Vehicles, logistics systems, and methods for transporting unit loads

Abstract

The present invention relates to a vehicle (1) for transferring a unit load to a unit load receiving device (100), the vehicle (1) comprising a running gear (5), a driving device (30) for driving the running gear based on a control command for adjusting a velocity vector of the vehicle (1), and a vehicle frame (10) having a receiving component (7) for receiving a unit load (L), the vehicle (1) comprising a vehicle system (S) having a vehicle control function (50), the vehicle control function (50) using or determining a target trajectory tracking command as a control target specification, the target trajectory tracking command causes the vehicle (1) to move along a target trajectory (ST) on a vehicle motion path (210, 310), the driving device (30) realizing a transfer acceleration of the vehicle (1) at least within a portion comprising a target transfer point (211, 311) based on the control command, and with the transfer acceleration, the unit load (L) on the receiving component of the vehicle is moved onto the unit load receiving device (100) by the inertia of the unit load. The invention also relates to a logistics system (A) and a method for transferring a unit load (L) from a vehicle (1) to a unit load receiving device (100).

Description

[Technical field]

[0001] The present invention relates to a vehicle, a logistics system, and a method for transporting a unit load. [Background technology]

[0002] The vehicle or logistics system or method according to the invention can be used in particular in the field of sorting systems for baggage carriers or unit loads in the form of packets in particular in a packet centre or for unit loads in the form of baggage items in an airport or in a distribution centre in general, the unit loads being delivered to the area of ​​the sorting system by transport vehicles, in particular trucks, rail cars or ships or aircraft.

[0003] US Patent No. 5,399,633 describes a vehicle having a trailer for carrying luggage, which is moved onto a conveyor belt by pushing the trailer up a sloping roadway section and moving the trailer onto a bollard at the side of the roadway section.

[0004] Patent document 2 describes a vehicle having a luggage hold, the coefficient of friction of the surface of the luggage hold can be reduced in order to deliver the luggage placed on the surface of the luggage hold to a luggage transfer station.

[0005] A transport system with a transport device is known from US Pat. No. 5,399,636. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] U.S. Pat. No. 3,327,179 [Patent Document 2] DE 102019122055 [Patent Document 3] International Publication No. 2008 / 148513 Summary of the Invention [Problem to be solved by the invention]

[0007] It is an object of the present invention to provide a vehicle and method that allows a unit load placed on the vehicle to be efficiently moved to a unit load receiving device. [Means for solving the problem]

[0008] These objects are achieved by means of the features of the independent claims. Further embodiments of the invention are specified in each case by the dependent claims to which reference is made. The term "unit load" can be understood herein to generally refer to a load carrier or container, in either case whether or not it contains goods or materials to be transported, such as liquids or gases. A unit load can also be a package, or especially a closed container, that is open upward in the direction of gravity.

[0009] In this specification, the expression "along" means, in relation to a directional indication referred to in this specification, which also corresponds in particular to a contour line or a surface or a directional path of a component or structural component, such as its axis or shaft or central axis relative to a reference direction or axis, that a part of a contour line or a path or a tangent to a respective surface or direction in an explicitly or implicitly predefined observation direction locally or partially deviates from the respective reference direction or axis to which the respective directional indication relates by an angle of up to 45 degrees, in particular up to 30 degrees.

[0010] In this specification, the expression "transverse" means, in relation to a directional indication referred to in this specification, which also corresponds in particular to a contour line or a surface or a directional course of a component or structural component, such as its axis or shaft or central axis relative to a reference direction or axis, that a part of a tangent to the respective contour line or to the respective surface or direction in an explicitly or implicitly predetermined observation direction deviates locally or partially from the respective reference direction or axis to which the respective directional indication relates by an angle between 45 degrees and 135 degrees, preferably by an angle between 67 degrees and 113 degrees.

[0011] As used herein, the term "motion direction reversal" relative to a reversal point of a vehicle's trajectory means a movement of the vehicle along a trajectory such that a tangent at this reversal point to a track segment leading to this reversal point runs along a tangent within the same reversal point to the track segment leading from this reversal point.

[0012] In this specification, the term "distance" between two surfaces is understood in particular as the shortest distance. More specifically, in this specification, "distance" may be the distance between two objects or two surfaces or reference points, in particular the shortest distance or minimum distance between two objects or surfaces or reference points, and in this respect, unless expressly stated in this specification, the shortest distance or minimum distance is not equal to 0.

