operating area; and a frame disposed on the chassis, the frame having a storage member for storing unit loads. The vehicle particularly has a vehicle system having:

[0051] A vehicle control function, functionally connected to the drive unit and determining control commands based on a specified control objective, and sending them to the drive unit to adjust the vehicle's corresponding current speed vector, wherein the vehicle control function has:

[0052] The target trajectory following function places the current actual state of the vehicle, which has at least the actual position of the vehicle, into a deviation relationship when the vehicle is moving, and determines the target trajectory following command based on the deviation relationship and sends it as a control command to the drive unit. The control command is used to make the vehicle move along the target trajectory on the vehicle movement path, wherein the target trajectory extends between the start point and the end point and has a transfer area with a target transfer point assigned to the unit load receiving device.

[0053] The load transfer control function determines a speed command based on the vehicle's target speed route and sends it as a control command to the drive unit. The drive unit adjusts the vehicle's transfer speed at the target transfer point, so that the unit load mounted on the vehicle's storage component moves to the unit load storage device by its inertia.

[0054] In embodiments of the vehicle according to the invention, in conjunction with any other variations or embodiments of the vehicle described or included herein, it may be specified that the target trajectory exists and is stored, for example as a predetermined target trajectory, in the vehicle system or in the vehicle control function, and here in particular in the target trajectory following function, or is received by the vehicle system from an external, i.e., by a device outside the vehicle and provided to the vehicle control function.

[0055] In an embodiment of the vehicle according to the invention, in conjunction with any other variant or embodiment of the vehicle described or included herein, the vehicle control function (50) has a target trajectory following function (60) which, when the vehicle is moving, places the current actual state of the vehicle with at least the actual position of the vehicle for the target trajectory in a deviation relationship, and determines a target trajectory following command based on the deviation relationship and sends it as a control command to the drive control function (55).

[0056] In embodiments of the vehicle according to the invention, and in conjunction with any other variations or embodiments of the vehicle described or included herein, a target speed route is specified in the load transfer control function. Accordingly, it can be specifically specified that a target speed route with a target acceleration is specified.

[0057] In embodiments of the vehicle according to the invention, and in conjunction with any other variations or embodiments of the vehicle described or included herein, the vehicle control function includes a load transfer control function that determines a speed command based on the vehicle's target speed route and sends it as a control command to a drive control function, which adjusts the vehicle's transfer speed at the target transfer point.

[0058] The shape of the transfer area, the position of the transfer point relative to the unit load storage device, and the transfer speed are set such that the unit load (L) set on the storage component of the vehicle moves to the unit load storage device by its inertia.

[0059] In each embodiment of the invention with load transfer control function, it may be specified that the load transfer control function limits the target speed of the vehicle at the target transfer point.

[0060] Furthermore, in each embodiment of the invention with load transfer control function, it may be specified that the load transfer control function limits the target acceleration of the vehicle in the transfer area.

[0061] In embodiments of the vehicle according to the invention, and in conjunction with any other variations or embodiments of the vehicle described or included herein, it may be specified that the vehicle system has a speed determination function that determines the transfer speed based on at least one speed route criterion.

[0062] In embodiments of the vehicle according to the invention, in conjunction with any other variations or embodiments of the vehicle described or included herein, it can be specified that...

[0063] The speed determination function determines the target speed route based on one or both of the routes (ST1) and (ST2) in the transfer area:

[0064] (ST1) The transfer area guides the vehicle through the unit load housing and has a curved section with a substantially uniform curvature, causing the vehicle to experience lateral acceleration, wherein the unit load housing is located on its convex side.

[0065] (ST2) The transfer area guides the vehicle to collide with the unit load storage device at the target transfer point, where the direction of movement is reversed. The section of the transfer area leading to the target transfer point at the target transfer point may have a direction set within an angle range relative to the stop surface of the unit load storage device, which is greater than 25 degrees in value.

[0066] In these embodiments, it can be particularly specified that the speed determination function uses the characteristic value of the unit load. The characteristic value of the unit load can be, in particular, the weight or frictional behavior of the unit load on the housing member or the housing surface of the housing member.

[0067] In embodiments of the vehicle according to the invention, and in conjunction with any other variations or embodiments of the vehicle described or included herein, it may be specified that the vehicle has a weight sensor device by which the weight of a unit load disposed on a housing member can be determined, the weight value is assigned to the determined weight, and the weight value is sent as a characteristic value of the unit load to a speed determination function.

[0068] In embodiments of the vehicle according to the invention, in conjunction with any other variations or embodiments of the vehicle described or included herein, the vehicle control function may be specified to set or adapt a target speed or target acceleration or the distance between the target transfer point and the edge region of the unit load receiving device facing the operating surface, based on at least one characteristic value of the unit load.

[0069] According to the present invention, in an embodiment of the vehicle according to the present invention, the speed route standard can be the acceleration value of the vehicle.

[0070] According to the present invention, in an embodiment of the vehicle having a speed determination function, the speed determination function determines the value of the target acceleration at the transfer point and determines a target speed route with a target speed or target acceleration based on the value and at least one speed route standard.

[0071] In embodiments of the vehicle according to the invention, and in conjunction with any other variations or embodiments of the vehicle described or included herein, the speed route standard is defined as the minimum energy requirement or minimum energy consumption when traveling along a target trajectory.

[0072] In embodiments of the vehicle according to the invention, in conjunction with any other variations or embodiments of the vehicle described or included herein, it may be specified that the target trajectory is stored as a designated target trajectory in the vehicle control function, and the vehicle control function provides the target trajectory to the target trajectory following function.

[0073] In embodiments of the vehicle according to the invention, in conjunction with any other variations or embodiments of the vehicle described or included herein, it may be specified that the vehicle control function has a target trajectory determination function that determines a target trajectory, and the vehicle control function provides the target trajectory to a target trajectory following function.

[0074] In an embodiment of a vehicle with a target trajectory determination function according to the present invention, and in conjunction with any other variations or embodiments of the vehicle described or included herein, it may be specified that the target trajectory determination function determines the target trajectory based on at least one trajectory route standard.

[0075] In an embodiment of a vehicle with a target trajectory determination function according to the present invention, in conjunction with any other variation or embodiment of the vehicle described or included herein, it may be specified that the target trajectory determination function has stored a plurality of target trajectories, and the target trajectory determination function determines the target trajectory by selecting one of the target trajectories based on at least one trajectory route criterion.

[0076] In an embodiment of a vehicle with a target trajectory determination function according to the present invention, in conjunction with any other variation or embodiment of the vehicle described or included herein, it may be specified that the target trajectory determination function has stored at least one target trajectory, and the target trajectory determination function adapts the parameters of the target trajectory to the trajectory route standard based on at least one trajectory route standard.

[0077] In embodiments of the vehicle according to the invention having a target trajectory stored in a vehicle system or vehicle control function, in conjunction with any other variations or embodiments of the vehicle described or included herein, the stored target trajectory may be defined according to one of the following two alternatives (ST1) and (ST2):

[0078] (ST1) The transfer area guides the vehicle through the unit load storage device and has a curved section with uniform curvature, so that the vehicle experiences lateral acceleration, wherein the unit load storage device is located on its convex side.

[0079] (ST2) The transfer area guides the vehicle to collide with the unit load storage device at the target transfer point, where the direction of movement is reversed. The section of the transfer area leading to the target transfer point at the target transfer point may have a direction set within an angle range relative to the stop surface of the unit load storage device, which is greater than 25 degrees in value.

[0080] In embodiments of the vehicle with target trajectory determination function according to the present invention, in conjunction with any other variations or embodiments of the vehicle described or included herein, it can be specified that the target trajectory determination function uses one or more of the following trajectory criteria (TK1), (TK2), (TK3), (TK4), (TK5), (TK6) when the target speed route in the transfer area is defined as a target speed route specified by the control target and / or when the target acceleration at the target transfer point of the vehicle is defined as a target acceleration specified by the control target, in order to ensure the desired transfer acceleration of vehicle 1:

[0081] (TK1) is the minimum length from the actual location of the vehicle or the starting point of the target trajectory to the target transfer point.

[0082] (TK2) Minimum transfer speed,

[0083] (TK3) The minimum time interval from the actual location of the vehicle or the starting point of the target trajectory to the target transfer point.

[0084] (TK4) is the minimum energy requirement or minimum energy consumption for a vehicle to travel from its actual location or the starting point of the target trajectory to the target transfer point.

[0085] (TK5) The reliable / process-safe transfer of unit load L from vehicle 1 to unit load storage device (100) without failure.

[0086] Minimum space utilization in the (TK6) unit load storage device (100).

[0087] In embodiments of the vehicle according to the invention, in conjunction with any other variations or embodiments of the vehicle described or included herein, it can be specified that the target trajectory is formed by a load transfer trajectory and a coupling trajectory immediately following the load transfer trajectory, wherein the load transfer trajectory extends between a starting point and a target transfer point allocated to the unit load receiving device, and the coupling trajectory leads to the coupling point and connects the current actual position of the vehicle to the coupling point.

[0088] The target trajectory following command has the following functions:

[0089] (i) Coupled trajectory following function, which places the current actual vehicle position with a coupled trajectory in a deviation relationship when the vehicle is moving, and generates a coupled trajectory control command based on the deviation relationship and sends it to the drive unit so that the vehicle moves along the coupled trajectory on the vehicle movement path.

[0090] (ii) Load transfer trajectory following function, which, after the vehicle has reached the load transfer trajectory, places the current actual position of the vehicle with the load transfer trajectory in the deviation relationship, and generates a load transfer trajectory control command according to the deviation relationship and sends it to the drive unit, so that the vehicle moves along the load transfer trajectory on the vehicle movement path.

[0091] In an embodiment of the vehicle with target trajectory determination function according to the present invention, in conjunction with any other variants or embodiments of the vehicle described or included herein, it may be specified that the vehicle system has a vehicle communication device that is connected via radio to a logistics center device fixedly arranged in the operating area for data or signal communication, and receives control target designations from the logistics center device and sends them to the vehicle control function.

[0092] In an embodiment of the vehicle with target trajectory determination function according to the present invention, in conjunction with any other variants or embodiments of the vehicle described or included herein, it may be specified that the vehicle system has a vehicle communication device that can wirelessly connect to a fixed logistics center device in the operating area, and receive data from the logistics center device defining the actual state of the vehicle, at least having the actual position of the vehicle, and transmit it to the vehicle control function.

[0093] In an embodiment of the vehicle with target trajectory determination function according to the present invention, in conjunction with any other variation or embodiment of the vehicle described or included herein, it may be specified that the vehicle system has a sensor device that detects the corresponding current actual position of the vehicle, is functionally connected to the vehicle control function, and sends the current actual position of the vehicle to the vehicle control function.

[0094] In each embodiment of the vehicle according to the invention having a sensor device for detecting the corresponding current actual position of the vehicle, it may be specified that the sensor device has an optical sensor or camera that maps optical ground features of the operating surface or ground markings that can be detected by the vehicle's sensor device and are, for example, visible, wherein the vehicle system has an identification function that optionally has a corresponding assignment function that uses the identification function to determine the actual position of the vehicle based on the current mapping of ground markings arranged on the operating surface.

[0095] According to another aspect of the invention, a logistics system is provided, which particularly has the following characteristics:

[0096] A logistics center unit equipped with logistics communication devices, which is permanently located in the operating area;

[0097] Unit load storage device arranged in the operating area;

[0098] A vehicle for transferring unit loads to a unit load storage device, the vehicle comprising: a chassis; a drive unit connected to the chassis and adjusting the velocity vector of the vehicle on an operating surface of an operating area; and a frame disposed on the chassis, the frame having storage members for storing the unit loads, wherein the vehicle has a vehicle system having:

[0099] The vehicle control function is functionally connected to the drive unit and determines control commands based on the specified control target and sends them to the drive unit to adjust the vehicle's corresponding current speed vector.

[0100] A vehicle communication device that connects to a logistics communication device via radio for data or signals and is functionally connected to vehicle control functions.

[0101] The vehicle control function uses or determines a target trajectory following command as a control target specification. These control target specifications are used to make the vehicle move along the target trajectory on the vehicle's movement path. The target trajectory extends between a start point and an end point and has a transfer area with target transfer points assigned to the unit load receiving device.

[0102] Specifically, the vehicle control function uses or determines the target speed and route as the control target at least for the transition area of ​​the target trajectory.

