Transport vehicles, systems, and transport methods

Abstract

The present invention relates to a transport vehicle (10) having a frame (12) having a first end (14) and a second end (16), a loading space (18) attached to the frame (12) for loading a mobile work machine (20) into the transport vehicle (10), wheels (22) supporting the frame (12) on a base (foundation / ground) (100), a power supply unit (26) provided on the first end (14) of the frame (12) and having a battery pack (30) that transmits power to the wheels (22) to move the transport vehicle (10), an electric motor (32) that drives the wheels (22) of the transport vehicle (10) with power supplied by the battery pack (30), and an autonomous guidance system (38) that automatically guides the transport vehicle (10) according to a pre-selected plan. The guidance system (38) has wireless position measuring means (40) for measuring the position of the transport vehicle (10) in order to perform autonomous guidance. The guidance system (38) further has at least two sensor units (42) facing in opposite directions to position and load the transport vehicle (10) with an accuracy of 0.1 to 10 cm, preferably 1 to 5 cm. The present invention also relates to a system (52) and a transport method for this purpose.

Description

Technical Field

[0001] The present invention relates to a frame having a first end and a second end, a loading space attached to the frame for loading a mobile work machine onto a transport vehicle, wheels for supporting this frame on a base (substrate), a power supply unit provided at the first end of the frame and having a battery pack for transmitting power to the wheels to drive the transport vehicle, an electric motor for driving the wheels of the transport vehicle by electricity supplied by the battery pack, and a transport vehicle having an autonomous guidance system for automatically guiding the transport vehicle according to a pre-selected plan, and this guidance system measures the position (geopositioning) of the transport vehicle and has wireless positioning means (geopositioning means) for performing autonomous guidance.

[0002] The present invention also relates to a system and a conveying method.

Background Art

[0003] Overall efforts to reduce carbon emissions in the industrial sector are showing a strong trend towards electrifying mining machinery. For example, Epiroc manufactures electric drill rigs that use lightweight driving battery packs for short-distance transfers from one drill hole to another and larger driving battery packs connected by cables to the drill rig for long-duration drilling operations.

[0004] The problem with this type of electric drill rig is the time-consuming transfer from one worksite to another, where the limited capacity of the drive battery pack becomes a limiting factor. Longer transfers necessitate replacing the drive battery pack midway, a cumbersome process. Furthermore, if both the drive battery pack and the drive battery pack run out, another problem arises: to essentially continue work uninterrupted, the battery packs must be replaced with rechargeable battery packs. Currently, battery pack replacement requires moving the drill rig to a battery pack charging station located a considerable distance away, as mines and quarries typically have multiple drill rigs. In addition, battery pack replacement requires manual intervention by workers, posing a risk of being run over by the machinery while standing in the middle of it. Moreover, accurately aligning the drill rig with the charging station is a challenge for workers who have little visibility of the drill rig's surroundings. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] European Patent Application Publication No. 3026004A1 [Patent Document 2] International Publication No. 2022 / 064104A1 [Overview of the project] [Problems that the invention aims to solve]

[0006] The object of the present invention is to provide a transport vehicle, system, and method that can automate the transport of stationary objects to be transported, such as battery packs for drill rigs. Preferably, the stationary object to be transported is a battery pack for a drill rig, in which case the problems associated with long-distance transport of drill rigs can be solved while simultaneously minimizing carbon emissions. Another object is to develop a solution that allows for quick and safer battery pack replacement than conventional methods. The features of the transport vehicle according to the present invention are as described in claim 1, the features of the system according to the present invention are as described in claim 9, and the features of the method according to the present invention are as described in claim 13. [Modes for carrying out the invention]

[0007] The objective of the transport vehicle according to the present invention is to have a frame having a first end and a second end, a loading space attached to a frame for a mobile (movable) work machine to be loaded onto the transport vehicle, and wheels supporting the frame at a base. Furthermore, the transport vehicle has a power supply unit provided at the first end of the frame that transmits electricity to the wheels to drive the transport vehicle, and this power supply unit has a battery pack that supplies power to the power supply unit. Furthermore, the transport vehicle has an electric motor that drives the wheels of the transport vehicle using the power supplied by the battery pack, and an autonomous guidance system that automatically guides the transport vehicle according to a pre-selected plan. The guidance system has a wireless position measuring means for measuring the position of the transport vehicle for the purpose of autonomous guidance, and at least two sensor units facing each other in opposing directions to measure the position of the transport vehicle with an accuracy of 0.1 to 10 cm, preferably 1 to 5 cm, not only in relation to replacing the battery pack of the transport vehicle but also in relation to charging the battery pack of the work machine.

[0008] The transport vehicle according to the present invention can simultaneously perform two functions useful for the operation of the work machine: the transport of the work machine's battery pack from the work machine to the charging station or vice versa, and the transport of the work machine over longer distances. Because it is electrically driven, the transport vehicle does not emit carbon dioxide emissions like an internal combustion engine, making it ideal for use in mines where noise and exhaust fumes are a concern. Because the guidance is autonomous, the loading of the work machine's battery pack or the work machine onto the transport vehicle can be carried out quickly and accurately, eliminating the need for manual processes that require workers to be positioned near the work machine. Consequently, safety during operation is also improved.

[0009] Regarding the transport vehicle, it is preferable that it has a connecting means provided at the second end of the frame in relation to the loading space for loading the battery pack of the work machine into the transport vehicle. This connecting means allows a portion of the loading space to be pushed under the battery pack.

[0010] It is preferable to attach the battery pack to the power unit in a detachable manner, allowing the battery pack to be replaced. If necessary, multiple batteries can be installed in the transport vehicle, and these batteries can be replaced as needed.

