Self-propelled bidirectional vehicle

Abstract

Self-propelled bidirectional vehicle (100) for transporting a swap body, comprising a chassis (10), a swap body frame (20) for driving under and picking up the swap body, wherein the swap body frame (20) is vertically movable relative to the swap body to be picked up, and at least one navigation sensor (210) for navigating the self-propelled bidirectional vehicle (100) when transporting the swap body, wherein the navigation sensor (210) is arranged on the chassis (10) via a movement mechanism (220), and wherein the movement mechanism (220) is configured to provide a movement of the navigation sensor (210) in the direction of the chassis (10).

Description

Technical area

[0001] The present invention relates to a self-propelled bidirectional vehicle for transporting a swap body. State of the art

[0002] Directional carrier vehicles for transporting swap bodies are known from the state of the art. These commercial vehicles feature a swap body frame for directional under-carriage and loading of a swap body.

[0003] Furthermore, transport vehicles for transporting ISO containers are known from the prior art. DE 10 2009 025 051 A1 discloses such a transport vehicle for ISO containers, which has a loading area for loading an ISO container.

[0004] DE 10 2011 054 209 A1 discloses a straddle carrier for ISO containers with electric drives powered by a battery.

[0005] DE 10 2020 007 557 A1 discloses a self-propelled slag transporter for metallurgical transport port containers, wherein the slag transporter is designed to be positioned under the transport container, to lift it, to transport it and to put it down again.

[0006] DE 10 2019 207 674 A1 discloses a device and a method for object detection in the underbody area of ​​a motor vehicle. Description of the invention

[0007] In one aspect, the present invention relates to a self-driving bidirectional vehicle for transporting a swap body. The self-driving bidirectional vehicle can be configured to pick up and transport a swap body without the influence of a human driver. The self-driving bidirectional vehicle can also be configured to approach and drive under a swap body without the influence of a human driver. The self-driving bidirectional vehicle can be an autonomous bidirectional vehicle, which can have a high level of automation according to BASt Level 4 or a full level of automation according to BASt Level 5 as a level of automation of the bidirectional vehicle. The self-driving bidirectional vehicle can therefore be a highly automated bidirectional vehicle or a fully automated bidirectional vehicle.The self-driving bidirectional vehicle can be a non-directional robot vehicle. The self-driving bidirectional vehicle can be designed without a driver's cab.

[0008] In other words, a swap body can also be a swap container or a swap body. The swap body can be designed as a BDF swap body. The swap body can have a swap body container that can be picked up by the self-propelled bidirectional vehicle.

[0009] The self-propelled bidirectional vehicle may be a non-directional vehicle. In other words, the self-propelled bidirectional vehicle may be a non-directional vehicle. The self-propelled bidirectional vehicle therefore does not have a forward and reverse direction of travel. Rather, the self-propelled bidirectional vehicle may have two equivalent directions of travel. The directions of travel may be two opposite directions of travel. The directions of travel may be parallel to a vehicle longitudinal axis. The self-propelled bidirectional vehicle may be designed, in its essential components or in its drive train, to be symmetrical with respect to at least one of a transverse center axis and a longitudinal center axis of the self-propelled bidirectional vehicle.

[0010] The self-propelled bi-directional vehicle cannot transport a swap body in any one direction. In other words, the self-propelled bi-directional vehicle can transport the swap body in one of two directions of travel. The self-propelled bi-directional vehicle cannot approach a swap body in any one direction. In other words, the self-propelled bi-directional vehicle can approach the swap body in one of two directions of travel. The self-propelled bi-directional vehicle cannot drive under a swap body in any one direction. Driving under the swap body in any one direction can involve driving under the swap body in any one direction along its longitudinal axis. In other words, the self-propelled bi-directional vehicle can drive under the swap body in one of two directions of travel.The self-propelled bi-directional vehicle may be designed to accommodate and transport a single swap body.

[0011] The self-propelled bi-directional vehicle has a chassis. The chassis can be a vehicle frame, a vehicle chassis, or a vehicle subframe, or can comprise the vehicle frame, the vehicle chassis, or the vehicle subframe. The chassis can support the swap body frame. The chassis can be symmetrical to at least one of a transverse center axis and a longitudinal center axis of the self-propelled bi-directional vehicle.

