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] Automated guided vehicles often include a platform on which cargo can be placed and moved. Attaching smaller trailers, in particular, to automated guided vehicles is also already known. This is typically done using a tow bar on the automated guided vehicle, to which a trailer's drawbar can be attached. Such combinations are used, for example, in assembly lines where assembly work is transported to the site using the automated guided vehicle.

[0003] CN 105 966 ​​177 A provides a logistics tractor. The logistics tractor comprises a tractor body and a drawbar suspension mechanism arranged at the rear end of the tractor body. The drawbar suspension mechanism comprises a fixed base, a rotary drive mechanism, and a lifting mechanism, with the rotary drive mechanism and the lifting mechanism arranged on the fixed base. A drawbar hook is pivoted to the rotary drive mechanism in the vertical plane. The lifting mechanism drives the drawbar hook to move in the vertical plane. The rotary drive mechanism drives the drawbar hook in the horizontal plane.The operator only needs to place the logistics tractor to be turned at a designated location, the logistics tractor can automatically complete the material shipment, and the personnel at the location where the logistics tractor is needed can directly pick up the material of the logistics tractor at the designated location, so that the material shipment of the logistics tractor is more convenient, the labor cost is low, and the efficiency is high.

[0004] Furthermore, the "Conceptual presentation for the implementation of automated warehouse-on-wheels processes using driverless transport systems using the example of the BMW Group plant in Leipzig" by Clauer Dana, published on January 1, 2018, at the German Logistics Congress, represents the state of the art. This presentation describes a driverless transport vehicle according to the preamble of claim 1.

[0005] The disadvantage so far is that, especially with longer trailers or similar combinations, it is very difficult to adequately detect obstacles in the entire area surrounding the vehicles.

[0006] It is an object to be achieved by at least some embodiments to provide a driverless transport vehicle that enables sufficient detection of obstacles even at the rear end of the vehicle. A further object is to provide a method for moving a semi-trailer using a driverless transport vehicle.

[0007] 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.

[0008] A driverless transport vehicle described here, which can also be referred to as a driverless transport system (FTS) or an automated guided vehicle (AGV), has a base body, for example a substantially cuboid-shaped base body, and an arm, in particular a telescopic arm, protruding from the base body. The arm, in particular the telescopic arm, has an environment detection device at an end facing away from the base body. The arm can thus be used to position the environment detection device in the area of ​​the trailer, in particular the semi-trailer. The arm, with the environment detection device arranged thereon, is preferably arranged below the body or frame of the trailer / semi-trailer.The arm allows the environment detection device to be positioned at the rear of the trailer / trailer combination, allowing the environment around the trailer / semi-trailer to be (better) detected. This allows obstacles near the trailer to be detected, allowing the autonomously driving trailer / trailer combination to navigate around them more effectively. This is particularly advantageous when reversing, for example, as the driverless transport system can intervene or stop in time when encountering obstacles, thus avoiding dangerous situations.

[0009] If the arm is quite long due to the length of the trailer / semi-trailer, it is advantageous if it is supported on the roadway by wheels, or preferably by a movable support near its rear end. The wheels do not necessarily have to be located at the rear end of the arm, but this is obviously advantageous for structural reasons. With long arms, theoretically, several wheels can be arranged distributed along the length of the arm.

[0010] The arm extending from the base body is designed as a telescopic arm, allowing its length to be variably adjusted, for example, so that extending the telescopic arm moves the environment detection device further away from the base body of the automated guided vehicle. The automated guided vehicle therefore has a telescopic arm that is attached to the surface-moving automated guided vehicle and can be extended, for example, in the axial direction of a trailer or similar trailer. The telescopic arm monitors the entire surroundings of elongated vehicles. This is especially important when reversing. This allows the AGV to stop and thus avoid dangerous situations.

[0011] Instead of a telescopic extension or retraction of the arm, other common extension and retraction mechanisms by folding, pivoting or similarly moving corresponding parts of the arm would of course also be conceivable.