[0103] The vehicle control function includes a drive control function, which translates the specified control target into control commands. These control commands define the corresponding current target velocity vector based on the actual vehicle state.

[0104] The drive unit, based on control commands, enables the vehicle to accelerate at least in the section with the target transfer point, and during this acceleration, the unit load mounted on the vehicle's storage component moves to the unit load storage device by its inertia.

[0105] In each embodiment of the logistics system according to the invention, the vehicle control function may include a target trajectory following function and a load transfer control function.

[0106] In each embodiment of the logistics system according to the present invention, it may be specified that the target trajectory following function includes the target trajectory.

[0107] In each embodiment of the logistics system according to the invention, it may be specified that a vehicle is implemented according to any of the variations or embodiments described or included herein.

[0108] In each embodiment of the logistics system according to the present invention, it can be specified that,

[0109] The logistics center device has a vehicle identification device for determining the actual location of a corresponding current vehicle. This vehicle identification device is functionally connected to a logistics communication device and transmits the determined actual location of the corresponding current vehicle to the logistics communication device. The logistics communication device is connected to the vehicle communication device via a radio connection and transmits the actual location of the corresponding current vehicle to the vehicle communication device.

[0110] The vehicle control function is functionally connected to the vehicle communication device and receives the corresponding current actual vehicle location.

[0111] The vehicle control function includes a target trajectory following function. This function determines the target trajectory following command based on the received current actual position of the vehicle and the target trajectory, and sends it as a control command to the drive unit.

[0112] The vehicle control function includes a load transfer control function, which generates a speed command based on the vehicle's target speed and route and sends it as a control command to the drive unit.

[0113] In each embodiment of the logistics system with a vehicle identification device according to the present invention, it may be specified that the load transfer control function includes a target speed route and generates a speed command based on the target speed route.

[0114] In each embodiment of the logistics system with a vehicle identification device according to the present invention, it can be specified that the logistics center device has:

[0115] The logistics identification device, which is centrally located for determining the actual position of the corresponding current vehicle, has: a target trajectory following function with a target trajectory, which determines a target trajectory following command based on the actual position of the corresponding current vehicle and the target trajectory and sends it as a control target to the logistics communication device, which determines the target trajectory following command and sends it as a control target to the vehicle communication device.

[0116] The centrally located load transfer control function generates a speed command and sends it as a control target to the logistics communication device. The logistics communication device determines the speed command and sends it as a control target to the vehicle communication device.

[0117] The vehicle communication device sends the target trajectory following command as a control target specification to the vehicle control function, which in turn sends the target trajectory following command and speed command to the drive unit.

[0118] In each embodiment of the logistics system with a vehicle identification device according to the present invention, it can be specified that,

[0119] The logistics center device includes: a vehicle identification device for determining the actual position of a corresponding current vehicle; and a target trajectory following function centrally located, which sends a target trajectory following command to a logistics communication device based on the actual position of the corresponding current vehicle and the target trajectory. The logistics communication device determines the target trajectory following command and sends it as a control target designation to a vehicle communication device, wherein the vehicle communication device sends the target trajectory following command as a control command to the drive unit.

[0120] The vehicle control function includes a load transfer control function, which generates a speed command based on the vehicle's target speed route and sends it as a control command to the drive unit.

[0121] In each embodiment of the logistics system according to the invention, which has a vehicle identification device and a centrally located target trajectory following function, it may be specified that the logistics center device has a logistics control function, in which a target trajectory is stored as a designated target trajectory, and a logistics communication device sends the target trajectory to the target trajectory following function. In these embodiments of the logistics system according to the invention, it may be specified that the vehicle control function has a target trajectory determination function, which determines the target trajectory, and the vehicle control function provides the target trajectory to the target trajectory following function.

[0122] According to another aspect of the invention, a method is provided for a unit load storage device for transferring a unit load from a vehicle to an operating area, wherein the vehicle has: a chassis; a drive unit connected to the chassis and adjusting the velocity vector of the vehicle on an operating surface of the operating area based on control commands; and a frame disposed on the chassis, the frame having a storage member for storing the unit load, wherein the method comprises the following steps:

[0123] Control commands are determined based on the specified control objectives and sent to the drive unit in order to adjust the vehicle's corresponding current speed vector.

[0124] When the vehicle moves at a corresponding speed vector, a deviation relationship is determined between the current actual state of the vehicle and the actual position of the vehicle relative to the target trajectory, wherein the target trajectory extends between the start point and the end point and has a transfer area with a target transfer point assigned to the unit load receiving device.

[0125] The target trajectory following command is determined based on the deviation relationship and sent to the drive unit as a control command. The control command is used to make the vehicle move along the target trajectory on the vehicle movement path.

[0126] Based on the vehicle's target speed route, a speed command is determined and sent as a control command to the drive unit. The speed command adjusts the vehicle's transfer speed at the target transfer point, and the unit load set on the vehicle's storage component moves to the unit load storage device by its inertia.

[0127] In each embodiment of the method, vehicle, and logistics system according to the invention, it may be specified that the speed and route of the vehicle when traveling along the target trajectory are specified.

[0128] In embodiments of the vehicle according to the invention, in conjunction with any other variations or embodiments of the vehicle described or included herein, it can be specified that...

[0129] The transfer acceleration is determined based on one or both of the routes (ST1) and (ST2) in the transfer region:

[0130] (ST1) The transfer area guides the vehicle through the unit load housing and has a curved section with a substantially uniform curvature, causing the vehicle to experience lateral acceleration, wherein the unit load housing is located on its convex side.

[0131] (ST2) The transfer area guides the vehicle to collide with the unit load storage device at the target transfer point, where the direction of movement is reversed. The section of the transfer area leading to the target transfer point at the target transfer point may have a direction set within an angle range relative to the stop surface of the unit load storage device, which is greater than 25 degrees in value.

[0132] In embodiments of the method according to the invention, in conjunction with any other variations or implementations of the vehicle described or included herein, the speed determination function uses a characteristic value of the unit load. Here, the characteristic value of the unit load is the weight of the unit load or the coefficient of friction relating to the movement of the unit load on a housing member or housing surface of the vehicle for housing the unit load, or a combination of the weight and the coefficient of friction.

[0133] In an embodiment of the method according to the invention, in conjunction with any other variation or embodiment of the vehicle described or included herein, it may be specified that the weight of the unit load disposed on the housing member is determined by means of a weight sensor device of the vehicle, and the weight value is assigned to the determined weight and used as a characteristic value of the unit load for speed determination, wherein, in particular, the weight is used to determine the transfer speed.

[0134] In each embodiment of the method, vehicle, and logistics system according to the invention, the speed route standard is defined as the vehicle's acceleration value.

[0135] In each embodiment of the method, vehicle, and logistics system according to the invention, a speed determination function is specified to determine the value of the target acceleration at the transfer point and to determine the speed route based on that value.

[0136] In embodiments of the method according to the invention, in conjunction with any other variations or implementations of the vehicle described or included herein, the speed route standard may be defined as the minimum energy requirement or minimum consumption when traveling along the target trajectory.

[0137] In embodiments of the method according to the invention, in conjunction with any other variations or implementations of the vehicle described or included herein, it may be specified that the target trajectory is a designated target trajectory.

[0138] In embodiments of the method according to the invention, in conjunction with any other variations or implementations of the vehicle described or included herein, the vehicle control function has a target trajectory determination function that determines the target trajectory, and the vehicle control function provides the target trajectory to the target trajectory following function.

[0139] In each embodiment of the method with target trajectory determination function according to the present invention, it may be specified that the target trajectory determination function determines the target trajectory based on at least one trajectory route standard.

[0140] In each embodiment of the method with target trajectory determination function according to the present invention, it may be specified that the target trajectory is determined by selecting one of the target trajectories based on at least one trajectory route criterion.

[0141] In each embodiment of the method with target trajectory determination function according to the present invention, it may be specified that the parameters of the target trajectory are adapted based on at least one trajectory route standard.

[0142] In each embodiment of the method with target trajectory determination function according to the present invention, the target trajectory may be defined according to one of the following two alternatives (ST1) and (ST2):

[0143] (ST1) The transfer area guides the vehicle through the unit load storage device and has a curved section with uniform curvature, so that the vehicle experiences lateral acceleration, wherein the unit load storage device is located on its convex side.

[0144] (ST2) The transfer area guides the vehicle to collide with the unit load storage device at the target transfer point, where the direction of movement is reversed. The section of the transfer area leading to the target transfer point at the target transfer point may have a direction set within an angle range relative to the stop surface of the unit load storage device, which is greater than 25 degrees in value.

[0145] In each embodiment of the method with target trajectory determination function according to the present invention, it may be specified that the target trajectory determination function uses one or more of the following trajectory criteria (TK1), (TK2), (TK3), (TK4), (TK5), (TK6) when the target speed route is defined as specified by the control target in the transfer area and / or when the target acceleration is defined as specified by the control target at the target transfer point of the vehicle, in order to ensure the transfer acceleration to be achieved by the vehicle (1):

[0146] (TK1) is the minimum length from the actual location of the vehicle or the starting point of the target trajectory to the target transfer point.

[0147] (TK2) Minimum transfer speed,

[0148] (TK3) The minimum time interval from the actual location of the vehicle or the starting point of the target trajectory to the target transfer point.

[0149] (TK4) is the minimum energy requirement or minimum energy consumption for a vehicle to travel from its actual location or the starting point of the target trajectory to the target transfer point.

[0150] (TK5) Reliable / process-safe transfer of unit loads from the vehicle to the unit load receiving device, or fault-free transfer.

[0151] Minimal space utilization in (TK6) unit load storage device.

[0152] In embodiments of the method according to the invention, in conjunction with any other variations or implementations of the vehicle described or included herein, it can be specified that the target trajectory is formed by a load transfer trajectory and a coupling trajectory immediately following the load transfer trajectory, wherein the load transfer trajectory extends between a starting point and a target transfer point allocated to the unit load receiving device, and the coupling trajectory leads to the coupling point and connects the current actual position of the vehicle to the coupling point.

[0153] The target trajectory following command utilizes the following functions to determine:

[0154] (i) Coupled trajectory following function, which places the current actual vehicle position with a coupled trajectory in a deviation relationship when the vehicle is moving, and generates a coupled trajectory control command based on the deviation relationship and sends it to the drive unit so that the vehicle moves along the coupled trajectory on the vehicle movement path.

[0155] (ii) Load transfer trajectory following function, which, after the vehicle has reached the load transfer trajectory, places the current actual position of the vehicle with the load transfer trajectory in the deviation relationship, and generates a load transfer trajectory control command based on the deviation relationship and sends it to the drive unit, so that the vehicle moves along the load transfer trajectory on the vehicle movement path.

[0156] In embodiments of the method according to the invention, in conjunction with any other variations or implementations of the vehicle described or included herein, the vehicle's vehicle system is connected via radio to a logistics center device fixedly arranged in the operating area, and receives control target designations from the logistics center device and transmits them to the vehicle control function.

[0157] In embodiments of the method according to the invention, any other variations or implementations of the vehicle described or included herein may be specified,

[0158] The vehicle system receives data from a fixed logistics center unit in the operating area, specifying at least the vehicle's actual location and status.

[0159] The vehicle system determines the target trajectory following command based on the deviation relationship and determines the speed command based on the vehicle's target speed route, and sends it as a control command to the drive unit.

[0160] In embodiments of the method according to the invention, in conjunction with any other variations or implementations of the vehicle described or included herein, it may be specified that the current actual position of the vehicle is detected by means of sensor devices of the vehicle system.

[0161] In each embodiment of the method with a sensor device for a vehicle system according to the invention, it may be specified that the sensor device has a camera that maps optical ground features or ground markings detectable by an optical sensor on an operating surface, wherein the vehicle system has an identification function that determines the actual position of the vehicle based on the current mapping of the ground features or ground markings arranged on the operating surface. Attached Figure Description

[0162] Embodiments of the present invention are described below with reference to the accompanying drawings. In this document, the description of features or components according to embodiments of the present invention is to be understood in such a way that, according to relevant embodiments of the present invention, unless explicitly excluded, at least one feature of another embodiment may be present, respectively as an additional feature of the relevant embodiment or as a substitute feature for another feature of the relevant embodiment. In the drawings:

[0163] Figure 1 A perspective view of an embodiment of a vehicle according to the present invention is shown, wherein the vehicle has a chassis with four wheels, the first two of which are configured as differential rotating wheels in their combination, and the other two of which are configured as support wheels respectively.

