Contour-variable vehicle, and vehicle system

Abstract

A vehicle (30) for transporting loads, comprising two side parts (34), which are arranged alongside one another in the direction of travel and have means of transportation (36), which are in contact with the ground, and comprising a cross member (42), which contacts and connects the two side parts (34), wherein the cross member (42) is designed to bear loads that are to be transported by the vehicle (30), wherein the cross member (42) and the side parts (34) form a portal (46) with a free space (48) below the cross member; the side parts (34) are variable, at least in their height, in such a way that the clear height of the cross member (42) is adjustable; the cross member (42) is adjustable in its width in such a way that the distance between the two side parts (34) is adjustable; and the adjustment of the height of the side parts (34) and the adjustment of the width of the cross member (42) take place independently of one another.

Description

[0001] Contour-variable vehicle and vehicle system

[0002] The present invention relates to a contour-variable vehicle whose track width and clearance height are variably adjustable. The invention also relates to a vehicle system comprising two contour-variable vehicles, a control unit, and a method for changing the width and / or height of a vehicle.

[0003] In industry and logistics, industrial trucks are frequently used to transport loads. Industrial trucks generally encompass all trackless, track-bound, or rail-guided vehicles used within a company to transport goods. Load transport vehicles, and in particular, automated guided vehicles, are used in almost all industries and in all load-capacity classes. They perform transport tasks in assembly, manufacturing, warehousing, and order-picking facilities, among others.

[0004] Automated guided vehicles (AGVs) are industrial trucks with their own drive system, automatically controlled and guided without contact. These are also known as driverless transport systems (DTS). These transport tasks are performed in industrial areas where employees are working and people are moving around. This requires comprehensive safety technology to prevent collisions with people or obstacles.

[0005] Known autonomous vehicles typically move along designated and / or marked areas or so-called driving courses. Driving courses are designed for specific users and feature lanes for the vehicles. The driving courses can be designed as circular routes with overtaking lanes or as straight-line courses with one lane or roadway in each direction, and in some cases or sections with multiple lanes in each direction to allow for overtaking. When the lanes or roadways are occupied by vehicles, queues repeatedly form, especially in single-lane sections. This creates unproductive waiting times for vehicles stuck in traffic.

[0006] When vehicles meet or overtake, lateral safety distances must be maintained, so wide lanes must be created. The traffic route width is the sum of the vehicle widths plus the required edge and passing allowances. On the one hand, traffic route widths must be taken into account in the planning and construction of new industrial buildings and are also reflected in increased construction investments. On the other hand, the need for wide traffic routes in existing buildings often means that AGV technology (AGV = driverless transport system) cannot be used due to a lack of space.

[0007] The demands on the direct and indirect efficiency of systems are constantly increasing. Direct efficiency refers to AGV technology. Direct efficiency requirements aim at further improving performance, reliability, availability, mobility, and adaptability. The object of the present invention is to provide a vehicle technology for transporting loads that has improved properties for transporting loads in the industrial sector, places reduced demands on the space requirements of the traffic routes, and increases the transport capacity and efficiency for loads in use.

[0008] The stated object is achieved with a vehicle having the features of claim 1, a vehicle system having the features of claim 13, and a control unit according to claim 14.

[0009] In one aspect, the present invention relates to a vehicle for transporting loads, comprising two side parts arranged side by side in the direction of travel, with means of locomotion in contact with the ground, and a cross member that contacts and connects the two side parts. The cross member is designed to carry loads to be transported by the vehicle. The cross member and the side parts form a portal with a free space below the cross member. The side parts are variable, at least in their height, such that the clear height of the cross member can be changed. This occurs within a maximum and minimum height.

[0010] The width of the truss is adjustable, allowing the distance between the two side panels to be altered. This occurs within a maximum and a minimum possible width. The height of the side panels and the width of the truss can be adjusted independently of each other.

[0011] In a further aspect, the invention relates to a vehicle system with two vehicles, each with a variable contour that is variable in width and height. At least the height of the first vehicle and the width of the first vehicle are changed such that the vehicle with the smaller contour can drive under the vehicle with the larger contour. The vehicle with the larger contour can be the vehicle with a modified, i.e. enlarged, contour. In this case, the clear height under its cross member and the clear width between the side parts are so large that the other vehicle can drive through the created free space or the larger vehicle can drive over the smaller vehicle. Additionally or alternatively, the vehicle with the smaller contour can be the vehicle with a modified contour. This vehicle is reduced in size such that it can drive under the cross member of the larger vehicle or through the vehicle with the larger contour.The relative size of the respective (variable) contours of the two vehicles is of primary importance. The vehicle system can include additional contour-variable vehicles and, alternatively or additionally, other vehicles, e.g., conventional AGV vehicles.

