Wheel changing system for autonomous vehicles and procedure for changing a wheel on an autonomous vehicle

Abstract

Wheel changing system for the automated changing of a wheel of an autonomous motor vehicle, comprising at least the following components: a first area which, by means of suitable infrastructure, is designed to support driver-independent operation of a motor vehicle between a transfer area and a changeover area; a wheel bearing device designed for storing the wheels to be mounted and / or the wheels that have been removed; a wheel transport device designed for transporting the wheels from and / or into the wheel storage device; a one-sided or two-sided wheel changing device designed for changing a wheel; characterized in that a central processing unit is designed for controlling the components of the wheel changing system and for controlling the autonomous motor vehicle.

Description

[0001] The invention relates to an automated wheel-changing system for autonomously driving motor vehicles and a method for changing wheels, in particular for an automated wheel change. Furthermore, the invention relates to an autonomously driving motor vehicle configured for use with an automated wheel-changing system.

[0002] Wheel-changing systems and methods for automatically mounting wheels on motor vehicles are known from the prior art. Furthermore, methods for mounting wheels on an autonomously driving motor vehicle are disclosed.

[0003] During vehicle production, wheels are often mounted on the vehicle either automatically or manually. The vehicles are typically located on an assembly line that transports them along a predefined route, or the vehicles are parked beforehand in a defined wheel assembly area. Wheel-changing systems for autonomous vehicles are less common due to their high complexity. The vehicle and the wheel-changing system components are controlled separately.

[0004] DE 10 2020 207 312 A1 discloses a method for assembling wheels. US 2020 / 0108659 A1 discloses a device for automated changing of vehicle wheels and tires.

[0005] It is the object of the invention to show measures to improve the devices and methods known from the prior art and to facilitate control.

[0006] The object is achieved according to the invention by a wheel changing system having the features of claim 1 and a method having the features of claim 6.

[0007] The features of the invention are set forth in the independent claims, for which advantageous embodiments are presented in the dependent claims. The features of the claims can be combined in any technically reasonable manner, whereby the explanations in the following description and features from the figures, which comprise supplementary embodiments of the invention, can also be considered.

[0008] The invention relates to a wheel changing system for the automated changing of a wheel of an autonomously driving motor vehicle, comprising at least the following components: - a first area which is designed by means of a suitable infrastructure to support driver-independent driving of an autonomously driving motor vehicle between a transfer area and a changeover area; - a wheel bearing device designed to support the wheels to be mounted and / or dismounted; - a wheel transport device which is designed to transport the wheels from and / or into the wheel bearing device and - a one-sided or two-sided wheel changing device designed to change a wheel.

[0009] The connection arrangement is characterized primarily in that a central processing device is designed to control the components of the wheel changing system and to control the autonomously driving motor vehicle.

[0010] In contrast to an automated wheel-changing system, the vehicle is not guided along a predefined route using a transport device. The autonomously driving vehicle, which preferably meets the requirements of AVP Type 2 of ISO Standard 23374, follows a trajectory. This trajectory is determined from the infrastructure data by the central processing facility. The advantage of a central processing facility is that all collected data is consolidated in one location. This simplifies subsequent data processing. Controlling all systems via a central processing facility is significantly easier. Otherwise

[0011] According to a further advantageous embodiment of the wheel-changing system, the infrastructure is also designed to monitor the wheel-changing system. In state-of-the-art wheel-changing systems, monitoring is carried out via additional sensors. These are usually designed only to monitor the wheel-changing process. The infrastructure of the wheel-changing system serves to monitor and prevent collisions. This reduces the need for sensors.

[0012] According to a further advantageous embodiment of the wheel-changing system, the infrastructure is designed to meet the requirements of AVP Type 2 of ISO Standard 23374. With AVP Type 1 according to ISO Standard 23374, all systems, including sensors and processing equipment, are located in the autonomous vehicle. The fact that the sensors and processing equipment are located inside the vehicle significantly increases the level of complexity. The sensors and the processing equipment for calculating the trajectory are located outside the vehicle according to AVP Type 2. This type of infrastructure design reduces the demands on the vehicle, making the wheel-changing system suitable for use by a larger number of vehicles that do not drive fully autonomously, but are controlled by the system. This includes, for example, the vehicle's navigation.

