System and method for determining the lateral offset of a swap body relative to a vehicle

Abstract

System (2) for determining a lateral displacement of a swap body (4) in relation to a vehicle (1) during a lane entry operation of the vehicle (1) under the swap body (4), characterized by at least two distance sensors (8.1, 8.2, 8.3, 8.4) which can be arranged on the vehicle (1) and of which each is configured to determine a distance (D1, D2, D3, D4) of the vehicle (1) with respect to predetermined measuring points (M1, M2, M3, M4) on the swap body (4) and to output a corresponding signal, wherein each distance sensor (8.1, 8.2, 8.3, 8.4) emits a measuring beam (10.1, 10.2, 10.3, 10.4) for measuring the distance (D1, D2, D3, D4), which is oriented towards a vertical longitudinal plane (V) of the vehicle (1) originating from the respective distance sensor (8.1, 8.2, 8.3, 8.4) and extending towards the vertical longitudinal plane, and a signal processing device (14) which is configured to determine a lateral offset of the swap body (4) to the vehicle (1) based on the signals output by the at least two distance sensors (8.1, 8.2, 8.3, 8.4) and to provide a corresponding output signal, wherein two distance sensors (8.1, 8.2, 8.3, 8.4) of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are arranged longitudinally of the vehicle (1) at intervals from each other, and the system (2) is configured to store reference distances for the respective distance sensors (8.1, 8.2, 8.3, 8.4) based on measured distances (D1, D2, D3, D4) when a swap body (4) is on the vehicle (1) or when a swap body (4) is correctly positioned and oriented with respect to a vehicle (1) underneath it, and during a subsequent loading process of the swap body (4) to determine a lateral offset of the swap body (4) to the vehicle (1) based on a comparison of the stored reference distances with actual distances detected by the distance sensors (8.1, 8.2, 8.3, 8.4) and to adjust accordingly. To provide an output signal.

Description

Technical area

[0001] The present invention relates to a system and method for determining a lateral offset of a swap body relative to a vehicle. In particular, the invention relates to a system and method for assisting a vehicle's alignment process under a swap body to simplify the alignment process. State of the art

[0002] In connection with vehicles intended to accommodate swap bodies, systems for assisting the vehicle's alignment process under the swap body are already known from the prior art. For example, document DE 10 2006 057 610 A1 discloses a system in which the alignment process of a vehicle under a swap body is assisted by image-based sensors. With this system, distance information between the vehicle and the swap body can be determined, allowing suitable intervention in the alignment process. Document DE 10 2016 218 603 A1 discloses a system that determines the relative position of a second vehicle with respect to a first vehicle using radio-based location of transponders. Document DE 10 2006 057 610 A1 discloses a method and a device for image-based docking with a target object using a vehicle. Summary of the invention

[0003] The present invention relates to a system for determining a lateral offset of a swap body relative to a vehicle during a lane-aligning process of the vehicle under the swap body. The system comprises at least two distance sensors that can be arranged on the vehicle and each of which is configured to determine a distance of the vehicle relative to predetermined measuring points on the swap body and to output a corresponding signal.

[0004] Each distance sensor can emit a measuring beam to measure the distance. This beam is oriented from the respective distance sensors toward the vertical longitudinal plane of the vehicle. In other words, the distance sensors are arranged so that the respective measuring beam is inclined toward the vertical longitudinal plane.

[0005] The system further comprises a signal processing device configured to determine a lateral offset of the swap body relative to the vehicle based on the signals output by the at least two distance sensors and to provide a corresponding output signal. Two of the at least two distance sensors can each be arranged at substantially the same longitudinal position in the longitudinal direction of the vehicle. In other words, the distance sensors can be mounted on the vehicle as sensor pairs such that the distance sensors of one sensor pair are spaced apart from one another in the transverse direction of the vehicle. For example, two such distance sensor pairs can be provided, wherein the two sensor pairs are spaced apart from one another in the longitudinal direction of the vehicle. It should be noted that the number of sensors is not limited to the number specified above.Rather, additional sensors or pairs of sensors can be provided.

[0006] Two of the at least two distance sensors can be arranged symmetrically to the vertical longitudinal plane of the vehicle. In other words, the two distance sensors of a sensor pair can be arranged in the transverse direction of the vehicle at the same distance from the vertical longitudinal plane of the vehicle.

[0007] The measuring beams of the distance sensors can be oriented so that they pass each other or intersect before reaching the respective measuring point. The measuring beams of the individual sensor pairs are therefore aligned so that they initially approach each other.

[0008] The measuring beams can be oriented in such a way that they do not pass each other or cross each other before they hit the respective measuring point.