[0012] A further aspect of the invention relates to a control unit for a vehicle with a variable contour, the width and height of which can be changed. The control unit comprises an input interface for receiving information on the current width and height of the vehicle and for receiving information on a desired or predetermined width and / or height. The control unit further comprises a processor unit for generating a control signal based on the information on the current and desired width and / or height of the vehicle, as well as an output interface for outputting the control signal to one or more actuators of the vehicle in order to change the width and / or height of the vehicle such that the desired or predetermined width and / or height is achieved. The actuators are controlled by the control signal in such a way that the desired contour change is achieved. The change in height and width can occur independently of one another.

[0013] Further aspects of the invention relate to a corresponding method and a computer program product with program code for carrying out the steps of the method when the program code is executed on a computer, as well as to a storage medium on which a computer program is stored which, when executed on a computer, effects execution of the method described herein. Preferred embodiments of the invention are described in the dependent claims. It is understood that the features mentioned above and those to be explained below can be used not only in the respectively specified combination, but also in other combinations or on their own, without departing from the scope of the present invention. In particular, the method and the computer program product can be designed according to the embodiments described for the device in the dependent claims.

[0014] The objective of conducting two-way and overtaking traffic of loaded and unloaded vehicles in one lane is achieved with the vehicles according to the invention. The vehicles are capable of dynamically changing their contours in a situation-controlled manner, allowing "overtaking and undertaking" of the lane. The vehicles are preferably designed as contour-variable driverless transport vehicles, which, for example, can be used autonomously in industrial facilities or logistics centers with a special vehicle control system and a higher-level control system. Compared to conventional driverless transport vehicles, the space required for traffic routes can be reliably and significantly reduced, vehicle congestion can be eliminated, and thus losses in transport capacity can be avoided.

[0015] Dynamic in this context means that the vehicle contour can change, preferably independently of the driving speed and / or synchronously with the driving movement. The vehicle navigation and control system (e.g., via a control unit) preferably ensures that the virtual or physical guideline is not lost along the driving path. This preferably also applies to contour changes when the vehicle is stationary.

[0016] According to the invention, the contour of the vehicle for transporting loads can be changed in such a way that both the width and height are adjustable. Width and height can be changed independently of one another, enabling individual adaptation of the contour. This significantly reduces the space required on traffic routes when the vehicles are in use. In addition, vehicle congestion can be eliminated or greatly reduced, leading to an increase in actual transport capacity. As the contour of the individual vehicles changes, some vehicles can reduce their contour. They essentially shrink. Conversely, other vehicles can enlarge their contour. In this way, it is possible for two vehicles to meet in the same lane and pass each other. For example, oncoming vehicles can change their contour so that a vehicle that is becoming smaller can drive through a vehicle that is becoming larger.The decreasing vehicle passes through the space created beneath the cross member and between the sides of the increasing vehicle. This not only allows two oncoming vehicles to use the same lane without collision, but also allows overtaking.

[0017] The principle of changing the contours of individual vehicles also allows several vehicles waiting at a specific location to be stacked horizontally, with one vehicle "bridge" the next smaller vehicle and then being bridged by the next larger vehicle. This allows several vehicles with loads to be accommodated in a small space.

[0018] The invention thus encompasses the innovative approach of dynamically changing the position and contour of the vehicles in a situation-controlled manner, allowing them to "drive over" and under other vehicles in a single lane. Preferably, the change can occur synchronously with the driving movement. A contour change while stationary, i.e., at a speed of 0 km / h, is also possible and preferred. This is particularly useful when a vehicle is positioned in a waiting position and then dynamically adjusts its contour so that another vehicle can, for example, bridge it, possibly after the other vehicle has enlarged its contour.

[0019] The vehicles according to the invention are also called Konva vehicles. The Konva vehicle is preferably designed as a load-bearing vehicle, i.e., a gantry-type structure. This means that during a so-called loaded journey, a load carrier or load receiver can be placed preferably "on top" of the vehicle. The loading and unloading of a variable-contour vehicle is usually carried out in industrial areas at specially designated load transfer points by external technical equipment that is designed for the specific case and application.

[0020] In a preferred embodiment, the vehicle is an industrial truck, a driverless transport vehicle, or a driverless transport system (FTS), also known as an automated guided vehicle (AGV). The vehicle is preferably capable of autonomous movement. Such vehicles transport loads within industrial facilities, warehouses, or other buildings, for example, to feed goods to machines.

[0021] A preferred embodiment provides that the vehicle's cross member has a load-carrying unit for receiving and safely transporting the load to be transported. The load-carrying unit can, for example, be a tray-like or box-like sheet or container that is essentially horizontal. The load-carrying unit can comprise a receptacle for a goods container or a basket. The load-carrying unit can be designed as a goods container, box, or basket.

[0022] In a further preferred embodiment, the cross member comprises two cross member parts, for example, to change the size of the cross member, preferably its width, so that the distance between the two side parts of the vehicle can be changed. The cross member parts can preferably be changed in their position relative to one another, in their position with respect to a cross member body, or in their length or contour.

