Trailer for a tugger train

Abstract

Trailer (10) for a tugger train with a front (14) and a rear (12) section and an intermediate transport section which is designed to receive a wagon to be transported, wherein a drive module (30) is provided on the front section (14), which has a steered drive wheel (34) and a controller (38) with an environmental sensor (36) for autonomous driving, characterized in that the drive module (30) is designed as a separate component which can be connected to the trailer and its front section.

Description

[0001] The present invention relates to a trailer for a tugger train according to the preamble of claim 1.

[0002] Tugger trains, occasionally also called tow trains, are used in intralogistics. The tugger train consists of a towing vehicle to which one or more trailers are attached. Each trailer can accommodate an inner wagon or a trolley, which can be transported to a new location with the tugger train. A distinction must be made here as to whether the trolley is carried self-propelled in the trailer, i.e. runs on its existing rollers, or whether the trolley is transported in a raised position without contact with the ground. There are also two basic types of trailers for tugger trains. One type is the portal trailer, in which a front and a rear section of the trailer are connected to each other via a portal-shaped middle section.The intermediate transport section of a portal trailer is accessible from both sides, allowing loading and unloading from either side. In contrast, trailers are also known in which the front and rear sections are connected by a longitudinal strut. This longitudinal strut is usually positioned off-center on one side, giving the trailer's base frame a U-shaped or E-shaped contour. Loading of such trailers is only possible from one side.

[0003] Intensive work is being done on autonomous driving for industrial trucks, especially for order pickers. Autonomous driving generally distinguishes between position detection for the vehicle and obstacle detection. Obstacle detection is necessary because situations repeatedly arise in warehouses and throughout the logistics sector in which unforeseen obstacles affect the driving speed and direction. Experience has shown that retrofitting towing vehicles designed for human operation to an autonomous vehicle is technically very complex.

[0004] DE 10 2013 112 209 A1 discloses a tugger train comprising a towing vehicle and one or more tugger train trailers. At least one vehicle in the tugger train is equipped with an optical sensor whose detection range covers part of the tugger train and its surroundings. Additionally, a laser scanner can be installed on the tug to monitor obstacles and people for autonomously driving tugs.

[0005] DE 10 2013 010 830 A1 discloses a portal trailer for a tugger train. This trailer is single-axle with rollers and no active steering.

[0006] DE 10 2012 216 429 A1 discloses a driverless industrial truck system in which a forklift truck can accommodate a moving floor. The forklift truck is equipped with a drive.

[0007] DE 10 2013 001 766 A1 discloses a transport trolley with a self-charging shunting drive. The shunting drive charges itself while the transport trolley is moving, allowing independent support of the drive at the destination.

[0008] The invention is based on the object of providing a tugger train trailer that allows autonomous control using simple and reliable means.

[0009] The object is achieved according to the invention by a trailer having the features of claim 1. Advantageous embodiments form the subject matter of the subclaims.

[0010] The trailer according to claim 1 is provided and intended for a tugger train. It has a front and a rear section and an intermediate transport section designed to accommodate a wagon to be transported. The accommodated wagon can travel independently in the trailer or be carried on the trailer in a freely raised state. According to the invention, a drive module is provided on the front section of the trailer. The drive module has a steered drive wheel and a control unit with an environmental sensor for autonomous driving. According to the invention, not a towing vehicle is retrofitted for autonomous driving, but rather one of the trailers is converted into an autonomously driving towing vehicle by means of a drive module.The drive module provided for this purpose according to the invention has a steered and driven wheel and a control unit that, in conjunction with an environmental sensor, can steer the vehicle autonomously. The drive for the drive wheel is designed in such a way that the equipped trailer can also tow several fully loaded, non-driven trailers in a single tugger train.

