Driverless transport vehicle and method for moving a semi-trailer by a driverless transport vehicle

Description

[0001] A driverless transport vehicle for moving a semi-trailer is specified. Furthermore, a method for moving a semi-trailer using a driverless transport vehicle is specified.

[0002] According to the current state of the art, trailers in the form of semi-trailers or trailers are transported in production plants using a conventional tractor unit. These tractor units are designed for long-distance road use. Shunting is often required within the plant, but the tractor units are not very maneuverable. An employee is also required to drive the operating machinery. The journeys are usually very short, which is not very efficient in terms of fuel consumption.

[0003] WO 2018 / 202 483 A1 relates to a method for operating an automatically guided container transport vehicle, which can be automatically guided both during forward travel and during reverse travel and which comprises a tractor and a trailer with a loading area for at least one container. The transport vehicle, in particular the tractor, has a vehicle control system for controlling a steering system and a drive system of the transport vehicle such that the transport vehicle follows a target route. To improve such a method, it is proposed that the target route be automatically specified taking into account a trajectory of the transport vehicle.

[0004] DE 10 2016 218 603 A1 describes a device for detecting the position of a first or second vehicle to be coupled to one another, comprising a sensor device that can be arranged on the first or second vehicle and that measures at least one reference point of the other, second or first vehicle. WO 2018 / 162 031 A1 relates to a method comprising the steps of: parking a trailer using a towing vehicle, wherein the trailer is coupled to the towing vehicle via a coupling element of the trailer; the towing vehicle estimates the position and course of the coupling element of the parked trailer; transmitting the estimated position and the estimated course of the coupling element of the parked trailer to a data storage device; and automatically uncoupling the trailer from the towing vehicle so that the towing vehicle can drive away from the parked trailer.

[0005] DE 10 2009 052382 A1 describes an automated guided vehicle for moving a semi-trailer, comprising a coupling device with a plurality of sensors for the automated coupling of the automated guided vehicle to a kingpin of a semi-trailer, wherein the coupling device has a fifth wheel coupling.

[0006] The disadvantage of conventional tractors is that at least one employee is required to drive them. Furthermore, tractors are not ideal for factory premises.

[0007] One object to be achieved by at least some embodiments is to provide a driverless transport vehicle that can move a semitrailer. A further object is to provide a method for moving a semitrailer using a driverless transport vehicle.

[0008] These objects are achieved by subject matter according to the independent patent claims. Advantageous embodiments and developments of the subject matter are further apparent from the dependent patent claims, the following description, and the drawings.

[0009] A driverless transport vehicle described here has a coupling device for coupling, in particular for automated coupling, the driverless transport vehicle (FTF) with a kingpin of a semi-trailer or a so-called trailer.

[0010] The driverless transport vehicle can also be referred to as a driverless transport system (FTS) or an automated guided vehicle (AGV).

[0011] The fully mobile automated guided vehicle system is used primarily for transporting trailers around a factory site. The automated guided vehicle system lifts the trailer at the front end and can move it using the wheels at the rear end. The automated guided vehicle system picks up the trailer at its parking location and automatically transports it to the desired factory hall or unloading and / or loading point. Using sensors, the automated guided vehicle system can detect obstacles near the platform and any attached semi-trailer and, if necessary, drive around them or stop.

[0012] The driverless transport system should preferably be capable of pulling loads of up to 40 t, for example, a 40 t semi-trailer. Furthermore, the driverless transport vehicle is suitable for indoor and outdoor use and features omnidirectional drive. The driverless transport vehicle should also preferably feature the latest sensor and navigation technology.

[0013] The driverless transport system can be used for towing different types of semi-trailers, such as tarpaulin trailers, box trailers, low-loader trailers, container trailers and tank trailers.

[0014] In addition, the automated guided vehicle has sensors for automatically coupling the coupling device of the automated guided vehicle to the kingpin. This allows, for example, the fifth wheel coupling to be easily aligned with the kingpin and coupled to it. For this purpose, the automated guided vehicle is moved relative to the kingpin, particularly depending on the data determined by the corresponding sensors. Alternatively, it might also be conceivable to mount the fifth wheel coupling so that it can move relative to the body / frame of the automated guided vehicle in the transverse and / or longitudinal directions of the vehicle, thereby achieving the coupling position between the fifth wheel coupling and the kingpin.