[0023] The load-bearing unit is preferably arranged above or between the two crossbeam sections and is preferably supported by the crossbeam sections. It is possible for additional components to be provided between the load-bearing unit and the crossbeam sections. While the crossbeam sections are preferably variable in size, preferably in length, the dimensions of the load-bearing unit are independent of the crossbeam sections and also independent of the variable width of the crossbeam, which extends between the two side sections.

[0024] In a preferred embodiment, the minimum width of the cross member is limited by the width of the load-carrying unit. This prevents the load-carrying unit or a carried and transported load from protruding beyond the minimum width of the vehicle. This ensures that a load-carrying vehicle can drive beneath another vehicle with a larger contour without causing a collision, as long as the minimum width of the smaller vehicle is less than the clear distance between the side panels of the larger-contoured vehicle. In other words, the outer width of the smaller-contoured vehicle must be less than the clear inner distance between the side panels of the larger-contoured vehicle.

[0025] In a preferred embodiment of the contour-variable vehicle, the two cross-members are operatively connected to one another and their length or position relative to one another can be adjusted in such a way that the distance between the side parts of the vehicle can be changed. The cross-members and their change in size consequently cause a change in the distance between the side parts of the vehicle.

[0026] In a preferred embodiment, the cross member parts can be designed as toothed racks or toothed belts. The connection of the cross member parts can preferably be achieved, for example, by means of a gear ring, a toothed belt, a rack, a motor, or a belt drive. Telescopic rods or linkages are also possible as a cross member or as part of a cross member. The operative connection is preferably mechanical, whereby the cross member parts can interact with a cross member base or body and can change their size or be moved in their position relative to the cross member base or body. In a likewise preferred embodiment, the side parts comprise a telescopic rod, a telescopic linkage, a telescopic lifting column, or a telescopic ram, all of which can be multi-part. The height of the vehicle can be adjusted by extending or retracting the telescopic parts.Preferably, the drive for the telescopic adjustment parts (rod, linkage, lifting column, piston) can be motorized, pneumatic, or hydraulic. Racks, toothed belts, gear rings, and / or motors are conceivable.

[0027] Telescopic lifting columns are preferably used for the side panels. For example, motor-driven telescopic lifting columns have proven to be preferable in practice.

[0028] In a likewise preferred embodiment, each of the side parts is constructed in two parts, whereby the distance between the two parts of the side part can be adjusted or fixed in the direction of travel of the vehicle. With an embodiment in which the distance between the two parts of the side parts can be adjusted, the length of the vehicle (in the direction of travel) can thus be changed. Preferably, each of the parts of the side parts or each of the parts of the side parts has a means of propulsion. This means of propulsion can comprise one or more wheels, rollers, tracks, or conveyor belts.

[0029] A preferred embodiment of the vehicle according to the invention provides that the means of locomotion in the side parts are designed as wheels, rollers, tracks, or conveyor belts. Wheels or rollers are preferably used, which are particularly preferably rotatable about a vertical axis. Likewise preferred are wheels that are designed in such a way that a change in the direction of travel of the vehicle is possible or that the distance between the side parts can be changed. Particularly preferably, this can also be done while the vehicle is stationary. For example, so-called Mecanum wheels can be used here. These are wheels that allow a vehicle to perform omnidirectional driving maneuvers without the vehicle having to be equipped with mechanical steering.

[0030] In a preferred embodiment, the vehicle comprises one or more actuators that cause the movement of the vehicle. Preferably, further actuators are provided that cause the change in the width of the vehicle and / or the change in the height of the vehicle. An actuator in this sense is considered to be a motor, an electric motor, a drive unit, a pneumatic unit, or a hydraulic unit. These actuators can be controlled electrically, mechanically, pneumatically, or hydraulically. For example, a separate actuator can be provided for each means of movement of the side parts, for example, a separate motor that drives one of the wheels. Further actuators can be provided to change the height of the vehicle by moving lifting columns of the side parts, and to change the width of the vehicle, for example, to move cross-member parts or other parts of the cross-member.

[0031] In a preferred embodiment, the vehicle comprises a control unit that processes control signals. The control unit preferably processes control signals for autonomous movement of the vehicle and / or for automatic or controlled changes to the vehicle contour. Preferably, control signals relating to self-regulated changes to the vehicle contour are processed. In a preferred embodiment, vehicle navigation can also be integrated into the control unit, so that signals or data from the vehicle navigation can be processed in addition to the control signals.

[0032] In a likewise preferred embodiment, the control unit is designed and configured to generate a control signal to control the actuators or individual actuators of the vehicle. For example, a control signal can preferably be generated that controls an actuator for the distance between the side parts or that triggers an actuator for changing the distance. The control signal generated in the control unit can relate to the width of the cross member, as well as the height of the cross member. The control signal can initiate the movement and / or direction of one or more means of transport and control the means of transport in such a way that a desired movement or direction is triggered, thereby enabling control of the vehicle.

[0033] A likewise preferred embodiment of the vehicle has a camera integrated into or mounted on the vehicle to acquire information about the surroundings and make it available to the vehicle for further processing. Preferably, the information is transmitted to the vehicle's control unit, where it can be further processed.

