A method for loading or unloading a carrier vehicle for carrying at least one vehicle by a loading device, a computer program product, a non-transitory

Abstract

A method for loading or unloading a carrier vehicle 12 for carrying at least one vehicle 14 / 16 by a loading device 10 comprises establishing a communication link 18 between the carrier 12 and the loading device 10 by a communication module 20 of the device 10. An occupation message 24 is received from the carrier 12 by the module 20 and the loading device 10 is autonomously positioned at a loading position A by a positioning module 26 of the device 10. A loading device 10 configured to perform the method is further provided which comprises at least one communication module 20 and one positioning module 26. The device 10 may be positioned at an arrival platform 34, or the loading device may be positioned at the carrier 12. A state of the carrier 12 and / or a vehicle 14 / 16 loaded on or unloaded from the carrier 12 may be transmitted to the device 10.

Description

FIELD OF THE INVENTION

[0001] The present invention relates to the field of automobiles. More specifically, the present invention relates to a method for loading or unloading a carrier vehicle for carrying at least one vehicle by a loading device. Furthermore, the present invention relates to a corresponding computer program product, a corresponding non-transitory computer-readable storage medium as well as a corresponding loading device. BACKGROUND INFORMATION

[0002] So-called piggyback transportation is a useful form of intermodal transportation. It generally refers to the transport of one or more vehicles that are on board a carrier vehicle. It exists in many forms today, for example, semi-trailers on railroad flat cars, passenger vehicles on marine ships, and even space shuttles on airplanes.

[0003] Specialized mechanisms are typically required to load or unload the carrier vehicles onto carried vehicles. They come in many forms, for example, ramps, cranes, forklifts, slide loaders, rotating platforms, or furthermore. For example, portable ramps have been used to load / drive automobiles onto car ferries and railroad cars onto train ferries. Rubber-tired gantry cranes have been used to place semi-trailers on railroad flatcars. Some railcars even carry rotating platforms for automobiles.

[0004] Unfortunately, deploying and operating these mechanisms is often manual, laborious and time-consuming. This severally limits the situation and locations in which loading and unloading carrier vehicles is economically feasible. For example, automobiles are often only loaded onto railroad cars at rail yards. They are unable to load and unload railroad cars at passenger train stops because the process would take too long to be acceptable. Furthermore, this would require a lot of manual operators to be on stand-by at many distributed train stations. In all, the temporal and economic costs of manually deploying and operating these mechanisms limits the scenarios in which carried vehicles can be loading and unloading onto a carrier vehicle. SUMMARY OF THE INVENTION

[0005] It is an object of the present invention to provide a method, a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding loading device, by which efficiently loading or unloading of vehicles onto a carrier vehicle may be performed.

[0006] This object is solved by a method, a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding loading device according to the independent claims. Advantageous embodiments are presented in the dependent claims.

[0007] One aspect of the invention relates to a method for loading or unloading a carrier vehicle for carrying at least one vehicle by a loading device. A communication link between the carrier vehicle and the loading device is established by a communication module of the loading device. An occupation message from the carrier vehicle is received by the communication module, and an autonomously positioning of the loading device at a loading position is provided by a positioning module of the loading device.

[0008] In particular, to solve the before-mentioned problem, this method proposes the automated deployment and operation of this loading device which may be a loading and / or unloading mechanism. This loading device may be stationed or mounted at the transportation station / arrival station or mounted on the carrier vehicle itself.

[0009] Safe autonomous operation comes with high sensor, algorithm, and computational requirements. To reduce this burden, many autonomous systems may also rely on a so-called vehicle-to-everything (V2X) communication protocols. Vehicle-to-everything communication is a broad term that also includes vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication V2X communication helps entities to directly communicate their states and planed actions so that other entities do not need to sense and interpret this for themselves. This also assists with negotiations for collaborative actions. Lastly, this helps reduce and distribute the sensing and computational requirements.

[0010] To enable the loading device’s automated operation, this invention proposes the communication between the loading device, in particular for example at an arrival platform, which may be regarded as an infrastructure and / or the carrier vehicle itself. While there are protocols and bandwidths dedicated specifically for V2X communication, this invention may also use a local WIFI or a 5G LTE communication protocol.

[0011] The loading device is typically required to load or unload vehicles onto the carrier vehicles. The loading device may be, for example only, ramps, cranes, forklifts, slide loaders, rotating platforms, or furthermore. For example, portable ramps can be used to load drive automobiles onto car ferries and railroad cars onto train ferries. Furthermore, rubber-tired gantry cranes can be used to place semi-trailers on railroad flatcars.