[0164] Figure 2 A perspective view of an embodiment of a vehicle according to the present invention is shown, wherein the vehicle has a chassis with four wheels configured as omnidirectional wheels in their combination;

[0165] Figure 3 A schematic diagram of a first operating constellation on an operating surface is shown. The first operating constellation has: a vehicle, a unit load storage device, and a first target trajectory leading to the unit load storage device, the first target trajectory being designed such that the vehicle experiences a frontal collision with reverse direction on the unit load storage device.

[0166] Figure 4 A schematic diagram of a first operating constellation on an operating surface is shown. The first operating constellation has: a vehicle, a unit load storage device, and a first target trajectory leading to the unit load storage device, the first target trajectory being designed such that the vehicle passes over or collides laterally with the unit load storage device.

[0167] Figure 5 A functional diagram illustrating an embodiment of vehicle control functions integrated into a vehicle according to the present invention is shown.

[0168] Figure 6 A functional diagram illustrating another embodiment of the vehicle control function according to the present invention, which is integrated into a vehicle, is shown.

[0169] Figure 7 A functional diagram illustrating an embodiment of a logistics system according to the present invention, which includes an embodiment of a logistics center device and an embodiment of a vehicle control function integrated into a vehicle;

[0170] Figure 8 A functional diagram of another embodiment of a logistics system according to the present invention, which includes an embodiment of a logistics center device and an embodiment of a vehicle control function integrated into a vehicle, is shown.

[0171] Figure 9 A functional diagram of another embodiment of a logistics system according to the present invention, which includes an embodiment of a logistics center device and an embodiment of a vehicle control function integrated into a vehicle, is shown.

[0172] Figure 10 A functional diagram of another embodiment of a logistics system according to the present invention, which includes an embodiment of a logistics center device and an embodiment of a vehicle control function, is shown, wherein the functions are integrated into the vehicle. Detailed Implementation

[0173] Based on the accompanying drawings, embodiments of the vehicle 1 according to the invention, the logistics system according to the invention, and the method according to the invention are described with characteristic variations and alternative embodiments. Here, according to the invention, additional alternative embodiments, featuring features different from the variations, may also exist in all embodiments described herein, more precisely, not only as substitutions for features with the same or similar functions, but also as additional features.

[0174] In an embodiment of the vehicle 1 according to the invention, in conjunction with any other variations or embodiments of the vehicle described or included herein, it can be specified that the vehicle is implemented according to one or more of the following controls:

[0175] (S1) The vehicle is a manned vehicle with a vehicle system having a corresponding current actual vehicle position available for use, and in particular having a vehicle sensor device for determining the corresponding current actual vehicle position, and having a control mechanism that can be actuated by a person, wherein a control command is generated by actuating the control mechanism and sent to a drive unit that causes the vehicle to move on an operating surface in accordance with the control command, wherein the control command is input based on a control target specified by the vehicle system, such as its display.

[0176] (S2) The vehicle is an automatically controlled vehicle with a vehicle system, wherein the vehicle system generates a control target specification and sends it to the drive control device of the vehicle, which sends control commands directly or indirectly to the vehicle drive device based on the control target specification, thereby enabling the vehicle to move on the operating surface in accordance with the control commands.

[0177] (S2) The vehicle is an automatically controlled vehicle with a vehicle system, wherein a control target specification is generated by an external device, such as a logistics center device fixedly arranged in the operating area, and transmitted to the vehicle via a vehicle communication device and then to the vehicle's drive control device, which transmits control commands directly or indirectly to the vehicle drive device based on the control target specification, thereby enabling the vehicle to move on the operating surface in accordance with the control commands.

[0178] Therefore, the vehicle 1 according to the invention can be driven in a particularly controlled or automatic manner, i.e., with or without manual control, and can be automatically controlled to complete at least one designated transfer mission or a series of transfer missions, especially by means of corresponding functions provided according to the invention. The designated transfer mission includes moving the vehicle 1 with the unit load L along a target trajectory to the unit load storage device 100 and transferring the unit load L to the unit load storage device 100.

[0179] exist Figure 1 For example, a reference frame KS-F for vehicle 1 is specified, which can also be defined for the functions used according to the present invention. Figure 1For example, a longitudinal axis A1, a vertical axis A2, and a transverse axis A3 are specified for vehicle 1. In particular, it can be defined that these axes A1, A2, and A3 converge at a point defined as the center ZF of vehicle 1. Another point, or any other point, can also be defined as the center of vehicle 1. In particular, the centerline can be defined as the longitudinal axis A1 of vehicle 1. For example, these definitions can be made for functions used according to the invention. For example, in these functions, information about the position or speed of vehicle 1, or both position and speed, is related to this center of vehicle 1. These definitions can be made individually or in any combination for functions used according to the invention.

[0180] As also Figure 1 As shown, the vehicle 1 has a chassis 5 for adjusting the orientation of the vehicle 1 on the operating surface E of the operating area B, and a frame 10 fastened to the chassis 5. The frame 10 has a storage member 7 on which at least one unit load L can be placed. The frame 10 may also be formed of a base member 8 and the storage member 7, wherein the storage member 7 is fastened to the base member 8 and may be positioned above the base member 8, particularly against the direction of gravity. Furthermore, the storage member 7 may have a storage surface 9 oriented against the direction of gravity. This storage surface 9 is provided for placing at least one unit load L.

[0181] The frame 10 may have an outer surface 10a that extends and is oriented at least segmentally along the plane of the operating surface E. The frame 10 may be formed or comprised of an outer wall having the outer surface 10a. The outer wall may be a rotating outer wall of the vehicle 1 having the outer surface 10a, constituting a rotating outer wall. The outer wall of the vehicle 1 may also constitute a segmented outer wall of the vehicle 1 having the outer surface 10a. The frame 10 may also be formed from a grille, scaffolding, or a beam extending in a circumferential direction, each having the outer surface 10a. Furthermore, the frame 10 may be formed by a combination of each of the above alternatives with the outer surface 10a.

[0182] Therefore, the outer surface 10a of vehicle 1 has a vehicle abutment surface or at least one vehicle abutment surface, which vehicle 1 can use to contact or abut against the unit load housing 100. As described above, vehicle 1 may have multiple vehicle abutment surfaces oriented in different directions from each other. The term "contact" in relation to the unit load housing 100 may be understood herein, in particular, as contact between vehicle 1 and unit load housing 100 and / or collision between vehicle 1 and unit load housing 100, wherein vehicle 1 experiences acceleration as it moves along or on the target trajectory. Figure 1In the embodiment of vehicle 1 shown, the frame 10 has four contact or abutment surfaces 11, 12, 13, and 14. The contact or abutment surfaces of the frame 10 may be any surface of vehicle 1 herein, particularly oriented surfaces that extend along the plane of the operating surface E.

[0183] Vehicle 1 has a drive unit 30 arranged on a frame 10, the drive unit 30 having at least one motor and optional additional ground braking device. The drive unit 30 is coupled to and drives the chassis 5 to adjust the speed and direction of vehicle 1. In particular, the chassis 5 has a plurality of wheels, each supported in a wheel suspension of the chassis 5, and vehicle 1 can move and position on the operating surface E using these wheels. Here, the chassis 5 has at least two wheels. Here, the drive unit drives at least one of these wheels of the chassis 5 and is coupled to a corresponding wheel of at least one wheel for this purpose.

[0184] For example, the wheel suspension of each pair of wheels can be universally supported, such that each pair of wheels in each steering device of the chassis 5 can rotate together about a rotation axis extending transversely to the rotation axis, the steering device being coupled to the wheel suspension of the two wheels and connected to the drive unit. The predetermined travel direction and speed of the vehicle 1 are adjusted based on corresponding adjustment commands generated by the drive unit and sent to the chassis 5 of the vehicle 1. In particular, the predetermined travel direction of the vehicle 1 can be adjusted based on corresponding adjustment commands generated by the drive unit and sent to the chassis 5. In these embodiments of the vehicle 1, it can be specified, for example, that two wheels or two pairs of wheels out of a total of four or more can perform steering movements. Figure 1 A perspective view of an embodiment of a vehicle according to the invention is shown, wherein the vehicle has a chassis with four wheels, the first two of which are arranged opposite each other relative to the longitudinal axis of the vehicle and configured as differential rotating wheels in their combination, and the other two wheels, when viewed along the longitudinal axis, are arranged between the first two wheels and are arranged opposite each other relative to the transverse axis of the vehicle and configured as support wheels. Figure 2 A perspective view of an embodiment of a vehicle according to the present invention is shown, wherein the vehicle has a chassis with four wheels configured as omnidirectional wheels or all-side rollers.

[0185] Typically, the chassis 5 of vehicle 1, especially in the case of a swivel suspension, is configured such that at least one pair of opposing wheels are coupled to each other via a steering mechanism. Here, the steering mechanism is configured such that the wheels can be rotatably adjusted about their steering axis to adjust the vehicle's direction of travel. The steering mechanism may be functionally coupled to the vehicle's drive system.

[0186] In one embodiment of the chassis with omnidirectional wheels or all-side rollers, the chassis can also be implemented without a steering device. Here, the omnidirectional wheels or all-side rollers can be functionally coupled to the vehicle drive unit such that the direction of vehicle movement, to be adjusted according to a corresponding control objective, is controlled by varying the rotational speeds of the individual wheels. Therefore, the wheel suspension and wheels of vehicle 1 can also be implemented such that the wheels of vehicle 1 function as omnidirectional wheels of the chassis. In the embodiment with omnidirectional wheels, vehicle 1 can move from its current position in any direction of travel, provided that there are no obstructions on the running supports in this respect. For this purpose, the chassis 5 of vehicle 1 can have a steering device coupled to each of the wheel suspensions of each wheel to adjust the rotational direction of each wheel and connected to the drive unit. Alternatively, the predetermined direction and speed of vehicle 1 can be adjusted based on corresponding adjustment commands generated by the drive unit and sent to the chassis 5 of vehicle 1, wherein, in particular, for adjusting the direction of vehicle 1, the corresponding adjustment commands are sent to the steering device.

[0187] Furthermore, the vehicle has a control function 50, which is functionally connected to the drive unit and determines control commands based on a specified control target, and sends the control commands to the drive unit 30. The drive unit 10 generates adjustment commands or adjustment signals to be sent to the chassis according to the control commands, so as to drive the wheels of the vehicle 1 and move the vehicle 1 in a corresponding manner on the operating surface, and adjusts the target vehicle state of the vehicle 1 on the operating surface E based on the actual vehicle state of the vehicle 1.

[0188] According to the present invention, in Figure 3 and Figure 4In the initial state illustrated by way of example, at least one vehicle 1 in the first actual vehicle state is located at a certain distance from the unit load storage device 100. The initial state distance can be generated, in particular, by previous movement of vehicle 1. The initial state distance can be particularly defined as the distance between a predetermined center ZF of vehicle 1 and a predetermined reference point R or reference position R of unit load storage device 100, or defined on unit load storage device 100. The reference position of unit load storage device 100 can be a point or area outside unit load storage device 100, and in particular any location, wherein the reference position R is fixedly, i.e., unchangingly, set in the fixed coordinate system of the storage device. The reference position of unit load storage device 100 can be, in particular, an area such as a surface region or a point such as a surface point of unit load storage device 100 or its contact surface 105, the orientation of which extends along the extension of operating surface E. However, the initial state distance can also involve other points or positions of vehicle 1 and unit load storage device 100. For example, the initial state distance can be defined as the distance between the center of the outer surface 10a of the vehicle 1, which is configured for contact with the contact surface, and the center of the abutment or contact surface 105 of the unit load storage device 100, which is configured for docking.

[0189] Vehicle 1 operates based on a target trajectory ST, which extends between a start point and an end point in a partially variable or partially immutable trajectory device RST, and the target trajectory ST has a transfer region 215 with target transfer points assigned to the unit load receiving device.