[0034] In a likewise preferred embodiment, the camera or multiple cameras work together with a vehicle recognition system, wherein camera information, camera signals, data and data values, or camera images are preferably transmitted to the vehicle recognition system for processing there. Particularly preferably, the vehicle recognition system can comprise an AI unit, for example a neural network or a Petri net. The AI ​​unit can also be provided at a different location or in another unit of the vehicle. It is also conceivable for the AI ​​unit to be integrated into one or more cameras.

[0035] A preferred embodiment of the vehicle has a communication module configured to communicate with the environment, devices and / or units in the environment, or with other vehicles. The communication module can also be configured to communicate with an external computer or a cloud-based computer. Preferably, the communication module includes an interface for wireless communication, enabling wireless communication between the vehicle and other vehicles or the environment.

[0036] An exemplary embodiment of the invention is described below with reference to the accompanying drawings. Figure 1 shows a schematic representation of a control unit for a variable-contour vehicle;

[0037] Figure 2 shows a schematic diagram of two vehicles with variable contours;

[0038] Figure 3 is a perspective view of a contour-variable vehicle;

[0039] Figure 4 is a side view of the vehicle of Figure 3;

[0040] Figure 5 is a plan view of the vehicle from Figure 3;

[0041] Figure 6 shows a front view of the contour-variable vehicle;

[0042] Figure 7 is a perspective view of the contour-variable vehicle with covers; and

[0043] Figure 8 is a schematic representation of the method for changing the width and / or height of a vehicle;

[0044] Figure 1 shows a control unit 10 for a vehicle with a variable contour, the width and height of which can be changed. The control unit 10 has an input interface 12 for receiving information on the current height and the current width of the vehicle. The input interface 12 is also designed and configured to receive information on a desired width and / or height. In this way, target values ​​and actual values ​​for height and width can be received. A processor unit 14 is designed to generate a control signal based on the information on the current width and / or height and on the desired width and / or height of the vehicle. The control signal is thus generated based on the target and actual values ​​for width and / or height. The processor unit 14 can, for example, comprise a programmable logic controller (PLC), as well as a central unit for actuator control.Other processors or processor types are also conceivable and can optionally and additionally be included in the processor unit 14. It is also conceivable that the control unit 10 includes further processing units or computers, for example, small computers such as a Raspberry Pi. Optionally, the control unit can include a volatile or non-volatile memory or storage unit.

[0045] The control unit 10 further comprises an output interface 16 for transmitting the control signal generated in the processor unit 14 to one or more actuators 18 of the vehicle. In this way, the width and / or height of the vehicle is changed by outputting the control signal, whereby the width and height can be changed together or independently of one another. For example, further control signals, which can also be generated in the processor unit 14 or in other units, can also be output via the output interface 16. Such control signals can be used, for example, to drive wheels for the movement, driving, or turning of the vehicle.

[0046] In a preferred embodiment, the control unit 10 comprises a vehicle navigation system 20 or navigation unit, by means of which, for example, the current position of the vehicle, the destination to be reached by the vehicle, and the route between the position and the destination can preferably be determined. The data from the vehicle navigation system 20 is preferably processed in the control unit 10 to generate driving signals. The driving signals are control signals for autonomous movement and / or for automatically changing the vehicle correction. The driving signals can be a special version of the control signals of the control unit 10. Of course, the vehicle navigation system 20 can not only be integrated into the control unit 10. It can also be implemented as a standalone unit alongside the control unit 10.

[0047] A further preferred embodiment, which is sketched, for example, in Figure 1, comprises a camera 22 of the vehicle for determining information about the vehicle's surroundings and making it available to the vehicle, preferably to the vehicle's control unit 10. The information, data, images, and signals from the camera can be transmitted to the control unit 10 via the input interface 12. Preferably, as shown in Figure 1, a vehicle detection system 24 can be integrated into the vehicle. The camera 22 can transmit and transfer data and signals to the vehicle detection system 24, where the data is further processed. This can be done, for example, with an AI unit 26 integrated in the vehicle detection system 24. The vehicle detection system 24 can also be part of the control unit 10. It can also be designed as a standalone component and communicate with the control unit 10.

[0048] In a preferred embodiment, the vehicle detection system 24 may include the vehicle navigation system 20. Furthermore, the vehicle detection system 24 and / or the control unit 10 may be connected to a communication module 28 of the vehicle to transmit data, such as position data or actual values ​​of the width, height, and / or contour of the vehicle, to other devices, computers, or vehicles in the vicinity of the vehicle. For example, data can be exchanged between the vehicle and a control system using the communication module 28.

[0049] The cameras 22 used can, for example, be equipped with a small computer (single-board computer) such as a Raspberry Pi and be used for line tracking or for code recognition, such as QR code recognition. The cameras 22 can be used to identify lines or guide lines on the ground, which serve, for example, as direction indicators for the vehicles. The recorded data can be transmitted to the control unit 10, for example via a TCP / IP connection. QR codes can, for example, be arranged on the ground to mark stations for loading or unloading loads. This allows for easy navigation to the desired positions or destinations.