[0012] For performing the method every entity may comprise an electronic computing device and a communication device. For example, the carrier vehicle may comprise one electronic computing device, the loading device may comprise one electronic computing device, an arrival platform may comprise one electronic computing device, well as the vehicle may comprise one electronic computing device. If, for example, the loading device is attached to the carrier vehicle or the arrival platform, one electronic computing device can be shared. For example, for one loading / unloading operation, there may be three individual entities: the carrier vehicle, the transit station platform / infrastructure / arrival platform, and the loading / unloading mechanism, which may also be regarded as the loading device. This loading / unloading mechanism may share a computing unit and communication device with another entity if it is integrated within it. For example, automated ramps may be integrated within the arrival platform infrastructure. Automated ramps could also be integrated with the carrier vehicle. In this scenario, there would only be two individual entities: the carrier vehicle and the arrival platform infrastructure. Furthermore, for example, the carrier vehicle may comprise one communication device, the loading device may comprise one communication device, an arrival platform may comprise one communication device, well as the vehicle may comprise one communication device

[0013] The arrival platform may refer to the platform / infrastructure of a train station or of a railyard or a ferry.

[0014] According to an embodiment, the loading device is positioned at an arrival platform for the carrier vehicle.

[0015] In another embodiment, the loading device is positioned at the carrier vehicle.

[0016] In another embodiment, the loading device is preloaded with a vehicle to be loaded on the carrier vehicle or to be unloaded from the carrier vehicle.

[0017] According to another embodiment, a state of the carrier vehicle and / or a state of the vehicle loaded on or unloaded from the carrier vehicle is transmitted to the loading device.

[0018] In another embodiment, surroundings of the carrier vehicle and / or surroundings of the loading device are monitored during performing the method.

[0019] In particular, the method is a computer-implemented method. Therefore, another aspect of the invention relates to a computer program product comprising program code means for performing a method according to the preceding aspect.

[0020] A still further aspect of the invention relates to a non-transitory computer-readable storage medium comprising at least the computer program product according to the preceding aspect.

[0021] Furthermore, the invention relates to a loading device for loading or unloading a carrier vehicle for carrying at least one vehicle, comprising at least one communication module and one positioning module, wherein the loading device is configured for performing a method according to the preceding aspect. In particular, the method is performed by the loading device.

[0022] Furthermore, the loading device may at least comprise an electronic computing device. The electronic computing device may be configured for generating operation signals for the communication module as well as for the positioning module. The positioning module, for example, may comprise means for an at least in part autonomous movement of the loading device.

[0023] The electronic computing device / computing unit therefore may comprise electronic means, for example, processors, circuits, in particular integrated circuits, and further electronic means for performing a method. A computing unit may in particular be understood as a data processing device, which comprises processing circuitry. The computing unit can therefore in particular process data to perform computing operations. This may also include operations to perform indexed accesses to a data structure, for example a look-up table, LUT.

[0024] In particular, the computing unit may include one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits, ASIC, one or more field-programmable gate arrays, FPGA, and / or one or more systems on a chip, SoC. The computing unit may also include one or more processors, for example one or more microprocessors, one or more central processing units, CPU, one or more graphics processing units, GPU, and / or one or more signal processors, in particular one or more digital signal processors, DSP. The computing unit may also include a physical or a virtual cluster of computers or other of said units.

[0025] In various embodiments, the computing unit includes one or more hardware and / or software interfaces and / or one or more memory units.

[0026] A memory unit may be implemented as a volatile data memory, for example a dynamic random access memory, DRAM, or a static random access memory, SRAM, or as a non-volatile data memory, for example a read-only memory, ROM, a programmable read-only memory, PROM, an erasable programmable read-only memory, EPROM, an electrically erasable programmable read-only memory, EEPROM, a flash memory or flash EEPROM, a ferroelectric random access memory, FRAM, a magnetoresistive random access memory, MRAM, ora phase-change random access memory, PCRAM.Further advantages, features, and details of the invention derive from the following description of preferred embodiment as well as from the drawing. The features and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figure and / or shown in the figure alone can be employed not only in the respectively indicated combination but also in any other combination or taken alone without leaving the scope of the invention.

[0001] Further advantages, features, and details of the invention derive from the following description of a preferred embodiment as well as from the drawing. The features and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figure and / or shown in the figure alone can be employed not only in the respectively indicated combination but also in any other combination or taken alone without leaving the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The novel features and characteristic of the disclosure are set forth in the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and together with the description, serve to explain the disclosed principles. The same numbers are used throughout the figures to reference like features and components. Some embodiments of system and / or methods in accordance with embodiments of the present subject matter are now described below, by way of example only, and with reference to the accompanying figures.

[0028] The drawings shows in:

[0029] Fig 1 a schematic top view according to an embodiment of a loading device.