[0011] Because two sensor units are used, the transport vehicle can be positioned with precision in both replacing the battery pack of the transport vehicle itself and loading the battery pack or equipment of the work machine (which is not usually done) in the other. The autonomous guidance of the transport vehicle according to the present invention is based on the use of both geographical data obtained via wireless positioning means and environmental data obtained by the sensor units, so the transport vehicle does not need to follow other equipment or devices, for example. A collision avoidance system for the transport vehicle that can avoid collisions with any object in the environment is advantageously implemented by the sensor units.

[0012] The frame preferably has a front frame and a rear frame attached to the front frame by a vertical articulated joint. The turning radius of a transport vehicle obtained with a two-part (two-member) frame is smaller than that of a vehicle with a fixed frame.

[0013] For transport vehicles, it is preferable to have steering means for frame steering of the transport vehicle, provided between the front frame and the rear frame. Because it is a frame-steering system, the turning radius of the transport vehicle is small, making it easy to turn the transport vehicle in narrow spaces. Furthermore, using frame steering simplifies the suspension of the wheels, eliminating the need for swivel wheels, so the rotation of the transport vehicle is generated by the frame steering. Providing swivel wheels on a transport vehicle of a suitable size class presents many problems and increases costs.

[0014] The dimensions of the transport vehicle can be set according to the transport capacity of 10 to 200 tons, preferably 20 to 80 tons. There are problems with transporting crawler-type (tracked) work machines of this size class.

[0015] It is preferable to install the power supply unit in the front frame and the loading space in the rear frame, and vice versa. With this configuration, the weight of the transport vehicle is more evenly distributed when transporting either the battery pack of the work machine or the drill rig into the loading space, thus balancing the power supply unit installed in the front frame and the battery pack of the transport vehicle as a whole.

[0016] It is preferable that the electric motor be a hub motor. In particular, hub motors are advantageous when used in conjunction with electric transport vehicles. This is because power can be transmitted directly to the drive wheels, eliminating the need for other transmission methods. This results in a more energy-efficient and simpler structure, and reduces the number of components that require maintenance.

[0017] It is preferable to install hub motors on each wheel of the rear frame. With this configuration, the force is transmitted through the rear frame, resulting in improved traction compared to a device that tows from the front.

[0018] The sensor unit is preferably a laser scanner or lidar. Laser scanners, also known as optical radar, can scan the environment and detect potential obstacles, as well as be used to precisely position a drill rig, for example, to load battery packs. Laser scanners can convert a very large amount of data about the environment into a three-dimensional point cloud, which can be used, for example, to perform shape recognition and detect obstacles.

[0019] In one embodiment, four to six, preferably five, laser scanners are arranged to map the environment of the transport vehicle. The entire environment of the transport vehicle can be mapped, and this mapping is important for autonomous guidance to avoid collisions with specific objects such as work equipment in the environment.

[0020] The guidance system preferably includes an artificial intelligence (AI) unit, which is configured to make decisions regarding the stopping of the autonomous guided transport vehicle based on user-generated guidance rules and guidance plans input into the guidance system, as well as data generated by sensor units. This AI unit can effectively avoid collisions in a changing environment where other moving objects are present.

[0021] The AI ​​unit is configured to execute a pre-selected plan to guide the transport vehicle based on user-generated guidance rules and guidance plans entered into the guidance system, as well as data generated by the sensor unit.

[0022] In addition to, or instead of, the data generated by the wireless position measuring means of the transfer vehicle, it is also possible to use, for example, data generated by a mine's top-level guidance system as an input to the AI unit. The top-level guidance system can be configured to guide all the working machines and transfer vehicles in the mine, and this guidance system has data regarding these movement operations and positions. This data can be used by the AI unit of the transfer vehicle to avoid collisions.

[0023] In one embodiment, for the wheels of the transfer vehicle, they are suspended within the frame. The wheel suspension device has a support arm with a first end and a second end. The wheel is attached to the first end in a jointed manner, the second end is attached to the frame in a jointed manner, and to a height adjustment cylinder having a first end and a second end. The first end is attached to the frame in a jointed manner. The suspension device further has a damping element with a first end and a second end. The first end is attached to the first end of the support arm in a jointed manner and to a linking element having a first support point, a second support point, and a third support point. The second end of the height adjustment cylinder is attached to the first support point of the linking element in a jointed manner, and the second end of the damping element is attached to the second indicating point of the linking element in a jointed manner. The linking element is attached to the support arm in a jointed manner by the third support point. This type of suspension device allows one end of the loading space to lower and touch the base flatly, so that the working machine to be loaded onto the transfer vehicle does not need to cross a step (threshold), similar to the case of using a loading ramp (vehicle loading slope) of the prior art.

[0024] Preferably, the transfer vehicle has lifting means for lowering the loading space to contact the base in order to move the working machine into the loading space. Using this lifting means facilitates the loading of crawler-type working machines. This is because the flat loading space can pivot with respect to the base at one end.

[0025] Alternatively, the transport vehicle of the present invention may be equipped with a loading ramp. However, if the angle between the loading ramp and the loading space intersects, the work equipment may shake violently.

[0026] The objective of the system according to the present invention can be achieved by a system for transporting at least one object, which includes a wireless position measuring means for determining the position and orientation of an object to be transported while it is stationary, and a transport vehicle for transporting the object while it is stationary, according to any of the embodiments of the present invention described above. In this system, the transport vehicle calculates an approach route from the direction specified by an autonomous guidance system to the object to be transported, loads the object to be transported onto the transport vehicle, and transports the object between two points in an automated manner.

[0027] The present invention preferably includes a work machine powered by at least one battery, preferably a drill rig, and at least two identical battery packs for the work machines configured to operate the work machines alternately (sequentially), with each battery pack being a stationary object to be moved, and a first charging station located at a distance from the work machine to charge the battery packs of the work machines.