[0190] exist Figure 3 and Figure 4 The target trajectory ST relative to the unit load storage device 100 is shown in the figure as an example. Figure 3 In the figure, reference numeral 200 is assigned to the target trajectory ST. The target trajectory 200 extends between a start point 201 and an end point 202 in a locally variable or locally immutable trajectory device R200, and has a transfer region 215 with a target transfer point 211 assigned to the unit load receiving device 100. Figure 4 In the figure, reference numeral 300 is assigned to the target trajectory ST. The target trajectory 300 extends between the start point 301 and the end point 302 in the locally variable or locally immutable trajectory device R300, and has a transfer region 315, which has been assigned to the unit load receiving device 100.

[0191] The reference point R may also be the same as the target transfer point 211. The reference point R is preferably a reference point on the unit load storage device 100. The reference point R can be a target point for transferring the unit load L from the vehicle 1 to the unit load storage device 100; that is, the reference point R can be a point, location, or area, particularly near the unit load L to be moved to the unit load storage device 100. The reference point R can also define a target point or target area at which, along the corresponding route of the target trajectory, the vehicle 1 must contact the unit load storage device 100 to achieve the transfer of the unit load L from the vehicle 1 to the unit load storage device 100.

[0192] The target transfer points 211 and 311 are preferably points on the target trajectory where the vehicle 1 experiences acceleration, which causes the unit load L, resting on the storage member 7 and especially on the storage surface 9, to move from the storage member 7 or storage surface 9 of the vehicle 1 to the reference point R and especially to the storage member 101 of the unit load storage device 100, especially the storage surface 101a, due to its inertia. The storage surface 101 is oriented at least segmentally against the direction of gravity, so that the unit load L can be transported onto the storage surface 101, especially by free movement.

[0193] The target transfer point 211 or 311 is located in the transfer region 215 or 315 of the target trajectory 200 or 300, wherein the transfer region 215 or 315 is a segment of the target trajectory 200 or 300. Here, the target transfer point 211 or 311 may be located in a region within the transfer region 215 or 315 of the target trajectory 200 or 300, or centrally located in the transfer regions 215 and 315, or located at the edge of the transfer regions 215 or 315, and in this case, it may especially be an edge point of the transfer region 215 or 315.

[0194] The transfer areas 215 and 315 of the corresponding target trajectories 200 or 300 are in Figure 3 and Figure 4The examples are schematically represented by dashed lines. The lengths of transfer regions 215 and 315 are determined or defined according to the application. The lengths of transfer regions 215 and 315 are sufficient to generate the required acceleration for vehicle 1 within transfer regions 215 and 315, and particularly at the target transfer point 211 or 311, so that the unit load L disposed on the receiving member 7 of vehicle 1 moves by its inertia onto the unit load receiving device 100. For example, the lengths of transfer regions 215 and 315 are at least 50% of the length of vehicle 1. Alternatively, the lengths of transfer regions 215 and 315 may be at least the length of vehicle 1, and particularly at least 1.5 times the length of vehicle 1. In this respect, the length of vehicle 1 may be the length generated by vehicle 1 along the corresponding target trajectory 200 or 300, or the minimum length generated by vehicle 1 on the operating surface E in the extension direction of the operating surface E.

[0195] The vehicle movement path of vehicle 1 from its current actual position to the target trajectory ST is in Figure 3 and Figure 4 The characters are represented by dashed lines, where, Figure 3 The vehicle movement path was assigned the reference numeral "210", and Figure 4 The vehicle movement path was assigned the reference numeral "310".

[0196] In this document, a target velocity vector is assigned to describe and define the target movement of vehicle 1, and an actual velocity vector V1 is assigned to describe and define the actual movement of vehicle 1. Furthermore, a target velocity, a target acceleration, and a target velocity path are assigned to describe and define the target movement of vehicle 1. In the example shown, after reaching the corresponding target trajectory 200 or 300, vehicle 1 further moves along that corresponding target trajectory 200 or 300 on its vehicle movement path.

[0197] The target or actual velocity vector has a zero value when the specified target velocity is zero or when vehicle 1 is stationary on the operating surface E, and has a non-zero value when vehicle 1 moves, wherein the direction of the target or actual velocity vector indicates the predetermined or current or corresponding current travel direction of vehicle 1. In the actual movement of vehicle 1 with a corresponding current velocity vector V1 for completing the transfer mission, it can be specified that vehicle 1 starts from the corresponding current initial state Z1 and moves along the target trajectory ST, especially if it has already moved in that initial state Z1 or has moved to another state before or after the corresponding current initial state Z1, by means of a path guidance function or path adjustment function. This path guidance function or path adjustment function can be defined by determining the deviation relationship between the corresponding current actual vehicle state, which is defined at least using the actual vehicle position, respectively, relative to the target trajectory ST and, for example, relative to the corresponding currently defined or defined point of the target trajectory ST. The corresponding currently defined point of the target trajectory ST can, for example, be a point set at the minimum distance from the corresponding current actual vehicle position. Instead of the minimum distance, other distances or other relationships between the corresponding current vehicle state and the corresponding currently determined or defined points of the target trajectory ST can be used. The target trajectory following command is determined based on the deviation relationship using a path guidance function or a path adjustment function. The target trajectory following command is a control target specified and converted into a control command. The control command is adapted to technically actuate the drive unit 30 in a corresponding manner to cause the vehicle 1 to move along the target trajectory ST on the vehicle movement path.

[0198] The target trajectory following command can be specified. According to the present invention, the target trajectory following command can also be determined. In particular, determining the target trajectory following command based on the deviation relationship and sending it to the drive device can be performed using the target trajectory following function 60.

[0199] Alternatively or additionally, it can be specified that the target trajectory following function 60 is a functional component of the path adjustment function of vehicle 1 or logistics center device 400, and in particular, a functional component of the vehicle control function 50. Independently, it can be specified that the load transfer control function 70 is a functional component of the vehicle control function 50 of vehicle 1 or logistics center device 400.

[0200] Vehicle control function 50 may be a functional component of vehicle system S integrated into vehicle 1. Specifically, vehicle control function 50 is functionally connected to drive unit 30 and determines control commands based on a specified control target, sending them to drive unit 30 to adjust the corresponding current actual speed vector of vehicle 1. An algorithm may be stored in target trajectory following function 60, which defines the target trajectory following function and provides target trajectory following commands to vehicle control function 50. Optionally, it may be specified that vehicle control function 50 uses or determines a speed command based on the activation of target trajectory following function 60 and sends it as a control command to drive unit 30.

[0201] In addition, the vehicle control function 50 may have a load transfer control function 70, which specifies a determined or predetermined target speed route with constant or variable speed and optionally a determined or predetermined target acceleration route for vehicle 1 as a control target based on at least one transfer area 215, 315 of the target trajectory ST, 200, 300 and sends it as a control command to the drive unit 30.

[0202] Typically, it can be specified that the control target is associated with the actual state of the vehicle 1 at any relevant time point, and in particular any calculated time point of the vehicle system S, and optionally compared and thereby determine the control command for the drive unit 30. The control command is determined such that the actual state of the vehicle 1 at the corresponding time point changes to the target state associated with that time point. The determination of the control command for the corresponding time point can be performed, in particular, using adjustment or estimation methods. The drive unit 30 adjusts the transfer speed of the vehicle 1 in or along the transfer regions 215, 315 based on the control command and optionally adjusts the target acceleration of the vehicle 1 at the target transfer point 211, such that the unit load L disposed on the vehicle's storage member 7 moves to the unit load storage device 100 by its inertia.

[0203] In particular, the vehicle control function 50 may store an algorithm that defines the target trajectory following function 60 and determines the target trajectory following command. Independently, it may be specified that the vehicle control function 50 also stores an algorithm that defines the load transfer control function 70 and determines, for the vehicle 1, a target speed route along transfer areas 215, 315 and optionally a target acceleration route along transfer areas 215, 315, and optionally a target acceleration at the target transfer point 211.

[0204] exist Figure 3 and Figure 4 The vehicle 1, schematically shown, is, for example, in a position at the beginning of the method according to the invention. Figure 3 and Figure 4 The initial state is shown in the figure and the actual state of the vehicle is presented. At least one current actual position of the vehicle and optionally the actual speed of the vehicle belong to the actual state of the vehicle, wherein the center ZF of vehicle 1 is set at a distance D1 from the starting point 201, 301 of the initial state.

[0205] According to the present invention, a control target designation is provided for the vehicle 1, wherein the transfer acceleration of the vehicle 1 and optionally the transfer lateral acceleration and / or negative transfer longitudinal acceleration are given at the target transfer points 211, 311 or in a specific form of the transfer region 215, at least one segment of the transfer region 215 extending to the target transfer points 211, 311. The target trajectory ST may have a route according to an embodiment of the invention, in which target transfer points 211, 311 have positions relative to the unit load receiving device 100 or relative to the contact surface 105 of the unit load receiving device 100, such positions that the vehicle 1 has no or more or less strong contact, collision or stop at the unit load receiving device 100 or its contact surface 105, wherein a predetermined or determined target velocity vector or a predetermined or determined target velocity is provided at the target transfer points 211, 311, and optionally additionally, according to the form of the target trajectory ST, a predetermined or determined target acceleration of the vehicle 1 and, in particular, a negative target acceleration is provided, in order to achieve a transfer acceleration of the vehicle 1 having one or more of the following acceleration specifications (b1), (b2), (b3), i.e., the actual transfer acceleration:

[0206] (b1) Transfer lateral acceleration,

[0207] (b2) Negative transfer longitudinal acceleration with a decrease in the actual speed of the vehicle.

[0208] (b3) Combination of lateral transfer acceleration and negative longitudinal transfer acceleration.

[0209] The transfer acceleration is the acceleration of vehicle 1 achieved based on control commands or based on contact with the unit load receiving device 100, or based on both control commands and such contact. Here, the transfer acceleration in the corresponding forms of transfer regions 215, 315 of the target trajectories ST, 200, 300 can also be sufficient to move the unit load L onto the unit load receiving device 100 due to its inertia without contact with the unit load receiving device 100.

[0210] In this document, "negative transfer longitudinal acceleration" can be understood as the negative acceleration of vehicle 1, i.e., a decrease in the speed of vehicle 1, which is applied to vehicle 1 at least in the section extending to the target transfer point 211. The negative transfer longitudinal acceleration can be achieved, partially or entirely, by the braking acceleration of vehicle 1 commanded by drive unit 30, and thus, in the case of a correspondingly commanded speed path of vehicle 1. Alternatively or additionally, the negative transfer longitudinal acceleration in the corresponding forms of transfer regions 215, 315 can be achieved, partially or entirely, by causing vehicle 1 to collide with the load-bearing device 100.

[0211] According to the present invention, in particular, the transfer acceleration of the vehicle 1 is achieved by combining the following measures, which are necessary for the unit load L disposed on the storage member of the vehicle 1 to move by its inertia to the unit load storage device 100:

[0212] (M1) The specific shape or shape of the transfer areas 215, 315 may optionally have transfer points 211, 311 at defined positions relative to the unit load receiving device 100 and relative to the contact surface 105.

[0213] (M2) The speed route commanded by means of the speed command sent as a control instruction to the drive unit 30, in particular, wherein the speed is constant at least in the section of the transfer area 215 or 315 extending to the target transfer point 211, 311, or in particular, wherein a speed reduction is set at least in that section.

[0214] The corresponding acceleration that vehicle 1 is required to have in transfer areas 215, 315 or at target transfer points 211, 311 is specified and measured such that the unit load L moves from the receiving member 7 to the unit load receiving device 100 by its inertia. The state of the unit load L on vehicle 1 is... Figure 3 In diagram d, L1 is used as the reference numeral, and the state of the unit load L on the unit load storage device 100 is as follows: Figure 3 and Figure 4 The figure is labeled "L2" in the attached diagram.