[0013] According to a further advantageous embodiment of the wheel-changing system, the central processing unit is configured to calculate a trajectory of the autonomously driving vehicle using artificial intelligence. The vehicle is guided autonomously from a transfer area to a change area. The transfer area may be located outside an enclosed building, which is why unforeseen obstacles are to be expected. These could be, for example, animals or incorrectly parked objects. The artificial intelligence is configured to adapt and optimize the trajectory based on the collected data.

[0014] According to a further advantageous embodiment of the wheel changing system, the wheel changing system has a motor vehicle lifting device for lifting the motor vehicle.

[0015] A further aspect of the invention relates to a method for changing wheels of an autonomously driving motor vehicle by means of a wheel changing system according to one of the preceding claims, comprising at least the following method steps, characterized in that - the wheel changing process is activated by a defined action; - the status of the transfer area is checked before the autonomous vehicle is driven from the transfer area to the transfer area; - the motor vehicle is guided autonomously from the transfer area to the exchange area; - at least one wheel is changed using the wheel changing device and - the motor vehicle is guided autonomously from a changeover area to a transfer area.

[0016] After the vehicle is parked in the changing area, the wheel change process takes place autonomously. Parking the vehicle in the transfer area can be set as a defined action. Operator intervention is not required, so a status check is performed before the vehicle is guided autonomously into the changing area.

[0017] According to a further advantageous embodiment of the method, it comprises at least the following method steps: - the vehicle is rotated autonomously by approximately 180 degrees in a horizontal plane and - at least one other wheel is changed using the wheel changing device.

[0018] To reduce the number of wheel-changing devices, preferably only one wheel-changing device is arranged in the changing area. This device allows both wheels on one side to be changed. To enable a wheel change on the second side of the autonomously driving motor vehicle, the motor vehicle must be rotated approximately 180° in a horizontal plane. The rotation preferably occurs through an autonomous reparking process of the motor vehicle. The rotation is preferably provided by a rotatable single-ram lifting platform. After the rotation process has been completed, at least one additional wheel on the second side of the motor vehicle can be changed using the wheel-changing device.

[0019] According to a further advantageous embodiment of the method, the wheel changing system has the following components: - a unit for applying information to a wheel or for transmitting information to an element of the wheel and / or for reading the information applied or transmitted by the unit, the method comprising at least the following method steps: - the information of the wheel to be mounted is read before the wheel change and - the information of the removed wheel is updated after the wheel change.

[0020] To ensure reliable identification and unambiguous assignment of wheel information, a unit for attaching information to a wheel or transmitting information to a wheel element is provided on the wheel. This information can be transmitted to the central processing unit and retrieved during future wheel changes. The information is simply attached to the wheel in the form of a label. Preferably, an RFID chip is provided in the wheel, which is designed to store and read wheel information. In this way, the information can be securely linked to the wheel to prevent accidental detachment of the label. Vehicle-specific information, such as mileage or vehicle identification number, can be transmitted to the wheel via the AVP Type 2 interface.

[0021] A further aspect of the invention relates to an autonomously driving motor vehicle suitable for use with a wheel-changing system. An active chassis of the autonomously driving motor vehicle is designed as a vehicle lifting device for lifting the motor vehicle. To change a wheel, at least one wheel must be lifted from the ground. This can be done using a lifting platform, although this can be omitted if the motor vehicle is designed to at least partially lift the vehicle using an active chassis. Furthermore, other components that require lifting a wheel, such as replacing brakes, can also be changed without a lifting platform. An inspection of the tire condition across the entire tire surface is possible without a lifting platform or lifting with a car jack.

[0022] It is presented in Fig. 1: a plan view of a first embodiment of the wheel changing system in a first position; Fig. 2: a plan view of a first embodiment of the wheel changing system in a second position; Fig. 3: a schematic representation of the communication architecture of the wheel changing system according to Fig. 1; Fig. 4: a plan view of a second embodiment of the wheel changing system and Fig. 5: a plan view of a third embodiment of the wheel changing system.