[0028] The autonomous guidance system is preferably configured to determine the orientation and position of the transport vehicle, as well as the orientation and position of the stationary object to be transported, i.e., the object being approached, and is a system that calculates the approach route of the transport vehicle. As a result, the object to be transported will approach only from the specified direction and will be able to be loaded onto the transport vehicle autonomously.

[0029] Alternatively, instead of a battery pack, any object that is stationary and has its own stand, and is suitable for loading into the loading space of a transport vehicle, can be used as the transported object.

[0030] In the system according to the present invention, the transfer of the work equipment from the first charging station of the work equipment's battery pack, and the reverse transfer, can be carried out autonomously controlled by a transfer vehicle. Furthermore, the same transfer vehicle can be used to transport the work equipment over longer distances, from one work site to another.

[0031] Regarding the implement, an autonomous drill rig equipped with a crawler chassis is preferred. However, crawler drill rigs have many problems when traveling long distances. The transport speed of a crawler drill rig is extremely slow, and long-distance travel causes considerable wear on the crawler chassis.

[0032] In one embodiment, the drill rig has wireless positioning means to measure its position, and based on this means, the drill rig automatically drills a hole at a designated location. Furthermore, the system has a satellite positioning station that generates position correction signals to improve the accuracy of the wireless positioning means of the transport vehicle and the drill rig. A virtual position point is generated for the transport vehicle in the loading space, and the drill rig is automatically guided toward this position point using the drill rig's wireless positioning means and correction signals. In this embodiment, the loading of the drill rig onto the transport vehicle is also automated, and the wireless positioning means achieves an accuracy sufficient to load the drill rig into a very limited space within the transport vehicle's loading space without any problems.

[0033] Preferably, this system includes not only at least two identical battery packs used sequentially or alternately in the transport vehicle, but also a second charging station for charging the transport vehicle's battery packs. This ensures that the transport vehicle's power supply is guaranteed under all conditions.

[0034] It is preferable that the transport vehicle also has a wireless position measuring means that can approach the battery pack with sufficient precision to allow the transport vehicle to replace it.

[0035] The wireless positioning means for the battery packs of both the work machine and the transport vehicle may comprise either A) two satellite positioning antennas for determining the position of the battery pack and a gyroscope for determining the orientation of the battery pack, or B) three satellite positioning antennas for determining both the position and orientation of the battery pack. Determining the orientation is important because it is preferable that the battery pack of the work machine can be loaded onto the transport vehicle from only one direction, thereby allowing for accurate positioning of the battery pack relative to the drill ring during loading and unloading related to battery pack replacement. Similarly, battery pack replacement of the transport vehicle can be performed only when the transport vehicle approaches from a specific direction.

[0036] The objective of the method according to the present invention can be achieved by a transport method that transports a stationary object between two points using any of the embodiments of the transport vehicle according to the present invention described above. The position of the stationary object to be transported is measured by a wireless position measuring means provided by the object to be transported to determine its position and orientation, and the transport vehicle approaches the object from a specified direction and automatically transports the object between the two points.

[0037] In the present invention, work is performed using a work machine powered by at least one battery, and it is preferable to connect the detachable battery packs of at least two work machines to the work machines and use them alternately (sequentially). Each battery pack becomes a stationary object to be transported, and each battery pack of the work machines is sequentially charged at a first charging station located away from the drill rig. Furthermore, in the present invention, it is preferable that the battery packs of the work machines approach the transport vehicle from a specified direction, be loaded onto the transport vehicle, and be automatically transported between the first charging station and the work machines, and the work machines are transported within the loading space of the transport vehicle over a distance of 300m to 15km.

[0038] Instead of batteries, the object being transported by the transport method can be, for example, a shipping container or a fuel tank.

[0039] In the method of the present invention, the position of the battery pack of the transport vehicle may be measured by a wireless position measuring means for the battery pack, and the position and orientation of the battery pack of the transport vehicle can be determined, and it is also possible for the battery pack of the transport vehicle to approach the transport vehicle from a specified direction and connect to the transport vehicle. For this transfer between battery packs of transport vehicles, the transport vehicle may be equipped with another spare battery pack with a capacity sufficient for short-distance transfer when replacing the battery pack of the transport vehicle.

[0040] Regarding the charging of the work machine's battery pack, remote monitoring is preferable. Furthermore, regarding the guidance system for the transport vehicle, it is preferable to configure the schedule for transporting the work machine's charged battery pack from the first charging station to the work machine so that when the transport vehicle arrives at the work machine, the charge level of the work machine's battery pack in use is 10-35%, preferably 20-30%. In one embodiment, the charging of the work machine's battery pack is remotely monitored, and the transport vehicle guidance system is preferably configured to set the transport schedule for the work machine's charged battery pack from the first charging station so that when the transport vehicle arrives at the work machine, the charge level of the battery pack in use is 10-35%, preferably 20-30%. This extends the battery pack's lifespan by keeping it within its optimal operating range at all times without letting it run out of charge.

[0041] The charge level of the transport vehicle's battery pack should also be monitored on-site, and it is preferable to schedule the replacement of the transport vehicle's battery pack so that the charge level of the battery pack is between 10 and 35%, preferably between 20 and 30%. In other words, the system according to the present invention uses a battery pack that can be attached and detached not only from the work machine but also, preferably, from the transport vehicle.

[0042] In the present invention, it is preferable to use 2 to 200 battery packs that can be transported by a transport vehicle, and these battery packs can also be used to transmit power to a national or regional power grid for load balancing purposes. Therefore, the electrical energy stored in the battery packs can be transmitted to different regions as needed, and can also be discharged to address different purposes.

