Self-driving 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 has a bidirectional transverse centering for driving under the swap body in a centric and non-directional manner, and two steerable vehicle axles (30, 40) for maneuvering the bidirectional vehicle (100).

Description

Technical field

[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 prior art. These known commercial vehicles have a swap body frame for driving under and picking up a swap body in a specific direction. However, non-directional driving under the swap body is not possible with known commercial vehicles.

[0003] Furthermore, transport vehicles for carrying ISO containers are known from the prior art. Such a transport vehicle for ISO containers, which has a loading platform for loading an ISO container, is known from DE 10 2009 025 051 A1. However, driving under and picking up a swap body is not feasible with such known transport vehicles, as the size of such vehicles does not allow driving under the swap body and a liftable vehicle frame for picking up the swap body is not provided. A self-propelled, modular transport vehicle was also disclosed in the following internet publication, accessed on January 17, 2024: TII SCHEUERLE: Scheuerle SPMT PowerHoss - the original needs no role model, published on April 30, 2021, URL: https: / / www.youtube.com / watch?v=n7ZaNfcQWxO.

[0004] A mobile transport device is known from CN 2 18 025 264 U.

[0005] DE 10 2020 108 116 A1 discloses an autonomous, ground-based industrial truck and a method for loading and / or unloading a loading unit with such an industrial truck.

[0006] From DE 20 2014 000 755 U1 a heavy-duty low-floor vehicle and a system with one or more of these heavy-duty low-floor vehicles are known. Description of the invention

[0007] The present invention relates in one aspect 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 intervention of a human driver. The self-driving bidirectional vehicle can also be configured to approach and drive under a swap body without the intervention of a human driver. The self-driving bidirectional vehicle can be an autonomous bidirectional vehicle, which may exhibit either high automation according to BASt Level 4 or full automation according to BASt Level 5. 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 robotic vehicle. The self-driving bidirectional vehicle can be designed without a driver's cab.

[0008] In other words, a swap body can also refer to 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 container that can be picked up by the self-propelled bidirectional vehicle.

[0009] The self-propelled bidirectional vehicle can be a non-directional vehicle. In other words, the self-propelled bidirectional vehicle can be a vehicle that does not travel in a specific direction. Therefore, the self-propelled bidirectional vehicle does not have a forward and reverse direction. Instead, the self-propelled bidirectional vehicle can have two equivalent directions of travel. These directions of travel can be opposite each other. The directions of travel can be parallel to a longitudinal axis of the vehicle. The self-propelled bidirectional vehicle can be symmetrical in its essential components or in its drive train with respect to at least one of its transverse and longitudinal axes.

[0010] The self-propelled bidirectional vehicle cannot transport a swap body in a direction-independent manner. In other words, the self-propelled bidirectional vehicle can transport the swap body in either of two directions. The self-propelled bidirectional vehicle cannot approach a swap body in a direction-independent manner. In other words, the self-propelled bidirectional vehicle can approach the swap body in either of two directions. The self-propelled bidirectional vehicle cannot drive under a swap body in a direction-independent manner. Driving under the swap body in a direction-independent manner can refer to driving under the swap body along its longitudinal axis. In other words, the self-propelled bidirectional vehicle can drive under the swap body in either of two directions.The self-driving bidirectional vehicle can be configured to pick up and transport a single swap body.

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

[0012] The self-propelled bidirectional vehicle has a swap body frame. The swap body frame can be mounted on the chassis, which can support the swap body frame. The swap body frame is designed for driving under and picking up the swap body. Picking up the swap body may involve lifting it. The swap body frame is also designed for parking the swap body. Parking the swap body may involve lowering it. The swap body frame is designed to allow driving under the swap body in any direction. In other words, the swap body frame is designed to allow driving under the swap body in either of the two directions of travel of the self-propelled bidirectional vehicle. The swap body frame is vertically movable relative to the swap body being picked up. The swap body frame may be liftable relative to the chassis.The swap body frame can be raised relative to the chassis, although raising the swap body frame by the vehicle's suspension is not provided for in the self-propelled bidirectional vehicle. The chassis can support the swap body to be accommodated. The swap body frame can be symmetrical with respect to at least one of the transverse and longitudinal centers of the self-propelled bidirectional vehicle.