[0215] according to Figure 3The target trajectory 200 has a route in which a transfer area 215 extending between a start point 201 and an end point 202 has a first segment 216 and a second segment 217, which extend at least segmentally along each other and in opposite directions relative to the direction of movement of vehicle 1. Based on the target direction of movement R200 of vehicle 1, the first segment 216 extends toward and continues to the target transfer point 211, i.e., in a manner that surrounds the target transfer point 221 and extends in the direction toward the unit load storage device 100, while the second segment 217 extends away from the target transfer point 211 in the target direction of movement R200. Thus, the movement reversal of vehicle 1 is performed at the target transfer point 211, which is defined as the target speed route specified by the control target, such that the target transfer point 221 is the movement reversal point, at which the velocity vector is equal to zero in magnitude. The movement reversal can be performed according to one of the following alternatives (BU1), (BU2), (BU3):

[0216] (BU1) Vehicle 1 moves toward transfer area 215 on or along target trajectory 200 in its corresponding current direction of travel R200, wherein the commanded target speed is not equal to zero in magnitude until target transfer point 211, i.e., at least until shortly before target transfer point 211, and is sufficient to apply braking acceleration by causing vehicle 1 to collide with the load housing 100 and, in particular, the contact surface 105, such braking acceleration is equal to or greater than the negative transfer longitudinal acceleration, wherein directly before target transfer point 211, i.e., in the first section 216, the drive unit 30 of vehicle 1 does not realize or apply braking acceleration as a contribution to the negative transfer longitudinal acceleration, i.e., does not brake vehicle 1. The braking acceleration of vehicle 1 generated by causing vehicle 1 to collide with the load housing 100 can, if necessary, be additionally combined with a recoil pulse, thereby causing vehicle 1 to perform a movement reversal. Regardless of this, it can be stipulated that control commands are sent to drive unit 30, which causes vehicle 1 to move away from unit load storage device 100 in second section 217 toward end point 202.

[0217] (BU2) Vehicle 1 moves toward transfer area 215 on or along target trajectory 200 in its corresponding current direction of travel R200, wherein the commanded target speed is not equal to zero until the target transfer point 211, i.e., at least until shortly before the target transfer point 211, and additionally directly before the target transfer point 211, i.e., in the first section 216, the drive unit 30 of vehicle 1 applies the commanded braking acceleration to vehicle 1 until vehicle 1 collides with unit load housing 100 and, in particular, contact surface 105 at a non-zero speed, such that a negative transfer longitudinal acceleration is applied to vehicle 1 together with the braking acceleration, which consists of braking acceleration or negative transfer longitudinal acceleration. The braking acceleration of vehicle 1 generated by causing vehicle 1 to collide with unit load housing 100 can, if necessary, be additionally combined with a recoil pulse, thereby causing vehicle 1 to perform a movement reversal. Regardless of this, it can be stipulated that control commands are sent to drive unit 30, which causes vehicle 1 to move away from unit load storage device 100 in second section 217 toward end point 202.

[0218] (BU3) Vehicle 1 moves along the target trajectory 200 or along the target trajectory 200 in its corresponding current direction of travel R200 toward the transfer area 215 and experiences braking acceleration or negative transfer longitudinal acceleration such that the commanded target speed to reach the target transfer point 211 is zero in magnitude. Here, it can be specified that at the target transfer point 211, there is contact or no contact between vehicle 1 and unit load receiving device 100, and in particular contact surface 105, and therefore no recoil pulse is applied to vehicle 1. Thus, the braking acceleration that occurs is equal to or greater than the negative transfer longitudinal acceleration used to transfer the unit load L to the unit load receiving device 100. The movement of vehicle 1 is reversed in such a way that a control command is sent to drive device 30, by which vehicle 1 moves away from unit load receiving device 100 toward end point 202 in the second section 217.

[0219] In the motion reversal alternatives (BU1) and (BU2), the speed command sent to the drive unit 30 of vehicle 1 includes a command for generating negative transfer longitudinal acceleration, i.e., braking acceleration of vehicle 1 by the drive unit 30. The speed command for achieving the target speed route is used or determined as the control target in the load transfer control function 70 and is sent to the drive unit 30 as a control command.

[0220] In the transfer region 215, the angle between the tangents of the two segments 216 and 217 of the transfer region 215 located at the target transfer point 211 can be an acute or obtuse angle. Here, the segment of the transfer region 215 leading to the target transfer point 211 can have a direction at the target transfer point, which is set within an angle range relative to the contact surface 105 of the unit load storage device 100, and this angle range is greater than 25 degrees.

[0221] Vehicle 1 is controlled from its initial state as the first vehicle's actual position along the target trajectory 200 to the target transfer point 211, where the vehicle 1, traveling along or on the target trajectory 200, performs a reversal of its direction of movement. As described above, the reversal of direction of movement can be achieved, either entirely or partially, through the vehicle 1 colliding with or impacting the unit load housing 100, within a target speed route with the desired transfer acceleration specified by the control target. However, the target speed route specified by the control target can also be designed such that the reversal of direction of movement occurs without the vehicle 1 contacting or colliding with the contact surface 105.

[0222] The proportion of the negative transfer longitudinal acceleration used to cause vehicle 1 to collide with the unit load housing 100 or to cause vehicle 1 to impact the unit load housing 100 is determined by a combination of the target velocity path defined by the control target and the position of the transfer point 211 relative to the unit load housing 100, and thus by the distance D2 between the transfer point 211 and the unit load housing 100 or the contact surface 105. Therefore, the intensity of the pulse applied to vehicle 1 by causing vehicle 1 to collide with the unit load housing 100, and the amount of transfer acceleration therefrom, are adjustable.

[0223] like Figure 4As shown in the target trajectory ST, the transfer region 315 can extend in a curved manner, wherein the unit load receiving device 100 is disposed on the convex side of the target trajectory ST. Furthermore, the target transfer point 211, centrally located in the transfer region 315, can be positioned on the operating surface E side at a distance D2 from the unit load receiving device 100. This distance D2 can be measured such that when the vehicle 1 moves along the target trajectory 300 past the unit load receiving device 100 and reaches the endpoint 302, there is no contact between the vehicle 1 and the unit load receiving device 100. In this case, as the vehicle 1 moves along the transfer region 315, the required transfer lateral acceleration at the target transfer point 311 acts on the vehicle 1. This required transfer lateral acceleration is achieved at least one target speed route defined for the control target and by a control command correspondingly determined according to the target speed vector at the target transfer point 311 or in the transfer region 315. By achieving the required transfer acceleration, the unit load L is caused to move from the receiving member 7 to the unit load receiving device 100 by its inertia. Here, in particular, the target speed route in the transfer area 315 or the section of the transfer area 315 with the target transfer point 311 may have a constant vehicle speed, but may also have a decrease in vehicle speed along at least a section of the trajectory, i.e., vehicle braking, or an increase in vehicle speed along at least a section of the trajectory, i.e., vehicle acceleration.

[0224] When the target trajectory 200 has a curved transfer area 315, wherein the unit load storage device 100 is disposed on the convex side of the target trajectory ST, and the distance between the target transfer point 311 and the unit load storage device 100 is less than the distance D2 in the case where there is no contact between the vehicle 1 and the unit load storage device 100 and the target transfer point 311 is sufficiently close to the unit load storage device 100, the vehicle 1 experiences that it moves at the target transfer point 311 at the commanded target velocity vector or the commanded target velocity.

[0225] (i) the transfer acceleration generated by moving the transfer region 315, which is formed by the curvature of the target trajectory 200 within the transfer region 315, and especially the first component of the transfer lateral acceleration, and

[0226] (ii) The second component of the transfer acceleration and, in particular, the transfer lateral acceleration generated by bringing the vehicle 1 into contact with the unit load storage device 100 or its contact surface 105 facing the operating surface E.

[0227] Here, the smaller the distance D2, the greater the transfer acceleration, and especially the second component of the transfer lateral acceleration when the vehicle 1 moves along the unit load housing 100 in the transfer area 315.

[0228] According to the present invention, in conjunction with any other variations or embodiments of the vehicle, logistics system, or method described or included herein, it can be specified that a target trajectory ST and / or transfer area, and in particular the shape of the transfer area or the distance between the transfer points 211, 311 and the unit load storage device 100, are specified respectively for the positions of transfer points 211, 311, 2 ... The target trajectory determination function can be implemented such that the distance D2 between the target transfer point 211 and the unit load receiving device 100 has a predetermined or determined amount. Thus, by determining a suitable target trajectory ST and / or transfer area, and especially the shape of the transfer area, using the described route, the desired transfer acceleration, and especially the transfer lateral acceleration, can be achieved, which is generated by a first component (i) of the transfer acceleration of vehicle 1, and especially the transfer lateral acceleration, and optionally, a second component (ii) of the transfer acceleration, and especially the transfer lateral acceleration.

[0229] To determine the target trajectory ST, it can be specified that the target trajectory determination function includes or functionally relates to a predetermined and, for example, stored trajectory shape or target trajectory route and / or transition region, and especially the shape of the transition region, for the target trajectory ST. The shape of at least one trajectory shape or transition region can be defined, in particular, by a mathematical function, described, for example, by the coordinate axes of a coordinate system, wherein the coordinate axes can be arranged such that they span the operating surface E or its fundamental extension. The shape of at least one trajectory shape or transition region can be stored in the target trajectory determination function or a function assigned to the target trajectory determination function, in particular as a parabolic function or a spline function, or as another predetermined function. Here, it can be additionally specified in the target trajectory determination function that the trajectory shape designated as a function is defined by at least one parameter, such that each of the at least one parameter can be equivalent to a specific value, so as to define the shape of the corresponding trajectory shape or transition region as a specific function or to modify the corresponding function in order to determine a suitable trajectory shape or transition region shape.

[0230] Furthermore, the target trajectory determination function may have an adaptation function that modifies at least one parameter to determine a suitable specific target trajectory ST or suitable transfer region shape by changing or adjusting at least one parameter that defines the specified trajectory shape or transfer region shape of the specific target trajectory ST or specific transfer region. The shape of the specific target trajectory ST or transfer region is then combined with a specified or determined target speed route having a target speed and / or target acceleration at target transfer points 211, 311 to achieve the desired transfer acceleration, which optionally includes one or more of the acceleration specifications (b1), (b2), (b3) for vehicle 1. It may also be specified here that, for example, multiple trajectory shapes or multiple transfer region shapes are specified in the target trajectory determination function, and the adaptation function of the target trajectory determination function performs the adaptation to the shapes of the multiple trajectory shapes or transfer regions by changing parameters.

[0231] Alternatively or additionally, it may be specified that the target trajectory determination function has stored multiple specific target trajectory routes, i.e., defined without parameters, each as a predetermined function, and selects one of the specific target trajectory routes when determining the target trajectory ST. Here, the target trajectory determination function may have a selection function, which selects a target trajectory curve from the selectable target trajectory routes as the basis for determining the control command, using the target trajectory route to achieve or exceed the transfer acceleration of vehicle 1 under the condition of a target speed route and / or target acceleration at the target transfer point specified by the control target in the transfer area.

[0232] In embodiments of the invention with the adaptation function of target trajectory determination and in embodiments of the invention with the selection function of target trajectory determination, the target velocity route in the transfer area or, if necessary, the target acceleration at the target transfer point can be additionally changed, and the value of the transfer acceleration to be obtained can be used as a comparison value, threshold, or minimum value. Here, it can be specified that the target velocity route or, if necessary, the target acceleration is selected or determined to be at least greater than the comparison value, threshold, or minimum value compared to other parameter values.

[0233] Determining whether a comparison value, threshold, or minimum value of the target acceleration at the target transfer point and the target velocity path in the transfer area has been reached can generally be done in this document as follows: based on determined variables, such as the selected target trajectory and / or the target velocity path along the target trajectory or transfer area, a simulation calculation is performed for the theoretical transfer acceleration that occurs in this case, if necessary, for one or more of the aforementioned components (i), (ii), and this theoretical transfer acceleration is compared with the corresponding comparison value, threshold, or minimum value. When the comparison value, threshold, or minimum value exceeds the corresponding determined value of the theoretical transfer acceleration, a selection or adaptation that has led to the reaching of the comparison value can be identified as the selection or adaptation to be used based on determined parameters.

[0234] The changes to the parameters, functions, or routes mentioned in this article can be made according to a predetermined order, statistical probability, or other means.

[0235] As an alternative or additional embodiment of the aforementioned implementation of the target trajectory determination function, when determining the target trajectory route by adapting to the specified form of the target trajectory route or by selecting a target trajectory route that optionally has self-adaptation, it can be specified that the target trajectory determination function applies at least one trajectory route standard. Here, it can be specified that the target trajectory determination function, particularly when the target speed route is defined as the control target in the transfer area and / or when the target acceleration is defined as the control target at the vehicle's target transfer point, uses one or more of the following trajectory route standards (TK1), (TK2), (TK3), and (TK4) as the trajectory route standard to ensure the desired transfer acceleration of vehicle 1:

[0236] (TK1) is the minimum length from the starting point 201, 301 of the actual vehicle position or target trajectory ST to the target transfer point 211, 311.

[0237] The maximum curvature of the transfer regions 215 and 315 in (TK2) is the smallest.