[0009] The at least two distance sensors can be arranged such that a measuring beam direction of the measuring beams has a vertically upward component. This makes it possible to reach measuring points that are vertically spaced from the distance sensors.

[0010] The at least two distance sensors of the at least two distance sensors can be arranged such that a measuring beam direction of the measuring beams has a component toward the rear in the longitudinal direction of the vehicle. This makes it possible to reach measuring points that are offset from the positions of the distance sensors in the longitudinal direction of the vehicle. This makes it possible, for example, to detect measuring points on the swap body even when the vehicle is not yet located underneath the swap body.

[0011] At least two of the at least two distance sensors can be arranged such that a measuring beam direction of the measuring beams has a component in the transverse direction of the vehicle. The measuring beams can therefore be aligned at an angle to the vertical longitudinal plane of the vehicle. This makes it possible to reach measuring points located on vertical surfaces of the measuring bridge with the measuring beams.

[0012] Viewed in the vehicle's longitudinal direction, two of the at least two distance sensors can be provided in the rear area of ​​the vehicle. Two of the at least two distance sensors can be provided in a front area of ​​the vehicle. The distance sensors can be laser sensors.

[0013] Two distance sensors of the at least two distance sensors are arranged at a distance from one another in the longitudinal direction of the vehicle and the system is set up to store reference distances for the respective distance sensors based on measured distances when the swap body is on the vehicle or when the swap body is correctly positioned and oriented with respect to a vehicle driven underneath and to determine a lateral offset and / or an orientation of the swap body to the vehicle during a subsequent loading process of the swap body based on a comparison of the stored reference distances with actual distances detected by the distance sensors and to provide a corresponding output signal.

[0014] The two distance sensors of the at least two distance sensors can be provided at the same distance from the vertical longitudinal plane of the vehicle.

[0015] The at least two distance sensors can be arranged such that a measuring beam direction of the measuring beams has a component in the vertical direction upwards.

[0016] At least one distance sensor of the at least two distance sensors can be arranged such that a measuring beam direction of the measuring beam has a component in the longitudinal direction of the vehicle towards the rear.

[0017] The two distance sensors of the at least two distance sensors can be arranged such that a measuring beam direction of the measuring beams has a component in the transverse direction of the vehicle.

[0018] Each measuring point can be located in a section of a guide arrangement arranged on the underbody of the swap body. The guide arrangement can have two guide rails, with the measuring points being located on an inner side of the guide rails or on an outer side of the guide rails. The inner side and the outer side of the guide rails can be formed, for example, by vertical surfaces.

[0019] The system may further comprise a horizontally rearward-facing longitudinal distance sensor configured to determine a distance between the vehicle and the swap body in the longitudinal direction of the vehicle. This longitudinal distance sensor can be mounted on the vehicle in the longitudinal direction of the vehicle and connected to the signal processing device. The signal processing device may be configured to output signals to assist the lane-alignment process based on the measured distances between the distance sensors and the longitudinal distance sensor.

[0020] The invention further relates to a vehicle for accommodating a swap body. The vehicle may have a body frame for accommodating the swap body. Furthermore, the vehicle may have a system as described above, wherein the distance sensors are arranged on the body frame. The body frame may be height-adjustable. This makes it possible to align the distance sensors with respect to the guide arrangement of the swap body.

[0021] The vehicle may have a control device for autonomous operation, which enables autonomous operation at least while the swap body is being picked up. The output signal of the signal processing device can be fed to the control device for autonomous operation.

[0022] On the vehicle, two of the at least two distance sensors can be provided in the rear area of ​​the vehicle, viewed in the vehicle's longitudinal direction. Furthermore, two further distance sensors of the at least two distance sensors can be provided in a front area of ​​the vehicle. The signal processing device can be configured to determine an orientation of the swap body based on the distances when both the two distance sensors in the rear area of ​​the vehicle and the two distance sensors in the front area of ​​the vehicle detect distances, in particular distances to the guide arrangement of the swap body. In addition to determining the lateral offset of the swap body, it is therefore possible to determine an orientation of the swap body when two sensor pairs offset from one another in the vehicle's longitudinal direction detect distances to the guide arrangement of the swap body.

[0023] The control device for autonomous operation and the signal processing device can be implemented as separate units. Means can be provided to enable communication between the control device and the signal processing device. However, it is also possible to design the control device for autonomous operation and the signal processing device as an integral unit. Furthermore, it is possible to integrate the signal processing device and the control device for autonomous operation into a higher-level control system designed to control the vehicle.