[0050] Figure 2 shows a schematic representation of two vehicles 30, which can be part of a vehicle system 32 with several contour-variable vehicles 30. The vehicles 30 are shown schematically from the front. They each comprise two side parts 34 arranged next to one another in the direction of travel, with means of propulsion 36 at their lower end. The means of propulsion 36 are designed, for example, as wheels 38, preferably as Mecanum wheels 40. The Mecanum wheels 40 enable unrestricted freedom of movement and movement of the vehicle 30 both in the direction of travel, i.e., forwards and backwards, and transversely to the direction of travel, as well as a transverse movement of the side parts 34 relative to one another. The Mecanum wheel 40 permits an omnidirectional change of direction without mechanical steering.

[0051] At the upper end of the side parts 34, a cross member 42 is arranged, connecting the two side parts 34. The cross member 42 is variable in width, so that the width of the vehicle 30 can be changed. The cross member 42 comprises a load-carrying unit 44, which in Figure 2 is exemplified as a box open at the top to accommodate goods and small loads.

[0052] The cross member 42 together with the side parts 34 forms a portal 46 with a free space 48 in between.

[0053] Figure 2 shows that the larger-contoured vehicle 30a has increased the height of the two side parts 34 such that the clear height of the cross member 42 is increased. At the same time, the cross member 42 is increased in width, so that the clear distance between the two side parts 34 is increased. This results in such a large free space 48 under the portal 46 that the smaller-contoured vehicle 30b, whose portal 46 is reduced in size, can drive through the free space 48 of the larger-contoured vehicle 30a. The side parts 34 and cross member 42 of the smaller-contoured vehicle 30b are significantly smaller than those of the larger-contoured vehicle 30a. In this way, it is possible to realize two-way and overtaking traffic of loaded or unloaded vehicles 30 on just one lane. In an industrial area, one or even several additional lanes, which would be necessary with conventional driverless industrial vehicles, can thus be dispensed with.Of course, it is possible to change the contour not only with two vehicles 30, but also with one vehicle 30, so that one vehicle 30 can pass through the free space below the portal 46 of the other vehicle 30. It is also possible to stack the vehicles 30 in this way in a waiting position. This can also be done with multiple vehicles 30, as long as the free space 48 below the portal 46 of a vehicle 30 is large enough to accommodate the next smallest vehicle 30.

[0054] Figures 3 to 7 show a preferred embodiment of a contour-variable vehicle 30 according to the invention in different views and designs.

[0055] The side parts 34 extending in the direction of travel have a base body 50 that supports the means of propulsion 36. The means of propulsion 36 are designed as Mecanum wheels 40 arranged at both ends of the base body 50. The wheels 38 are each controlled by a motor 52, with a transmission in the form of gears and belts arranged between the motor 52 and the Mecanum wheel 40. In the present embodiment, energy storage devices in the form of accumulators 54 are arranged above the means of propulsion 36. These rechargeable batteries supply energy to the entire vehicle 30 and can be individually removed, replaced, and charged. Charging with the accumulators 54 mounted is also possible.

[0056] The base body 50 supports an upwardly extending lifting column 56, to whose upper end a longitudinal cross member 58 is attached. The lifting columns 56 of the side sections 34 are designed as telescopic lifting columns and can be moved by an electric motor. In this way, the height of the vehicle 30 can be changed. Control is provided via the control unit 10. In principle, the telescopic lifting column can also be driven hydraulically or pneumatically. The cross member 42 at the upper end of the lifting columns 56 connects the two side parts 34. The cross member 42 comprises the longitudinal cross members 58, which are connected to the lifting column 56, for example by screwing, a cross member table 60, the cover of which is not shown in Figures 3 and 5, and two cross member parts 62. The cross member parts 62 are each designed as two double rack and pinion combinations, which are each moved by two motors 52.In this way, the vehicle 30 and thus the cross member 42 can be widened. The widening of the vehicle 30 is actively or passively supported by the Mecanum wheels 40, which allow movement transverse to the direction of travel.

[0057] A receiving space 64 is arranged below the traverse table 60, which can be seen in Figures 3 and 5. The control unit 10 is arranged in the receiving space 64. A vehicle navigation system, a vehicle recognition system 22 with an optional AI unit 26, and a communication module 28 for communication with an external computer or other vehicles 30 can also be accommodated here. The receiving space 64 is closed by a cover 68 of the traverse table 60, shown in Figure 7. A load-bearing unit 44, shown only schematically here, is arranged above the traverse table 60. The load-bearing unit 44 can also be formed by the traverse table 60 or its upper cover 68. The load-bearing unit 44 can comprise a box that is open at the top to accommodate smaller goods or smaller loads and to secure them against slipping or falling.

