System and method for determining the position and / or orientation of a swap body in relation to a vehicle

Abstract

System (2) for determining a position and orientation of a swap body (4) in relation to a vehicle (1) during a lane entry procedure of the vehicle (1) under the swap body (4), characterized by Three distance sensors (8.1, 8.2, 8.3) are arranged longitudinally on the vehicle (1), each configured to determine a longitudinal distance (D1, D2, D3) of the vehicle (1) relative to predetermined measuring points (M1, M2, M3) on the swap body (4) and to output a corresponding signal, each of the three distance sensors (8.1, 8.2, 8.3) emits a measuring beam (10.1, 10.2, 10.3) for measuring the distance (D1, D2, D3), which, when mounted and calibrated on the vehicle, runs parallel to a longitudinal axis of the vehicle. wherein two distance sensors (8.1, 8.2) are spaced apart from each other on the vehicle (1) in the transverse direction of the vehicle (1), wherein the two distance sensors (8.1, 8.2) are arranged on the vehicle (1) in such a way that their respective measuring beam (10.1, 10.2) passes laterally outside of guide rollers (15.1, 15.2, 15.3, 15.4) located in the longitudinal direction of the vehicle (1) behind the respective distance sensor (8.1, 8.2), wherein these measuring beams (10.1, 10.2) are arranged at a distance from each other which is slightly smaller than the distance between inner surfaces (42.1, 43.1) of guide rails (42, 43) of a guide tunnel (44) of the swap body (4), and a signal processing device (14) which is configured to determine a relative position and / or orientation of the swap body (4) to the vehicle (1) based on the signals output by the three distance sensors (8.1, 8.2, 8.3) and to provide a corresponding output signal.

Description

Technical field

[0001] The present invention relates to a system and a method for determining the position and / or orientation of a swap body relative to a vehicle. In particular, the invention relates to a system and a method for assisting a vehicle's maneuvering under a swap body in order to simplify the maneuvering process. State of the art

[0002] In connection with vehicles designed to carry swap bodies, systems for supporting the vehicle's maneuvering 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 maneuvering of a vehicle under a swap body is supported by image-based sensors. This system can determine distance information between the vehicle and the swap body, thus enabling appropriate intervention in the maneuvering process.

[0003] DE 10 2004 043 761 A1 discloses a method and a device for monitoring a trailer coupling of a towing vehicle during a coupling process.

[0004] DE 10 2012 025 317 A1 discloses a driver assistance system and method for enabling autonomous or piloted garage parking.

[0005] US Patent 2002 / 0154005A1 discloses a trailer alignment device for simplifying the reversing of a towing vehicle against a trailer. The device uses ultrasonic transducers to determine the position of the towing vehicle relative to the trailer.

[0006] DE 10 2005 008 874 A1 discloses a method for displaying and operating an image-based navigation system in vehicles, as well as a device for using the method. The device comprises at least one image sensor that captures environmental information. This captured environmental information is displayed by means of an optical display.

[0007] EP 3 260 357 A1 discloses a vehicle with a shunting system for maneuvering the vehicle into a target position by means of two optical sensor devices. Summary of the invention

[0008] The present invention relates to a system for determining the position and / or orientation of a swap body relative to a vehicle during the vehicle's maneuvering under the swap body. The system comprises three distance sensors, which can be arranged longitudinally on the vehicle and of which each is configured to determine the longitudinal distance of the vehicle with respect to predetermined measuring points on the swap body and to output a corresponding signal.

[0009] The system also features a signal processing unit which is designed to determine a relative position and / or orientation of the swap body to the vehicle based on the signals output by the three distance sensors and to provide a corresponding output signal.

[0010] According to the basic concept of the present invention, a system is thus created in which three distance lasers can be installed longitudinally on a vehicle. In particular, the distance sensors can be attached to the vehicle in such a way that they can determine a distance in the longitudinal direction to the rear.