[0013] The self-propelled bidirectional vehicle has two steerable axles. The self-propelled bidirectional vehicle can be a two-track vehicle. At least two wheels can be mounted on each axle. The axles can be located on the chassis. The axles are designed for maneuvering the bidirectional vehicle. The axles can be the only axles of the self-propelled bidirectional vehicle. The axles can be arranged opposite each other on the chassis with respect to a transverse center axis of the self-propelled bidirectional vehicle. The axles can be arranged symmetrically on the chassis with respect to a transverse center axis of the self-propelled bidirectional vehicle.

[0014] The self-driving bidirectional vehicle, through the synergistically advantageous combination of its non-directional driving capability and two steerable axles, exhibits improved maneuverability compared to a bidirectional vehicle with only one steerable axle or a directional vehicle with two steerable axles. Furthermore, the combination of non-directional driving capability and two steerable axles allows for more time- and cost-efficient implementation of routes for approaching and transporting a swap body for the self-driving bidirectional vehicle, compared to a bidirectional vehicle with only one steerable axle or a directional vehicle with two steerable axles.

[0015] The self-propelled bidirectional vehicle can have a smaller turning circle or track radius compared to a bidirectional vehicle with only one steerable axle. Therefore, the self-propelled bidirectional vehicle can maneuver with less space when starting and transporting a swap body compared to a bidirectional vehicle with only one steerable axle. Furthermore, the self-propelled bidirectional vehicle can maneuver under a swap body over a shorter distance or with a smaller turning radius compared to a vehicle with only one steerable axle. A turning maneuver for picking up or transporting a swap body can also be avoided compared to a directional vehicle with two steerable axles.

[0016] The maneuverability made possible by the self-propelled, bidirectional vehicle, combined with its reduced space requirements, also has the advantage that swap bodies can be stored with a correspondingly reduced storage space requirement. For example, the smaller turning circle or turning radius allows for a shorter free lane between swap bodies, thus enabling swap body handling with reduced storage space requirements.

[0017] According to one embodiment of the self-propelled bidirectional vehicle, the two steerable axles can be configured as driven axles. The self-propelled bidirectional vehicle can therefore be an all-wheel-drive bidirectional vehicle. The driven axles can be configured as independently driven axles. The self-propelled bidirectional vehicle can have a drive control unit configured to control the axles in such a way that they are driven independently. A drive train of the self-propelled bidirectional vehicle can include at least one electric motor capable of driving at least one of the axles. The drive train of the self-propelled bidirectional vehicle can include at least one shaft capable of driving at least one of the axles.The shaft can be a cardan shaft. If, according to this embodiment, the vehicle axles are driven axles, the drivability and maneuverability of the self-propelled bidirectional vehicle can be further improved, even under low-friction road conditions. Furthermore, the driven axles can increase the operational safety of the self-propelled bidirectional vehicle when transporting heavy loads and when driving on inclined surfaces.

[0018] According to a further embodiment of the self-propelled bidirectional vehicle, the two steerable axles can be designed as independently steerable axles. The self-propelled bidirectional vehicle can have a steering control device configured to control the axles in such a way that they are steered independently. The axles can be individually steerable, allowing the self-propelled bidirectional vehicle to be operated in single-axle steering mode. In other words, the axles can be individually steered when starting, driving under, and transporting a swap body. Alternatively, both axles can be steerable. Finally, the self-propelled bidirectional vehicle can be operated in all-wheel steering mode. In other words, both axles can be steered when starting, driving under, and transporting a swap body.Maneuverability of the self-propelled bidirectional vehicle can be further improved with independently steerable axles. Furthermore, parking and loading flexibility of the self-propelled bidirectional vehicle can be increased with independently steerable axles.