[0013] In this specification, the "longitudinal direction" of a reference line or another reference direction, in particular in a line or center line extending to the central axis or center of at least one structural component or component, in particular a guideway, is in particular a connecting line of the centers of gravity of the respective smallest cross-sectional areas of the respective structural components along a determined or pre-determined direction or between two determined or pre-determined ends. In case the reference line can run curved or at least partially curved, the reference direction can generally be understood as a local longitudinal direction. However, in this specification, the reference direction can also be understood as the direction of a reference line defined as a straight line, where a line is used to determine a straight reference line, and the direction of the line relative to the curved line in total results in the smallest deviation between these lines, or the smallest deviation area. The same applies in this specification when a straight reference line is to be derived from a curved line.

[0014] In particular, in this specification, the term "substantially" in relation to a feature or value is understood to mean that the feature has a deviation of 20%, specifically 10%, from the feature or its geometric characteristic or its value.

[0015] In this specification, the "orientation" with respect to a surface, and in particular to a surface, is understood to mean the normal to the respective surface. If the surface in question is not straight but is for example a curved surface, to determine the surface normal, the normal can be used on a straight surface of the same size, for which position the smallest deviation occurs relative to the curved surface in total.

[0016] The "extension" of a surface portion is understood to mean the direction of the surface portion in a plane that runs along the referenced surface portion and has a position relative to which the sum of the deviations between the two surface sections is minimal. In this document, it is understood as the length of an imaginary surface portion of the same size in the direction to be defined, which has a position relative to the referenced surface portion where the sum of the deviations between the two surface sections is minimal, with respect to the length of the extent of the surface portion.

[0017] As used herein, the terms "continuous" or "continuously connected," particularly with respect to at least one longitudinally extending surface or structural component, such as a skin, plate, or wall, will be understood to mean that the surface or structural component extends without interruption.

[0018] A "continuous path" of a line or edge or surface means that the surface, when viewed along a reference direction, has no corners across its width extending transversely to the reference direction, i.e. has a distinct path. A "curved path" of a line or edge or surface means that the surface, when viewed along a reference direction, has no corners across its width extending transversely to the reference direction, i.e. has a distinct profile.

[0019] In this specification, a "uniformly curved profile" is understood to mean a curvature without turning points. In the present specification, the term "working area" is understood to mean the range of movement of a vehicle or device described herein when moved or moved as intended. The working area provides in particular a surface that is a working surface or a drive support for a vehicle according to the present invention. The working surface or the contact support is, for example, a surface that extends in a plane. In this case, the working surface can have a continuous path. Alternatively or additionally, the working surface may have steps, small inclines, thresholds. The working surface can also be formed from the floor of several halls.

[0020] The vehicle according to the invention is provided in particular for carrying out a driving movement on a working surface of a working area. The working surface is formed as a contact support for the vehicle. The working surface may be a continuous surface or a discontinuous surface such as a grid, the working surface forming a surface extending in a plane. In this case, the surface may also have steps and shapes such as inclines or steps or channels.

[0021] In the present specification, the term "position" of a point such as a reference point or a body refers to the position of a point such as a reference point or a body defined in surface / spatial coordinates, in particular in three spatial coordinates. In the present specification, in the case of the position of the body, in particular the position of the center or center point of the body, in particular the center of gravity, is understood.

[0022] The vehicle according to the invention is in particular a self-controlled vehicle, i.e. capable of performing predefined tasks without manual control, so that the driving movements of the vehicle designed for accomplishing the tasks are performed automatically, i.e. without manual intervention.

[0023] As used herein, the term "vehicle state" refers to a state of the vehicle, in particular defined by one or more of the position, speed and current orientation of the longitudinal axis of the vehicle. The vehicle state may in particular be a target vehicle state of the vehicle or an actual vehicle state, which is the current vehicle state in time.

[0024] The combination of the speed and direction of the vehicle can be defined by the speed vector of the vehicle, since this vector indicates the magnitude and direction of the speed of the vehicle. In this specification, the speed vector is understood to mean the combination of data indicating the speed and direction of the vehicle. The speed vector may also define the state in which the vehicle is not moving, i.e. the magnitude of the speed is equal to 0.

[0025] The term "orientation" of a vehicle is understood to mean the direction of a defined or predetermined longitudinal axis of the vehicle. The longitudinal axis may in particular be the centerline or central axis of the vehicle. The orientation of the vehicle is in particular a direction that can be stored as a reference in a control function. The orientation of the vehicle can in particular correspond to the direction of travel of the vehicle with the vehicle in a neutral position of the running gear or the wheels of the running gear, in particular in a neutral position of the running gear or the wheels of the running gear set by a steering device.