[0043] In one embodiment, a separate transformer unit can discharge energy from the battery pack to fast charge other equipment, such as mining trucks, that require large charging power in the MW range (megawatts). [Brief explanation of the drawing]

[0044] The present invention, which is not limited to the embodiments described below, will be described in more detail with reference to the accompanying drawings. [Figure 1a-1d] Figures 1a to 1d show the design of the transport vehicle according to the present invention, viewed from different directions without cargo loaded. [Figure 2a-2b] Figures 2a and 2b are isometric projection views showing the battery pack of the transport vehicle according to the present invention, detached from the power supply unit. [Figure 3a-3c] Figures 3a to 3c are isometric projection views showing the structure and operation of the lifting means for the loading space of a transport vehicle according to the present invention in different processes. [Figure 4a-4b] Figures 4a and 4b are isometric projection views showing an example of loading a battery pack for a work machine onto a transport vehicle according to the present invention. [Figure 4c] Figure 4c is a side view showing the work equipment loaded into the loading space of the transport vehicle. [Figures 5a-5d] Figures 5a to 5d are side views showing an example of loading a battery pack for a work machine onto a transport vehicle according to the present invention. [Figure 6] Figure 6 is a schematic diagram showing the structure of the system according to the present invention. [Figure 7]Figure 7 shows an autonomous drill rig configured to travel through different drilling areas along a route defined by pre-set route points. [Figure 8] Figure 8 shows a system according to the present invention for loading work equipment into the loading space of a transport vehicle.

[0045] The embodiments described below are all embodiments viewed from the perspective that the stationary object to be transported 17 is the battery pack 36 of the work machine 20. The present invention can also be used for other applications, such as the transport of shipping containers.

[0046] Figures 1a to 3c show the structure of the transport vehicle 10 according to the present invention viewed from different directions. The transport vehicle 10 has a frame 12 consisting of two members, namely a front frame 44 and a rear frame 48 which are articulated to the front frame 44 by a vertical articulated joint 46. The frame 12 is supported on a base by wheels 22. A power supply unit 26 is provided on the front frame 44, and this power supply unit 26 is preferably powered by a battery pack 30 of the transport vehicle 10 which can be attached to the power supply unit 26 in a detachable manner. The power supply unit 26 uses an electric motor 32 to drive the drive wheels 22 of the transport vehicle 10. These drive wheels are preferably at least the wheels 22 of the rear frame 48 of the transport vehicle 10. It is also possible to configure all the wheels 22 of the transport vehicle 10 to be drive wheels. The power supply unit 26 preferably includes components related to power transmission for the transport vehicle, such as an inverter, a battery management system (BMS), and power electronics that enable the electric motor 32 to utilize the electrical energy charged in the battery pack. The power electronics may particularly include a current adjustment element, a voltage transformer, and a controller that can adjust and control the transmission of power from the battery pack to the electric motor.

[0047] The transport vehicle's power transmission is electric hybrid power, which allows for power transmission without the use of a drive shaft, contributing to a compact design and space saving. The power transmission preferably includes an option to allow the transport vehicle to decelerate while its battery pack is charging. The two hub motors connected to the rear frame wheels are preferably used as electric motors. Planetary gearing is also preferable for the hub motors to adjust the power transmission speed and adapt it to the intended application. The individual power of the hub motors can be set to, for example, 220 kW, yielding approximately 1600 Nm of torque. Hub motors can also be used for power transmission, thereby enabling power transmission to the front frame wheels.

[0048] The battery pack can be constructed using, for example, LiFePCE or NMC battery technology, and the capacity of the battery alone can be set to 200-600kWh. In this case, a DC generator of, for example, 280kW can be used for charging. The battery pack 30 can be attached to and detached from the transport vehicle 10 by a quick coupling 66 with a design similar to the quick coupling member of an excavator, as shown in Figures 2a and 2b. As shown in Figure 2a, the quick coupling 66 preferably has a lifting hook 67 attached to the power unit 26 and capable of traveling on a guide in the vertical direction by an actuator, and a lifting member 68 shown in Figure 2b that is mounted on the battery pack 30. Furthermore, both the battery pack 30 and the power unit 26 preferably have contact connection parts 65 that come into contact when the battery pack 30 is lifted onto the transport vehicle 10 by the quick coupling 66. A known solution disclosed in European Patent Application Publication No. 3026004A1 can also be used as a quick coupling.

[0049] Next, the loading space 18 is preferably formed in the rear frame 48 between the wheels 22. This loading space 18 can be used for both transporting the battery pack 36 of the work machine and transporting the work machine 20 between work sites, as shown in Figures 4a to 5d. For this purpose, the support surface of the loading space 18 is lowered to approximately the level of the base by a lifting means 28 at one end, which is preferable as it allows for the safe loading of a crawler-type work machine onto the transport vehicle 10. The structure of the lifting means 28 will be explained in detail with reference to Figures 3a to 3c.

[0050] Furthermore, the transport vehicle 10 according to the present invention has an autonomous guidance system 38 configured to guide the transport vehicle 10 according to a preset program. This autonomous guidance system 38 is a computer composed of a processing unit and a memory 41. Preferably, this computer is installed on the front frame 44 of the transport vehicle 10 connected to the power supply unit 26. In addition to the computer, it is preferable that the autonomous guidance system 38 has a wireless position measuring means 40 for measuring the position of the transport vehicle 10 in order to perform autonomous guidance, and at least two sensor units 42 that are oriented in opposite directions relative to each other. The wireless position measuring means 40 allows the guidance system to detect the position of the transport vehicle on a map, and the sensor units 42 can recognize the environment of the transport vehicle 10 with higher accuracy and detect the orientation of the transport vehicle 10. Based on this data, the transport vehicle can move with an accuracy of 1 to 10 cm, preferably 1 to 5 cm, not only in relation to replacing the battery pack 30, but also in relation to charging the battery pack 36 of the work machine 20, which is a prerequisite for autonomous guidance.