[0238] (TK3) The minimum time interval from the actual position of the vehicle or the starting point of the target trajectory ST to the target transfer points 211 and 311, given the specified speed and route of vehicle 1. This specified speed and route can be constant or variable on the target trajectory ST.

[0239] (TK4) is the minimum energy requirement or minimum energy consumption for vehicle 1 to travel from the actual position of the vehicle or the starting point of the target trajectory ST to the target transfer points 211 and 311.

[0240] (TK5) The reliable / process-safe transfer of unit load L from vehicle 1 to unit load storage device 100 without failure.

[0241] Minimum space utilization in (TK6) unit load storage device 100.

[0242] In the case of the adaptation function for the target trajectory determination function, it can be specified that at least one parameter is limited to a parameter that exceeds a comparison value, a threshold, or a minimum value compared to other parameter values. Alternatively or additionally, at least one of the standards TK1 to TK6 can be used, and in this case, at least one parameter is limited to a parameter that satisfies one or more of the aforementioned standards or a maximum number of standards that are satisfied.

[0243] When selecting a function, it can be specified that the target trajectory route and / or transfer area is selected from those that exceed at least a comparison value, a threshold, or a minimum value compared to other target trajectory routes. Alternatively or additionally, at least one of standards TK1 to TK6 can be used, and in this case, the target trajectory route is selected from those that satisfy one or more of the aforementioned standards, or where there is a maximum number of standards that are satisfied.

[0244] According to the present invention, the vehicle transfer acceleration required to transfer the unit load L by inertia at the target transfer points 211, 311 is typically set as a comparison value in the target trajectory determination function, and the target trajectory determination function, when reaching the limit value, is combined with at least one or more of the trajectory route criteria (TK1), (TK2), (TK3), (TK4), (TK5), (TK6) to select or adapt the target trajectory route or transfer area.

[0245] The above-described embodiments using a specified target trajectory ST, a target trajectory determination function with adaptation and selection functions, i.e., embodiments with one or more of these options, can each have a speed route determination function. This speed route determination function additionally determines a target speed route along the corresponding target trajectory ST or the corresponding transfer area for the corresponding predetermined or determined target trajectory ST, 200, 300 or the transfer area 215, 315 of the corresponding target trajectory 200 or 300, using the target speed route to achieve the desired lateral acceleration for vehicle 1. Here, the speed route determination function can be implemented such that it starts from a predetermined target speed route and incrementally or in specified steps increases the target speed route until simulation calculations show that the target speed route defined in this way reaches or exceeds a comparison value for the desired acceleration. Here, the target speed route can be defined using a speed route function or by a series of target speeds respectively assigned to a point on the target trajectory, or in another manner. Instead, the speed route determination function stores different target speed routes and can progressively perform simulation calculations for different target speed routes, wherein the theoretical transfer acceleration occurring at target transfer points 211, 311 in this case is determined. When a comparison value, threshold, or minimum value is exceeded by the corresponding determined value of the theoretical transfer acceleration occurring at target transfer points 211, 311, the target speed route to be used can be identified based on the corresponding target speed route that has already led to reaching the comparison value. In particular, in these embodiments, the target speed route whose corresponding theoretical transfer acceleration exceeds the comparison value by the smallest amount can be used for transferring the unit load L.

[0246] In all embodiments where a comparison value, threshold, or minimum value is required for the transfer acceleration of vehicle 1, particularly in connection with the use of theoretical transfer acceleration, a comparison value, threshold, or minimum value can be determined. For this purpose, the comparison value determination function can be functionally integrated into a corresponding speed route determination function, where the comparison value, threshold, or minimum value is determined. When determining the comparison value, threshold, or minimum value, it can be specified that a characteristic value or a combination of several of the following characteristic values ​​is derived as a factor or influencing factor:

[0247] (K1) The weight or weight range of the unit load L.

[0248] (K2) The coefficient of friction between the unit load L and the housing component 7.

[0249] (K3) The value of the size of the unit load L.

[0250] Here, the corresponding influencing factors can be applied to predetermined comparison values, thresholds, or minimum values.

[0251] In each embodiment of the invention with a speed determination function, it can be specified that the speed determination function uses one or more of the following speed standards (GK1), (GK2) as a transfer speed standard or speed route standard in order to ensure the transfer acceleration to be achieved by vehicle 1:

[0252] (GK1) The minimum time interval from the starting point 201 of the vehicle's actual position or the target trajectory ST to the target transfer point 211, especially when specified limits such as the maximum lateral acceleration of vehicle 1 are observed.

[0253] (GK2) is used to determine the energy requirement or energy consumption for vehicle 1 to travel from the starting point 201 of the vehicle's actual position or the target trajectory ST to the target transfer point 211.

[0254] Furthermore, according to the present invention, each of the speed determination functions described herein can be combined with each of the target trajectory determination functions described herein to determine the route of both the target speed route and the target trajectory route or the transfer area. Here, it can be specified that for the corresponding determined combination of the corresponding determined target speed route and the corresponding determined target trajectory route or the route of the transfer area, simulation calculations are performed by determining the theoretical transfer acceleration occurring here at the target transfer points 211, 311. Here, it can be particularly specified that in the above combinations where the theoretical transfer acceleration exceeds a comparison value, a threshold, or a minimum value, a combination for performing the transfer mission or for transferring the unit load L to the unit load receiving device 100 is used, and this combination uses one or more of the following optimization criteria (OK1), (OK2), (OK3), (OK4), (OK5), (OK6) as optimization targets:

[0255] (OK1) The minimum length from the starting point of the vehicle's actual position or the target trajectory ST to the target transfer points 211 and 311.

[0256] (OK2) Minimum transfer speed,

[0257] (OK3) The minimum time interval from the starting point of the vehicle's actual location or the target trajectory ST to the target transfer points 211 and 311.

[0258] (OK4) is the minimum energy requirement or minimum energy consumption for vehicle 1 to travel from the actual position of the vehicle or the starting point of the target trajectory ST to the target transfer points 211 and 311.

[0259] (OK5) The unit load L is reliably / process-safely transferred from vehicle 1 to unit load storage device 100 without failure.

[0260] (OK6) Minimum space utilization in the unit load storage device 100.

[0261] The optimization standard (OK6), especially when the unit load storage device 100 is already partially occupied, aims to adapt the vehicle to its target trajectory ST so that the unit load L lands precisely in the empty area of ​​the unit load storage device 100.

[0262] exist Figure 5 The diagram illustrates an embodiment of a vehicle system S according to the present invention, comprising a vehicle control function 50, a drive control function 55, and a vehicle communication device 80. In this embodiment, the vehicle communication device 80 receives a control target specification and optionally corresponds to the current actual vehicle state, and provides and transmits it to the drive control function 55. Figure 5In the illustrated embodiment, the control target specification received by the vehicle communication device 80, in particular a target trajectory following command, and a target speed route having a target speed along the corresponding target trajectory ST or at least along the transfer areas 215, 315 of the target trajectories ST, 200, 300, optionally have at least one target trajectory ST or corresponding target trajectory ST. The control target specification is received by the vehicle communication device 80 as a corresponding current value at, in particular, predetermined time intervals and, in particular, at a predetermined iteration rate. Before sending the control target specification to the vehicle communication device 80, these control target specifications have been determined based on the corresponding current actual vehicle state. Here, it is specified that the corresponding current actual vehicle state is determined by external devices arranged outside the vehicle and, in particular, fixedly arranged in the operating area B. Here, the determination of the corresponding current actual vehicle state can generally be done by means of sensor devices, such as cameras, and by correspondingly converting sensor data into a coordinate system assigned to the operating surface e. Optionally, the corresponding current actual vehicle state is received by the vehicle communication device 80 as a value of such a coordinate system. An external device determines, for example, a target trajectory following command and a target speed route as the target direction vector of vehicle 1, based on the corresponding target trajectory ST and the corresponding current actual vehicle state in this embodiment, and sends them to the vehicle communication device 80, such that these control target specifications are received by the vehicle communication device 80. The vehicle communication device 80, according to the embodiment described herein, sends the target trajectory following command as a control target specification to the drive control function 55 for the corresponding target trajectory ST and the corresponding current actual vehicle state. Based on the corresponding control target specification, the drive control function 55 determines a control command for adjusting the speed vector of vehicle 1 and sends this control command to the drive unit 30. The control command may include, for example, a steering command, a direction change command, or an acceleration command. Suitable for the drive unit 30 to translate these control commands into chassis adjustment commands sent to the chassis 5, and suitable for the chassis 5 to move vehicle 1 along the target trajectory ST and, in particular, along the transfer regions 215, 315, and in this case, at least in the sections having target transfer points 211, 311 or at the target transfer points 211, 311, to achieve the desired transfer acceleration of vehicle 1.

[0263] exist Figure 6Another embodiment of a vehicle system S according to the present invention, having vehicle control function 50, drive control function 55, and vehicle communication device 80, is shown. In this embodiment, the vehicle communication device 80 receives, for example, a corresponding current actual vehicle state and at least one target trajectory ST in the form of data or mathematical functions. Here, the determination of the corresponding current actual vehicle state can generally be performed by means of sensor devices and by correspondingly converting sensor data into a coordinate system assigned to the operating surface E. The corresponding current actual vehicle state and at least one target trajectory ST are sent to a target trajectory following function 60. The target trajectory following function 60 assigns corresponding points to the corresponding current actual vehicle state and the target trajectory ST and determines a target trajectory following command for vehicle 1 for the corresponding current actual vehicle state. The target trajectory following function 60 can be implemented according to the embodiments described herein.

[0264] Furthermore, the vehicle communication device 80 sends at least one target trajectory ST to the load transfer control function 70. The load transfer control function 70 can be implemented according to the embodiments described herein. The load transfer control function 70 determines a target speed route for each target trajectory ST according to the embodiments described herein, wherein the target acceleration of the vehicle 1 is defined at least in the segments of the target trajectory ST having target transfer points 211, 311 or at transfer points 211, 311.

[0265] The target trajectory following function 60 sends a target trajectory following command to the drive control function 55, and the load transfer control function 70 sends a target speed route to the drive control function 55 for the corresponding target trajectory ST or at least along the transfer regions 215, 315 of the target trajectories ST, 200, 300. These control targets are specified as corresponding current values ​​and are sent to the drive control function 55 at predetermined time intervals and at predetermined iteration rates. The control targets can be specified in a time-merging manner, i.e., for the corresponding current point in time, in particular as data packets or in a summary form in a data structure. The drive control function 55 determines control commands based on the target trajectory following command and the target speed route, optionally using the corresponding target trajectory ST, and sends them to the drive unit 30. The control commands may include, for example, steering commands, direction change commands, or acceleration commands. The control commands are suitable such that the drive unit 30 translates these control commands into chassis adjustment commands sent to the chassis 5, and the chassis adjustment commands are suitable such that the chassis 5 moves the vehicle 1 along the target trajectory ST and, in particular, along the transfer areas 215, 315, and in this case, at least in the sections having target transfer points 211, 311 or at the target transfer points 211, 311, achieves the desired transfer acceleration of the vehicle 1.

[0266] As a response Figure 6 In an alternative implementation, the target trajectory following function 60 can be integrated into an external device, such as a logistics center device 300 fixedly arranged in the operating area B, such that the target trajectory following command, and optionally together with at least one target trajectory ST or a corresponding target trajectory ST, is sent to the vehicle communication device 80 and received by the vehicle communication device 80 and sent to the drive control function 55. In this alternative, the vehicle control function 50 has a load transfer control function 70 that sends the target speed route to the corresponding target trajectory ST to the drive control function 55. The functions of the drive control function 55 and the drive device 30 can be referenced herein. Figure 5 or Figure 6 The implementation method described above shall be used to achieve this.

[0267] As a response Figure 6 In another alternative implementation, the load transfer control function 60 can be integrated into an external device, such as a logistics center device 300 fixedly arranged in the operating area B, so that the target speed route can be optionally sent to the vehicle communication device 80 along with at least one target trajectory ST or a corresponding target trajectory ST, and then from the vehicle communication device 80 to the drive control function 55. In this alternative, the vehicle control function 50 has a target trajectory following function 60, which sends a target trajectory following command to the drive control function 55 for the corresponding target trajectory ST.