[0015] The coupling device preferably has an adapter unit for positive and / or non-positive connection to the kingpin of the semi-trailer. In particular, the coupling device comprises a fifth wheel coupling with a fifth wheel plate, which is carried by the automated guided vehicle system. The fifth wheel coupling serves, among other things, to support and carry the trailer using the kingpin, and to lock the kingpin to the fifth wheel plate. In particular, a standardized fifth wheel coupling and fifth wheel plate are used in order to accommodate and maneuver as many common semi-trailers as possible.

[0016] Furthermore, the coupling device can have a device for lifting the semi-trailer, in particular a hydraulic device. This device can be arranged, for example, between the fifth wheel coupling and the body / frame of the automated guided vehicle system, so that the fifth wheel coupling (and thus the front area of ​​the semi-trailer / trailer) can be raised and lowered relative to the body / frame of the automated guided vehicle system. Alternatively, the chassis of the automated guided vehicle system could also be equipped with air suspension or the like as said device, as is usually the case with semi-trailer tractors, so that the raising and lowering of the front part of the semi-trailer / trailer is achieved by adjusting the height of the body / frame of the automated guided vehicle system and thus also of the fifth wheel coupling.

[0017] According to a further embodiment, the automated guided vehicle has a plurality of sensors for environmental detection. For example, the automated guided vehicle can have a substantially cuboid-shaped base body on which at least four laser sensors are arranged. For example, at least one laser sensor for environmental detection can be arranged at four different corners or edges of the base body of the automated guided vehicle.

[0018] According to a further embodiment, the driverless transport vehicle has a plurality of drive wheels that can be controlled such that the driverless transport vehicle can move omnidirectionally. For example, at least two drive wheels can be subjected to different drive torques and / or oppositely oriented drive torques and / or oppositely oriented rotational directions. In particular, the driverless transport system has at least one front axle and at least one rear axle, or corresponding drive wheels assigned to the axles, which can be operated with different drive torques and / or oppositely oriented drive torques and / or oppositely oriented rotational directions.

[0019] Furthermore, a method for moving a semi-trailer by an automated guided vehicle is specified. In this case, an automated guided vehicle is coupled to a semi-trailer, preferably automatically, wherein preferably a coupling device of the automated guided vehicle is connected to the kingpin of the semi-trailer. For example, an adapter unit of the coupling device can form a positive and / or non-positive connection with the kingpin. In particular, a fifth wheel coupling as described above is used for this purpose. Furthermore, the semi-trailer can be lifted by a lifting device, in particular a hydraulic device, immediately before and / or during and / or immediately after coupling, so that the semi-trailer can be moved by the automated guided vehicle. For this purpose, for example, a device for lifting the semi-trailer as described above is used.

[0020] Further advantages and advantageous embodiments of the driverless transport vehicle described here and of the method for moving a semi-trailer by a driverless transport vehicle will become apparent from the following in connection with the Figure 1 and 2 described embodiments. They show: Fig. 1 is a schematic representation of a driverless transport vehicle for moving a semi-trailer according to one embodiment, and Fig. 2 is a schematic representation of a driverless transport vehicle for moving a semi-trailer according to a further embodiment.

[0021] In the exemplary embodiments and figures, identical or functionally identical components may be provided with the same reference numerals. The illustrated elements and their relative sizes are generally not to scale. Rather, individual elements may be exaggeratedly thick or oversized for clarity and / or clarity.

[0022] The Fig. 1 shows a driverless transport vehicle 1, which moves a semi-trailer 2. As in the Figure 2 As can be seen, a coupling device 4 of the driverless transport vehicle 1 is connected to the kingpin 3 of the semi-trailer 2.

[0023] Alternatively or additionally, the embodiments shown in the figures may have further features according to the embodiments of the general description.

[0024] As from Fig. 1As can be seen, the driverless transport vehicle 1 is used to move the semi-trailer 2, particularly within a factory premises W. It has been shown that the previous method on factory premises W, in which the respective semi-trailers 2 or trailers are transported in production plants using a conventional tractor, is not sensible, particularly from an economic point of view. These tractors are designed for long-distance use on the road and are not very efficient in terms of energy consumption during journeys on factory premises W, which are usually very short compared to long-distance use. In addition, maneuvering is often necessary on the factory premises W; however, the tractors are not very maneuverable.