[0012] Furthermore, the automated guided vehicle has a plurality of sensors for detecting the environment. 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 detecting the environment can be arranged at four different corners or edges of the base body of the automated guided vehicle. In addition, in a further embodiment of the invention, the automated guided vehicle has sensors for automatically coupling the coupling device of the automated guided vehicle to the kingpin. This makes it possible, for example, to easily align the fifth wheel coupling with the kingpin and couple it to it. For this purpose, the automated guided vehicle is moved relative to the kingpin, in particular depending on the data determined by the corresponding sensors.It is intended that the fifth wheel coupling is mounted in the vehicle's transverse direction and / or longitudinal direction so that it can move relative to the body / frame of the driverless transport vehicle in order to achieve the coupling position between the fifth wheel coupling and the kingpin.

[0013] According to a further embodiment, the environment detection device comprises at least one laser sensor or LIDAR sensor. These LIDAR sensors can be located at the end of the telescopic arm to detect obstacles in the vicinity of the trailer. Alternatively, other technologies for distance and / or speed measurement, such as radar-based ones, would also be conceivable.

[0014] In this context, in a further embodiment, the environment detection device comprises at least one ultrasonic sensor. Such sensors are particularly reliable and enable particularly reliable detection of the environment. Furthermore, in a particularly preferred embodiment, the environment detection device comprises two laser sensors and two ultrasonic sensors. This allows the environment of the trailer / semi-trailer combination to be determined particularly easily yet reliably.

[0015] The driverless transport vehicle described here has, in particular, a coupling device for coupling, in particular for automated coupling, the driverless transport vehicle (FTF) to a kingpin of a semi-trailer or a so-called trailer. The surface-mobile driverless transport system can thus be used, in particular, for transporting a trailer on a factory premises. The driverless transport system lifts the trailer at the front end and can move it using the wheels at the rear end of the trailer. The driverless transport system picks up the trailer at the parking location and automatically transports it to the desired factory hall or an unloading and / or loading point. With the help of sensors, the driverless transport system can detect obstacles in the vicinity of the platform and any attached semi-trailer and, if necessary, drive around them or stop.

[0016] The driverless transport system is ideally 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 an omnidirectional drive.

[0017] Preferably, the driverless transport vehicle also features the latest sensor and navigation technology.

[0018] 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.

[0019] 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 via 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.

[0020] 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.

[0021] 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.

[0022] Furthermore, a method for moving a semi-trailer or similar trailer by means of an automated guided vehicle is specified. A driverless transport vehicle, which has at least the features of claim 1, is automatically coupled to a semi-trailer, wherein preferably a coupling device of the driverless transport vehicle is connected to the kingpin of the handrailer. For example, an adapter unit of the coupling device can form a positive and / or non-positive connection with the kingpin. 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 driverless transport vehicle.

[0023] Furthermore, an arm, in particular a telescopic arm, is provided and can be extended from the automated guided vehicle. The telescopic arm can be extended in particular in the axial direction, so that the environment detection device is at a greater distance from the base body of the automated guided vehicle after extension. The telescopic arm can be extended before and / or during and / or after coupling the automated guided vehicle to the semi-trailer.

[0024] The driverless transport vehicle described here or the method described here can detect obstacles at the rear end of the trailer, thus advantageously preventing accidents.

[0025] 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 Figuren 1 bis 3 described embodiments. They show: Fig. 1 is a schematic representation of an automated guided vehicle for moving a semi-trailer according to one embodiment, Fig. 2 is a schematic representation of a telescopic arm of an automated guided vehicle described here according to a further embodiment, and Fig. 3 is a schematic representation of an automated guided vehicle for moving a semi-trailer according to a further embodiment.

[0026] In the exemplary embodiments and figures, identical or similarly functioning 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.

[0027] The Fig. 1 shows an automated guided vehicle 1 according to an exemplary embodiment. The automated guided vehicle 1 has a structure, referred to below as the base body 7, or a corresponding frame, and a telescopic arm 5 projecting from the base body 7, which has an environment detection device 6 at an end facing away from the base body 7.

[0028] This driverless transport vehicle 1 is, as can be seen from Fig. 3 As can be seen in a schematic representation of a further exemplary embodiment, it can be coupled or is coupled to an indicated semi-trailer 2 or similar trailer. A coupling device 4 of the automated guided vehicle 1 is connected to a kingpin 3 of the semi-trailer 2.