[0019] According to another embodiment of the self-propelled bidirectional vehicle, the independently steerable axles can be steerable in opposite directions. The axles can be proportionally steerable. In other words, the self-propelled bidirectional vehicle can be operated with proportional steering, in which the wheels of one axle can be deflected in the opposite direction to the wheels of the other axle at a specific steering angle ratio. Alternatively, the axles can be steerable in the same direction. In other words, the self-propelled bidirectional vehicle can be operated with synchronous steering, in which the wheels of one axle can be deflected in the opposite direction to the wheels of the other axle at the same steering angle.Route options in route planning when approaching and transporting a swap body with the self-driving bidirectional vehicle can be expanded with the independently steerable vehicle axles.

[0020] According to a further embodiment of the self-propelled bidirectional vehicle, the independently steerable axles can be steerable in the same direction. In other words, the self-propelled bidirectional vehicle can be operated in crab steering mode, in which the wheels of one axle can be steered in the same direction as the wheels of the other axle. Route corrections when driving under a swap body with the self-propelled bidirectional vehicle can thus be carried out more efficiently with the independently steerable axles.

[0021] According to a further embodiment of the self-propelled bidirectional vehicle, the swap body frame can be configured to allow the vehicle to drive under the swap body in a non-directional manner. The swap body frame features a bidirectional transverse centering device for centrally and non-directionally driving under the swap body. This transverse centering device can be non-directional. It can be arranged symmetrically on the swap body frame with respect to the transverse center axis of the self-propelled bidirectional vehicle. The transverse centering device can include at least one guide roller, which is mounted on the swap body frame and guided along a centering rail of a centering tunnel of the swap body during the vehicle's movement under the swap body. The swap body frame can include a locking mechanism for connecting the swap body to the frame.The locking mechanism can provide a locking device for the swap body or a positive-locking connection between the swap body and the swap body frame. The locking mechanism can be non-directional. It can be arranged symmetrically on the swap body frame relative to the transverse center axis of the self-propelled bidirectional vehicle. This allows for particularly efficient, direction-independent approach and pickup of a swap body, thus improving logistics processes executable with the self-propelled bidirectional vehicle.

[0022] According to a further embodiment of the self-propelled bidirectional vehicle, the swap body frame can be designed without an end stop for positioning the self-propelled bidirectional vehicle in a receiving position for picking up the swap body. Furthermore, the swap body frame can also be designed without an end stop for positioning the self-propelled bidirectional vehicle in a locking position for locking the swap body. The swap body frame can therefore be without end stops. This end-stop-free design can enable or even make possible direction-independent underpassing in a particularly advantageous way.

[0023] According to a further embodiment of the self-propelled bidirectional vehicle, it can have at least one actuator for vertically moving the swap body frame relative to the swap body to be picked up. The at least one actuator can connect the swap body frame and the chassis. The actuator can be hydraulically actuated. According to a further embodiment of the self-propelled bidirectional vehicle, the at least one actuator can have a hydraulic cylinder. The actuator can be a positioning cylinder or a lifting cylinder. The self-propelled bidirectional vehicle can have a plurality of actuators, for example, four actuators for vertically moving the swap body frame relative to the swap body to be picked up. The actuators can be arranged symmetrically with respect to at least one transverse center axis and one longitudinal center axis of the self-propelled bidirectional vehicle.The actuators can be arranged symmetrically in pairs.