[0030] Fig. 2 a schematic top view of an embodiment of a method; and

[0031] Fig. 3 another schematic top view of an embodiment of a method.

[0032] In the figures the same elements or elements having the same function are indicated by the same reference signs. DETAILED DESCRIPTION

[0033] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration". Any embodiment or implementation of the present subject matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0034] While the disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawing and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

[0035] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion so that a setup, device or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus preceded by “comprises” or “comprise” does not or do not, without more constraints, preclude the existence of other elements or additional elements in the system or method.

[0036] In the following detailed description of the embodiment of the disclosure, reference is made to the accompanying drawing that forms part hereof, and in which is shown by way of illustration a specific embodiment in which the disclosure may be practiced. This embodiment is described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.

[0037] Fig. 1 shows a schematically top view according to an embodiment of a loading device 10. The loading device 10 is configured for loading or unloading a carrier vehicle 12 for carrying at least one vehicle 14, 16.

[0038] According to the shown embodiment, a first vehicle 14, which may be regarded as a carried vehicle 14, may be unloaded from the carrier vehicle 12 and a second vehicle 16 may be loaded onto the carrier vehicle 12, which may further be regarded just as vehicle 16.

[0039] According to an embodiment, a communication link 18 between the carrier vehicle 12 and the loading device 10 is established by a communication module 20 of the loading device 10. The carrier vehicle 12 may also comprise a communication module 22. An occupation message 24 is received from the carrier vehicle 12 by the communication module 20. An autonomously positioning of the loading device 10 at a loading position A is provided by a positioning module 26 of the loading device 10. According to the shown embodiment, the loading device 10 further may comprise at least an electronic computing device 28. The electronic computing device 28 may be configured for generating operation signals for at least the communication module 20 as well as the positioning module 26.

[0040] As shown in Fig. 1, the carrier vehicle 12 may use a trajectory 30 in order to arrive at the loading position A. The loading device 10 may use a further trajectory 32 in order to arrive at the loading position A.

[0041] As shown in Fig. 1, the loading device 10 is positioned at an arrival platform 34 for the carrier vehicle 12. According to this embodiment, the carrier vehicle 12 is configured as a ferry. Alternatively, the loading device 10 may be positioned at the carrier vehicle 12. Furthermore, the loading device 10 may be preloaded with a vehicle 14, 16 according to the shown embodiment, for example with the second vehicle 16, to be loaded on the carrier vehicle 12 or to be unloaded from the carrier vehicle 12.

[0042] According to the shown embodiment, the carrier vehicle 12 may communicate to an upcoming arrival platform 34, which slots are unoccupied or have an unloading request. This may be, for example, the occupation message 24. The arrival platform 34 may receive the request and automatically deploys the loading device 10 to the approximate location where the loading device 10 is needed. The loading device 10 may be preloaded with the second vehicle 16 that will be loaded onto the carrier vehicle 12. For self-propelled carried vehicles, gates may be opened to allow a certain number of vehicles 14, 16 to enter a staging area. The arrival platform 34 may have an infrastructure and mechanism to communicate to ensure that all operations are safe, coordinated and efficient.

[0043] The positions and states of all entities, in particular of the carrier vehicle 12, the loading device 10 and the vehicles 14, 16, may be broadcasted over the communication link 18. The locations of all detected obstacles may be broadcasted over this communication link 18. The locations of all detected humans or animals may be broadcasted over this communication link 18. Furthermore, all other necessary sensor data, states or commands may be communicated over this communication link 18.

[0044] When the carrier vehicle 12 arrives at the arrival platform 34, the loading device 10 slightly adjusts the carrier vehicle’s unique stopping position, in particular the loading position A. If loading or unloading, if the loading device 10 is for example mounted on the carrier vehicle 12 itself, the carrier vehicle 12 and the arrival platform 34 may communicate, when and if they are safe to deploy. They are only deployed for the slots in which a vehicle 14, 16 may be loaded or unloaded. Once the carried vehicles 14, 16 are loaded and secured, the loading devices 10 may retract to its original positions.

[0045] Estimates about the carrier vehicles’ positions and states may be estimated by one entity and broadcasted to all others.

[0046] All entities may communicate and negotiate with each other directly. Alternatively, all entities can communicate with and receive commands from the transportation via the arrival platform 34 directly. In this master-slave configuration, the arrival platform 34 is in charge of coordinating the entire operation. It is obvious for a person skilled in the art, that the example for loading the vehicle 14, 16 onto the carrier vehicle 12 is also applicable for unloading a vehicle 14, 16 from the carrier vehicle 12.