[0024] The invention further relates to a method for determining a lateral offset of a swap body relative to a vehicle during a lane-aligning process of the vehicle under the swap body. The method can be carried out with a system or a vehicle that has one or more of the features of the system described above.

[0025] The method may include the step of determining a distance of the vehicle relative to predetermined measuring points on the swap body using at least two distance sensors mounted on the vehicle. Each distance sensor emits a measuring beam for measuring the distance, which beam is oriented relative to a vertical longitudinal plane of the vehicle, starting from the respective distance sensor and extending toward the vertical longitudinal plane. Furthermore, the method may include the step of determining the lateral offset of the swap body relative to the vehicle based on the signals output by the at least two distance sensors.

[0026] The method may further comprise the step of positioning the at least two distance sensors such that they are directed toward predetermined measuring points on the swap body when the vehicle is aligned. The predetermined measuring points may be located substantially halfway up an inner or outer side of guide rails of a guide tunnel of the swap body.

[0027] At least two distance sensors can be aligned in such a way that the predetermined measuring points are already detected when the vehicle is still in front of the swap body in the longitudinal direction.

[0028] The method may further comprise the step of determining a distance between the vehicle and the swap body in the longitudinal direction of the vehicle using a longitudinal distance sensor. The lateral offset may be determined taking into account the distance output by the longitudinal distance sensor.

[0029] The lateral offset can also be determined using GPS heading to correct the lateral offset for vehicle tilt.

[0030] The method includes a calibration step for calibrating two distance sensors spaced apart in the longitudinal direction of the vehicle. During the calibration step, reference distances for the respective distance sensors are stored based on measured distances to a swap body properly loaded on the vehicle or to a swap body correctly positioned and oriented with respect to a vehicle driving underneath.

[0031] The calibration step can be carried out automatically when the swap body is loaded accordingly or when the vehicle is driven underneath.

[0032] The step of determining the lateral offset of the swap body to the vehicle can be carried out based on a comparison of the stored reference distances with the actual distances detected by the distance sensors when the vehicle is aligned.

[0033] Overall, a system and method can thus be created in which a position and / or orientation, in particular a lateral offset of the swap body, can be determined by using two sensors offset in the longitudinal direction of the vehicle. To do this, however, it is necessary to determine the distance from the vehicle to the swap body from the absolute measurement signal of the sensors. Calibration as described above can be used for this purpose. Once the swap body is loaded onto the vehicle, the distance measured by the sensors can be saved. This distance then serves as the reference distance for subsequent loading processes. Such a system can be suitably combined with the above system or implemented as a standalone system. Detection via two sensors spaced apart in the longitudinal direction of the vehicle can be used to increase the overall measurement accuracy in a system with four distance sensors.In addition, a higher level of reliability is achieved in an implementation if, in the event of a sensor failure of one of the transversely spaced distance sensor pairs, detection can be switched to two longitudinally spaced distance sensors.

[0034] The calibration process can be designed as follows. First, it is detected whether the swap body is loaded on the vehicle. This status can be detected, for example, upon corresponding confirmation by the driver, e.g., by pressing a button. Alternatively or additionally, the level of the body frame or a height-adjustable chassis can be recorded in order to determine whether the level corresponds to that when the swap body is mounted. A body frame that is fully raised can be regarded as a status in which the swap body is loaded onto the vehicle. The detection of a measuring object on the vehicle in conjunction with a driving speed that is greater than a predetermined minimum value can also be understood as an indication of a status in which a swap body is properly mounted on the vehicle.If it is detected that a swap body is loaded onto the vehicle, the distances recorded by the distance sensors are stored as reference positions for a properly loaded swap body. These reference positions or stored distances can then be used as target positions or target distances for the swap body loading process.

[0035] The calibration or calibration process can be used for each distance sensor. Data related to the stored distances can be stored in the control unit or a dedicated storage device and used for the next loading process of the vehicle.

[0036] It should be noted that the above data can also be obtained during an unloading process, for example, when the swap body is on its legs and the vehicle slowly drives out from under it. Such an unloading process can be detected based on the vehicle's axle load. The axle load decreases when the swap body is on its legs. An axle load sensor can be provided to detect the axle load. Brief description of the drawings Fig. Figure 1 shows a schematic plan view of a vehicle and a swap body to which the inventive concept is applicable. Fig. Figure 2 shows a schematic view of the vehicle and the swap body in the longitudinal direction. Fig. Figure 3 shows a schematic plan view of another vehicle and another swap body to which the invention concept is applicable. Fig. Figure 4 shows a schematic view of part of the vehicle and the swap body viewed in the longitudinal direction. Fig. Figure 5 shows schematically the process steps involved in aligning the vehicle under the swap body. Description of embodiments

[0037] Embodiments of the present invention will be described below with reference to the drawings. It should be noted that like reference numerals designate like or similar elements throughout the different figures.