[0051] Regarding the guidance system, it is preferable that the system is configured such that, for example, an operator sets the guidance rules and guidance plan in advance, and the computer of the autonomous guidance system receives this information from a central computer or similar device, which uses position data provided by wireless position measurement means and environmental data provided by sensor units to autonomously guide the transport vehicle. As environmental data, for example, a point cloud set generated by a laser scanner constituting the sensor unit can be used, and various objects, such as obstacles, battery packs of work machines, or work machinery to be loaded onto the transport vehicle, can be detected by machine vision using shape recognition. The guidance system preferably has an AI unit, which is configured to make decisions regarding the guidance of the transport vehicle based on the data generated by the sensor unit, the guidance rules, and the guidance plan. For example, regarding a second transport vehicle detected from the point cloud set using shape recognition, the AI ​​unit can determine the possible trajectory of the second transport vehicle from continuous recognition, determine the trajectory of the transport vehicle in relation to this, and decide whether the transport vehicle should be stopped to avoid a collision, or whether it can continue the trajectory according to the initial guidance plan.

[0052] An autonomous guidance system can be implemented using existing systems, such as the Mobius® Autonomous Vehicle Control guidance system, which is commercially available from Autonomous Solutions Inc (ASI).

[0053] The function of the transport vehicle 10 according to the present invention is preferably to transport work equipment over a longer distance from one work site to another, or to transport a fully charged battery pack of a battery-powered work equipment from a first charging station to the work equipment to be used, and to return the used battery to the first charging station for charging. For this reason, the lifting means 28 and loading space 18 of the transport vehicle 10 are configured to be suitable for this function.

[0054] Figures 3a to 3c illustrate one method for performing height adjustment of the loading space 18 of a transport vehicle according to the present invention, which is located between the loading position and the usage position. Another possible embodiment is disclosed in the applicant's International Publication No. 2022 / 064104A1, which uses some kind of eccentric shaft. In the embodiments of Figures 3a to 3c, the wheels 22 of the transport vehicle 10 are suspended within the frame 12, and the suspension of the wheels 22 has a support arm 60 with a first end 61 and a second end 62. The wheels 22 are articulated to the first end 61 of the support arm 60, and the second end 62 is articulated to the frame 12, more precisely the rear frame. Furthermore, the suspension has a height adjustment cylinder 70 with a first end 71 and a second end 72, the first end 71 being articulated to the frame. Furthermore, the suspension has a damping element 80 with a first end 81 and a second end 82, the first end 81 being articulated to the first end 61 of the support arm 60. The suspension also includes a linking element 90 with a first support point 91, a second support point 92, and a third support point 93. The second end 72 of the height adjustment cylinder 70 is attached to the first support point 91 of the linking element 91 in an articulated manner, the second end 82 of the suspension element 80 is attached to the second support point 92 of the linking element 90 in an articulated manner, and the linking element 90 is attached to the support arm 60 by the third support point 93 in an articulated manner.

[0055] The linking element 90 is preferably attached to the central portion of the support arm 60 in an articulated manner by a third support point 93 between the first end 61 and the second end 62 of the support arm 60.

[0056] The linking element 90 is preferably triangular, and each support point is located at each corner of the linking element 90. The triangular structure has extremely high rigidity.

[0057] The frame 12 can be composed of mounting elements 95 having a first mounting point 96 and a second mounting point 97, the first end 71 of the height-determining cylinder 70 being articulated and attached to the first mounting point 96, and the second end 62 of the support arm 60 being articulated and attached to the second mounting point 97.

[0058] The damping element can be mechanical, hydraulic, or pneumatic. However, as shown in Figures 3a to 3c, a hydraulic cylinder is preferred.

[0059] The height adjustment cylinder 70 can be made up of a hydraulic cylinder or a pneumatic cylinder, but a hydraulic cylinder is preferred.

[0060] As shown in Figures 3a to 3c, preferably by a suspension component using hydraulic power, one end of the loading space 18 is lowered so as to be in substantial contact with the base (foundation / ground) 100. In this case, there is no need to use a separate loading ramp on the flat loading space 18, and loading can be performed as the entire loading space 18 is inclined. That is, there are virtually no steps that a crawler-type work machine heading towards the loading space 18 must cross. Figure 4c shows an example of loading a work machine 20, which is a drill rig 19 in this embodiment, into the loading space 18 of the transport vehicle 10.

[0061] Referring to Figures 4a, 4b, and 5a-5d, the following describes how the transport vehicle 10 according to the present invention can be used in a preferred embodiment for transporting the battery pack 36 of a work machine. In this preferred embodiment, the coupling means 34 that constitute the loading space 18 shown in Figure 1a is configured to receive the battery pack 36 of the work vehicle 20, and the battery pack 36 has legs 21 and 23, on which the battery pack 36 is placed such that empty space remains between the battery pack 36 of the work machine 20 and the base 100. As previously described with reference to Figures 3a-3c, the loading space 18 of the transport vehicle 10 is configured to be lowered to a lower position by a lifting means 28, and at this lower position, the height H of the loading space 10 from the base material 100 is less than the distance between the battery pack 36 of the work machine 20 and the base 100, so that the loading space can be set between the object to be transported and the base. Furthermore, the loading space 18 is configured to be lifted to an upper position by a lifting means 28. At this upper position, the height of the loading space 18 from the base 100 is greater than the distance between the battery pack 36 of the work machine 20 and the base 100, i.e., the height of the legs. Therefore, the loading space 18 can lift the legs 21 and 23 of the battery pack 36 of the work machine 20 and separate them from the base 100.

[0062] The battery pack 36 of the work machine 20 preferably has three legs. In order to transport the battery pack 36 of the work machine 20 which has three legs, the loading space 18 of the transport vehicle 10 preferably has a slot 43 as shown in Figures 1a and 1b, and this slot is configured to receive one of the legs 21 of the battery pack 36 of the work machine 20.