[0011] Each of the three distance sensors can emit a measuring beam to measure the distance. The measuring beams are oriented such that, when the three distance sensors are mounted and calibrated on the vehicle, the measuring beam runs parallel to a longitudinal axis of the vehicle. In other words, the measuring beams of the distance sensors are directed rearward, parallel to the longitudinal axis of the vehicle.

[0012] Two of the three distance sensors can be positioned laterally spaced apart on the vehicle. In other words, the distance sensors can be mounted as a pair such that the two sensors in the pair are spaced apart laterally. The two distance sensors can be positioned at essentially the same longitudinal position along the vehicle.

[0013] The two distance sensors can be arranged symmetrically on the vehicle, or provided for, with respect to a vertical longitudinal plane of the vehicle. In other words, the two distance sensors of the sensor pair can be arranged at equal distances to the vehicle's vertical longitudinal plane in the transverse direction.

[0014] The two distance sensors can be arranged on the vehicle in such a way that their respective measuring beams pass laterally past guide rollers located longitudinally behind the respective distance sensor. For example, the two distance sensors can be arranged on the vehicle in such a way that their respective measuring beams pass laterally outside of guide rollers located longitudinally behind the respective distance sensor.

[0015] The system may also include a calibration system, which comprises a calibration device for providing a feature. The feature provided by the calibration device is used to align a distance sensor with it. Furthermore, the system may include an adjustment device for adjusting the distance sensor to the feature.

[0016] The feature can be a mark or a light-through hole. The calibration system can have multiple calibration devices, and the distance sensor can be aligned to both of them. For example, one calibration device can have a light-through hole, and another can have a mark. The adjustment device can then be used to set the distance sensor so that its measuring beam passes through the light-through hole of one calibration device and hits the mark of the other.

[0017] The calibration device can be designed to be inserted into a guide bore of the guide rollers. The guide rollers can be designed so that each can be rotatably mounted on a vehicle frame about an axis that is essentially vertical or upwards. The guide rollers can, for example, have a conical shape, such that the diameter of each guide roller is larger at the bottom than at the top. The aforementioned guide bores can be provided on the vehicle frame to accommodate the guide rollers. The calibration devices can be inserted into these guide bores for the calibration process.

[0018] The adjustment device can be configured to allow for the positioning and orientation of the distance sensors in the transverse and vertical directions of the vehicle. For example, the adjustment device can include a carriage for receiving a distance sensor that is movable in the desired directions and also has an orientation function as described above.

[0019] To calibrate the distance sensors, calibration devices inserted into the guide bores, such as the aforementioned combination of a calibration device with a transillumination bore and a calibration device with a marker, can be configured to initially position the distance sensor laterally and vertically in the direction of the vehicle so that its measuring beam passes through the transillumination bore. Due to the further adjustment options of the device, the orientation of the distance sensor's measuring beam can then be changed so that the beam not only passes through the transillumination bore but also hits the marker on the other calibration device. If this is the case, the distance sensor's measuring beam is properly calibrated and can be used for measurement.

[0020] One of the three distance sensors can be positioned higher than the other two distance sensors to detect the end face of a swap body.

[0021] The distance sensors can be laser sensors.

[0022] The invention further relates to a vehicle for carrying a swap body. The vehicle can have a superstructure for carrying the swap body. Furthermore, the vehicle can have a system as described above. The three distance sensors can be located in the area of ​​the rear of the vehicle's driver's cab. Two or all three distance sensors can also be arranged on the superstructure with a corresponding support structure. The superstructure can be height-adjustable. In this way, it is possible to align the distance sensors with respect to a guide arrangement of the swap body and, for example, an end face of the swap body.

[0023] The vehicle may have a control unit for autonomous operation. The control unit may enable autonomous operation, at least during the loading of the swap body. The output signal from the signal processing unit may be supplied to the control unit for autonomous operation.

[0024] The invention further relates to a method for determining the position and / or orientation of a swap body relative to a vehicle during a maneuver 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 the longitudinal distance of the vehicle relative to predetermined measuring points on the swap body using three distance sensors arranged longitudinally and oriented rearward on the vehicle. Furthermore, the method may include the step of determining the relative position and / or orientation of the swap body to the vehicle based on the determined longitudinal distances.