[0012] The self-propelled bi-directional vehicle has a swap body frame. The swap body frame can be arranged on the chassis, whereby the chassis can support the swap body frame. The swap body frame is designed to drive under and pick up the swap body. Picking up can be or include raising the swap body. The swap body frame is also designed to park the swap body. Parking can be or include lowering the swap body. The swap body frame is designed to drive under the swap body in a non-directional manner. In other words, the swap body frame is designed to drive under the swap body selectively in one of the two directions of travel of the self-propelled bi-directional vehicle. The swap body frame is vertically movable relative to the swap body to be picked up. The swap body frame can be liftable relative to the chassis.The swap body frame can be liftable relative to the chassis, although lifting the swap body frame by vehicle suspension is not provided for in the self-propelled bi-directional vehicle. The chassis can support the swap body to be accommodated. The swap body frame can be designed symmetrically to at least one of a transverse center axis and a longitudinal center axis of the self-propelled bi-directional vehicle.

[0013] The self-propelled bidirectional vehicle has at least one navigation sensor for navigating the self-propelled bidirectional vehicle while transporting the swap body. The at least one navigation sensor can be a position detection sensor. The at least one navigation sensor can detect a position of the self-propelled bidirectional vehicle in a navigation coordinate system. The at least one navigation sensor can detect navigation measurement data, based on which the position of the self-propelled bidirectional vehicle can be derived. The at least one navigation sensor can be an orientation detection sensor. The at least one navigation sensor can detect an orientation of the self-propelled bidirectional vehicle in a navigation coordinate system. The at least one navigation sensor can detect navigation measurement data, based on which the orientation of the self-propelled bidirectional vehicle can be derived.The navigation sensor can thus be configured to detect or provide at least one of a position and an orientation of the self-propelled bidirectional vehicle when transporting the swap body.

[0014] According to one embodiment of the self-driving bidirectional vehicle, the navigation sensor can be an image-based sensor for image-based detection of the surroundings of the self-driving bidirectional vehicle. For example, the navigation sensor can be a camera. Alternatively or in addition to the image-based sensor, the navigation sensor can be a distance-detecting sensor for distance-based scanning of the surroundings of the self-driving bidirectional vehicle. For example, the navigation sensor can be a laser scanner, a radar device, or an ultrasonic measuring device. Alternatively or in addition to the image-based sensor and the distance-detecting sensor, the navigation sensor can be a satellite-based sensor for satellite-based detection of a position of the self-driving bidirectional vehicle. For example, the navigation sensor can be a GNSS sensor.

[0015] The navigation sensor is arranged on the chassis via a movement mechanism. The movement mechanism can be a mechanically actuated movement mechanism or an electrically actuated movement mechanism. The navigation sensor can be arranged on the chassis via a sensor holder, which has or forms the movement mechanism. The sensor holder can be movably arranged on the chassis, wherein the navigation sensor can be attached to the sensor holder. The navigation sensor can be movably arranged on the chassis. The navigation sensor is thus arranged so as to be movable relative to the chassis. The movement mechanism is configured to provide a movement of the navigation sensor in the direction of the chassis. The movement mechanism can be configured to provide a movement of the navigation sensor relative to the chassis.The movement mechanism can be configured to actively or passively provide the movement of the navigation sensor toward the chassis. The movement mechanism can therefore be configured to generate or induce the movement of the navigation sensor toward the chassis. Generating or inducing the movement can be understood as actively providing the movement. The movement mechanism can further be configured to permit or enable the movement of the navigation sensor toward the chassis. Permitting or enabling the movement can be understood as passively providing the movement.

[0016] Since the self-propelled bidirectional vehicle can be designed for a non-directional approach to a loading ramp, the chassis of the self-propelled bidirectional vehicle cannot have any horizontally projecting areas beyond a designated receiving area of ​​the swap body for attaching a navigation sensor. Furthermore, the vehicle can be designed without a driver's cab and therefore not have any superstructures provided above the swap body frame for attaching a navigation sensor. However, one of these exposed arrangements may be necessary for the operation of the navigation sensor, since only an exposed arrangement can provide a clear detection area for the navigation sensor.The movement mechanism advantageously allows the navigation sensor to be positioned on the chassis of the self-propelled bidirectional vehicle in a position exposed for acquiring navigation measurement data, while also protecting the exposed navigation sensor from environmental influences by the movement mechanism. For example, the navigation sensor can particularly advantageously provide navigation measurement data for navigating the self-propelled bidirectional vehicle when approaching a loading ramp, and can be protected from impacts and damage by the movement mechanism when reaching a loading position on the loading ramp.