[0058] The control unit 10 housed in the receiving space 64 can, for example, be designed as a central programmable logic controller (PLC). It is preferably responsible for controlling all actuators 18 of the vehicle 30. This includes the motors 52 for the Mecanum wheels 40 as well as the mechanisms and drives for changing the size of the vehicle 30. These include actuators 18 or motors 52 for driving the lifting column 56 and for driving the crossbeam parts 62, which are designed, for example, as racks, and the motors 52 driving the corresponding pinions. At least one camera 22 is arranged at each of the two ends of the crossbeam 42 pointing in the direction of travel. These cameras are configured to identify lines on the floor or to detect other markings, such as QR codes or similar markings on the floor.In the preferred embodiment here, the cameras are connected to a single-board computer, for example a Raspberry Pi, so that the recorded images and data can be transmitted directly to the control unit 10 or the PLC. In addition, the Raspberry Pis are capable of recognizing QR codes on the floor in order to identify stations for loading and unloading processes. The Raspberry Pis can additionally or alternatively be used as or support a communication module 28. For example, they can communicate with a central server or other external computer via an MQTT protocol (Message Queuing Telemetry Transport protocol). The MQTT protocol is a lean and efficient communication protocol that is often used in distributed systems. It enables the reliable transmission of messages and data between devices, especially in environments with limited bandwidth and limited resources.This ensures reliable communication between vehicle 30 and external or central servers. Other protocols and communication connections are also possible.

[0059] Communication with a central server allows continuous monitoring not only of the position but also of the status of the vehicle 30 and can provide additional data and computing power. This allows decision-making processes and processing tasks that require significant computing power to be outsourced to a central server.

[0060] Not only cameras 22 can be arranged in the two end areas of the cross member 42, but also other elements enabling human-machine communication, such as indicators, lights, displays, or control buttons. For example, an emergency stop switch 66 can be provided to de-energize the entire vehicle 30. In this way, in dangerous situations, for example, an imminent collision between the vehicle 30 and a person, the emergency stop switch 66 can be used to immediately stop the vehicle 30. This further increases safety.

[0061] By using the control unit 10 with the additional vehicle detection system 24, communication module 28, camera 22, and vehicle navigation, driverless, autonomous, and independent driving of the vehicle 30 is possible. Dynamic control can be achieved using a navigation system or based on guidelines and markings on the ground. In addition to an automatic mode, manual control by a user is possible, for example, if the vehicle 30 is remotely controlled via an external computer. It is also possible for an external user to specify destinations, and for the vehicle 30 to then find a route to the destination autonomously and independently.

[0062] In addition to communication between vehicle 30 and an external server, communication with other vehicles 30 is possible, either directly or via a control center or a server. In this way, a dynamic and situation-dependent change in the contour of vehicle 30 can occur, so that two vehicles 30 can pass one above the other or through each other on a roadway without a collision occurring. Using provided communication protocols, data about the size and changes in the size or contour can be exchanged between two vehicles 30. One of the vehicles 30 can take the lead and specify its contour. The other vehicle 30 then adapts its own contour accordingly, for example, reducing its size in order to drive under a vehicle 30 with a larger contour.

[0063] Figure 7 shows a contour-variable vehicle 30 in which the crossbeam table 60 of the crossbeam 42 is covered with an upper cover 68, thus closing off the underlying receiving space 64. The cover 68 preferably also serves as a load-handling unit 44, which is supported by the two strips arranged to the sides of the cover 68. This prevents goods, crates, or boxes from falling from the vehicle 30.

[0064] The side panels 34 are preferably also covered, so that the components behind them are protected. The coverings thus provide splash protection, allowing the vehicle 30 to be used outdoors. They also provide protection against contact for people if the vehicle is to be used in areas with pedestrian traffic.

[0065] The contour-variable vehicles 30 according to the invention, also called Konva vehicles, offer advantages for transporting loads in various environments thanks to their supporting gantry design. For example, they are used in production, where they can be used for shuttle transport between a warehouse and an assembly line. This allows small quantities of parts to be provided quickly and easily, resulting in high parts flexibility in production. The contour variability of the vehicles 30 enables high vehicle density, even for bidirectional load transport in single-lane traffic.

[0066] In the e-commerce sector, Konva vehicles can be used for returns transport in the logistics center, for example, to transport boxes or shipping bags in the load handling unit 44. They can be used continuously from the delivery of the return to processing at designated processing stations. This allows for flexibility in the schedule for employees, particularly through overtaking options for individual vehicles 30.

[0067] In hospital or laboratory logistics, the vehicles can be used in hygienically sensitive areas. They can offer hygienic germ-free conditions. By selecting suitable materials such as stainless steel, the formation of corrosion or rust can be prevented. The vehicles 30 are preferably designed to be highly resistant to acids, alkalis, disinfectants, or cleaning agents. A stainless steel design of the vehicles 30 is advantageous, particularly for the portal 46, which includes the cross member 42 and the side panels 34. Thanks to human-machine communication via emergency stop switches 66, cameras 22, or other display elements, the vehicles 30 can also be used to travel in corridors or hallways used by employees, patients, or visitors.