[0026] The method can further include the step of positioning the distance sensors such that they can detect predetermined measuring points on the swap body as the vehicle is positioned underneath it. Two of the predetermined measuring points can be located on the inner sides of guide rails in a guide tunnel of the swap body. One of the predetermined measuring points can be located on an end face of the swap body.

[0027] The procedure may further include a step of calibrating two of the three distance sensors such that their respective measuring beam passes laterally outside of guide rollers located in the longitudinal direction of the vehicle behind the respective distance sensor.

[0028] The calibration step for each distance sensor may involve inserting a calibration device into a guide bore of a guide roller arranged longitudinally in the vehicle behind the distance sensor and positioning the distance sensor such that its position and orientation correspond to a specification of the calibration device. Brief description of the drawings Fig. Figure 1 schematically shows a side view of a vehicle and a swap body to which the invention concept is applicable. Fig. Figure 2 schematically shows a top view of the in Fig. 1 vehicle shown and the one in Fig. 1 shown swap body. Fig. Figure 3 shows a schematic side view of the in Fig. 1 vehicle shown and the one in Fig. 1 swap body shown, wherein in Fig. 3 additionally, the use of calibration equipment is indicated. Fig. Figure 4 schematically shows the procedure steps for determining the position and / or orientation of a swap body in relation to a vehicle. The Fig. 5 and Fig. Figure 6 shows conditions in which the vehicle is positioned in front of a swap body without angular error, with or without offset. The Fig. 7 and Fig. Figure 8 shows a vehicle with angular error with and without offset in front of a swap body. Description of embodiments

[0029] The following descriptions of embodiments refer to the drawings. It should be noted that identical reference numerals in the different figures denote identical or similar elements.

[0030] The Fig. 1, Fig. 2 and Fig. Figure 3 shows a vehicle 1 suitable for carrying swap bodies. These figures also show a swap body 4 intended for use by the vehicle 1. The vehicle 1 has a cab 5 and a superstructure frame 13 at the rear. The illustrations depict the vehicle with one front axle and two rear axles, each fitted with wheels 3. However, various configurations are possible. Furthermore, the vehicle does not necessarily have to have a cab 5, particularly if it is an autonomous vehicle.

[0031] In the figures, the swap body is positioned longitudinally behind vehicle 1. Picking up the swap body 4 is accomplished by driving vehicle 1 underneath the swap body 2.

[0032] The figures further show that guide elements 15.1, 15.2, 15.3, 15.4 are provided on the superstructure frame 13 of vehicle 1. As can be seen from Fig. As is particularly evident in Figure 2, two guide elements 15.1, 15.4 are attached to a rear section of the vehicle 1, spaced apart from each other in the transverse direction of the vehicle. Guide elements 15.2, 15.3 are shown on the front section of the superstructure frame 13, 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 15.1, 15.4, which are mounted on the rear section of the superstructure frame 13, form a first pair of guide elements. The guide elements 15.2, 15.3, which are attached to the front section of the superstructure frame 13, form a second pair of guide elements. The first pair of guide elements is spaced apart from the second pair of guide elements in the longitudinal direction. In the present embodiment, there are thus four guide elements 15.2, 15.2, 15.3, 15.4.4 are provided on the mounting frame 13, each being mounted at four corners of an imaginary rectangle.

[0033] In the present embodiment, the guide elements or guide rollers are each rotatably mounted on the vehicle 1's frame 13 about an axis that is essentially vertical or upwards. To hold the guide rollers in the described manner, the vehicle 1's frame 13 has guide roller receptacles in which the guide rollers can be rotatably held about the axes. Although each guide roller is held on the vehicle 1's frame 13 by such a guide roller receptacle, in Fig. Figure 3 shows only two guide roller mounts, 12.3 and 12.4, for guide rollers 15.3 and 15.4. The design of the guide roller mounts for guide rollers 15.1 and 15.2, which are not shown, is identical to that of guide roller mounts 12.3 and 12.4.