[0026] The position and velocity of the vehicle may be specifically related to a predetermined reference point of the vehicle. In this specification, "self-controlled" with reference to a vehicle is understood to mean that the vehicle accomplishes a transfer mission task based on, among other things, control functions and control commands determined therefrom or target specifications for control commands to a drive device of the vehicle for controlling the vehicle with respect to its movement along a trajectory. In this case, the transfer mission task includes, among other things, transporting a unit load carried or conveyed by the vehicle by moving the vehicle along a trajectory based on the drive device sending control commands or control commands to a drive device connected to the drive device, and the transfer or movement of the unit load from the vehicle to or on a unit load receiving device.

[0027] As used herein, "trajectory" is understood to mean the course of a path that a vehicle has traveled or is intended to travel for a mission task. A trajectory, particularly a target trajectory, can be defined as a mathematical function, or as a series of discrete points, or as a combination of a mathematical function and a series of discrete points.

[0028] As used herein, a "target velocity profile" is used to describe a predefined or determined sequence or profile of target velocities along a trajectory, particularly a target trajectory, in a transfer region of the target trajectory or a segment of these trajectories. The target velocities can be constant or variable along the respective trajectories. A target acceleration is also defined at a target velocity at a point of the target trajectory.

[0029] In this specification, the "transport acceleration" of the vehicle at each point in time is understood to mean the current transport acceleration to be realized, in particular in the case of the path of the transport area of ​​the target trajectory or the current trajectory, so that a unit load placed on a receiving component of the vehicle is transferred from the receiving component to the unit load receiving device by its mass inertia.

[0030] In this specification, the term "function" is understood to mean a functional relationship or algorithm stored in the relevant device. For example, the target trajectory determination function can be realized by an algorithm implemented in the vehicle system or the logistics central device.

[0031] The control commands are determined or generated at discrete times by the vehicle control functions. To this end, the vehicle system may have a clock generator that determines or generates the control commands at predetermined times with a predetermined repetition rate and transmits them to the drive device.

[0032] A vehicle according to the present invention is provided for transporting unit loads to unit load receiving devices within a working area. According to one embodiment of a vehicle according to the invention for transferring a unit load to a unit load receiving device in a working area, it is provided that the vehicle has a running gear, a drive device connected to the running gear and driving the running gear based on a control command for adjusting a speed vector of the vehicle, and a vehicle frame arranged on the running gear and having a receiving component for receiving the unit load, the vehicle comprising a vehicle system having a vehicle control function, The vehicle control function uses or determines a target trajectory tracking command as a control target specification, the target trajectory tracking command causes the vehicle to move along a target trajectory on the vehicle motion path, the target trajectory comprising a transfer region running between a start point and an end point and having a target transfer point associated with the unit load receiving device; The vehicle control function uses or determines a target speed profile as a control target specification, at least for a transfer region of the target trajectory; the vehicle control function comprises a drive control function that converts the control target specification into control commands that define respective current target speed vectors for respective actual vehicle conditions; The drive device, based on the control command, realizes a transfer acceleration of the vehicle at least within a section comprising a target transfer point at which a unit load arranged on a receiving component of the vehicle is moved by its mass inertia onto the unit load receiving device.

[0033] According to one embodiment of a vehicle according to the invention for transporting and transferring a unit load to a unit load receiving device in a working area, said vehicle comprises a running gear, a drive device connected to the running gear and driving the running gear on the basis of a control command for adjusting a speed vector of the vehicle, and a vehicle frame arranged on the running gear and comprising a receiving component for receiving the unit load, the vehicle comprising a vehicle system having a vehicle control function, a vehicle control function operatively connected to the driving devices for determining control commands based on the control target specification and transmitting said commands to the driving devices to adjust the current velocity vectors of each of the vehicles; The vehicle control function transmits a target trajectory tracking command as a control command to the drive device, where the target trajectory tracking command causes the vehicle to move on a vehicle motion path along a target trajectory, the target trajectory having a transfer area running between a start point and an end point and having target transfer points assigned to the unit load receiving device; The vehicle control function sends the speed command as a control command to the driving device, and the driving device sets a transfer speed of the vehicle within the target transfer point based on the control target specification; The shape of the transfer area, the location of the transfer point relative to the unit load receiving device, and the transfer speed are set such that a unit load placed on a receiving component of the vehicle is moved by its mass inertia onto the unit load receiving device.