[0047] Fig. 2 shows a schematic top view of an embodiment of a method. In particular Fig 2 shows, that the carrier vehicle 12 may be configured as a train. The arrival platform 34 therefore may be configured as a rail station. In particular, five steps (1 - 5) of the method are shown. In the first step 1 the carrier vehicle 12 arrives at an arrival platform 34. Some of its railcars have open slots for vehicles 16. There are three individual entities 10, 12, 36, wherein an access control device 36, in particular a gate is shown in this scenario, all with their own electronic computing device and communication device. The loading device 10, the carrier vehicle 12, as well as the access control device 36 denote the individual entities. The arrival platform infrastructure may comprise the integrated gate / s. The carrier vehicle 12 is a train comprising a plurality of carried vehicles 16. The loading device 10 may be configured a portable ramp, a type of specialized loading / unloading mechanism. In other embodiments, the portable ramp could be integrated within the arrival platform infrastructure, but it will be a separate entity in this scenario.

[0048] In the second step 2 the three entities 10, 12, 36 sense their own state and the state of their environment. They may all broadcast this information amongst each other. At this point, a coordinated and automated operation begins. First, the portable ramp moves along the arrival platform 34 to align with the unique stopping position / loading position A of the open railcar.

[0049] In the third step 3 the arrival platform’s automated gate opens to allow one vehicle 16 to proceed. The portable ramp deploys its ramp to form a continuous drivable surface between the arrival platform infrastructure and the open railcar.

[0050] In the step 4 the vehicle 16 drives on the portable ramp to travel from the arrival platform 34 to the open railcar. Since there are no other open railcars, the arrival platform’s gate closes to stop other queued automobiles.

[0051] In the step 5 the open railcar is now loaded with a new carried vehicle 14. This train is ready to depart for its next destination.

[0052] Fig. 3 shows another schematic top view of an embodiment of a method. In particular four steps (1 - 4) are shown. In the step 1 the carrier vehicle 12, in particular configured as a train, arrives at an arrival platform 34. Some of its railcars have open slots for carried vehicles 14. There are two individual entities 12, 34 in this scenario, both with their own computing unit and communication device. The entities 12, 34 denote the individual entities. The carrier vehicle 12 is the train comprising carried vehicle 14 and the loading platform 10. Ina railcar of the train the specialized loading device 10 is integrated. In this example, the mechanism is a ramp.

[0053] In step 2 the two entities 12, 34 sense their own state and the state of their environment. They may all broadcast this information amongst each other. At this point, a coordinated and automated operation begins. The arrival platform’s gate opens to allow one vehicle 16 to proceed. The railcar deploys its ramp to form a continuous drivable surface between the arrival platform infrastructure and the open railcar.

[0054] In step 3 the vehicle 16 drives on the railcar ramp to travel from the arrival platform 34 to the open railcar. Since there are no other open railcars, the arrival platform’s gate closes to stop other queued vehicles 16.

[0055] The open railcar is now loaded with the new carried vehicle 14. This train is ready to depart for its next destination signs loading device carrier vehicle first vehicle second vehicle communication link communication module communication model occupation message positioning module electronic computing device trajectory trajectory arrival platform access control device loading position

Claims

1. A method for loading or unloading a carrier vehicle (12) for carrying at least one vehicle (14, 16) by a loading device (10), comprising the steps of:- establishing a communication link (18) between the carrier vehicle (12) and the loading device (10) by a communication module (20) of the loading device (10);- receiving an occupation message (24) from the carrier vehicle (12) by the communication module (20); and- autonomously positioning of the loading device (10) at a loading position (A) by a positioning module (26) of the loading device (10).

2. The method according to claim 1, characterized in thatthe loading device (10) is positioned at an arrival platform (34) for the carrier vehicle (12).

3. The method according to claim 1, characterized in thatthe loading device (10) is positioned at the carrier vehicle (12).

4. The method according to any one of claims 1 to 3, characterized in thatthe loading device (10) is preloaded with a vehicle (12, 14) to be loaded on the carrier vehicle (12) or to be unloaded from the carrier vehicle (12).

5. The method according to any one of claims 1 to 4, characterized in thata state of the carrier vehicle (12) and / or a state of a vehicle (14, 16) loaded on or unloaded from the carrier vehicle (12) is transmitted to the loading device (10).

6. The method according to any one of claims 1 to 5, characterized in thatsurroundings of the carrier vehicle (12) and / or surroundings of the loading device (10) are monitored during performing of the method.

7. A computer program product comprising program code means for performing a method according to any one of claims 1 to 6.

8. A non-transitory computer-readable storage medium comprising at least the computer program product according to claim 7.

9. A loading device (10) for loading or unloading a carrier vehicle (12) for carrying at least one vehicle (12, 14), comprising at least one communication module (20) and one positioning module (26), wherein the loading device (10) is configured for performing a method according to any one of claims 1 to 6.

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