[0034] In the present embodiment, the rollers are furthermore designed with a conical shape, such that the diameter of each guide roller is larger at the lower region than at the upper region. Each guide roller can have a cylindrical section at the lower region and a conical section with a conical outer surface at the upper region.

[0035] Furthermore, a system 2 for determining the position and / or orientation of the swap body 4 relative to the vehicle 1 during the maneuvering of the vehicle 1 under the swap body 4 is provided on the vehicle 1 or on its superstructure frame 13. The system has three distance sensors 8.1, 8.2, 8.3.

[0036] These distance sensors 8.1, 8.2, 8.3 are arranged on the vehicle 1 in a longitudinal direction. More precisely, the distance sensors 8.1, 8.2, 8.3 are arranged on the vehicle such that they can detect a longitudinal distance to the rear. Each of the three distance sensors 8.1, 8.2, 8.3 is configured to determine a longitudinal distance D1, D2, D3 of the vehicle 1 with respect to predetermined measuring points M1, M2, M3 on the swap body 4 and to output a corresponding signal. As can be seen from the Fig. 1 and Fig. As can be clearly seen in Figure 2, two of the three distance sensors 8.1, 8.2 are arranged as a sensor pair. These two sensors 8.1, 8.2 are spaced apart in the transverse direction of the vehicle 1. More precisely, in the illustrated embodiment, the distance sensors 8.1, 8.2 are arranged symmetrically with respect to a vertical longitudinal plane V. A further sensor 8.3 of the three distance sensors 8.1, 8.2, 8.3 is arranged in the center of the vehicle 1 and above the distance sensors 8.1, 8.2 in the illustrated embodiment.

[0037] In the illustrated embodiment, the distance sensors are designed as laser sensors. The distance sensors 8.1, 8.2, 8.3 emit measuring beams 10.1, 10.2, 10.3 such that the measuring beams are parallel to the vertical longitudinal plane V of the vehicle 1. Furthermore, in the illustrated embodiment, the measuring beams 10.1, 10.2, 10.3 are essentially horizontal. Finally, the measuring beams 10.1, 10.2, 10.3 of the distance sensors 8.1, 8.2, 8.3 are directed rearward with respect to the vehicle 1. According to the system 2 described here, three distance sensors 8.1, 8.2, 8.3 are attached to the vehicle 1 in such a way that they emit parallel laser measuring beams 10.1, 10.2, 10.3, which are directed to the rear.

[0038] From the Fig. Figures 1 to 3 also show the structure of the swap body 4. The swap body 4 essentially consists of a container 47, which is located in the Fig. The swap body 4 is supported on legs 45 in the state shown in Figures 1 to 3. The legs serve as support elements for the swap body 4 and are arranged in a substantially symmetrical manner, spaced transversely to a central plane 46 of the swap body 4. The legs 45 are suitable for supporting the swap body 4 and can be unlocked and pivoted upwards after the swap body 4 has been loaded onto the vehicle. Additionally, the legs 45 may be designed to be slidable and / or height-adjustable transversely to the swap body 4.

[0039] A guide tunnel 44 is provided on the underside or subfloor 41 of the swap body 4, which is formed by laterally spaced guide elements or guide rails 42, 43. The guide rails 42, 43 extend longitudinally along the swap body 4 and are fixedly mounted to its underside. The guide rails 42, 43 have mutually facing inner surfaces 42.1, 43.1. The swap body 4 has an end face 48 which, during the maneuvering of the vehicle 1 under the swap body 4, faces the approaching vehicle. The guide rails 42, 43 are designed such that they form a guide funnel 49 in the area of ​​the end face 48 of the swap body 4. The single-track funnel 49 is an area in which the guide rails 42, 43 are designed such that the distance from their inner surfaces 42.1, 43.1 tapers slightly from the front face 48.