[0063] As shown in Figure 5d, it is preferable that at least one leg 21 or 23 of the battery pack 36 of the work machine 20 remains outside the loading space 18 of the transport vehicle 10 when the battery pack 36 of the work machine 20 is loaded onto the transport vehicle 10.

[0064] The loading space of the transport vehicle may be equipped with a retaining element 47, which is configured to prevent the battery pack 36 of the work machine 20 from sliding into the loading space 18 when the loading space 18 of the transport vehicle 10 is in the upper position and the battery pack 36 of the work machine 20 is placed on the transport vehicle 10. The retaining element 47 here is a circular opening. The battery pack 36 of the work machine 20 may be equipped with a cone 25 corresponding to the opening. As the legs 21 are pushed behind the slot 43, the cone is positioned throughout the opening. When the loading space is raised, the cone slides into the opening.

[0065] The battery pack of the work machine can be equipped with two individual positioning antennas to determine the battery pack's location and a gyroscope to determine its orientation. Alternatively, three individual positioning antennas can be used, which can confirm the precise orientation of the battery pack when loading it onto the transport vehicle. Another option is to use the transport vehicle's sensor unit in conjunction with AI shape recognition to identify the orientation of the work machine's battery pack.

[0066] Figure 6 is a schematic diagram showing the structure of the system according to the present invention. The basic part of the system 52 has a transport vehicle 10 according to the present invention, a work machine 20 powered by at least one battery, preferably a drill rig 19, and at least two identical battery packs 36 of the work machines 20 configured to operate alternately (sequentially). To charge the battery packs 36 of the work machines 20, the system 52 further has a first charging station 54 located at a distance from the work machines 20. Here, distance refers to a distance of at least 100m, although the transport distance is generally 100 to 2000m. Furthermore, each battery pack 36 of the work machine 20 has a wireless position measuring means 58 that determines the position and orientation of the battery pack 36 of the work machine 20. This is important because, due to the structure of the transport vehicle and the battery packs of the work machines, the autonomous transport vehicle according to the present invention can only approach the battery packs of the work vehicle from a certain direction in order to successfully complete the loading. In this system, the transport vehicle 10 according to the present invention transports the battery pack 36 of the work machine 20 between the first charging station 54 and the work machine 20, so there is no need to move the work machine 20 itself to the first charging station 54 and replace the battery pack 36 of the work machine 20. This system also has at least two transport vehicle battery packs 30 for the transport vehicle 10, so the operation of the transport vehicle is not interrupted except when the battery pack is being replaced, because one battery pack 30 is continuously being charged.

[0067] The charging station technology is a conventionally known battery charging technology, similar to, for example, the charging technology for electric vehicles.

[0068] The system according to the present invention may include advanced traffic guidance software and hardware, which have route planning, scheduling and optimization, collision avoidance systems, and digital positioning systems for setting the positions of mobile work equipment and transport vehicles. Using the traffic guidance software and hardware, transport vehicles and work equipment can be autonomously monitored and guided.

[0069] In addition to transporting the battery pack 36 of the work machine 20, the transport vehicle 10 is also configured to automatically transport the work machine 20 located in its loading space 18 from one work site to another, so there is no need for the work machine 20 to be transported by itself. In the system according to the present invention, it is preferable to provide a crawler-type chassis 64 on the drill rig 19 used as the work machine 20. However, using this slows down the transport speed and causes wear on the crawler-type chassis 64 during transport. It is preferable to set the power consumption of the drill rig 19 to 200kW, and the drill rig needs to be driven by the battery pack 36 of the work machine 20 when drilling. This battery pack is a separate component from the drill rig and is connected to the drill rig 19 by a power transmission cable. The drill rig itself has a small transport battery for the purpose of transport, but its capacity is unsuitable for long-distance transport.

[0070] In the system 52 according to the present invention, it is preferable that the transport vehicle 10 and the work machine 20 utilize satellite positioning. The position of the battery pack 36 of the work machine 20 can be guided from either the position of the work machine 20 or the position of the first charging station 54, and the position of the battery pack 30 of the transport vehicle 10 can be guided from the fixed position of the second charging station 56. To determine geographical data, the transport vehicle 10 has a wireless positioning means 40 shown in Figure 1a, and the work machine 20 has a wireless positioning means 62. It is preferable that all of these wireless positioning means utilize geographical data obtained from satellites, and it is preferable that the system 52 further has a local satellite positioning station 75 whose precise location is known. This local satellite positioning station 75 transmits precise geographical data for the entire area to the work machine 20 and the transport vehicle 10 via a local antenna 76. The wireless positioning means can determine these positions with an accuracy of ±2 cm using both local geographical data and data obtained from satellites. GPS can be mainly used as the wireless positioning means. These can also be performed using some other known satellite positioning systems, such as Glonass, Galileo, Beidou, IRNSS, and QZSS.

[0071] The final accuracy for autonomous operation is preferably achieved by a sensor unit 42 comprising laser scanners 50. Using a satellite positioning system, for example, the transport vehicle 10 can be guided to a first charging station 54 whose precise location is known. On the other hand, autonomous positioning of the transport vehicle can be performed with an accuracy of 1 to 10 cm, preferably 1 to 5 cm, using additional data obtained from the sensor unit 42. For the transport vehicle, it is preferable to have 4 to 6, preferably 5, laser scanners 52 to map the environment of the transport vehicle 10. For the transport vehicle according to the present invention, it is preferable to have 5 laser scanners, which allows for accurate steering of the transport vehicle in both the reverse direction when loading the battery pack of the work machine and in the transport direction when the battery pack of the transport vehicle is installed. Furthermore, using a sufficient number of laser scanners allows for sufficiently wide mapping of the environment of the transport vehicle, so that collisions with the environment and collisions with other moving work machines can be reliably avoided in all cases. The laser scanners are preferably installed at the corners of the transport vehicle so that the entire environment of the transport vehicle can be covered in the best possible way.