[0029] As from Fig. 1 As can be seen, the driverless transport vehicle 1 is used to move the semi-trailer 2, in particular within a freight yard or similar 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 with 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.

[0030] 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. 3 recognizable coupling device 4, which can be connected to the kingpin 3 of the semi-trailer 2 or in Fig. 3 is connected.

[0031] As from Fig. 3 As can also 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 9. The fifth wheel coupling 9 has a fifth wheel plate 10, which is carried by the body or frame, which is referred to below as the base body 7 of the driverless transport system 1. A locking device 11 is integrated into the fifth wheel plate 10, by means of which the kingpin 3 can be locked to the fifth wheel plate 10. The fifth wheel coupling 9 thus serves, among other things, on the one hand to support and carry the trailer 2 via the kingpin 3, and on the other hand to lock the kingpin 3 to the fifth wheel plate 10. In particular, a standardized fifth wheel coupling 9 and fifth wheel plate 10 are used here in order to be able to accommodate and maneuver as many common semi-trailers 2 as possible.

[0032] Furthermore, the driverless transport vehicle 1 comprises a plurality of drive wheels, of which in the Fig. 1 and 3respective front and rear drive wheels 12, 13 are shown. These can be controlled here such that the driverless transport vehicle 1 can move omnidirectionally. For example, at least two drive wheels 12, 13 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 14 and at least one rear axle 15 or corresponding, associated drive wheels 12, 13, 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 14 with respective driven and steerable front wheels 12 and two rear axles 15 with respective driven and steerable rear wheels 13. This makes the semi-trailer 2 particularly maneuverable.

[0033] 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.

[0034] Furthermore, the driverless transport vehicle 1 comprises a device 16 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 16 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 9, so that it can be moved by the driverless transport 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.

[0035] According to Fig. 3 In the present case, the hydraulic device 16 is arranged between the fifth wheel coupling 9 and the base body 7 of the driverless transport system 1. Here, respective hydraulic elements, such as piston-cylinder elements, are arranged between the fifth wheel plate 10 and the base body 7, by means of which the fifth wheel plate 10 can be raised and lowered relative to the base body 7 in the vertical direction of the vehicle.

[0036] In order to achieve automatic coupling of the kingpin 3 to the fifth wheel coupling 9, 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 9 relative to the kingpin 3. In this case, it would be conceivable to mount the fifth wheel coupling 9 so that it can move relative to the base body 7 of the automated guided vehicle 1 in the transverse direction and / or in the longitudinal direction of the vehicle, so that, depending on the relative position determined by the sensors, the fifth wheel coupling 9 can be (finely) adjusted relative to the kingpin 3 until the coupling position between the fifth wheel coupling 9 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 9 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 9 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 9 by means of the locking device 11.

[0037] The uncoupling after maneuvering the trailer 1 can be carried out in the correspondingly reverse order by first releasing the locking device 11 and then, with the assistance of the sensor system, bringing the fifth wheel coupling 9 out of engagement with the kingpin 3, for example by moving the driverless transport vehicle 1 and / or moving the fifth wheel coupling 9 relative to the base body 7.

[0038] As an alternative to the described device for lifting the fifth wheel plate 10, 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 12, 13 of the automated guided vehicle 1 on the base body 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.

[0039] In the Fig. 3 Also shown in a detailed view is arm 5, which projects from the rear end of base body 7. In the present case, the arm can be moved telescopically beneath trailer 2. For this purpose, telescopic arm 5 has two support wheels 8 at its rear or free end, which roll along the ground when telescopic arm 5 is extended. While the automated guided vehicle 1 is traveling, wheels 8 serve to support arm 5 and thus roll with it. With a shorter arm 5, wheels 8 can be omitted if necessary. With a longer arm 5, additional wheels can also be provided along its length if necessary.

[0040] Instead of a telescopic extension or extension and retraction of the arm 5, other common extension and retraction mechanisms by folding, pivoting or similarly moving corresponding parts of the arm would of course also be conceivable.