[0040] How it looks Fig. As can be seen in Figure 2, the distance sensors 8.1 and 8.2 are aligned on the vehicle such that their measuring beams 10.1 and 10.2 pass laterally outside the guide rollers located behind them. At the same time, the distance sensors 8.1 and 8.2 are aligned so that they are able to detect measuring points on the guide rails 42 and 43. The vehicle may have a height-adjustable superstructure. In this way, the measuring beams 10.1 and 10.2, and thus the distance sensors 8.1 and 8.2, can be moved to a height at which they can detect the guide rails 42 and 43 of the measuring bridge. If the vehicle 1 is ideally positioned in front of the swap body 4, then the measuring beams 10.1, 10.2 run parallel to the inner surfaces 42.1, 43.1 of the guide rails 42, 43 through the guide tunnel 44. In this case, no measuring points on the guide rails 42, 43 are detected by these two distance sensors 8.1, 8.2. As can be seen from Fig. As can be seen in Figure 1, the third sensor 8.3, which is mounted above the two distance sensors 8.1, 8.2, is positioned at such a height that when the distance sensors 8.1, 8.2 are at a height at which they can detect the guide rails 42, 43, it detects an end face 48 of the swap body 4.

[0041] To achieve the most accurate measurement possible, the measuring beams 10.1, 10.2 are positioned as close as possible to the guide rollers 15.1, 15.2, 15.3, 15.4 according to the present embodiment, such that these measuring beams 10.1, 10.2 are arranged at a distance from each other that is slightly smaller than the distance between the inner surfaces 42.1, 43.1 of the guide rails 42, 43. In this way, it is possible to detect even small angular misalignments of the vehicle 1 relative to the swap body 4.

[0042] To align the sensors 8.1, 8.2 so that their measuring beams 10.1, 10.2 pass the guide rollers in the manner described above, the system has a calibration system, which is described below with reference to Fig. 3 is described. The calibration system includes calibration devices K3 and K4 for providing a feature to which a distance sensor or its measuring beam is to be aligned. Furthermore, the calibration system includes an adjustment device for setting the distance sensors 8.1 and 8.2 to the features specified by the calibration devices K3 and K4. It should be noted that in Fig. Three calibration devices, K3 and K4, are shown, which are suitable for calibrating the distance sensor 8.1. Although not shown, corresponding calibration devices for calibrating the distance sensor 8.2 are available, which are symmetrical to those shown. Fig. The 3 calibration devices described are designed as follows.

[0043] As described above, the guide rollers are arranged in guide roller receptacles. The calibration devices K3, K4 are designed such that, in the illustrated embodiment, they can be attached to the guide roller receptacles 12.3, 12.4 of the guide rollers 15.3, 15.4 with a predetermined orientation. Accordingly, for calibration, the guide rollers 15.3, 15.4 are first removed from their respective guide roller receptacles 12.3, 12.4, and the calibration devices K3, K4 are inserted into the corresponding guide roller receptacles 12.3, 12.4. The calibration device K3, i.e., the calibration device located closer to the sensor 8.1, has a transmissive bore. The calibration device K4 has a marking. During calibration, the sensor 8.1 is aligned so that its measuring beam 10.1 passes through the transmissive bore of the calibration device K3 and also strikes the marking of the calibration device K4.For this purpose, system 2 can include an adjustment device (not shown) that allows the positioning of the sensor 8.1 to be calibrated in the transverse direction of the vehicle and in the vertical direction, and also allows the orientation of the measuring beam 10.1 of the sensor 8.1 to be adjusted. Once the sensor 8.1 has been calibrated as desired, the calibration devices K3, K4 can be removed from the guide roller receptacles 12.3, 12.4 and replaced by the guide rollers 15.3, 15.4. In the embodiment shown, the calibration devices K3, K4 are arranged such that the measuring beam 10.1 of the distance sensor 8.1 passes tangentially by the aforementioned conical surface of the guide rollers 15.3, 15.4. The distance sensor 8.2 is calibrated accordingly symmetrically with respect to the vertical longitudinal plane V of the vehicle 1.

[0044] With such a system, a method for determining the position and / or orientation of a swap body in relation to vehicle 1 during the maneuvering of vehicle 1 under the swap body 4 can be carried out. The process steps of such a method according to the present embodiment are described in Fig. 4 shown schematically.