[0011] According to the invention, the drive module is designed as a separate component that can be connected to the trailer. Such a drive module designed as a separate component has the advantage that any trailer can be converted to function as a towing vehicle, as required. By using a detachable connection between the drive module and the trailer, it is possible to connect the drive module to the desired trailer as required. For example, the tugger train can already be assembled and the trailer at the front in the direction of travel can then be equipped with the drive module. This allows the trailers to be assembled and planned flexibly without having to take special boundary conditions for a trailer suitable as a towing vehicle into account.

[0012] In a further preferred embodiment, the drive module has an environmental sensor located centrally on the front section of the trailer. The environmental sensor detects, within a predetermined angular range, whether a person, object, or obstacle is below a minimum distance and in which direction it is located. In such a situation, a corresponding message is sent to the control system, with various response options available. Depending on the relative position of the obstacle to the vehicle, the vehicle can be braked. Alternatively, it is possible to react to the obstacle by steering.

[0013] A variety of different sensors can be used for the environmental sensor. Optical sensors, such as laser scanners, can be used, for example. Ultrasound or radar sensors are also possible. The task of the environmental sensor is to proactively detect people, objects, and other obstacles in the direction of travel. The use of an environmental sensor is necessary for driving safety.

[0014] In a preferred embodiment, the drive module is designed to exchange data and control signals with a higher-level controller. This data can also include position data, so that the trailer can independently determine its position in space. It can also be provided that the drive module receives travel commands from the higher-level controller to travel to certain designated storage positions for itself and one or more towed trailers.

[0015] In a preferred embodiment, the drive module is equipped with a position-determining device with which a position within a defined area can be determined. There are several technically possible approaches for position determination. In the method according to the invention, the position is preferably determined by targeting markers provided in the defined space. This targeting can be carried out, for example, using reflectors permanently mounted in the space, with the drive module determining the bearing angle to these reflectors. The position of the vehicle can then be determined from, for example, three targeted reflectors. In principle, the position-determining device can also access data from the environmental sensor to enable autonomous driving.For example, markings in the detected environment can be compared with data on a stored map, thus determining a route for driving. The positioning device can also operate independently of the environmental sensor and, for example, comprise an inductive sensor that detects induction strips laid in the ground. RFID transponders with correspondingly interacting RFID transmitter / receiver units can also be used. Satellite navigation, for example via GPS, is also possible for positioning. Navigation can also be carried out via local transmitters (pseudolites) or via odometry.

[0016] In principle, the drive module is sufficiently heavy to generate sufficient traction even when one or more trailers are loaded. In a preferred embodiment, the drive module is additionally equipped with a traction device, which preloads the drive wheel with a contact pressure. By increasing the contact pressure by means of the traction device, a greater propulsive force can be exerted on the trailer and towed trailers. The traction device preferably has at least one spring that generates the contact pressure.

[0017] A preferred embodiment of the trailer according to the invention is explained below. It shows: Fig. 1 a tugger train with two trailers, one of which is equipped with a drive module according to the invention, Fig. 2 a drive module in the front view and Fig. 3 the drive module Fig. 2 in a view from the back.

[0018] Fig. 1 shows a trailer 10 with a rear section 12 and a front section 14, the trailer 10 being designed as a port trailer. The designation rear and front section 12, 14 refers to the illustrated direction of travel F. Each of the sections 12, 14 is equipped with a lifting device 16, 18, which interacts with an inner carriage pushed between the rear and front sections. The lifting devices 16, 18 lift a pushed inner carriage. The front and rear sections 12, 14 are connected to one another via a portal arch 20. Each of the sections 12, 14 has two steered wheels, the steering being coupled to one another in opposite directions via a coupling guided in the portal arch 20. The steering movement at the rear section 12 is converted into a rotational movement around the shaft 22, the rotation of which is converted into a translational movement of a crossbar 24 to the front section 14.

[0019] For example, the lifting function of the lifting devices 16 and 18 can be operated via operating elements 26.

[0020] The second trailer 28 is identical in construction to the first trailer 10 and is also designed as a portal trailer. Trailers 10 and 28 are coupled via a drawbar 31, which has a pivoting drawbar arm 32 in a coupling 33.