[0023] Fig. 1 shows a plan view of a first embodiment of the wheel changing system 1 in a first position. In this exemplary embodiment, the wheel changing system 1 has a first area 4, which is designed by means of a suitable infrastructure 6 to support driver-independent guidance of an autonomously driving motor vehicle 2 between a transfer area 7 and a changing area 8. The first area 4 comprises a second area 5, which is designed as a hall. The first area 4 has a first wheel bearing device 9, which is designed to store the wheels 3 to be mounted. A second wheel bearing device 10 is provided for storing the dismounted wheels 3. A wheel transport device 11 is designed to transport the wheels 3 from the first wheel bearing device 9 or into the second wheel bearing device 10. A wheel rotation device 12 and a unit 17 are arranged on the wheel transport device 11.The wheel-changing system 1 has a one-sided wheel-changing device 13, which is located in the changing area 8. A central processing device 14 is provided for controlling and monitoring the components 9, 10, 11, 12, and 13 of the wheel-changing system 1 and the autonomously driving motor vehicle 2. The central processing device 14 is preferably designed as an OPC server.

[0024] The infrastructure 6 of the wheel-changing system 1 is designed to meet the requirements of Automated Valet Parking (AVP) Type 2 of ISO Standard 23374. The infrastructure 6 preferably comprises at least one camera and one laser scanner. The connection between the infrastructure 6 and the central processing device 14 is preferably implemented via Ethernet.

[0025] In the first position, the autonomously driving motor vehicle 2 is arranged in the transfer area 7, outside the second area 5. The transfer area 7 is formed in the first area 4, which is covered by the infrastructure 6. Before the motor vehicle 2 is driven, the central processing device 14 checks the status of the change area 8, in particular whether the change area 8 is occupied. After the check has been carried out, the central processing device 14 determines a trajectory 15 of the motor vehicle 2, taking into account the data from the infrastructure 6. The central processing device 14 is designed to calculate a trajectory 15 of the autonomous motor vehicle 2 using artificial intelligence. The central processing device is designed to determine the optimal trajectory 15 using the data from the infrastructure 6, and preferably the trajectories 15 from previous wheel changes.

[0026] The central processing device 14 is designed to forward the data of the motor vehicle 2 to the components 9, 10, 11, 12, 13 of the wheel-changing system 1. The first wheel bearing device 9 is designed to provide the wheel 3 selected by the central processing device 14. The wheel transport device 11 is designed to convey the wheel 3 to the wheel-changing device 13. In this exemplary embodiment, the wheel transport device 11 is designed as a roller conveyor. The wheel transport device 11 in front of the wheel-changing device 13 preferably has at least one light barrier and is designed to be driven by a motor. The wheel transport device 11 is divided into several sections: a first section for conveying the wheels 3 to the wheel-changing device 13 and a second section for transporting the wheels from the wheel-changing device to the second wheel bearing device 10.The second section has an inclination and is preferably not driven.

[0027] The wheel rotation device 12 is arranged on the wheel transport device 11 and is designed to rotate the wheel 3 and reliably detect the information located on the wheel 3. This information is preferably the tire manufacturer, model, dimensions, and installation location. The information on the wheel 3 is preferably read by a 2D camera. The central processing device 14 is designed to store the sequence of the transported wheels 3 and transmit this sequence to the first wheel changing device 13.

[0028] Fig. 2 shows a plan view of a first embodiment of the wheel changing system 1 in a second position. In this position, the motor vehicle 2 is arranged in the changing area 8. The changing area 8 preferably has an incline, which is preferably approximately 5%. The motor vehicle 2 has an active chassis, which is designed as a motor vehicle lifting device 16 for lifting the motor vehicle 3. In order to at least partially raise the motor vehicle 2, the center of gravity of the motor vehicle 2 is shifted. The central processing device 14 is designed to control the active chassis, wherein the corresponding wheel 3 on the motor vehicle 2 is raised according to the order in which the wheels 3 are conveyed.

[0029] The first wheel-changing device 9 preferably has a detection unit, which is preferably designed to recognize the wheel design, the bolt circle pattern, and the bolt circle diameter. The first wheel-changing device 13 is designed to adapt the tools to this recognized data. The central processing device 14 is designed to provide the assembly data, for example, tightening torque. The first wheel-changing device 13 is designed to accept the bolts of the removed wheel 3 for the assembly of the wheel 3 to be assembled.