[0068] By expanding the communication module 28, the vehicle detection system 24, and the control unit 10, human-machine collaboration or robot-machine collaboration can be implemented in many industrial and production areas where both humans and robots are present. This can be the case wherever smaller loads or parts need to be delivered to processing stations or transferred from processing stations to further processing stations.

[0069] In a preferred embodiment, the vehicles 30 are designed so that they can be used not only on level surfaces, but also on inclines of up to 3°, preferably up to 5° or 10°. Particularly preferably, the vehicles 30 according to the invention can transport loads with dimensions of <0.5 m in width and <1 m in length. The height is preferably limited to 0.5 m.

[0070] Although the vehicles 30 are preferably intended for indoor use and are preferably used in relatively dust-free environments without splashing water, versions of the vehicle 30 are also possible that can be used both in humid environments and outdoors.

[0071] Figure 8 shows a schematic representation of the sequence of the method according to the invention for changing the width and / or height of a vehicle 30. The vehicle 30 has two side parts 34 arranged next to one another and spaced apart, with means of movement 36, and a cross member 42 that connects the two side parts 34 to one another. In a step S10, the current height of the cross member 42 and / or the current distance between the side parts 34 is determined. A step S12 of determining a desired or predetermined height in the cross member 42 and / or a desired or predetermined distance between the side parts 34 follows. In a step S14 of determining or calculating a value for a control signal for actuators 18 of the vehicle 30, the determined information is further processed in order to set the desired or predetermined values ​​for the height of the cross member 42 and / or the distance between the side parts 34.In a step S16, a corresponding control signal is generated to control actuators 18 of the vehicle 30. The actuators 18 are designed to change the contour or size of the cross member 42 and / or the side parts 34. This can be achieved, for example, by changing a lifting column 56 of a side part 34 after controlling a corresponding actuator 18 designed as a motor 52, for example, by extending or retracting it.

[0072] In a further step S18, the generated control signals for the actuators 18 for changing the height of the cross member 42 and / or the distance between the side parts 34 are transmitted. This can be done, for example, via an output interface 16 of a control unit 10 in which the method according to the invention can run.

[0073] For example, and preferably, the method according to the invention can be implemented as program code that is stored on a computer program product or loaded into a processor or control unit and processed there.

[0074] The invention has been comprehensively described and explained with reference to the drawings and the description. The description and explanation are to be understood as exemplary and not restrictive. The invention is not limited to the disclosed embodiments. Other embodiments or variations will become apparent to those skilled in the art upon use of the present invention and upon careful analysis of the drawings, the disclosure, and the following claims.

[0075] In the patent claims, the words "comprising" and "having" do not exclude the presence of further elements or steps. The undefined article "a" or "an" does not exclude the presence of a plurality. A single element or unit can perform the functions of several of the units recited in the patent claims. An element, unit, interface, device, and system can be partially or completely implemented in hardware and / or software. The mere mention of some measures in several different dependent patent claims should not be understood to mean that a combination of these measures cannot also be used advantageously. A computer program or a computer program product can be stored / distributed on a non-volatile data carrier, for example on an optical memory or on a solid-state drive (SSD).A computer program may be distributed together with hardware and / or as part of hardware, for example, via the Internet or via wired or wireless communication systems. Reference signs in the patent claims are not to be construed as limiting.

[0076] Reference symbol

[0077] 10 Control unit

[0078] 12 Input interface

[0079] 14 Processor unit

[0080] 16 Output interface

[0081] 18 Actuator

[0082] 20 Vehicle navigation

[0083] 22 Camera

[0084] 24 vehicle detection system

[0085] 26 Class Unit

[0086] 28 Communication module

[0087] 30 vehicles

[0088] 32 vehicle system

[0089] 34 side panel

[0090] 36 means of transport

[0091] 38 wheels

[0092] 40 Mecanum wheels

[0093] 42 T raverse

[0094] 44 Load handling unit

[0095] 46 Portal

[0096] 48 open space

[0097] 50 base bodies (out of 34)

[0098] 52 engine

[0099] 54 accumulator

[0100] 56 lifting column

[0101] 58 Longitudinal cross member

[0102] 60 traverse table

[0103] 62 truss part

[0104] 64 recording room

[0105] 66 emergency stop switches

[0106] 68 Cover

Claims

Patent claims 1. A vehicle (30) for transporting loads, comprising two side parts (34) arranged side by side in the direction of travel, having means of movement (36) in contact with the ground, and a cross member (42) which contacts and connects the two side parts (34), wherein the cross member (42) is designed to carry loads to be transported by the vehicle (30), wherein the cross member (42) and the side parts (34) form a portal (46) with a free space (48) below the cross member; the side parts (34) are variable at least in their height such that the clear height of the cross member (42) is variable; the cross member (42) is variable in its width such that the distance between the two side parts (34) is variable; and the change in the height of the side parts (34) and the change in the width of the cross member (42) take place independently of one another.