[0072] Instead of a laser scanner, a camera unit utilizing, for example, machine vision, radar, or other appropriate recognition devices can also be used as a sensor unit.

[0073] When loading the work machine onto the transport vehicle, it is preferable to utilize position measurement of both the work machine and the transport vehicle. Figure 7 shows a conventional autonomous drill rig 19 that constitutes the work machine 20 in this embodiment. The drill rig 19 is preferably configured to travel within the drilling area along a route 74 defined by pre-set route points 73. The drill rig 19 has a wireless position measuring means 62 that determines the position of the work machine 20, and a guidance system that guides the work machine 20 based on position data from the wireless position measuring means 62 and route points 73 input to the guidance system. The drill rig 19 is configured to drill holes at each route point 73 and then continues working along the route 74. In the system according to the present invention, this feature can be used to load the work machine 20, preferably, or more precisely, the drill rig 19, into the loading space 18 of the transport vehicle 10.

[0074] To implement this, the position of the transport vehicle 10 is first determined using the wireless position measuring means 40. After determining the position of the transport vehicle 10, it becomes possible to determine the loading space position point 77 for the loading space 18 of the transport vehicle 10. In addition to the position, the loading space position point data can have the orientation of the transport vehicle 10, which can be determined by a sensor unit, preferably a laser scanner 50. Next, the position of the work machine 20 is determined. After this position determination, a route 74 can be generated for the work machine 20, having a route point 73 and the loading space position point 77 as the final route point. The work machine 20 can then move to the loading space position point 77 formed in the loading space 18 via the route point 73. Naturally, no drilling work is performed at the route point or the loading space position point. Therefore, loading the work machine onto the transport vehicle can also be performed autonomously.

[0075] The system according to the present invention may also include, as an additional feature, a solar panel unit or wind power generation unit for charging the battery pack of the work machine or the battery pack of the transport vehicle, preferably both battery packs. Furthermore, the first and second charging stations may include means for supplying power from the fully charged battery pack of the work machine and the battery pack of the transport vehicle to the national power grid or the mine power grid via the charging station for load peak balancing. A similar principle can be used, for example, when starting up mining equipment where power consumption peaks. In the case of detachable battery packs, the stored electrical energy can be transported to the point of use by the transport vehicle.

[0076] In addition to the aforementioned guidance means for the transport vehicle, the system of the present invention uses AI to guide the transport vehicle and transport the battery pack of the work machine to the work machine according to a schedule, so that the charge state of the battery pack of the work machine can always be maintained within the optimal range. To achieve this, it is necessary to transfer data from the battery pack to the AI ​​unit. For this purpose, the movement schedule of the transport vehicle is set and the use of the battery pack according to the embodiment of the method of the present invention is optimized. [Explanation of Symbols]

[0077] In the attached drawings, different parts (members, elements, etc.) of the present invention are indicated by the following reference numerals. 10: Transport vehicle 12: Frame 14:First end 16:Second end 17: Object being transported in a stationary state 18: Loading space 19: Drill Rig 20: Work equipment 22: Wheels 24: Satellite positioning antenna 26: Power supply unit 28: Lifting methods 29: Artificial Intelligence (AI) Unit 30: Battery pack for transport vehicle 32: Electric motor 34:Coupling means 36: Battery pack for work equipment 38: Guidance System 39: Processing Unit 40:Wireless position measurement means 41: Memory 42: Sensor Unit 43: Slot 44: Front frame 46: Vertical articulated joint 47: Holding element 48: Rear frame 50: Laser scanner 52: System 54: Charging Station 1 56: Second charging station 58: Wireless position measuring means for the battery pack of a work machine 60: Support arm 61: First end of support arm 62: Second end of support arm 64: Crawler-type chassis 65: Contact connection part 66: Quick Coupling 67: Lifting Hook 68: Lifting member 70: Height adjustment cylinder 71: First end of height adjustment cylinder 72: Second end of height adjustment cylinder 73: Root point 74: Route 75: Satellite positioning station 76: Local antenna 77: Loading space location 80: Dumping element 81: First end of damping element 82: Second end of damping element 90: Linking elements 91: First support point of the linking element 92: Second support point of the linking element 93: Third support point of the linking element 95: Mounting elements 96: First mounting point of the mounting element 97: Second mounting point of the mounting element 100: Base (foundation / ground)

Claims

1. A transport vehicle (10), A frame (12) having a first end (14) and a second end (16), A loading space (18) attached to the frame (12) for loading the mobile work machine (20) onto the transport vehicle (10), The base (100) has wheels (22) for supporting the frame (12), A power supply unit (26) having a battery pack (30) provided at the first end (14) of the frame (12) transmits power to the wheels (22) in order to move the transport vehicle (10), An electric motor (32) drives the wheels (22) of the transport vehicle (10) with power supplied by the battery pack (30), An autonomous guidance system (38) that automatically guides the transport vehicle (10) according to a pre-selected plan, the autonomous guidance system (38) having a wireless position measuring means (40) that wirelessly measures the position of the transport vehicle (10) and performs autonomous guidance, The autonomous guidance system (38) has at least two sensor units (42) facing in opposite directions for positioning and loading the transport vehicle (10) with an accuracy of 0.1 to 10 cm, preferably 1 to 5 cm. A transport vehicle (10) characterized by the following.

2. The transport vehicle according to claim 1, wherein the battery pack (30) is detachably attached to the power supply unit (26) and the battery pack (30) is replaceable.