[0030] The wheel changing device 13 is arranged only on one side of the changing area 8. The motor vehicle 2 is designed for an autonomous parking maneuver, preferably approximately 180°. After the parking maneuver, at least one additional wheel 3 is preferably changed using the first wheel changing device 13.

[0031] A unit 17 is arranged on the wheel transport device 11 after the first wheel changing device 13. The unit 17 is designed to transmit and / or attach information to the wheel 3 before the wheel 3 is transported to the second wheel storage device 10. The information is preferably the date, time, tire manufacturer, tire dimensions, and / or installation location. This information is preferably in the form of a QR code.

[0032] After at least one wheel change has been completed, the motor vehicle 2 is guided autonomously into the transfer area 7.

[0033] The wheel-changing system 1 has a fail-safe mode, which is activated in the event of a process error and is designed for manual error correction. The infrastructure 6 is designed to monitor the wheel-changing system 1.

[0034] The wheel changing process is activated by a defined action. Parking the motor vehicle 3 in the transfer area 7 can be set as a defined action. Preferably, the wheel changing process is activated by manual intervention by an operator. The status of the changing area 8 is checked before the autonomously driving motor vehicle 2 is guided from the transfer area 7 to the changing area 8. In the next step, the central processing device 14 determines the trajectory based on the data from the infrastructure 6.

[0035] The motor vehicle 2 is guided autonomously from the transfer area 7 to the changing area 8. The data of the motor vehicle 2 is sent to the central processing device 14. The at least one wheel 3 is conveyed from the first wheel bearing device 9 to the first wheel changing device 13. The label on the wheel 3 is captured by the 2D camera and transmitted to the central processing device 14. Preferably, the wheel 3 is rotated by the wheel rotation device 12.

[0036] The wheel 3 located on the motor vehicle 2 is removed by the first wheel-changing device 13 and placed on the wheel transport device 11. The bolts of the removed wheel 3 are preferably reused. The at least one wheel 3 to be mounted is picked up by the first wheel transport device 11 and mounted on the motor vehicle 2. Preferably, the motor vehicle 2 is rotated 180 degrees in an autonomous parking process. Preferably, another wheel 3 is changed. After the wheel-changing process is completed, the motor vehicle 2 is guided autonomously from the changing area 8 to the transfer area 7.

[0037] Fig. 3 shows a schematic representation of a communication architecture 19 of the wheel changing system 1 according to Fig. 1. The wheel changing system 1 preferably has three communication levels 20, 21, 22. The first communication level 20 is preferably designed for control and monitoring of the wheel changing system 1 by an operator. The second communication level 21 has the central processing device 14 and a first communication interface 24. The connection between the first communication level 20 and the central processing device 14 is preferably via Ethernet. The first communication interface 24 is preferably designed as an AVP interface. The first communication interface 24 is designed to transmit control signals to the motor vehicle 2 and to receive signals from the motor vehicle 2. Control signals are preferably steering signals, accelerator signals and / or brake signals for driving the motor vehicle 2. The signals are preferably transmitted to the motor vehicle 2 via WLAN.

[0038] The third communication level 22 has a programmable logic controller (PLC) 23, which is designed to control the components 11, 13, 17 of the wheel changing system 1. The PLC 23 is connected to the central processing device 14, preferably via Ethernet. In this exemplary embodiment, the wheel changing system 1 has a wheel transport device 11, a wheel changing device 13, and a unit 17. The components 11, 13, 17 have their own PLC 23, which is designed for internal control. The components each have a second communication interface 25, via which data is transmitted. The connection between the PLC 23 and the second communication interface 25 is preferably designed via PROFINET and has switching devices 26 for prioritizing the signals. Preferably, the most time-critical signal is always transmitted first.The components of the three communication levels 20, 21, 22 are in constant communication to monitor the wheel change process.

[0039] Fig. 4 shows a plan view of a second embodiment of the wheel-changing system 1 in a second position. In contrast to the first embodiment, the wheel-changing system 1 has a second wheel-changing device 18. The wheel-changing devices 13, 18 are arranged to the left and right of the motor vehicle 2 for changing the wheels 3 on one side of the motor vehicle. The wheel transport device 11 is arranged on one side of the second area 5 and is preferably designed to be driven by a motor. The wheels 3 are mounted in a wheel bearing device, which is designed to support the wheels 3 to be mounted and the wheels 3 to be removed. A motor vehicle lifting device 16 is arranged for lifting the wheels 3. The communication architecture 19 according to the second embodiment of the wheel-changing system 1 also has three communication levels 20, 21, 22.In addition to the communication architecture 19 according to the first embodiment, this has a motor vehicle lifting device 16 in the third communication level 22.