[0025] For this reason, instead of a tractor unit, the driverless transport vehicle 1 is provided on the factory premises W, which can be automatically coupled to the semi-trailer 2. For this purpose, the driverless transport vehicle 1 has the Fig. 2 recognizable coupling device 4, which can be connected to the kingpin 3 of the semi-trailer 2 or in Fig. 2 is connected.

[0026] As from Fig. 2As can be seen, the coupling device 4 has an adapter unit for positive and / or non-positive connection to the kingpin 3, which here comprises a conventionally used fifth wheel coupling 5. The fifth wheel coupling 5 has a fifth wheel plate 6, which is carried by a structure or frame 7 of the driverless transport system 1. A locking device 8 is integrated into the fifth wheel plate 6, by means of which the kingpin 3 can be locked to the fifth wheel plate 6. The fifth wheel coupling 5 thus serves, among other things, to support and carry the trailer 2 via the kingpin 3, and to lock the kingpin 3 to the fifth wheel plate 6. In particular, a standardized fifth wheel coupling 5 and fifth wheel plate 6 are used here in order to be able to accommodate and maneuver as many common semi-trailers 2 as possible.

[0027] Furthermore, the driverless transport vehicle 1 comprises a plurality of drive wheels, of which in the Fig. 1 and 2respective front and rear drive wheels 9, 10 are shown. These can be controlled here such that the driverless transport vehicle 1 can move omnidirectionally. For example, at least two drive wheels 9, 10 can be designed such that they can be subjected to different drive torques and / or oppositely oriented drive torques and / or oppositely oriented directions of rotation. In particular, the driverless transport system 1 can have at least one front axle 11 and at least one rear axle 12 or corresponding, associated drive wheels 9, 10, which can be operated with different drive torques and / or oppositely oriented drive torques and / or oppositely oriented directions of rotation. Thus, the driverless transport vehicle 1 can be moved, for example, omnidirectionally in the vehicle's longitudinal direction and transverse direction.In a particular embodiment, the driverless transport vehicle 1 has a front axle 11 with respective driven and steerable front wheels 9 and two rear axles 12 with respective driven and steerable rear wheels 10. This makes the semi-trailer 2 particularly maneuverable.

[0028] It is clear that other configurations of driven and steerable wheels of the driverless transport vehicle 1 are also conceivable within the scope of the invention. The driverless transport vehicle 1 may also have rigid and / or non-driven wheels.

[0029] Furthermore, the automated guided vehicle 1 comprises a device 13 for raising the front end of the semi-trailer 2 so that it can be moved at the rear end of the trailer 2 using its wheels 14, 15. This device 13 can, for example, be a hydraulic device by means of which the trailer 2 can be raised immediately before and / or during and / or immediately after the kingpin 3 is coupled to the fifth wheel coupling 5, so that it can be moved by the automated guided vehicle 1. If necessary, it would also be conceivable, particularly to improve the maneuverability of the trailer 2 and the semi-trailer combination as a whole, for at least one axle or the corresponding wheels 14, 15 of the trailer 2 to be raised by appropriate control / influence.

[0030] According to Fig. 2In the present case, the hydraulic device 13 is arranged between the fifth wheel coupling 5 and the body / frame 7 of the driverless transport system 1. Here, respective hydraulic elements, such as piston-cylinder elements, are arranged between the fifth wheel plate 6 and the body / frame 7, by means of which the fifth wheel plate 6 can be raised and lowered relative to the body / frame 7 in the vertical direction of the vehicle.

[0031] In order to achieve automatic coupling of the kingpin 3 to the fifth wheel coupling 5, the coupling device 4 has, for example, respective sensors for automated coupling to the kingpin 3. This can, for example, determine the position of the fifth wheel coupling 5 relative to the kingpin 3. In this case, it would be conceivable to mount the fifth wheel coupling 5 so that it can move relative to the body / frame 7 of the automated guided vehicle 1 in the vehicle's transverse direction and / or in the vehicle's longitudinal direction, so that, depending on the relative position determined by the sensors, the fifth wheel coupling 5 can be (finely) adjusted relative to the kingpin 3 until the coupling position between the fifth wheel coupling 5 and the kingpin 3 is reached. If, in particular, a coarse adjustment between the fifth wheel coupling 5 and the kingpin 3 is required, this can be achieved by moving the automated guided vehicle 1 relative to the kingpin 3.If necessary, the positioning of the fifth wheel coupling 5 relative to the kingpin 3 can also be carried out exclusively by moving the automated guided vehicle 1. Once the coupling position between the fifth wheel coupling 5 and the kingpin 3 has been reached, which is detected, for example, by a corresponding sensor system, the kingpin 3 can then be automatically locked to the fifth wheel coupling 5 by means of the locking device 8.