3. The transport vehicle according to claim 1 or 2, wherein the frame (12) has a front frame (44) and a rear frame (48) attached to the front frame (44) by a vertical articulated joint (46).

4. The transport vehicle according to claim 3, wherein the transport vehicle (10) has steering means provided between the front frame (44) and the rear frame (48) for frame steering of the transport vehicle (10).

5. The transport vehicle according to claim 3 or 4, wherein the power supply unit (26) is provided on the front frame (44) and the loading space (18) is provided on the rear frame (48), or the arrangement is reversed.

6. The transport vehicle according to any one of claims 1 to 5, wherein the electric motor (32) is a hub motor.

7. The transport vehicle according to claim 6, wherein the hub motors are provided on each wheel (22) of the rear frame (48).

8. The wheels (22) of the transport vehicle (10) are suspended from the frame (12), The suspension of the wheel (22) A support arm (60) having a first end (61) and a second end (62), wherein a wheel (22) is attached to the first end (61) in an articulated manner, and the second end (62) is attached to the frame (12) in an articulated manner. A height-adjustable cylinder (70) having a first end (71) and a second end (72), wherein the first end (71) is attached to the frame (12) in an articulated manner. A damping element (80) having a first end (81) and a second end (82), wherein the first end (81) is articulated to the first end (61) of the support arm (60), and A linking element (90) having a first support point (91), a second support point (92), and a third support point (93), wherein the second end (72) of the height adjustment cylinder (70) is articulated to the first support point (91) of the linking element (90), and the second end (82) of the damping element (80) is articulated to the second support point (92) of the linking element (90), and the linking element (90) is articulated to the support arm (60) by the third support point (93), A transport vehicle according to any one of claims 1 to 7, having the following features.

9. At least one object to be transported (17), and A system (52) having a transport vehicle (10) for transporting an object (17) that is in a stationary state, The transport vehicle is a transport vehicle (10) according to any one of claims 1 to 8, the stationary object to be transported (17) has wireless position measuring means (58) for determining the position and orientation of the object to be transported (17), and the transport vehicle (10) is configured to calculate an approach route for the transport vehicle (10) from a specified direction toward the object to be transported (17) by an autonomous guidance system (88), load the object to be transported (17) onto the transport vehicle (10), and automatically transport the object to be transported (17) between two points. A system characterized by (52).

10. A work machine (20), preferably a drill rig (19), powered by at least one battery, A battery pack (36) of at least two identical battery packs (36) of a battery-powered work machine (20) configured to operate the battery-powered work machine (20) in sequence, wherein each battery pack (36) constitutes a stationary object to be transported (17), A first charging station (54) for charging the battery pack (36) of a work machine (20) that uses the aforementioned battery as a power source, the first charging station (54) is located at a distance from the work machine (20) that uses the aforementioned battery as a power source, The system according to claim 9, having the following features.

11. The work machine (20) powered by the battery is an autonomous drill rig (19), and has a truck chassis (64) and a wireless position measuring means (62) for wirelessly measuring the position of the drill rig (19) based on the drill rig (19) automatically drilling a hole (80) at a predetermined position, and the system (52) further has a satellite wireless position measuring station (96) that generates a correction signal for wireless position measuring to improve the accuracy of the wireless position measuring means (40) of the transport vehicle (10) and the wireless position measuring means (62) of the drill rig (20), and is configured to generate a virtual position point (77) for the transport vehicle (10) in the loading space (18), and to automatically guide the drill rig (20) toward the position point (77) using the wireless position measuring means (62) of the drill rig (20) and the correction signal, the system according to claim 10.

12. The wireless position measuring means (58) of the battery pack (36) of the work machine (20) that uses the aforementioned battery as a power source, A) The system includes two satellite radio position measuring antennas (24) that determine the position of the battery pack (36) of the work machine (20) powered by the battery, and a gyroscope that determines the orientation of the battery pack (36) of the work machine (20) powered by the battery. or B) The system according to claim 10 or 11, further comprising three satellite radio position measuring antennas (24) that determine the position and orientation of the battery pack (36) of a work machine (20) powered by the battery.

13. A logistics method for transporting a stationary object (17) between two points using a transport vehicle (10), The transport vehicle (10) is the transport vehicle (10) according to any one of claims 1 to 8, The wireless position measurement of the stationary object to be transported (17) is performed by the wireless position measuring means (58) that constitutes the object to be transported (17), and the position and orientation of the object to be transported (17) are determined, and The transport vehicle (10) brings the object to be transported (17) closer from the direction specified, loads it onto the transport vehicle (10), and automatically transports the object to be transported (17) between the two points. A logistical method characterized by the following.

14. The work is performed using a work machine (20) powered by at least one battery. At least two detachable battery packs (36) of the work machine (20) are used sequentially with respect to the work machine (20), and each battery pack (36) constitutes a stationary object to be transported (17). Each battery pack (36) of the work machine (20) is sequentially charged at a first charging station (54) located at a distance (d) from the drill rig (20). The transport vehicle (10) brings the battery pack (36) of the work machine (20) closer from the direction specified by the transport vehicle (10), loads it onto the transport vehicle (10), and automatically transports the battery pack (36) of the work machine (20) between the first charging station (54) and the work machine (20), and The method according to claim 13, wherein the work machine (20) is loaded into the loading space (18) of the transport vehicle (10), and the vehicle is transported for a distance of 300 m to 15 km.

15. The method according to claim 14, wherein the charging of the battery pack (36) of the work machine (20) is remotely monitored, the guidance system (38) of the transport vehicle (10) sets a schedule for the transport of the charged battery pack (36) of the work machine (20) from the first charging station (54) to the work machine (20), and the system is configured such that when the transport vehicle (10) arrives at the work machine (20), the charge level of the battery pack (36) of the work machine (20) when the work machine (20) is in use is 10 to 35%, preferably 20 to 30%.

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