[0040] Fig. Figure 5 shows a plan view of a third embodiment of the wheel changing system 1 in a second position. The wheel transport device 11 is designed as a driverless transport system. The wheel transport device 11 according to the third embodiment is mobile and transports the wheels 3, preferably on a pallet, from the first wheel bearing device 9 to the wheel changing device 13 and, after disassembly, into the wheel bearing device 9. List of reference symbols 1 wheel changing system 2 motor vehicles 3 wheel 4 First area 5 Second area 6 Infrastructure 7 Transfer area 8 Exchange area 9 First wheel bearing device 10 Second wheel bearing device 11 Wheel transport device 12 Wheel rotation device 13 First wheel changing device 14 central processing facility 15 Trajectory 16 Vehicle lifting device 17 Unit 18 Second wheel changing device 19 Communication architecture 20 First communication level 21 Second communication level 22 Third communication level 23 Programmable Logic Controller (PLC) 24 First communication interface 25 Second communication interface 26 Switching device QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2020 207 312 A1

[0004] US 2020 / 0108659 A1

[0004]

Claims

[1] Wheel changing system (1) for the automated changing of a wheel (3) of an autonomously driving motor vehicle (2), comprising at least the following components: - a first area (4) which is designed by means of a suitable infrastructure (6) to support driver-independent driving of an autonomous motor vehicle (2) between a transfer area (7) and a changeover area (8); - a wheel bearing device (9, 10) which is designed to support the wheels (3) to be mounted and / or dismounted; - a wheel transport device (11) which is designed to transport the wheels (3) from and / or into the wheel bearing device (9, 10); - a one-sided or two-sided wheel changing device (13, 18) which is designed to change a wheel (3); characterized bythat a central processing device (14) is designed to control the components of the wheel changing system and to control the autonomously driving motor vehicle (2). [2] Wheel changing system according to claim 1, characterized by that the infrastructure (6) is also designed to monitor the wheel changing system (1). [3] Wheel changing system according to one of the preceding claims, characterized by that the infrastructure (6) is designed to meet the requirements of AVP Type 2 of ISO Standard 23374. [4] Wheel changing system according to one of the preceding claims, characterized by that the central processing device (14) is designed to calculate a trajectory (15) of the autonomously driving motor vehicle (2) by means of artificial intelligence. [5] Wheel changing system according to one of the preceding claims, characterized bythat the wheel changing system (1) has a motor vehicle lifting device (16) for lifting the autonomously driving motor vehicle (2). [6] Method for changing wheels (3) of an autonomously driving motor vehicle (3) by means of a wheel changing system (1) according to one of the preceding claims, comprising at least the following method steps: - the wheel changing process is activated by a defined action; - the status of the changeover area (8) is checked before the autonomously driving motor vehicle (2) is guided from the transfer area (7) into the changeover area (8); - the motor vehicle (2) is guided autonomously from the transfer area (7) into the exchange area (8); - at least one wheel (3) is changed using the wheel changing device (9,10) and - the motor vehicle (2) is guided autonomously from a changeover area (8) into a transfer area (7). [7] Method according to claim 6, comprising at least the following method steps: - the motor vehicle (2) is rotated autonomously by approximately 180 degrees in a horizontal plane and - at least one further wheel (3) is changed using the wheel changing device (9,10). [8] Method according to one of claims 6 or 7, wherein the wheel changing system (1) comprises the following components: - a unit (17) for applying information to a wheel (3) or for transmitting information to an element of the wheel (3) and / or for reading the information applied or transmitted by the unit (17), the method comprising at least the following method steps: - the information of the wheel to be mounted (3) is read before the wheel change and - the information of the removed wheel (3) is updated after the wheel change. [9] Motor vehicle which is suitable for use with a wheel changing system (1) according to one of claims 1 to 4, characterized by that an active chassis of the autonomously driving motor vehicle (2) is designed as a motor vehicle lifting device (16) for lifting the autonomously driving motor vehicle (2).

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