[0268] Reference Figure 6 In the described embodiments, it may be specified alternatively or additionally that the vehicle control function 50 has stored at least one target trajectory ST. Alternatively or additionally, it may be specified that the vehicle control function 50 has a target trajectory determination function, which is implemented as described herein and determines the corresponding target trajectory ST and sends it to the target trajectory following function 60 and, if necessary, to the load transfer control function 70. Here, it may also be specified alternatively or additionally that the load transfer control function 70 has a speed determination function, which is implemented as described herein and determines a target speed route for the corresponding target trajectory ST or at least along the transfer regions 215, 315 of the target trajectories ST, 200, 300.

[0269] Reference Figure 6 In the described embodiments, the sending of the control target and its implementation method, the functions of the drive control function 55 and the drive device 30 can be referenced herein. Figure 5 or Figure 6 The implementation method described above shall be used to achieve this.

[0270] According to another aspect of the present invention, a logistics system A is provided, comprising a logistics center device 300 and at least one vehicle system S. Figure 7 In the embodiment of the logistics system A shown, the logistics center device 400 has a vehicle identification device 440, which determines data defining the corresponding current actual vehicle status, particularly the corresponding current actual vehicle position, and optionally the corresponding current actual vehicle orientation. Furthermore, the logistics center device 400 has a logistics communication device 480, which transmits the corresponding current actual vehicle status to the vehicle communication device 80 of at least one vehicle system S. Here, as shown, it can also be specified that at least one target trajectory ST is provided or stored in the logistics center device 400 and, for example, in the logistics control function 450, and that the at least one target trajectory ST is transmitted by the logistics communication device 480 to the corresponding vehicle system S. Alternatively or additionally, it can be specified that the logistics center device 400 or the logistics control function 450 has a target trajectory detection function, which is implemented according to the embodiments described herein and determines at least one corresponding target trajectory ST and transmits it to the target trajectory following function 60 and, if necessary, to the load transfer control function 70. As an alternative or additional embodiment to these embodiments, it may be specified that at least one target trajectory ST is provided or stored in the vehicle control function 50, and / or the vehicle control function 50 has a target trajectory determination function that is implemented according to one of the embodiments described herein and determines at least one corresponding target trajectory ST and sends it to the target trajectory following function 60 and, if necessary, to the load transfer control function 70.

[0271] Reference Figure 7 In the described embodiments, the sending of the control target and its implementation method, the functions of the drive control function 55 and the drive device 30 can be referenced herein. Figure 5 or Figure 6 The implementation method described above shall be used to achieve this.

[0272] Reference Figure 7 In the described embodiments, the functions of the drive control function 55 and the drive device 30 can be referenced herein. Figure 5 or Figure 6 The implementation method described above shall be used to achieve this.

[0273] exist Figure 8 In the embodiment of logistics system A shown, the logistics center device 400 has a vehicle identification device 440, a logistics control function 450, and a load transfer control function 470. The vehicle identification device 440 can be as described in the reference. Figure 7The load transfer control function 470 can be implemented according to the functions generally described herein regarding load transfer control functions. The logistics control function 450 provides at least one target trajectory ST. The logistics control function 450 is based on a reference... Figure 7 This is achieved through the described implementation. The logistics center device 400 has a logistics communication device 480. The logistics control function 450 sends at least one target trajectory ST to the logistics communication device 480. According to the implementation described herein, the load transfer control function 470 sends a target speed route for each target trajectory ST, at least along the transfer areas 215, 315 of the target trajectories ST, 200, 300. The target speed route can be implemented such that a target acceleration of vehicle 1 is defined at least in or at the target transfer points 211, 311 of the target trajectory ST. The logistics communication device 480 sends the corresponding current actual vehicle state, especially the corresponding current actual vehicle position and optionally the corresponding current actual vehicle orientation, at least one target trajectory ST, and the target speed route to the vehicle communication device 80.

[0274] The vehicle control function 50 includes a target trajectory following function 60, which receives at least one target trajectory ST and the corresponding current actual vehicle state from the vehicle communication device 80. The target trajectory following function 60 can be implemented according to the functions generally described herein regarding target trajectory tracking functions.

[0275] The target trajectory following function 60 sends a target trajectory following command to the drive control function 55. The vehicle communication device 80 sends a target speed route, which can be implemented in the embodiments described herein, to the drive control function 55 for the corresponding target trajectory ST. These control targets are specified as corresponding current values ​​and are sent to the drive control function 55, in particular at predetermined time intervals and, in particular, at predetermined iteration rates. (Refer to...) Figure 7 In the described embodiments, the functions of the drive control function 55 and the drive device 30 can be referenced herein. Figure 5 or Figure 6 The implementation method described above shall be used to achieve this.

[0276] exist Figure 9 In the embodiment of logistics system A shown, the logistics center device 400 has a vehicle identification device 440, a logistics control function 450, and a target trajectory tracking function 460. The vehicle identification device 440 can be as described in the reference. Figure 7 The target trajectory following function 460 can be implemented according to the general description of the target trajectory following function herein. The logistics control function 450 provides at least one target trajectory ST. The logistics control function 450 is based on a reference Figure 7The implementation described herein is carried out as follows. The logistics center device 400 has a logistics communication device 480. The logistics control function 450 sends at least one target trajectory ST to the logistics communication device 480. The target trajectory following function 460 allocates corresponding points for the current actual vehicle state and the target trajectory ST, and determines a target trajectory following command for vehicle 1 based on the current actual vehicle state. The target trajectory following function 60 can be implemented according to the embodiments described herein. The target trajectory following function 60, according to the embodiments described herein, determines a target trajectory following command for the corresponding target trajectory ST and the corresponding current actual vehicle state, and sends the target trajectory following command to the logistics communication device 480. The logistics communication device 380 sends the corresponding current target trajectory following command and optionally at least one target trajectory ST to the vehicle communication device 80.

[0277] Vehicle control function 50 includes load transfer control function 70. Vehicle communication device 80 sends at least one target trajectory ST, optionally corresponding to the current actual vehicle state, to load transfer control function 70. Load transfer control function 70 can be implemented according to the functions generally described herein regarding load transfer control functions. Load transfer control function 70, according to the embodiments described herein, determines a target speed route for the corresponding target trajectory ST at least along the transfer regions 215, 315 of the target trajectories ST, 200, 300, wherein a target acceleration of vehicle 1 is defined at least in the segments of the target trajectory ST having target transfer points 211, 311 or at transfer points 211, 311. Load transfer control function 70, according to the embodiments described herein, sends the target speed route as a control target designation to drive control function 55 for the corresponding target trajectory ST. Vehicle communication device 80, according to the embodiments described herein, sends a target trajectory following command as a control target designation to drive control function 55 for the corresponding target trajectory ST and the corresponding current actual vehicle state.

[0278] These control targets are specified as corresponding current values ​​and are sent to the drive control function 55, in particular at predetermined time intervals and, in particular, at predetermined iteration rates. (Refer to...) Figure 7 In the described embodiments, the functions of the drive control function 55 and the drive device 30 can be referenced herein. Figure 5 or Figure 6 The implementation method described above shall be used to achieve this.

[0279] exist Figure 10 In the embodiment of logistics system A shown, the logistics center device 400 has a vehicle identification device 440, a logistics control function 450, a target trajectory tracking function 460, and a load transfer control function 470. The vehicle identification device 440 can be as described in the reference... Figure 7The target trajectory following function 460 can be implemented according to the functions generally described herein regarding target trajectory following functions. The logistics control function 450 provides at least one target trajectory ST. The target trajectory following function 460 can be implemented according to the functions generally described herein regarding target trajectory following functions. The load transfer control function 470 can be implemented according to the functions generally described herein regarding load transfer control functions. The logistics control function 450 provides at least one target trajectory ST. The logistics control function 450 is based on reference Figure 7 The implementation described herein is carried out as follows. The logistics center device 400 has a logistics communication device 480. Optionally, the logistics control function 450 sends at least one target trajectory ST to the logistics communication device 480. The target trajectory following function 460 allocates corresponding points of the target trajectory ST according to the corresponding current actual vehicle state and determines a target trajectory following command for vehicle 1 for the corresponding current actual vehicle state. The target trajectory following function 60 determines a target trajectory following command for the corresponding target trajectory ST and the corresponding current actual vehicle state according to the embodiments described herein and sends the target trajectory following command and optionally at least one target trajectory ST to the logistics communication device 480. The load transfer control function 470 sends a target speed route for the corresponding target trajectory ST at least along the transfer areas 215, 315 of the target trajectories ST, 200, 300, respectively, according to the embodiments described herein. The target speed route can be implemented in such a way that the target acceleration of vehicle 1 is defined at least in the segment of the target trajectory ST having target transfer points 211, 311 or at the transfer points 211, 311. The logistics communication device 480 sends the corresponding current target trajectory following command, optionally the corresponding current actual vehicle status, and optionally at least one target trajectory ST and target speed route to the vehicle communication device 80.

[0280] Vehicle control function 50 can be based on reference Figure 6 The implementation described above is used to achieve this. These control targets are specified as corresponding current values ​​and are sent to the drive control function 55, in particular at predetermined time intervals and, in particular, at predetermined iteration rates. (Refer to...) Figure 10 In the described embodiments, the functions of the drive control function 55 and the drive device 30 can be referenced herein. Figure 5 or Figure 6 The implementation method described above shall be used to achieve this.

[0281] Each target trajectory following function 60 mentioned in this article can be a functional component of the path adjustment function of the logistics center device 400, which is fixedly arranged in the operating area.

[0282] According to another aspect of the invention, a method is provided for transferring a unit load L from a vehicle 1 to a unit load storage device in an operating area. Here, the vehicle 1 specifically includes: a chassis 5; a drive unit 30 connected to the chassis 5 and adjusting the velocity vector of the vehicle 1 on an operating surface in the operating area; and a frame 10 arranged on the chassis 5, the frame 10 having a storage member 7 for storing the unit load L. The method according to the invention comprises the following steps:

[0283] Based on the specified control target, control commands are determined and sent to the drive unit 30 in order to adjust the corresponding current speed vector of the vehicle 1;

[0284] When the vehicle moves at a corresponding speed vector, a deviation relationship is determined between the current actual state of the vehicle and the actual position of the vehicle relative to the target trajectory, wherein the target trajectory extends between the start point and the end point and has a transfer area with a target transfer point assigned to the unit load receiving device.

[0285] The target trajectory following command is determined based on the deviation relationship and sent to the drive unit as a control command. The control command is used to make the vehicle move along the target trajectory on the vehicle movement path.

[0286] The speed command is determined based on the vehicle's target speed route, especially based on the activation of the target trajectory following function. This can be done using the load transfer control function described herein, and the speed command is sent as a control command to the drive unit. The speed command adjusts the vehicle's transfer speed at the target transfer point, and the unit load L set on the vehicle's storage component moves to the unit load storage device by its inertia.

[0287] The target trajectory following command can be determined based on the deviation relationship and sent as a control command to the drive device using the target trajectory following function described in this article.

[0288] Determining the speed command based on the vehicle's target speed and route can be done using the load transfer control function described in this paper, and can be done, in particular, based on the activation of the target trajectory following function.

[0289] Typically, the control target is specified as being set at any relevant point in time, and in particular at each calculated point in time of the vehicle system S, relative to the actual state of the vehicle 1 at that corresponding point in time. Optionally, the target state of the vehicle 1 is compared with its actual state to determine control commands for the drive unit 30. The control commands are determined such that the actual state of the vehicle 1 at the corresponding point in time changes to the target state relevant to that point in time. Determining the control commands for the corresponding point in time can be done, in particular, using known adjustment or estimation methods.

Claims

1. A vehicle (1) for transferring a unit load (L) to a unit load storage device (100) in an operating area (B), the vehicle (1) having: a chassis (5); a drive unit (30) connected to the chassis (5) and driving the chassis based on control commands to set the velocity vector of the vehicle (1); and a frame (10) arranged on the chassis (5), the frame (10) having a storage member (7) for storing the unit load (L), wherein, The vehicle (1) has a vehicle system (S) and the vehicle system (S) has vehicle control functions (50). The vehicle control function (50) uses or determines a target trajectory following command as a control target designation, and uses the control target designation to make the vehicle (1) move along the target trajectory (ST) on the vehicle movement path (210, 310), wherein the target trajectory (ST) extends between the start point (201, 301) and the end point (202, 302) and has a transfer area (215, 315), the transfer area (215, 315) having a target transfer point (211, 311) assigned to the unit load receiving device. Specifically, the vehicle control function (50) uses or determines the target speed route as the control target designation at least for the transfer area (215, 315) of the target trajectory (ST, 200, 300). The vehicle control function (50) includes a drive control function (55), which converts the control target specification into a control command. The control command defines the corresponding current target speed vector based on the actual vehicle state. The drive unit (30) implements the transfer acceleration of the vehicle (1) at least in the section having the target transfer point (211, 311) based on the control command, and during the transfer acceleration, the unit load (L) disposed on the storage member (7) of the vehicle (1) moves by its inertia to the unit load storage device (100).