[0032] The uncoupling after maneuvering the trailer 1 can be carried out in the correspondingly reverse order by first releasing the locking device 8 and then, with the assistance of the sensor system, bringing the fifth wheel coupling 5 out of engagement with the kingpin 3, for example by moving the driverless transport vehicle 1 and / or moving the fifth wheel coupling 5 relative to the body / frame 7.

[0033] As an alternative to the described device for lifting the fifth wheel plate 6, the chassis of the automated guided vehicle 1 can also serve as a device for lifting the front end of the semi-trailer 2. For example, it would be conceivable to support the respective wheels 9, 10 of the automated guided vehicle 1 on the body / frame 7 via an air suspension or the like, so that the raising and lowering of the automated guided vehicle 1, and thus also of the front end of the trailer 2, can be accomplished by changing the height of the respective air springs or the like of the air suspension.

[0034] The automated guided vehicle 1 also has a plurality of sensors for environmental detection. For example, the automated guided vehicle 1 can have a body 7 with a substantially cuboid-shaped base body on which at least four laser sensors or similar sensors are arranged. For example, respective sensors can be arranged at four different corners or edges 16, 17 of the base body 7 of the automated guided vehicle 1. With the aid of the sensors, the automated guided vehicle system 1 can detect obstacles in the vicinity of the vehicle 1 and any attached semi-trailer 2 and, if necessary, drive around them or stop.

[0035] The driverless transport vehicle 1 can also be connected, for example by means of a transmitting and / or receiving unit 18, to a central control system of the factory premises in order to be guided, for example, to the corresponding trailers 1 or the corresponding unloading and / or loading points.

Claims

1. A driverless transport vehicle (1) for moving a semi-trailer (2), comprising a coupling device (4) for coupling the driverless transport vehicle (1) to a kingpin (3) of a semi-trailer (2) in an automated manner, and the coupling device (4) comprising a plurality of sensors for coupling the coupling device (4) of the driverless transport vehicle (1) to the kingpin (3) in an automated manner, the coupling device (4) comprising an adapter unit (6, 8) for connecting to the kingpin (3) of the semi-trailer (2) in a form-fit and / or force-fit manner, the adapter unit (6, 8) comprising a fifth-wheel coupling (5), characterized in that the fifth-wheel coupling (5) is mounted so as to be movable relative to the body / frame of the driverless transport vehicle (1) in the transverse vehicle direction and / or in the longitudinal vehicle direction in order to reach the coupling position between the fifth-wheel coupling and the kingpin in this way.

2. The driverless transport vehicle (1) according to claim 1, wherein the coupling device (4) comprises an apparatus (13) for lifting the semi-trailer (2).

3. The driverless transport vehicle (1) according to claim 2, wherein the apparatus (13) for lifting the semi-trailer (2) is a hydraulic apparatus.

4. The driverless transport vehicle (1) according to any of the preceding claims, comprising a plurality of sensors for surroundings detection.

5. The driverless transport vehicle (1) according to claim 4, wherein the driverless transport vehicle (1) comprises a substantially cuboid main body (7), on which at least four laser sensors are arranged.

6. The driverless transport vehicle (1) according to any of the preceding claims, comprising a plurality of drive wheels (9, 10), which are designed to omnidirectionally move the driverless transport vehicle (1).

7. A method for moving a semi-trailer (2) by means of a driverless transport vehicle (1), comprising the following steps: - providing a driverless transport vehicle (1) according to any of the preceding claims, - providing a semi-trailer (2) to be moved, - coupling the driverless transport vehicle (1) to a kingpin (3) of a semi-trailer (2) in an automated manner by means of a coupling device (4), - moving the semi-trailer (2) by moving off in the driverless transport vehicle (1).

8. The method according to claim 7, wherein an adapter unit (6, 8) of the coupling device (4) establishes a form-fit and / or force-fit connection to the kingpin (3) of the semi-trailer (2) during the coupling.

9. The method according to any of claims 7 or 8, wherein the semi-trailer (2) is lifted by an apparatus (13), in particular a hydraulic apparatus, immediately before and / or during and / or immediately after the coupling.