[0038] Fig. 1 shows a vehicle 1 which is suitable for the accommodation of swap bodies 4. Furthermore, Fig. 1 shows such a swap body 4, which is to be accommodated by the vehicle 1. The vehicle has a driver's cab 5 at the front section and a body frame 13 at the rear section. The illustration shows the vehicle with one front axle and two rear axles, each with wheels 3. However, various arrangements are conceivable. The vehicle does not necessarily have to have a driver's cab 5, especially if the vehicle is autonomously operated.

[0039] In the longitudinal direction behind the vehicle 1, Fig. 1 the swap body 4 is parked. The swap body 4 is picked up by driving the vehicle 1 under the swap body 2.

[0040] Fig. 1 shows a schematic plan view of the arrangement of guide elements 15 on the body frame 13 of the vehicle 1. In particular, two guide elements 15 are attached to a rear section of the vehicle 1 and are spaced apart from one another in the transverse direction of the vehicle. At the front region of the body frame 13, guide elements 15 are shown which are also spaced apart in the transverse direction of the vehicle 1. In the embodiment shown, the guide elements are designed as guide rollers. The guide elements 15, which are mounted on the rear region of the body frame 13, form a first pair of guide elements. The guide elements 15, which are attached to the front region of the body frame 13, form a second pair of guide elements. The first pair of guide elements 15 is spaced apart from the second pair of guide elements 15 in the longitudinal direction.In the present embodiment, four guide elements 15 are provided on the body frame 13, each of which is mounted at four corners of an imaginary rectangle.

[0041] In the present embodiment, the guide elements or guide rollers are each mounted on the body frame 13 of the vehicle 1 so as to be rotatable about an axis, which is oriented substantially vertically or upwards. Furthermore, in the present embodiment, the rollers are designed with a conical shape, so that the diameter of each of the guide rollers is larger at the lower portion than at the upper portion.

[0042] On the vehicle 1 or on its body frame 13 there is also a system 2 for detecting a lateral offset of the Fig. 1 is provided for the swap body 4 to the vehicle 1. The system 2 has four distance sensors 8.1, 8.2, 8.3, 8.4. The distance sensors 8.1, 8.2, 8.3, 8.4 are arranged in pairs. The distance sensors 8.1, 8.2 form a first, rear distance sensor pair, and the distance sensors 8.3, 8.4 form a front, second distance sensor pair. The distance sensors arranged in pairs are spaced apart in the transverse direction of the vehicle 1. More precisely, in the embodiment shown, the distance sensors arranged in pairs are arranged symmetrically to a vertical longitudinal plane V and spaced apart from one another in the longitudinal direction.

[0043] In the embodiment shown, the distance sensors are designed as laser sensors. The distance sensors 8.1, 8.2, 8.3, 8.4 emit measuring beams 10.1, 10.2, 10.3, 10.4, in such a way that the measuring beams are oriented relative to the vertical longitudinal plane V of the vehicle 1, starting from the respective distance sensor and extending towards the vertical longitudinal plane V. In other words, each distance sensor is designed so that its measuring beam is emitted at an angle to the vertical longitudinal plane V. In the embodiment shown, the measuring beams of the distance laser pairs are arranged crossed. The measuring beams of the rear distance sensors are directed diagonally backward and diagonally upward. In this way, detection of a guide arrangement on the swap body 4 is possible at an early stage, in particular before the vehicle 1 reaches the swap body 4.In the front distance laser pair, the measuring beams are directed obliquely upwards, with each measuring beam of the front distance laser pair running in a plane that is substantially perpendicular to the vertical longitudinal plane V.

[0044] From the Fig. 1 and Fig. 2 also shows the structure of the swap body 4. The swap body 4 essentially consists of a container 47, which in the Fig. 1 and Fig. 2, is supported on support legs 45. The support legs serve as support elements of the swap body 4 and are arranged essentially symmetrically in the transverse direction of the swap body, spaced from a center plane 46 of the swap body 4. The support legs 45 are suitable for supporting the swap body 4 and, once the swap body 4 has been picked up on the vehicle, can be unlocked and pivoted upwards. In addition, it can be provided that the support legs 45 are designed to be displaceable in the transverse direction to the swap body 4 and / or height-adjustable. On an underside or underbody 41 of the swap body 4, a guide tunnel 44 is provided, which is formed by laterally spaced guide elements or guide rails 42, 43 that extend in the longitudinal direction of the swap body 4 and are permanently mounted on the underside of the swap body 4. The guide rails 42, 43 have mutually facing inner sides 42.1, 43.1 or inner surfaces and two opposite outer sides 42.2, 43.2 or outer surfaces.