2. The vehicle (1) according to claim 1, wherein, The vehicle control function (50) has a target trajectory following function (60), which places the current actual vehicle state, which has at least the actual vehicle position, into a deviation relationship when the vehicle moves, and determines a target trajectory following command based on the deviation relationship and sends it as a control command to the drive control function (55).

3. The vehicle (1) according to claim 1, wherein, The vehicle control function (50) has a load transfer control function (70), which determines a speed command based on the vehicle's target speed route and sends it as a control command to the drive control function (55). The drive control function (55) sets the vehicle's transfer speed at the target transfer point (211, 311). The shape of the transfer area (215), the position of the transfer point (211) relative to the unit load storage device (100), and the transfer speed are configured such that the unit load (L) disposed on the storage member of the vehicle moves to the unit load storage device (100) by its inertia.

4. The vehicle (1) according to claim 3, wherein, The load transfer control function (70) limits the target speed of the vehicle (1) at the target transfer point (211).

5. The vehicle (1) according to claim 3, wherein, The load transfer control function (70) limits the target acceleration of the vehicle (1) in the transfer area (215, 315).

6. The vehicle (1) according to claim 3, wherein, The target speed route is predetermined in the load transfer control function (70).

7. The vehicle (1) according to claim 1, wherein, In the vehicle control function (50), the stored target trajectory (ST) is defined according to one of the following alternative target trajectories (ST1) and (ST2): (ST1): The transfer areas (215, 315) guide the vehicle through the unit load housing (100) and have a curved section with a substantially uniform curvature, causing the vehicle to experience lateral acceleration, wherein the unit load housing is disposed on its convex side. (ST2): The transfer area (215, 315) guides the vehicle to collide with the unit load storage device (100) at the target transfer point (211, 311), and the movement direction at the target transfer point (211, 311) is reversed.

8. The vehicle (1) according to claim 6. in, The speed determination function determines the target speed path based on one or both of the following target trajectories (ST1) and (ST2) in the transfer area (215, 315): (ST1) The transfer regions (215, 315) guide the vehicle through the unit load housing (100) and have a curved section with a substantially uniform curvature, causing the vehicle to experience lateral acceleration, wherein the unit load housing is disposed on its convex side. (ST2) The transfer area (215, 315) guides the vehicle to collide with the unit load storage device (100) at the target transfer point (211, 311), and the movement direction is reversed at the target transfer point (211, 311).

9. The vehicle (1) according to claim 2, wherein, The target trajectory is stored as a designated target trajectory in the vehicle control function (50), and the vehicle control function (50) provides the target trajectory to the target trajectory following function (60).

10. The vehicle (1) according to claim 2, wherein, The vehicle control function (50) has a target trajectory determination function to determine the target trajectory, and the vehicle control function (50) provides the target trajectory to the target trajectory following function.

11. The vehicle (1) according to claim 1, wherein, The vehicle system (S) has a vehicle communication device (80) that can make data or signal connections with a logistics center device fixedly arranged in the operating area (B) via radio, and the vehicle communication device (80) receives control target designations from the logistics center device and sends them to the vehicle control function (50).

12. The vehicle (1) according to claim 1, wherein, The vehicle system (S) has a vehicle communication device (80) that can wirelessly connect to a fixed logistics center device (400) in the operating area (B) and receive data from the logistics center device (400) defining the actual state of the vehicle, at least having the actual location of the vehicle, and send it to the vehicle control function (50).

13. The vehicle according to claim 1, wherein, The vehicle system has a sensor device that detects the current actual position of the vehicle, is functionally connected to the vehicle control function (50), and sends the current actual position of the vehicle to the vehicle control function (50).

14. The vehicle according to claim 1, The vehicle system has a sensor device that detects the current actual position of the vehicle, is functionally connected to the vehicle control function (50), and sends the current actual position of the vehicle to the vehicle control function (50). in, The sensor device has an optical sensor or a camera, each of which maps an optical ground feature or ground mark that can be detected by the optical sensor on the operating surface (B). The vehicle system has an identification function that determines the actual position of the vehicle based on the current mapping of the ground feature or ground mark arranged on the operating surface (B).

15. A logistics system (A) having: A logistics center device (400) with a logistics communication device (480) is fixedly arranged in the operating area (B). Unit load storage device (100) arranged in the operating area (B); A vehicle (1) for transferring a unit load (L) to the unit load storage device (100), the vehicle (1) having: a chassis (5); a drive unit (30) connected to the chassis (5) and providing a velocity vector of the vehicle (1) on the operating surface (E) of the operating area (B); and a frame (10) arranged on the chassis (5), the frame (10) having a storage member (7) for storing the unit load (L), wherein, The vehicle (1) has a vehicle system (S), which has: Vehicle control function (50), which is functionally connected to the drive unit (30) and determines control commands based on control target specification and sends them to the drive unit (30) to set the corresponding current speed vector of the vehicle (1); The vehicle communication device (80) is connected to the logistics communication device (480) via radio for data or signal and is functionally connected to the vehicle control function (50). The vehicle control function (50) uses or determines a target trajectory following command as a control target designation, and uses the control target designation to make the vehicle (1) move along the target trajectory (ST) on the vehicle movement path (210, 310), wherein the target trajectory (ST) extends between the start point and the end point and has a transfer area (215, 315), the transfer area (215, 315) having a target transfer point (211, 311) assigned to the unit load receiving device. Specifically, the vehicle control function (50) uses or determines the target speed route as the control target designation at least for the transfer area (215, 315) of the target trajectory (ST, 200, 300). The vehicle control function (50) includes a drive control function (55), which converts the control target specification into a control command. The control command defines the corresponding current target speed vector based on the actual vehicle state. The drive unit (30) implements the transfer acceleration of the vehicle (1) at least in the section having the target transfer point (211, 311) based on the control command, and during the transfer acceleration, the unit load (L) disposed on the storage member (7) of the vehicle moves to the unit load storage device (100) by its inertia.

16. The logistics system (A) according to claim 15. in, The logistics center device (400) has a vehicle identification device (440) for determining the actual location of a corresponding current vehicle. The vehicle identification device (440) is functionally connected to the logistics communication device (480) and sends the determined actual location of the corresponding current vehicle to the logistics communication device (480). The logistics communication device is connected to the vehicle communication device (80) via a radio connection and sends the actual location of the corresponding current vehicle to the vehicle communication device (80). The vehicle control function (50) is functionally connected to the vehicle communication device (80) and receives the corresponding current actual vehicle location. The vehicle control function (50) includes a target trajectory following function (60), which determines a target trajectory following command based on the received current actual vehicle position and the target trajectory, and sends it as a control command to the drive device (30). The vehicle control function (50) includes a load transfer control function (70), which generates a speed command based on the vehicle's target speed route and sends it as a control command to the drive unit (30).

17. A method for transferring a unit load (L) from a vehicle (1) to a unit load storage device (100) in an operating area (B), the vehicle (1) having: a chassis (5); a drive device (30) connected to the chassis (5) and adjusting the velocity vector of the vehicle (1) on an operating surface in the operating area based on control commands; and a frame (10) arranged on the chassis (5), the frame (10) having a storage member (7) for storing a unit load (L), wherein the method comprises the following steps: When the vehicle (1) moves at a corresponding speed vector, a deviation relationship is determined between the corresponding current vehicle actual state with the corresponding current vehicle actual position for the target trajectory (ST, 200, 300), wherein the target trajectory extends between the starting point (201, 301) and the ending point (202, 302) and has a transfer area (215, 315), the transfer area (215, 315) having a target transfer point (211, 311) assigned to the unit load receiving device (100). The target trajectory following command is determined based on the deviation relationship and sent as a control command to the drive unit (30), wherein the corresponding current speed vector of the vehicle (1) is adjusted by the control command and the vehicle (1) moves along the target trajectory (ST, 200, 300) on the vehicle movement path; Based on the target speed route of the vehicle, a speed command is determined and sent as a control command to the drive unit (30), wherein the speed command adjusts the transfer speed of the vehicle (1) at the target transfer point (211, 311), and the unit load (L) disposed on the storage member (7) of the vehicle (1) moves to the unit load storage device (100) by its inertia.

18. The method according to claim 17, wherein, The speed and route of the vehicle (1) as it travels along the target trajectory are specified.

19. The method according to claim 17, in, The transfer acceleration is determined based on one or both of the target trajectories (ST1) and (ST2) within the transfer region (215, 315): (ST1) The transfer region (215, 315) guides the vehicle through the unit load housing and has a curved section with a substantially uniform curvature, causing the vehicle to experience lateral acceleration, wherein the unit load housing is disposed on its convex side. (ST2) The transfer area (215, 315) guides the vehicle to collide with the unit load storage device at the target transfer point (211, 311), and the movement direction is reversed at the target transfer point (211, 311).

20. The method of claim 17, wherein, The target trajectory is a specified target trajectory.

21. The method according to claim 17, wherein, The vehicle control function (50) has a target trajectory determination function to determine the target trajectory, and the vehicle control function (50) provides the target trajectory to the target trajectory following function (60).

22. The method according to claim 17, wherein, The target trajectory is defined based on one of the following two alternative target trajectories (ST1) and (ST2): (ST1) The transfer area guides the vehicle through the unit load storage device and has a curved section with a uniform curvature, causing the vehicle to experience lateral acceleration, wherein the unit load storage device is disposed on its convex side. (ST2) The transfer area (215, 315) guides the vehicle to collide with the unit load storage device at the target transfer point (211, 311), and the movement direction is reversed at the target transfer point (211, 311).

23. The method according to claim 17, The vehicle control function (50) has a target trajectory determination function to determine the target trajectory, and the vehicle control function (50) provides the target trajectory to the target trajectory following function (60). in, The target trajectory determination function uses one or more of the following trajectory criteria (TK1), (TK2), (TK3), (TK4), (TK5), and (TK6) when the target speed route in the transfer area is defined as a target speed route specified by the control target and / or when the target acceleration at the target transfer point of the vehicle is defined as a target acceleration specified by the control target, in order to ensure that the vehicle (1) achieves the desired transfer acceleration: (TK1) is the minimum length from the actual location of the vehicle or the starting point of the target trajectory (ST) to the target transfer point (211, 311). (TK2) Minimum transfer speed, (TK3) The minimum time interval from the actual location of the vehicle or the starting point of the target trajectory (ST) to the target transfer point (211, 311). (TK4) is the minimum energy requirement or minimum energy consumption for the vehicle (1) to travel from the actual location of the vehicle or the starting point of the target trajectory (ST) to the target transfer point (211, 311). (TK5) The reliable / process-safe transfer or fault-free transfer of the unit load (L) from the vehicle (1) to the unit load receiving device (100), Minimum space utilization in the unit load storage device (100) described in (TK6).

24. The method according to claim 17, in, The target trajectory is formed by a load transfer trajectory and a coupling trajectory immediately following the load transfer trajectory. The load transfer trajectory extends between a starting point and a target transfer point assigned to the unit load receiving device, and the coupling trajectory leads to the coupling point and connects the current actual position of the vehicle to the coupling point. The target trajectory following command is determined using the following functions: (i) Coupled trajectory following function, wherein when the vehicle is moving, the current actual vehicle position with the coupled trajectory is placed in the deviation relationship, and a coupled trajectory control command is generated according to the deviation relationship and sent to the drive device, so that the vehicle moves along the coupled trajectory on the vehicle movement path; (ii) Load transfer trajectory following function, wherein after the vehicle has reached the load transfer trajectory, the load transfer trajectory following function places the current actual position of the vehicle with the load transfer trajectory in a deviation relationship, and generates a load transfer trajectory control command according to the deviation relationship and sends it to the drive device, so that the vehicle moves along the load transfer trajectory on the vehicle movement path.

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