[0045] The procedure initially includes an optional step S1 for calibrating two of the three distance sensors 8.1, 8.2, 8.3 such that their respective measuring beams 10.1, 10.2 pass laterally outside the guide rollers 15.1, 15.2, 15.3, 15.4 located longitudinally behind the respective distance sensor 8.1, 8.2 of the vehicle 1. This step is particularly helpful during the initial commissioning of the system on the vehicle 1 to correctly align the distance sensors. This calibration step can subsequently be repeated for maintenance purposes.

[0046] In a further step S2, the distance sensors 8.1, 8.2, 8.3 are positioned such that they can detect predetermined measuring points M1, M2, M3 on the swap body 4 when the vehicle 1 is aligned. As already indicated above, two measuring points M1, M2 are located on the inside 42.1, 43.1 of the guide rails 42, 43 of the guide tunnel 44 of the swap body 4. One measuring point is located on an end face 48 of the swap body 4. In this embodiment, positioning is achieved by actuating a lifting mechanism (not shown) to raise the superstructure frame 13.

[0047] With the distance sensors positioned in this way, a respective longitudinal distance D1, D2, D3 of the vehicle 1 in relation to the measuring points M1, M2, M3 on the swap body 4 can now be determined in a further step S3. In a subsequent step S4, a relative position and / or relative orientation of the swap body 4 to the vehicle 1 can then be determined from the signals provided by the distance sensors, based on the determined longitudinal distances D1, D2, D3. With the described system and the described procedure, different states of the vehicle 1 in relation to the swap body 4 can be determined, as they are with reference to the Fig. 5 to 10 will be described.

[0048] Fig. Figure 5 shows a state in which the vehicle is optimally positioned for a lane entry maneuver in front of the swap body 4. In this state, the distance sensor 8.3 detects a distance D3 to the swap body end face 48. The two other sensors 8.1, 8.2 detect significantly larger distances, as their measuring beams 10.1, 10.2 pass through the guide tunnel 44 of the swap body 4. The detected distance D3 is therefore significantly larger than the detected distances D1, D2. This state can indicate that the vehicle is positioned centrally and without angular error in front of the swap body 4.

[0049] At the in Fig. In the state shown in Figure 6, vehicle 1 is slightly offset from the swap body 4. Distance sensor 8.3 detects a distance D3 to the end face 48 of the swap body, or to a measuring point M2 located thereon. Distance sensor 8.1 detects a distance D1 to a measuring point M1, which is located on the inside of the guide rails 42, more precisely in the entry funnel 49. Distance sensor 8.2 detects a distance that is significantly greater than the other two distances, since its measuring beam 10.2 passes through the guide tunnel 44 of the swap body 4 and does not intersect any measuring point on the swap body 4. Thus, a state is depicted in which it is determined that distance D1 is only slightly greater than distance D3, and that distance D2 is significantly greater than the other two distances.Such a result provides an indication that the vehicle is offset from swap body 4, but its orientation with respect to swap body 4 does not show any angular error.

[0050] The Fig. 7 and Fig. Figures 8 show conditions in which vehicle 1 is aligned with an angular offset or different orientation relative to the orientation of swap body 4. In the case of the Fig. In the state shown in Figure 7, sensors 8.1 and 8.3 detect distances D1 and D3, respectively, which are approximately equal. Distance D1 is slightly larger than distance D3. The measuring beam 10.2 of distance sensor 8.2 strikes the inside 42.1 of the guide rail 42, more precisely, a measuring point M2. Distance D2 is significantly larger than both distances D1 and D3. From this information, it can be deduced that the vehicle is rotated but oriented in such a way that the guide rollers would still engage the guide tunnel. From the measured distances, an angle can be derived at which the vehicle 1 is oriented relative to the swap body 4.