2. Vehicle (30) according to claim 1, characterized in that the vehicle (30) is an industrial truck, a driverless transport vehicle or a driverless transport system FTS, which is autonomously movable and which is preferably used in the industrial sector.

3. Vehicle (30) according to one of the preceding claims, characterized in that - the cross member (42) comprises a load-bearing unit (44) and two cross member parts (62); the load-bearing unit (44) is arranged above or between the two cross-member parts (62); - the dimensions of the load-bearing unit (44) are independent of the variable width of the crossbeam (42); and - the load-bearing unit (44) is a tray-like, substantially horizontally formed sheet, comprises a receptacle for a goods container or a basket, or is a goods container or basket.

4. Vehicle (30) according to the preceding claim, characterized in that the two cross member parts (62) are operatively connected to one another and can be changed in their length or position relative to one another such that the distance between the side parts (34) can be changed.

5. Vehicle (30) according to the preceding claim, characterized in that the connection of the cross member parts (62) can be effected by means of a toothed ring, a toothed belt, a rack, a motor (52), a belt drive or a telescopic rod or linkage.

6. Vehicle (30) according to one of the preceding claims, characterized in that each side part (34) is divided into two parts and is variable or fixed in its distance in the direction of travel of the vehicle (30) and preferably each part of a side part (34) has a means of locomotion.

7. Vehicle (30) according to one of the preceding claims, characterized in that the means of locomotion are wheels or rollers which are rotatable about a vertical axis or which are preferably designed in such a way that a change of direction of travel is possible or that the distance between the side parts (34) can be changed, preferably when the vehicle (30) is stationary.

8. Vehicle (30) according to one of the preceding claims, characterized in that the vehicle (30) comprises a plurality of actuators (18) which effect the movement of the vehicle (30), the change in the width of the vehicle (30) and / or the height of the vehicle (30), wherein an actuator (18) can comprise a motor (52), an electric motor, a drive unit, a pneumatic unit or a hydraulic unit.

9. Vehicle (30) according to one of the preceding claims, characterized in that the vehicle (30) has a control unit (10) which processes control signals for autonomous movement and / or for automatic, preferably self-regulated, changing of the vehicle contour, wherein a vehicle navigation system is preferably integrated or included in the control unit (10).

10. Vehicle (30) according to the preceding claim, characterized in that the control unit (10) generates a control signal to control or initiate the distance between the side parts (34) and / or the width of the cross member (42) or the movement and / or direction of the means of transport.

11. Vehicle (30) according to one of the preceding claims, characterized in that the vehicle (30) has a camera (22) to determine information of the environment and to make it available to the vehicle (30), wherein the information is preferably transmitted to a control unit (10) of the vehicle (30), wherein the camera (22) preferably cooperates with a vehicle recognition system (24), preferably in such a way that information from the camera (22) or camera images are transmitted to the vehicle recognition system (24) and processed by the vehicle recognition system (24), particularly preferably with the aid of a Kl unit (26).

12. Vehicle (30) according to one of the preceding claims, characterized in that the vehicle (30) has a communication module (28) which is designed to communicate with the environment, devices and units in the environment or other vehicles or an external computer or a cloud-based computer, wherein the communication module (28) is preferably suitable and designed for wireless communication.

13. Vehicle system (32) comprising two vehicles (30) with a variable contour which is variable in its width and height, wherein the height of the first vehicle (30) and the width of the first vehicle (30) are changed such that the vehicle (30) with a smaller contour can drive under the vehicle (30) with a larger contour, the height and width of which are increased.

14. A control unit (10) for a vehicle (30) with a variable contour, the width and height of which can be changed, comprising an input interface (12) for receiving information on the current width and height of the vehicle (30) and for receiving information on a desired width and / or height; a processor unit (14) for generating a control signal based on the information on the current and desired width and / or height of the vehicle (30); an output interface (16) for outputting the control signal to one or more actuators of the vehicle (30) in order to change the width and / or height of the vehicle (30).

15. A method for changing the width and / or height of a vehicle (30), preferably an industrial truck, wherein the vehicle (30) has two side parts (34) arranged next to one another and spaced apart from one another with means of movement (36) and a cross member (42) connecting the side parts (34) in an upper region, comprising the following steps: Determining the current height of the cross member (42) and / or the current distance between the side parts (34); Determining a desired height of the cross member (42) and / or a desired distance between the side parts (34); Determining or calculating a value for a control signal for actuators (18) in order to set the desired values ​​for the height of the cross member (42) and / or the distance between the side parts (34); Generating the corresponding control signal for controlling actuators (18) for the cross member (42) and / or for the side parts (34); and transmitting the control signal to the actuators (18) for changing the height of the cross member (42) and / or the distance between the side parts (34).

16. Computer program product with program code for controlling a vehicle (30) for transporting loads according to one of the preceding claims and / or for carrying out the steps of the method according to the preceding claim.

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