[0024] According to this embodiment, the horizontal distance between the at least one actuator and the center of gravity of the self-propelled bidirectional vehicle can be greater than the horizontal distance between the vehicle axis of the two steerable vehicle axles adjacent to the at least one actuator and the vehicle's center of gravity. Similarly, the horizontal distance between the at least one actuator and the transverse center axis of the self-propelled bidirectional vehicle can be greater than the horizontal distance between the vehicle axis of the two steerable vehicle axles adjacent to the at least one actuator and the transverse center axis. By arranging the actuators towards the outside of the vehicle relative to a longitudinal axis, a favorable force distribution onto the chassis can be achieved during lifting and transporting the swap body, resulting in improved moment distribution within the chassis.

[0025] If the self-propelled bidirectional vehicle has a multitude of actuators, the two steerable axles can be arranged between the actuators with respect to a longitudinal axis. The axle spacing, or wheelbase, of the self-propelled bidirectional vehicle can thus be shorter than the length of a swap body. The vehicle body and dimensions of the self-propelled bidirectional vehicle can therefore be particularly compact. Furthermore, the length of the self-propelled bidirectional vehicle can essentially correspond to the length of a swap body. In addition, the shortened axle spacing of this embodiment can result in significantly improved maneuverability of the self-propelled bidirectional vehicle.

[0026] According to a further embodiment of the self-propelled bidirectional vehicle, it can have two electric machines for driving the two steerable axles. These electric machines can be electric motors for driving the two steerable axles. The electric machines can be arranged symmetrically with respect to at least one transverse center axis and one longitudinal center axis of the self-propelled bidirectional vehicle. The electric machines can be arranged in such a symmetrical pair.

[0027] According to this embodiment, the horizontal distance between one of the two electric machines and the center of gravity of the self-propelled bidirectional vehicle can be greater than the horizontal distance between the vehicle axle adjacent to the electric machine and the vehicle's center of gravity. Similarly, the horizontal distance between one of the electric machines and the transverse center axis of the self-propelled bidirectional vehicle can be greater than the horizontal distance between the vehicle axle adjacent to the electric machine and the transverse center axis. The two steerable axles can be arranged between the electric machines with respect to a longitudinal axis of the vehicle. This allows the vehicle structure and dimensions of the self-propelled bidirectional vehicle to be designed to be particularly compact.Furthermore, the bidirectional vehicle can, by means of the external arrangement of the electric machines in relation to the vehicle axles according to this embodiment, have a compactly dimensioned package plan for the self-driving bidirectional vehicle.

[0028] According to a further embodiment of the self-propelled bidirectional vehicle, it can have an energy source for supplying the vehicle with energy. The energy source can be designed as an energy storage device, for example, as a battery. The energy source can also be designed as a fuel cell. The energy source can be arranged symmetrically with respect to at least one of the transverse and longitudinal axes of the self-propelled bidirectional vehicle. According to this embodiment, the energy source can be arranged on the chassis between the two steerable axles with respect to a longitudinal axis of the vehicle. The vehicle's center of gravity can thus be advantageously distributed between the two steerable axles by means of a weight distribution resulting from the central arrangement of the energy source.A symmetrical vehicle design for the powertrain can thus be advantageously implemented.

[0029] According to a further embodiment of the self-propelled bidirectional vehicle, it can have a mechanical suspension system by which the two steerable axles can be connected to the chassis. The mechanical suspension system can consist of leaf springs for the two steerable axles. The mechanical suspension system, or leaf springs, can be arranged symmetrically with respect to at least one transverse center axis and one longitudinal center axis of the self-propelled bidirectional vehicle. If the leaf spring system comprises a plurality of leaf springs, these can be arranged symmetrically in pairs.Mechanical suspension, or leaf spring suspension, can reduce the overall height of the self-propelled bidirectional vehicle and enable efficient design of the vehicle suspension, taking into account the ratio of sprung to unsprung mass of the self-propelled bidirectional vehicle during pickup and transport from the swap body.