[0041] As further shown in the Fig. 2and 3As can be seen, an environment detection device 6 is provided on the telescopic arm 5, in particular at its rear end. By means of the arm 5, the environment detection device 6 can thus be positioned in the area of ​​the trailer, in particular the semi-trailer 2. In this case, the arm 5 with the environment detection device 6 arranged thereon is preferably positioned below the body or the frame of the trailer / semi-trailer 2. By means of the arm 5, the environment detection device 6 can thus be positioned in a rear part of the vehicle combination / semi-trailer truck, so that the environment in the area of ​​the trailer / semi-trailer 2 can also be (better) detected. In this way, obstacles in the vicinity of the trailer 2 can be (better) detected and the autonomously driving vehicle combination or semi-trailer truck can be better navigated around them.This is particularly advantageous when reversing, for example, as the driverless transport system can intervene or stop in good time when obstacles are encountered, thus avoiding dangerous situations.

[0042] Preferably, the arm 5 is designed or extendable so long that the environment detection device 6 is positioned in the vehicle longitudinal direction at least at the level of or behind a rearmost axle of the trailer 2 and can thus freely detect the rear end of the trailer 2.

[0043] The environment detection device 6 here comprises at least one laser sensor or LIDAR sensor. These LIDAR sensors can be located at the end of the telescopic arm 5 to detect obstacles in the vicinity of the trailer. Alternatively, however, other technologies for distance and / or speed measurement, for example, radar-based, would also be conceivable.

[0044] The automated guided vehicle 1 also has a plurality of sensors for environmental detection. For example, the automated guided vehicle 1 can have at least four laser sensors or similar sensors on the base body 7. For example, respective sensors can be arranged at four different corners or edges 17, 18 of the base body 7 of the automated guided vehicle 1. With the help 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.

[0045] The driverless transport vehicle 1 can also be connected to a central control system of the factory premises, for example by means of a transmitting and / or receiving unit 19, which is arranged here on a support tower 20, in order to be guided, for example, to the corresponding trailers 1 or the corresponding unloading and / or loading points.

[0046] In the present case, in order to move the semi-trailer 2 by the driverless transport vehicle 1, the driverless transport vehicle 1 is first coupled to the semi-trailer 2 or similar trailer and then the telescopic arm 5 is extended, in particular in an axial direction of the vehicle, before the trailer / semi-trailer 2 is moved by the driverless transport vehicle 1.

Claims

1. Driverless transport vehicle (1) for moving a semi-trailer (2) or similar trailer, comprising - a base body (7), - an arm (5) protruding from the base body (7) having an environment detection device (6) at an end facing away from the base body (7), wherein the arm (5) protruding from the base body (7) is a telescopic arm (5) designed to be telescopically extendable, - a plurality of sensors for environment detection and / or for automated coupling of the coupling device (4) of the driverless transport vehicle (1) with the king pin (3), characterized in that a coupling device (4) with a fifth wheel coupling is provided for automated coupling of the driverless transport vehicle (1) with the king pin (3) of a semi-trailer (2), wherein the fifth wheel coupling is mounted relatively movable to a superstructure / frame of the driverless transport vehicle in a vehicle transverse direction and / or in a vehicle longitudinal direction, wherein the driverless transport vehicle (1) has a substantially cuboid-shaped base body (7) on which at least four sensors are arranged, wherein the environment detection device (6) comprises two laser sensors and two ultrasonic sensors.

2. Driverless transport vehicle (1) according to claim 1, wherein the telescopic arm (5) is designed to position the environment detection device (6) in the vehicle longitudinal direction at least at the height of a rear axle of the semi-trailer (2) or similar trailer.

3. Method for moving a semi-trailer (2) by a driverless transport vehicle (1) according to any one of claims 1 or 2, comprising the following steps: - providing a driverless transport vehicle (1) according to any one of the preceding claims, - providing a semi-trailer (2) to be moved, - coupling the driverless transport vehicle (1) with the semi-trailer (2), - extending the telescopic arm (5), particularly in an axial direction, and - moving the semi-trailer (2) by the driverless transport vehicle (1).