[0045] The vehicle 1 further comprises a signal processing device 14, which is connected to the distance sensors 8.1, 8.2, 8.3, 8.4. A longitudinal distance sensor 18 is also provided on the rear of the driver's cab 5. This sensor emits a horizontal, rearward-directed measuring beam to determine the distance between the vehicle 1 and the swap body 4 in the longitudinal direction of the vehicle 1. This distance sensor 18 is also connected to the signal processing device 14.

[0046] The vehicle 1 has a height-adjustable chassis. In order to be able to perform a correct measurement with the system 2, the body frame 13 is moved by the height adjustment such that the measuring beams of the distance sensors hit the inner sides 42.1, 43.1 of the guide rails 42, 43 at predetermined measuring points M1, M2, M3, M4, whereby the measuring points in the embodiment shown are located approximately halfway up the guide rails. As soon as the vehicle 1 is adjusted to the appropriate height, the sensor pairs can record a distance to the respective measuring points and the signal processing device 14 can calculate a lateral offset of the swap body 4 from the recorded distances. Since the measuring beams of the rear distance sensor pair are directed diagonally upwards and backwards, the lateral offset can already be determined with the Fig. 1, in which the vehicle is positioned at a distance in front of the swap body 4.

[0047] The basic procedure for aligning vehicle 1 under swap body 4 is described below. As a starting point, vehicle 1 is moved in longitudinal direction in front of swap body 4, as shown in Fig. 1. In doing so, care must be taken to ensure the most precise longitudinal alignment between vehicle 1 and swap body 2. To pick up the swap body 4, the vehicle 1 must then drive underneath the swap body 4. During this process, the rear pair of distance sensors 8.1, 8.2 first determines a lateral offset of the swap body 4 relative to the vehicle 1. If a lateral offset is detected, this lateral offset can be counteracted by appropriate steering intervention.

[0048] The vehicle 1 is moved toward the swap body 4, taking into account the distances detected by the distance sensors 8.1, 8.2. During this process, the distance sensors 8.1, 8.2 and then the rear guide elements 15 are moved beneath the swap body 4. As the vehicle 1 moves beneath the swap body 4, the distance sensors 8.1, 8.2 continuously determine a lateral offset of the swap body 4 relative to the vehicle 1 in the signal processing direction 14 and, if necessary, output this information to a control device for actuating a steering system. As vehicle 1 continues to drive under swap body 4, the front pair of distance sensors 8.3, 8.4 moves under swap body 4 or its guide tunnel 44. The measuring beams 10.3, 10.4 of distance sensors 8.3, 8.4 now also hit the inner sides 42.1, 43.1 of guide rails 42, 43.This front sensor pair can now also detect a lateral offset of the swap body 4 relative to the vehicle 1. As the vehicle 1 continues to drive under the swap body 2, the front pair of guide elements 15 then moves under the guide tunnel 44 of the swap body 4. With optimal operation, the system can reliably detect a lateral offset of the swap body 4 and eliminate it by appropriately steering the vehicle 1, so that the guide elements 15 are optimally positioned under the guide tunnel 44 or, in the transverse direction, between the guide rails 42, 43. In this state, the swap body 4 can be picked up on the vehicle 1 or its body frame 13.

[0049] A further embodiment or modification of the Fig. 1 and Fig. 2 described embodiments will be described with reference to the Fig. 3 and Fig. 4. The structure of the Fig. 3 and Fig. 4 differs only in the orientation of the measuring beams 10.1, 10.2, 10.3, 10.4 and the swap body 4 differs from the one shown in the Fig. 1 and Fig. 2 only in that the guide tunnel 44 is narrower, i.e. the guide rails 42, 43 are arranged with a smaller distance from each other in the transverse direction. In contrast to the Fig. 1 and Fig. 2, the distance sensors 8.1, 8.2, 8.3, 8.4 measure the measuring points M1, M2, M3, M4 on the outer side 42.2, 43.2 of the guide rails 42, 43. Apart from that, the principle and the functioning of the Fig. 3 and Fig. 4 shown modified embodiments are identical to that shown in the Fig. 1 and Fig. 2 shown embodiment.