[0051] At the in Fig. The state shown in Figure 8 is similar to the one described in Figure 8. Fig. 7 is shown. Unlike the one in Fig.In the state shown in Figure 7, the vehicle is shifted slightly to the right relative to the swap body end face 48. The measuring beam 10.1 of the distance sensor 8.1 strikes an inner surface of the guide rail 42, specifically measuring point M1. The measuring beam 10.3 of the distance sensor 8.3 strikes a measuring point M3 on the swap body end face 48 and outputs a measured distance D3. The measuring beam 10.2 of the distance sensor 8.2 strikes the other guide rail 43 at a measuring point M2, which is located shortly before the end of the entry funnel 49. From the measured distances, it can be deduced that the vehicle 1 is arranged rotated relative to the swap body 4, but that the guide rollers would still engage the guide tunnel 44 in the current orientation. Reference sign 1 vehicle 2 System 3 wheels 4 swap bodies 41 Underbody 42 Guide rail 42.1 Inside 43 Guide rail 43.1 Inside 44 guide tunnels 45 Leg 46 Middle level 47 containers 48 Front 49 single-track funnels 5 Driver's cab 8 Measuring device 8.1, 8.2, 8.3 Distance sensor 10.1, 10.2, 10.3 Measuring beam 12.3, 12.4 Guide roller mounting M1, M2, M3 measuring point 13 Mounting frames 14 Signal processing unit 15.1, 15.2, 15.3, 15.4 Guide elements / guide rollers / single-track rollers D1, D2, D3 distance V Vertical longitudinal plane K3, K4 calibration device