[0017] According to one embodiment of the self-propelled bidirectional vehicle, the movement mechanism can be configured to provide movement of the navigation sensor from a proximal arrangement position of the navigation sensor relative to the chassis to a distal arrangement position of the navigation sensor relative to the chassis. The proximal arrangement position can be an exposed arrangement position of the navigation sensor relative to the chassis. The distal arrangement position can be a arrangement position that has a shorter distance from the chassis compared to the proximal arrangement position. The distal arrangement position can therefore be a retracted or retracted arrangement position relative to the chassis.The navigation sensor can thus efficiently have an exposed arrangement position that is advantageous for a detection range of the navigation sensor and, at the same time, a retracted arrangement position that is advantageous for protecting the navigation sensor from environmental influences.

[0018] According to a further embodiment of the self-propelled bidirectional vehicle, the proximal arrangement position of the navigation sensor can be arranged so as to project over a receiving area in which the swap body can be accommodated on the swap body frame. The proximal arrangement position can be arranged so as to project horizontally over the receiving area. The proximal arrangement position of the navigation sensor can be arranged so as to project horizontally over at least one of the chassis and the swap body frame. Shading of the navigation sensor by the swap body, which can cause a reduced detection range of the navigation sensor, can thus be avoided or reduced. The detection range of the navigation sensor can thus be advantageously enlarged with the proximal arrangement position of the navigation sensor.

[0019] According to a further embodiment of the self-propelled bidirectional vehicle, the distal arrangement position of the navigation sensor can be integrated into the chassis. The navigation sensor can be at least partially retracted into the chassis. The navigation sensor can thus be particularly effectively protected from impacts or other environmental influences, especially when acquisition of navigation measurement data is not required. Thus, the navigation sensor can be protected when approaching a loading ramp, whereby the self-propelled bidirectional vehicle does not need to be navigated during a loading process.

[0020] According to a further embodiment of the self-propelled bidirectional vehicle, the movement mechanism can be configured to provide movement of the navigation sensor along a longitudinal axis of the self-propelled bidirectional vehicle. The navigation sensor can be arranged on a longitudinal end side or on a longitudinal end region of the self-propelled bidirectional vehicle. The navigation sensor can be arranged on a longitudinal end side or on a longitudinal end region of the swap body frame. The longitudinal end side or the longitudinal end region of the vehicle can be particularly exposed to impacts or other environmental influences. Thus, the navigation sensor can be protected when approaching a loading ramp, whereby the longitudinal end side of the vehicle can be approached and struck by the loading ramp without damaging the exposed navigation sensor.

[0021] According to a further embodiment of the self-propelled bidirectional vehicle, the movement mechanism can be configured to provide the movement of the navigation sensor based on an external force acting on the movement mechanism. The external force can trigger or cause the movement. The movement mechanism can actively trigger or passively cause the movement based on the external force. The external force can be an impact that can act on the movement mechanism. The navigation sensor can thus be safely retracted if the movement mechanism strikes the loading ramp.

[0022] According to a further embodiment of the self-propelled bidirectional vehicle, the movement mechanism can be configured to counteract the movement of the navigation sensor with a restoring force. The movement mechanism can be configured to permanently provide the restoring force in order to position the navigation sensor in the exposed or proximal arrangement position. The movement mechanism can be configured to provide a movement of the navigation sensor that is opposite to the movement of the navigation sensor in the direction of the chassis based on the restoring force. The movement mechanism can be configured to provide the movement of the navigation sensor that is opposite to the movement of the navigation sensor in the direction of the chassis in order to reposition or return the navigation sensor to the exposed or proximal arrangement position after the navigation sensor has been moved toward the chassis.The exposed or proximal arrangement position can thus be automatically restored after an external force is applied to the navigation sensor.

[0023] According to a further embodiment of the self-propelled bidirectional vehicle, the movement mechanism comprises a suspension that generates the restoring force. The suspension may comprise a spring or a damper that can generate the restoring force. The spring may be a compression or tension spring. The damper may be an impact damper.

[0024] According to a further embodiment of the self-propelled bidirectional vehicle, the movement mechanism can comprise an actuator configured to cause the movement of the navigation sensor. The actuator can be operatively connected to the navigation sensor to cause the movement. For example, the actuator can be operatively connected to the sensor mount to cause the movement. The actuator can be a hydraulic, pneumatic, or electric actuator. For example, the actuator can be a hydraulic cylinder. The actuator can be configured to cause the movement of the navigation sensor opposite to the movement of the navigation sensor in the direction of the chassis. Alternatively or additionally, the actuator can be configured to cause the movement of the navigation sensor in the direction of the chassis. The exposed or proximal arrangement position can thus be actively adjusted by the actuator.Alternatively or additionally, the retracted or distal positioning position can also be adjusted by the actuator. The positioning positions of the navigation sensor can thus be provided in a particularly reliable manner.