[0050] The procedure used for aligning is described in Fig. 5 is shown schematically. By actuating the height-adjustable chassis as described above, the four distance sensors 8.1, 8.2, 8.3, 8.4 are first positioned in a step S1 such that they are directed towards the measuring points M1, M2, M3, M4 on the swap body when the vehicle 1 is aligned. The measuring points M1, M2, M3, M4 are located essentially halfway up the inside 42.1, 43.1 or the outside 42.2, 43.2 of the guide rails 42, 43 of the guide tunnel 44. After positioning according to step S1, a distance D1, D2, D3, D4 of the vehicle with respect to the measuring points M1, M2, M3, M4 on the swap body 4 can then be determined using the distance sensors 8.1, 8.2, 8.3, 8.4 attached to the vehicle 1. Each distance sensor 8.1, 8.2, 8.3, 8.4 emits a measuring beam 10.1, 10.2, 10.3, 10 to measure the distance D1, D2, D3, D4.4, which is oriented relative to the vertical longitudinal plane V of the vehicle 1, starting from the respective distance sensor, towards the vertical longitudinal plane.

[0051] In step S4, the lateral offset of the swap body 4 relative to the vehicle 1 is determined based on the signals output by the distance sensors. This determined lateral offset can then be provided to a higher-level control device, which actively controls the steering of the vehicle 1.

[0052] During lane merging, a distance between the vehicle 1 and the swap body 4 in the longitudinal direction of the vehicle 1 can also be determined in a step S3 using the longitudinal distance sensor 18. The lateral offset can then be determined according to step 4 taking into account the distance output by the longitudinal distance sensor 18. A lateral offset can also be determined using GPS heading during the determination according to step S4, with this lateral offset being adjusted for any vehicle inclination.

[0053] Although not explicitly shown in the figures, according to a further embodiment, the system 2 can be configured to use two distance sensors 8.1, 8.3 arranged at a distance from one another in the longitudinal direction of the vehicle 1 in order to determine a lateral offset and / or an orientation of the swap body 4 relative to the vehicle 1. In this case, according to the further embodiment, the system is configured to store reference distances for the respective distance sensors 8.1, 8.3 based on measured distances D1, D3 when the swap body 4 is located on the vehicle 1 or when the swap body 4 is correctly positioned and oriented with respect to a vehicle 1 being driven under. These stored reference distances are then used during a subsequent loading process of the swap body 4 to determine, based on a comparison of the stored reference distances with distances measured by the distance sensors 8.1, 8.3 to determine a lateral offset of the swap body 4 relative to the vehicle 1 and to provide a corresponding output signal. Such a system can comprise the structure of a vehicle as described with reference to FIG. Fig. 1 to 4. If the system is implemented as a stand-alone alternative system, it can be compared to the systems described in the Fig. In the systems described in 1 to 4, one sensor each of the distance sensor pairs spaced apart in the longitudinal direction of the vehicle can be dispensed with.

[0054] The above system according to the further embodiment uses a calibration method which is Fig.5 is indicated by step S0. In calibration step S0, two distance sensors spaced apart in the longitudinal direction of the vehicle are calibrated. In this calibration step, reference distances for the respective distance sensors are stored based on measured distances to a swap body 4 properly loaded on the vehicle 1 or to a swap body correctly positioned and oriented with respect to a vehicle driving underneath.

[0055] The calibration step can be carried out automatically when the swap body is loaded accordingly or when the vehicle is driven underneath.

[0056] The step of determining the lateral offset and / or the orientation of the swap body to the vehicle can be carried out based on a comparison of the stored reference distances with the actual distances detected by the distance sensors when the vehicle is aligned.

[0057] Furthermore, in the above-mentioned embodiment, it was assumed that the distance sensors were laser distance sensors. However, it is also possible to use other distance sensors, for example, ultrasonic sensors. Reference symbol 1 vehicle 2 systems 3 wheels 4 swap body 41 Underbody 42 guide rail 42.1 Inside 42.1 Outside 43 Guide rail 43.1 Inside 43.2 Outside 44 guide tunnels 45 mainstay 46 Middle Level 47 containers 5 Driver's cab 8 Measuring device 8.1, 8.2, 8.3, 8.4 Distance sensor 10.1, 10.2, 10.3, 10.4 Measuring beam M1, M2, M3, M4 measuring point 13 body frame 14 Signal processing device 15 guide elements / guide rollers 16 Movement device 17 Height-adjustable chassis 18 Longitudinal distance sensor 19 Measuring beam D1, D2, D3, D4 distance V Vertical longitudinal plane S0, S1, S2, S3, S4 process steps