Claims

[1] System (2) for determining a position and orientation 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 three distance sensors (8.1, 8.2, 8.3) which are arranged on the vehicle (1) oriented in the longitudinal direction of the vehicle (1) and each of which is designed to determine a longitudinal distance (D1, D2, D3) of the vehicle (1) with respect to predetermined measuring points (M1, M2, M3) on the swap body (4) and to output a corresponding signal, wherein each of the three distance sensors (8.1, 8.2, 8.3) emits a measuring beam (10.1, 10.2, 10.3) for measuring the distance (D1, D2, D3), which runs parallel to a vehicle longitudinal axis when mounted and calibrated on the vehicle, wherein two distance sensors (8.1, 8.2) of the three distance sensors (8.1, 8.2, 8.3) are arranged on the vehicle (1) at a distance from one another in the transverse direction of the vehicle (1), wherein the two distance sensors (8.1, 8.2) are arranged on the vehicle (1) in such a way that their respective measuring beams (10.1, 10.2) pass laterally outside guide rollers (15.1, 15.2, 15.3, 15.4) located in the longitudinal direction of the vehicle (1) behind the respective distance sensors (8.1, 8.2), wherein these measuring beams (10.1, 10.2) are arranged at a distance from one another which is slightly smaller than the distance from inner surfaces (42.1, 43.1) of guide rails (42, 43) of a guide tunnel (44) of the swap body (4), and a signal processing device (14) which is configured to determine a relative position and / or orientation of the swap body (4) to the vehicle (1) based on the signals output by the three distance sensors (8.1, 8.2, 8.3) and to provide a corresponding output signal. [2] System (2) according to claim 1, wherein the two distance sensors (8.1, 8.2) are arranged on the vehicle (1) symmetrically to a vertical longitudinal plane (V) of the vehicle (1). [3] System (2) according to claim 1, wherein the two distance sensors (8.1, 8.2) are arranged on the vehicle (1) in such a way that they can be adjusted such that their respective measuring beam (10.1, 10.2) passes guide rollers (15.1, 15.2, 15.3, 15.4) located in the longitudinal direction of the vehicle (1) behind the respective distance sensor (8.1, 8.2) tangentially at a conical section of the guide rollers (15.1, 15.2, 15.3, 15.4) and substantially at half the height of the guide rollers (15.1, 15.2, 15.3, 15.4). [4] System (2) according to claim 1 or 3, further comprising a calibration system which comprises a calibration device (K3, K4) for providing a feature to which a distance sensor (8.1, 8.2) is to be aligned, and further comprising an adjustment device for adjusting the distance sensor (8.1, 8.2) to the feature. [5] System (2) according to claim 4, wherein the feature is a marking (K4) or a transillumination hole (K3). [6] System (2) according to claim 4 or 5, wherein the calibration device (K3, K4) is designed such that it can be inserted into a guide bore (12.3, 12.4) of the guide rollers (15.3, 15.4). [7] System (2) according to one of claims 4 to 6, wherein the adjustment device is designed to enable a positioning of the distance sensors (8.1, 8.2) in the transverse direction and in the vertical direction of the vehicle (1) and an orientation of the distance sensors (8.1, 8.2). [8] System (2) according to one of the preceding claims, wherein one distance sensor (8.3) of the three distance sensors (8.1, 8.2, 8.3) for detecting a swap body end face (48) is arranged in a higher position than the other two distance sensors (8.1, 8.2). [9] System (2) according to one of the preceding claims, characterized by that the three distance sensors (8.1, 8.2, 8.3) are laser sensors. [10] Vehicle (1) for receiving a swap body (4) with a body frame (13) for receiving a swap body (4), characterized by a system (2) according to one of the preceding claims. [11] Vehicle (1) according to claim 10, 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. [12] Method for determining a position and orientation 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 (S3) a longitudinal distance (D1, D2, D3) of the vehicle (1) with respect to predetermined measuring points (M1, M2, M3) on the swap body (4) with three distance sensors (8.1, 8.2, 8.3) which are arranged on the vehicle (1) oriented rearward in the longitudinal direction of the vehicle (1), wherein each of the three distance sensors (8.1, 8.2, 8.3) emits a measuring beam (10.1, 10.2, 10.3) for measuring the distance (D1, D2, D3), which beam runs parallel to a vehicle longitudinal axis when mounted on the vehicle and calibrated, wherein two distance sensors (8.1, 8.2) of the three distance sensors (8.1, 8.2, 8.3) are arranged on the vehicle (1) at a distance from one another in the transverse direction of the vehicle (1), wherein the two distance sensors (8.1, 8.2) are arranged on the vehicle (1) in such a way that their respective measuring beams (10.1, 10.2) pass laterally outside guide rollers (15.1, 15.2, 15.3, 15.4) located in the longitudinal direction of the vehicle (1) behind the respective distance sensors (8.1, 8.2), wherein these measuring beams (10.1, 10.2) are arranged at a distance from one another which is slightly smaller than the distance from inner surfaces (42.1, 43.1) of guide rails (42, 43) of a guide tunnel (44) of the swap body (4), and Determining (S4) a relative position and / or orientation of the swap body (4) to the vehicle (1) based on the determined longitudinal distances (D1, D2, D3). [13] Method according to claim 12, further comprising the step of positioning (S2) the distance sensors (8.1, 8.2, 8.3) such that they can detect predetermined measuring points (M1, M2, M3) on the swap body (4) when the vehicle (1) is aligned, wherein two measuring points (M1, M2) of the predetermined measuring points (M1, M2, M3) are located on inner sides (42.1, 43.1) of guide rails (42, 43) of a guide tunnel (44) of the swap body (4) and one measuring point (M3) of the predetermined measuring points (M1, M2, M3) is located on an end face (48) of the swap body (4). [14] Method according to claim 12 or 13, further comprising calibrating (S1) two distance sensors (8.1, 8.2) of the three distance sensors (8.1, 8.2, 8.3) such that their respective measuring beam (10.1, 10.2) passes laterally outside guide rollers (15.1, 15.2, 15.3, 15.4) located in the longitudinal direction of the vehicle (1) behind the respective distance sensor (8.1, 8.2). [15] Method according to claim 14, wherein the step of calibrating for each distance sensor (8.1, 8.2) comprises inserting a calibration device (K3, K4) into a guide bore (12.3, 12.4) of a guide roller (15.3, 15.4) arranged in the longitudinal direction of the vehicle (1) behind the distance sensor (8.1, 8.2) and positioning the distance sensor (8.1, 8.2) in such a way that its position and orientation correspond to a specification of the calibration device (K3, K4).

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