[0025] According to a further embodiment of the self-propelled bidirectional vehicle, it can have two navigation sensors for navigating the self-propelled bidirectional vehicle while transporting the swap body. The two navigation sensors can be arranged in opposite regions of the chassis relative to a longitudinal axis of the self-propelled bidirectional vehicle. These regions can be longitudinal end regions of the vehicle. Each navigation sensor can be configured like the described navigation sensor according to the aspect. Each navigation sensor can have a GNSS antenna. The GNSS antennas can be configured to acquire measurement data based on which two longitudinal positions of the self-propelled bidirectional vehicle can be determined. Furthermore, an orientation of the self-propelled bidirectional vehicle can be determined based on the two determinable longitudinal positions.

[0026] According to a further embodiment of the self-propelled bidirectional vehicle, it can comprise a control device configured to output a control signal for deactivating the navigation sensor when the navigation sensor is in a state moved toward the chassis. The movement mechanism can comprise a switch that can be actuated in the moved state. The control device can be connected to the switch and output the control signal based on an actuation of the switch. When moved toward the chassis, the navigation sensor can be arranged in the retracted or distal arrangement position. Deactivating the navigation sensor can ensure that the measurement data that can be acquired by the navigation sensor in the retracted or distal arrangement position is not used to navigate the self-propelled bidirectional vehicle.The exposed or proximal arrangement position can be a calibration position of the navigation sensor in a vehicle coordinate system. Deactivating the sensor can thus prevent the use of measurement data that can be acquired by the sensor when the calibration position is left. Short description of the characters Fig. 1 shows the self-driving bidirectional vehicle according to an embodiment with two navigation sensors. Fig. 2 shows a movement mechanism for moving a navigation sensor according to one embodiment. Fig. 3 shows the movement mechanism for moving a navigation sensor according to another embodiment. Detailed description of embodiments

[0027] Fig. 1 shows a side view of a self-propelled bidirectional vehicle 100 for transporting a swap body (not shown in the figures). The self-propelled bidirectional vehicle 100 has a chassis 10, a swap body frame 20, and two vehicle axles 30. The swap body frame 20 is arranged on the chassis 10 and can be raised relative to the chassis 10 by lifting elements 12 arranged on the chassis 10. The swap body frame 20 has connecting elements 22 designed to connect the swap body, which can be accommodated with the swap body frame 20, to the swap body frame 20. The swap body, which can be accommodated on the swap body frame 20, occupies a receiving area 5 which encompasses the receivable swap body.

[0028] The self-propelled bidirectional vehicle 100 has two navigation sensors 210, which are movably mounted on the chassis 10 via a respective sensor mount 222. Each navigation sensor 210 is attached to a sensor mount 222, which is movably connected to the chassis 10 by a movement mechanism 220. The two sensor mounts 222 and the two navigation sensors 210 are arranged on a respective longitudinal end side 11 of the chassis 10. The two longitudinal end sides 11 are opposite one another on the chassis 10 with respect to a transverse center axis of the self-propelled bidirectional vehicle 100.

[0029] The navigation sensors 210 are each arranged in a proximal arrangement position P on the chassis 10. In the proximal arrangement position P, the navigation sensors 210 project horizontally relative to the receiving area 5 of the swap body. In the proximal arrangement position P, the navigation sensors 210 have a respective detection area 214, which is at least partially not shaded by the receiving area 5. According to one embodiment, the navigation sensors 210 have GNSS antennas 212, which thus have a satellite detection area that is only partially shaded upwards.

[0030] Fig. 2 shows the movement mechanism 220 according to one embodiment. The movement mechanism 220 is configured to provide a movement of the navigation sensor 210 in a horizontal direction relative to the chassis 10. The navigation sensor 210 is arranged on the sensor mount 222. The sensor mount 222 is connected to the chassis 10 via a spring 224. According to one embodiment, the spring 224 comprises a gas spring 225. The movement mechanism 220 comprises a bumper element 226, which, when the self-propelled bidirectional vehicle 100 approaches a loading ramp, impacts the loading ramp and moves the sensor mount 222 toward the chassis 10 into a distal arrangement position (not shown in the figures) against a restoring force of the spring 224.When the self-propelled bidirectional vehicle 100 moves away from the loading ramp, the suspension 224 provides a restoring force that causes the sensor holder 222 to be moved back to the proximal arrangement position P. Damage to the navigation sensor 210, which is arranged in a cantilevered manner relative to the receiving area 5, can thus be effectively avoided when approaching and colliding with a loading ramp.