Claims

[1] System (2) for determining a lateral offset of a swap body (4) in relation to a vehicle (1) during a lane-in process of the vehicle (1) under the swap body (4), characterized by at least two distance sensors (8.1, 8.2, 8.3, 8.4) which can be arranged on the vehicle (1) and each of which is designed to determine a distance (D1, D2, D3, D4) of the vehicle (1) with respect to predetermined measuring points (M1, M2, M3, M4) on the swap body (4) and to output a corresponding signal, wherein each distance sensor (8.1, 8.2, 8.3, 8.4) emits a measuring beam (10.1, 10.2, 10.3, 10.4) for measuring the distance (D1, D2, D3, D4), which is oriented relative to a vertical longitudinal plane (V) of the vehicle (1) from the respective distance sensor (8.1, 8.2, 8.3, 8.4) towards the vertical longitudinal plane, and a signal processing device (14) which is designed to determine a lateral offset of the swap body (4) relative to the vehicle (1) based on the signals output by the at least two distance sensors (8.1, 8.2, 8.3, 8.4) and to provide a corresponding output signal, wherein two distance sensors (8.1, 8.2, 8.3, 8.4) of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are arranged at a distance from one another in the longitudinal direction of the vehicle (1), and the system (2) is configured to store reference distances for the respective distance sensors (8.1, 8.2, 8.3, 8.4) based on measured distances (D1, D2, D3, D4) when the swap body (4) is located on the vehicle (1) or when the swap body (4) is correctly positioned and oriented with respect to a vehicle (1) being driven under, and to determine a lateral offset of the swap body (4) from the vehicle (1) during a subsequent loading process of the swap body (4) based on a comparison of the stored reference distances with actual distances detected by the distance sensors (8.1, 8.2, 8.3, 8.4), and to provide a corresponding output signal. [2] System (2) according to claim 1, wherein two distance sensors (8.1, 8.2, 8.3, 8.4) of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are each arranged at substantially the same longitudinal position in the longitudinal direction of the vehicle (1). [3] System (2) according to claim 2, wherein two distance sensors of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are provided symmetrically to the vertical longitudinal plane (V) of the vehicle (1). [4] System (2) according to claim 2, wherein the measuring beams (10.1, 10.2, 10.3, 10.4) are oriented such that they pass each other or cross each other before they impinge on the respective measuring point (M1, M2, M3, M4). [5] System (2) according to claim 2, wherein the measuring beams (10.1, 10.2, 10.3, 10.4) are oriented such that they do not pass each other or cross each other before they impinge on the respective measuring point (M1, M2, M3, M4). [6] System (2) according to one of the preceding claims, wherein the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are arranged such that a measuring beam direction of the measuring beams (10.1, 10.2, 10.3, 10.4) has a component in the vertical direction upwards. [7] System (2) according to claim 6, wherein at least two distance sensors of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are arranged such that a measuring beam direction of the measuring beams (10.1, 10.2, 10.3, 10.4) has a component in the longitudinal direction of the vehicle (1) towards the rear. [8] System (2) according to claim 6, wherein at least two distance sensors of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are arranged such that a measuring beam direction of the measuring beams (10.1, 10.2, 10.3, 10.4) has a component in the transverse direction of the vehicle (1). [9] System (2) according to one of the preceding claims, wherein, viewed in the vehicle longitudinal direction, two distance sensors (8.1, 8.2) of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are provided in the rear region of the vehicle (1). [10] System (2) according to one of the preceding claims, wherein two distance sensors (8.3, 8.4) of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are provided in a front region of the vehicle (1). [11] System (2) according to claim 1, wherein the two distance sensors of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are provided at the same distance from the vertical longitudinal plane (V) of the vehicle (1). [12] System (2) according to one of claims 1 or 11, wherein the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are arranged such that a measuring beam direction of the measuring beams (10.1, 10.2, 10.3, 10.4) has a component in the vertical direction upwards. [13] System (2) according to claim 12, wherein at least one distance sensor of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) is arranged such that a measuring beam direction of the measuring beam (10.1, 10.2, 10.3, 10.4) has a component in the longitudinal direction of the vehicle (1) towards the rear. [14] System (2) according to claim 12 or 13, wherein the two distance sensors of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are arranged such that a measuring beam direction of the measuring beams (10.1, 10.2, 10.3, 10.4) has a component in the transverse direction of the vehicle (1). [15] System (2) according to one of the preceding claims, wherein the distance sensors (8.1, 8.2, 8.3, 8.4) are laser sensors. [16] System (2) according to one of the