[0030] According to a further embodiment of the self-propelled bidirectional vehicle, the drive train of the self-propelled bidirectional vehicle can be arranged below a support surface of the swap body frame, which is designed to support the swap body. The drive train can include at least one power source, electric motors, shafts, two steerable vehicle axles, and wheels. With the exception of the locking mechanism and the lateral centering system, all vehicle components can thus be arranged below the support surface. This allows for free space above the support surface to allow the vehicle to pass under the swap body regardless of the direction of travel. Brief description of the characters Fig. Figure 1 shows a self-driving bidirectional vehicle according to one embodiment in a perspective view of a load-bearing surface of a swap body frame. Fig. Figure 2 shows the self-driving bidirectional vehicle from Fig. 1 in a side view. Fig. Figure 3 shows the self-driving bidirectional vehicle from Fig. 1 in a perspective view of a chassis which is located below the wing of the swap body frame. Detailed description of embodiments

[0031] Fig. Figure 1 shows a perspective view from above 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 steerable axles 30, 40. The swap body frame 20 is mounted on the chassis 10 and can be raised relative to the chassis 10. The swap body frame 20 has a connecting device 62, which is configured to connect the swap body to be received by the swap body frame 20 to the swap body frame 20. According to one embodiment, the connecting device 62 is configured to engage positively with the swap body to be received in order to secure the swap body to the swap body frame 20.

[0032] The swap body frame 20 has a support surface 24 which can carry the swap body to be transported by the self-propelled bidirectional vehicle 100. According to one embodiment, the swap body frame 20 does not have an end stop for horizontally contacting the self-propelled bidirectional vehicle 100 with the swap body to be picked up. The self-propelled bidirectional vehicle 100 and the swap body frame 20 are thus configured to drive under the swap body in a non-directional manner. A drive train 110 of the self-propelled bidirectional vehicle 100, which has the two steerable vehicle axles 30, 40, is also arranged below the support surface 24.

[0033] Fig. Figure 2 shows a side view of the self-propelled bidirectional vehicle 100. The swap body frame 20 also has a centering device 64, which includes a plurality of guide rollers for the centered positioning of the self-propelled bidirectional vehicle 100 under the swap body to be picked up. The self-propelled bidirectional vehicle 100 has a power source 50 for driving the two steerable axles 30, 40, the power source 50 being arranged between the two steerable vehicle axles 30, 40 on the chassis 10. The power source 50 is located below the swap body frame 20.

[0034] The self-propelled bidirectional vehicle 100 has a vehicle center of gravity 102, which is located below the support surface 24 of the swap body frame 20 and between the two steerable vehicle axles 30, 40.

[0035] The self-propelled bidirectional vehicle 100 has a plurality of actuators 22 for lifting the swap body frame 20. The actuators 22 are supported on the chassis 10. According to one embodiment, the actuators 22 are designed as hydraulic cylinders 23. The horizontal distance between each of the actuators 22 and the vehicle's center of gravity 102 is greater than the horizontal distance between the vehicle axle adjacent to the respective actuator 22 of the two steerable vehicle axles 30, 40 and the vehicle's center of gravity 102.

[0036] Fig.Figure 3 shows the self-propelled bidirectional vehicle 100 in a perspective view from below. The self-propelled bidirectional vehicle 100 has two electric motors 32, 42 for driving the two steerable vehicle axles 30, 40. The horizontal distance between each of the two electric motors 32, 42 and the vehicle's center of gravity 102 is greater than the horizontal distance between the axle of the two steerable vehicle axles 30, 40 adjacent to the respective electric motor 32, 42 and the vehicle's center of gravity 102. The self-propelled bidirectional vehicle 100 also has a mechanical suspension 90, via which the two steerable vehicle axles 30, 40 are connected to the chassis 10.

[0037] The two steerable vehicle axles 30, 40 are designed as driven vehicle axles 30, 40, each being driven by one of the electric machines 32, 42. The vehicle axles 30, 40 thus have separate electric drives. The self-propelled bidirectional vehicle 100 has a drive control device (not shown in the figures) configured to control the vehicle axles 30, 40 such that they are driven independently of each other. The two steerable vehicle axles 30, 40 are also designed as independently steerable vehicle axles 30, 40. The self-propelled bidirectional vehicle 100 has a steering control device not shown in the figures, which is designed to control the vehicle axles 30, 40 in such a way that the vehicle axles 30, 40 are deflected independently of each other.