[0021] The second trailer 28 is equipped with a drive module 30. The drive module 30 is mounted at the front in the direction of travel on the front section 35 of the second trailer 28. The drive module 30 has a steered drive wheel 34 and a centrally arranged environmental sensor 36, which is designed as a laser scanner. The laser scanner serves as an example of an environmental sensor 36 that detects people, objects, and obstacles in the direction of travel. A controller 38 of the drive module 30 is arranged on the side of the drive module facing away from the ground. The controller 38 has antennas 40 via which data can be transmitted.

[0022] The trailer 28 is detachably bolted to the drive module 30. Furthermore, the drive module 30 has a spring device (not shown) that presses the driven drive wheel 34 downwards onto the ground. The force of the spring can be greater than the weight of the module, since the weight of the front half of the trailer also provides traction for the driven wheel. The example shown in Fig. The trailer shown in Figure 1 is constructed of a solid construction to transfer the tensile and compressive forces between the towing and towed trailers. This trailer weight also increases the traction of the drive module 30. With a spring-loaded drive wheel, the drive module is preferably not installed when the trailer 28 is used. Instead, a certain number of trailers are pre-assembled and a drive module 30 is provided. On-site, trailers with a drive module and trailers without a drive module are then combined to form a tugger train for use with the tugger train.

[0023] Fig. Figure 2 shows a detailed view of the drive module 30 with the drive wheel 34 and the environmental sensor 36. The environmental sensor 36 covers an angular range of approximately 180° and can detect obstacles for the self-propelled trailer and their direction. The trailer is driven by the drive wheel 34, and the drive is designed so that multiple loaded trailers can be towed. The controller 38 exchanges data and signals wirelessly with a higher-level controller via its antennas 40.

[0024] The Fig.The rear side of the drive module 30, shown in Figure 3, has a flat rear wall 42 with mounting holes 44. The drive module 30 is attached to the front section of the vehicle via the mounting holes 44, allowing it to pull the trailer and other towed trailers. To absorb high tensile forces, additional fastening devices (not shown) can be provided to connect the drive module 30 to the front section of the gantry vehicle. List of reference symbols 10 followers 12 rear section 14 front section 16 Lifting device 18 Lifting device 20 portal arches 22 Wave 24 Crossbar 26 controls 28 followers 30 drive module 31 Drawbar 32 Drawbar arm 33 Clutch 34 Drive wheel 35 front section of the second trailer 36 Environmental sensor 38 Control 40 antennas 44 mounting holes

Claims

[1] Trailer (10) for a tugger train with a front (14) and a rear (12) section and an intermediate transport section which is designed to receive a wagon to be transported, wherein a drive module (30) is provided on the front section (14) which has a steered drive wheel (34) and a controller (38) with an environmental sensor (36) for autonomous driving, characterized by that the drive module (30) is designed as a separate component which can be connected to the trailer and its front section. [2] Trailer according to claim 1, characterized by that the environmental sensor (36) is arranged centrally on the drive module (30), based on the width on the front section (14) of the trailer (28). [3] Trailer according to one of claims 1 or 2, characterized by that an optical sensor is provided as an environmental sensor (36). [4] Trailer according to one of claims 1 to 2, characterized bythat an ultrasonic or radar sensor is provided as the environmental sensor (36). [5] Trailer according to one of claims 1 to 4, characterized by that the environmental sensor (36) is designed as a sensor looking ahead in the direction of travel, which reacts to persons, objects and obstacles. [6] Trailer according to one of claims 1 to 5, characterized by that the drive module (30) can exchange data and control signals with a higher-level controller (38). [7] Trailer according to one of claims 1 to 6, characterized by that the drive module (30) has a position determining device with which a position within a defined range can be determined. [8] Trailer according to one of claims 1 to 7, characterized by that the drive module (30) has a traction device via which the drive wheel is preloaded with a contact pressure. [9] Trailer according to claim 8, characterized bythat the traction device has at least one spring which generates the contact pressure.

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