preceding claims, wherein each measuring point (M1, M2, M3, M4) is located at a region of a guide arrangement provided on the underbody (41) of the swap body (4). [17] System (2) according to claim 16, wherein the guide arrangement comprises two guide rails (42, 43), wherein the measuring points (M1, M2, M3, M4) are located on an inner side (42.1, 43.1) of the guide rails (42, 43) or on the outer side (42.2, 43.2) of the guide rails (42, 43). [18] System (2) according to one of the preceding claims, further comprising a horizontally rearward-facing longitudinal direction distance sensor (18) which is configured to determine a distance between the vehicle (1) and the swap body (4) in the longitudinal direction of the vehicle (1), wherein the signal processing device (14) is configured to output control signals for supporting the lane-alignment process based on the measured distances of the distance sensors and the longitudinal direction distance sensor (18). [19] Vehicle (1) with a body frame (13) for receiving the swap body (4) and a system (2) according to one of claims 1 to 18, wherein the distance sensors (8.1, 8.2, 8.3, 8.4) are arranged on the body frame (13). [20] Vehicle (1) according to claim 19, wherein the body frame (13) is height adjustable. [21] Vehicle (1) according to claim 20, wherein the vehicle (1) has a control device for autonomous operation which enables autonomous operation at least during the reception of the swap body (2), wherein the output signal of the signal processing device (14) is supplied to the control device for autonomous operation. [22] Vehicle (1) according to one of claims 19 to 21, wherein, viewed in the vehicle longitudinal direction, two distance sensors (8.1, 8.2) of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are provided in the rear region of the vehicle (1) and two distance sensors (8.3, 8.4) of the at least two distance sensors (8.1, 8.2, 8.3, 8.4) are provided in a front region of the vehicle (1), wherein the signal processing device (14) is configured to determine an orientation of the swap body (4) based on the distances when both the two distance sensors (8.1, 8.2) in the rear region of the vehicle (1) and the two distance sensors (8.3, 8.4) in the front region of the vehicle (1) detect distances. [23] Method for determining a lateral offset of a swap body (4) in relation to a vehicle (1) during a lane-alignment process of the vehicle (1) under the swap body (4) with a system or vehicle according to one of the preceding claims, characterized by the steps Determining (S2) a distance (D1, D2, D3, D4) of the vehicle (1) with respect to predetermined measuring points (M1, M2, M3, M4) on the swap body (4) with at least two distance sensors (8.1, 8.2, 8.3, 8.4) attached to the vehicle (1), wherein each distance sensor (8.1, 8.2, 8.3, 8.4) emits a measuring beam (10.1, 10.2, 10.3, 10.4) for measuring the distance (D1, D2, D3, D4), which is oriented relative to a vertical longitudinal plane (V) of the vehicle (1) from the respective distance sensor (8.1, 8.2, 8.3, 8.4) towards the vertical longitudinal plane, and Determining (S4) the lateral offset of the swap body (4) to the vehicle (1) based on the signals output by the at least two distance sensors (8.1, 8.2, 8.3, 8.4) and further comprising a calibration step (S0) for calibrating two distance sensors spaced apart in the longitudinal direction of the vehicle, in which reference distances for the respective distance sensors (8.1, 8.2, 8.3, 8.4) are stored based on measured distances to a swap body (4) properly loaded on the vehicle (1) or to a swap body (4) correctly positioned and oriented with respect to a vehicle (1) driven under. [24] Method according to claim 23, further comprising the step of positioning (S1) the at least two distance sensors (8.1, 8.2, 8.3, 8.4) such that they are directed towards predetermined measuring points (M1, M2, M3, M4) on the swap body (4) when the vehicle (1) is aligned, wherein the predetermined measuring points (M1, M2, M3, M4) are located substantially halfway up the inside (42.1, 43.1) or the outside (42.2, 43.2) of the guide rails (42, 43) of the guide tunnel (44). [25] Method according to one of claims 23 or 24, wherein at least two distance sensors (8.1, 8.2, 8.3, 8.4) are aligned to detect the predetermined measuring points (M1, M2, M3, M4) already when the vehicle (1) is located in front of the swap body (4). [26] Method according to one of claims 23 to 25, further comprising the step of determining (S3) a distance between the vehicle (1) and the swap body (4) in the longitudinal direction of the vehicle (1) with a longitudinal direction distance sensor (18), wherein the determination (S4) of the lateral offset takes place taking into account the distance output by the longitudinal direction distance sensor (18). [27] Method according to one of claims 23 to 26, wherein the calibration step is carried out automatically when the swap body (4) is appropriately loaded or when the vehicle (1) is appropriately driven underneath. [28] Method according to one of claims 23 to 27, wherein the step of determining the lateral offset of the swap body (4) to the vehicle (1) is carried out based on a comparison of the stored reference distances with actual distances detected by the distance sensors (8.1, 8.2, 8.3, 8.4) when the vehicle (1) is aligned.

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