[0038] The self-propelled bidirectional vehicle 100 has a symmetrical arrangement of vehicle components with respect to at least one of the vehicle's center of gravity 102, a transverse center axis 106, and a longitudinal center axis 104. The actuators 22 are arranged in pairs on the chassis 10 with axial symmetry to the transverse center axis 106 and the longitudinal center axis 104. The vehicle axles 30 and 40 are arranged on the chassis 10 with axial symmetry to the transverse center axis 106. The electric motors 32 and 42 are arranged on the chassis 10 with point symmetry to the vehicle's center of gravity 102. Reference sign 10 chassis 20 swap body frames 22 Actuator 23 hydraulic cylinders 24 Wing 30,40 vehicle axle 32.42 electric machine 50 Energy source 62 Connection device 64 Centering device 90 mechanical suspension 100 self-driving bidirectional vehicles 102 Vehicle focus 104 Longitudinal center axis 106 Transverse center axis 110 Powertrain

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 picking up the swap body, wherein the swap body frame (20) is vertically movable relative to the swap body to be picked up and has a bidirectional transverse centering for driving under the swap body in a centric and non-directional manner, and two steerable vehicle axles (30, 40) for maneuvering the bidirectional vehicle (100). [2] Self-driving bidirectional vehicle (100) according to claim 1, wherein the two steerable vehicle axles (30, 40) are designed as driven vehicle axles (30, 40). [3] Self-driving bidirectional vehicle (100) according to claim 1 or 2, wherein the two steerable vehicle axles (30, 40) are designed as independently steerable vehicle axles (30, 40). [4] Self-propelled bidirectional vehicle (100) according to one of the preceding claims, wherein the swap body frame (20) is configured to drive under the swap body in a non-directional manner. [5] Self-propelled bidirectional vehicle (100) according to one of the preceding claims, furthermore comprising at least one actuator (22) for vertically moving the swap body frame (20) relative to the swap body to be received, wherein a horizontal distance between the at least one actuator (22) and a vehicle center of gravity (102) of the self-propelled bidirectional vehicle (100) is greater than a horizontal distance between the vehicle axle adjacent to the at least one actuator (22) of the two steerable vehicle axles (30, 40) and the vehicle center of gravity (102). [6] Self-propelled bidirectional vehicle (100) according to claim 5, wherein the at least one actuator (22) has a hydraulic cylinder (23). [7] Self-propelled bidirectional vehicle (100) according to one of the preceding claims, furthermore comprising two electric machines (32, 42) for each driving the two steerable vehicle axles (30, 40), wherein a horizontal distance between one of the two electric machines (32, 42) and a vehicle center of gravity (102) of the self-propelled bidirectional vehicle (100) is greater than a horizontal distance between the vehicle axle of the two steerable vehicle axles (30, 40) adjacent to the electric machine and the vehicle center of gravity (102). [8] Self-driving bidirectional vehicle (100) according to one of the preceding claims, furthermore comprising an energy source (50) for supplying the self-driving bidirectional vehicle (100) with energy, wherein the energy source (50) is arranged on the chassis (10) between the two steerable vehicle axles (30, 40) with respect to a longitudinal axis of the vehicle. [9] Self-propelled bidirectional vehicle (100) according to one of the preceding claims, furthermore comprising a mechanical suspension (90) via which the two steerable vehicle axles (30, 40) are connected to the chassis (10). [10] Self-propelled bidirectional vehicle (100) according to one of the preceding claims, wherein the drive train (110) of the self-propelled bidirectional vehicle (100) is arranged below a support surface (24) of the swap body frame (20), which is designed to support the swap body.

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