[0031] The self-propelled bidirectional vehicle 100 has a control device 240 connected to the buffer element 226. Based on contact of the buffer element 226 with the loading ramp, the buffer element 226 switches or detects the contact and outputs it to the control device 240. The control device 240 is also connected to the navigation sensor 210 and deactivates it when the navigation sensor 210 leaves its calibrated position in the proximal arrangement position P by moving toward the chassis 10. This effectively prevents further processing of measurement data from the navigation sensor 210, which can be acquired when approaching and hitting a loading ramp outside the calibrated position.

[0032] Fig. 3 shows the movement mechanism 220 according to another embodiment. The movement mechanism 220 differs from the Fig.2 is that the movement mechanism 220 has an actuator 230 instead of the suspension 224, which is configured to retract the sensor holder 222 from the proximal arrangement position P in the direction of the chassis 10. According to one embodiment, the actuator 230 is designed as an actuating cylinder 232. According to a further embodiment, the actuating cylinder 232 can be actuated by an actuating system 234, wherein the actuating cylinder 232 is a hydraulic actuating cylinder 232 and the actuating system 234 is a hydraulic actuating system 234. Damage to the navigation sensor 210, which is arranged so as to protrude from the receiving area 5, can thus be avoided when approaching and hitting a loading ramp by actively retracting the sensor holder 222. Reference symbol 5 Recording area 10 Chassis 12 lifting elements 20 swap body frames 22 fasteners 30 vehicle axles 100 self-driving bidirectional vehicles 210 Navigation sensor 212 GNSS antenna 214 detection range 220 Movement mechanism 222 Sensor holder 224 Suspension 225 gas spring 226 Buffer element 230 Actuator 232 actuating cylinders 234 Actuating system 240 Control device P proximal arrangement position

Claims

[1] Self-propelled bidirectional vehicle (100) for transporting a swap body, comprising a chassis (10), a swap body frame (20) for driving under and receiving the swap body, wherein the swap body frame (20) is vertically movable relative to the swap body to be received, and at least one navigation sensor (210) for navigating the self-propelled bidirectional vehicle (100) when transporting the swap body, wherein the navigation sensor (210) is arranged on the chassis (10) via a movement mechanism (220), and wherein the movement mechanism (220) is configured to provide a movement of the navigation sensor (210) in the direction of the chassis (10). [2] The bidirectional self-propelled vehicle (100) according to claim 1, wherein the movement mechanism (220) is configured to provide movement of the navigation sensor (210) from a proximal arrangement position (P) of the navigation sensor (210) to the chassis (10) to a distal arrangement position of the navigation sensor (210) to the chassis (10). [3] Self-propelled bidirectional vehicle (100) according to claim 2, wherein the proximal arrangement position (P) of the navigation sensor (210) is arranged cantilevered to a receiving area (5) in which the swap body can be received on the swap body frame (20). [4] A bidirectional self-propelled vehicle (100) according to any one of claims 2 or 3, wherein the distal arrangement position of the navigation sensor (210) is arranged integrally in the chassis (10). [5] Self-propelled bi-directional vehicle (100) according to one of the preceding claims, wherein the movement mechanism (220) is arranged to provide the movement of the navigation sensor (210) along a vehicle longitudinal axis of the self-propelled bi-directional vehicle (100). [6] Self-propelled bidirectional vehicle (100) according to one of the preceding claims, wherein the movement mechanism (220) is arranged to provide the movement of the navigation sensor (210) based on an external force acting on the movement mechanism (220). [7] Self-propelled bidirectional vehicle (100) according to one of the preceding claims, wherein the movement mechanism (220) is configured to oppose the movement of the navigation sensor (210) with a restoring force, and wherein the movement mechanism (220) is configured to provide, based on the restoring force, a movement of the navigation sensor (210) opposite to the movement of the navigation sensor (210) in the direction of the chassis (10). [8] Self-propelled bidirectional vehicle (100) according to one of the preceding claims, wherein the movement mechanism (220) comprises an actuator (230) which is arranged to bring about the movement of the navigation sensor (210). [9] Self-propelled bidirectional vehicle (100) according to one of the preceding claims, with two navigation sensors (210) for navigating the self-propelled bidirectional vehicle (100) when transporting the swap body, wherein the two navigation sensors (210) are arranged in regions of the chassis (10) opposite one another with respect to a vehicle longitudinal axis of the self-propelled bidirectional vehicle (100), wherein each navigation sensor (210) is designed like the navigation sensor (210) according to one of the preceding claims, and wherein each navigation sensor (210) has a GNSS antenna (212). [10] Self-propelled bidirectional vehicle (100) according to one of the preceding claims, further comprising a control device (240) which is arranged to output a control signal for deactivating the navigation sensor (210) when the navigation sensor (210) is in a state moved in the direction of the chassis (10).

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