[0034] An embodiment of a vehicle according to the present invention may be combined with any other variant or embodiment of a vehicle described or encompassed herein, where the vehicle control function is: a target trajectory tracking function that, when the vehicle is moved, puts a current actual vehicle state into a deviation relationship with at least an actual vehicle position relative to a target trajectory, determines a target trajectory tracking command from the deviation relationship, and transmits the target trajectory tracking command as a control command to the drive control function, whereby the vehicle is moved along the target trajectory on the vehicle motion path, the target trajectory comprising a transfer area running between a start point and an end point and having a target transfer point assigned to a unit load receiving device; a unit load transfer control function for determining a speed command based on a target speed profile of the vehicle, and sending the speed command as a control command to the drive device, such that the drive device adjusts a transfer speed of the vehicle within the target transfer point; The shape of the transfer area, the position of the transfer point relative to the unit load receiving device, and the transfer speed may be set such that a unit load placed on a receiving component of the vehicle is moved onto the unit load receiving device by its mass inertia.

[0035] According to one embodiment of the vehicle according to the invention, the vehicle comprises a running gear, a drive device connected to the running gear and driving the running gear to adjust the speed vector of the vehicle on the working surface of the working area, and a vehicle frame arranged on the running gear by a receiving component for receiving a unit load. The vehicle comprises in particular a vehicle system, which comprises: a vehicle control function operatively connected to the driving devices, determining control commands based on a control target specification and sending said commands to the driving devices to adjust a current velocity vector of each of the vehicles, the vehicle control function comprising: a target trajectory tracking function for, when the vehicle is moved, putting at least a current actual vehicle state and an actual vehicle position into a deviation relationship with respect to a target trajectory, determining a target trajectory tracking command from the deviation relationship, and sending the target trajectory tracking command as a control command to the drive device, whereby the vehicle is moved on a vehicle motion path along the target trajectory, the target trajectory comprising a transfer area running between a start point and an end point and having a target transfer point assigned to a unit load receiving device; and a load transfer control function that determines a speed command based on a target speed profile of the vehicle and transmits the speed command as a control command to the drive device to set the transfer speed of the vehicle within the target transfer point so that the unit load placed on the receiving component of the vehicle is moved onto the unit load receiving device by its mass inertia.

[0036] An embodiment of the vehicle according to the present invention, in combination with any other variant or embodiment of the vehicle described or encompassed in this specification, provides that a target trajectory in a vehicle system, or vehicle control function, in this case in particular a target trajectory tracking function for example, exists and is stored as a pre-determined target trajectory or is received from outside the vehicle system, i.e. from a device outside the vehicle, and provided to the vehicle control function.

[0037] An embodiment of the vehicle according to the invention, in combination with any other variant or embodiment of the vehicle described or encompassed in this specification, may provide that the vehicle control function (50) comprises a target trajectory tracking function (60) which, when the vehicle is moved, in each case puts the current actual vehicle state and at least the actual vehicle position into a deviation relationship with respect to the target trajectory, determines a target trajectory tracking command from the deviation relationship and transmits it as a control command to the drive control function (55).

[0038] An embodiment of the vehicle according to the invention may provide, in combination with any other variant or embodiment of the vehicle described or encompassed herein, that the target speed profile is predefined within the load transfer control function. In this case it can be particularly provided that the target speed profile with the target acceleration is pre-set.

[0039] An embodiment of a vehicle according to the invention, in combination with any other variant or embodiment of the vehicle described or encompassed herein, comprises a load transfer control function, where the vehicle control function determines a speed command based on a target speed profile of the vehicle and sends the speed command as a control command to the drive control function, where the drive control function adjusts the transfer speed of the vehicle within the target transfer point; It may be provided that the shape of the transfer area, the position of the transfer point relative to the unit load receiving device, and the transfer speed are set such that a unit load (L) placed on a receiving component of the vehicle is moved onto the unit load receiving device by its mass inertia.

[0040] In each of the embodiments of the present invention having a load transfer control function, the load transfer control function may be provided to define a target speed of the vehicle within a target transfer point. Furthermore, in each of the embodiments of the present invention having a load transfer control function, a load transfer control function may be provided which defines a target acceleration of the vehicle within the transfer region.

[0041] An embodiment of a vehicle according to the present invention, in combination with any other variant or embodiment of the vehicle described or encompassed herein, may provide that the vehicle system comprises a speed determination function that determines a transport speed based on at least one speed profile criterion.

[0042] An embodiment of a vehicle according to the present invention may be combined with any other variant or embodiment of a vehicle described or encompassed herein, where the speed determination function is: The transfer region profiles (ST1), (ST2), i.e. (ST1) the transfer area includes a curved section having a substantially uniform curvature for guiding the vehicle past the unit load receiving device and for subjecting the vehicle to lateral acceleration, the unit load receiving device being disposed on a convex side thereof; (ST2) It may be provided to determine the target speed profile based on one or both of: the transfer area guides the vehicle to a collision with a unit load receiving device within the target transfer point by a motion direction reversal within the target transfer point; and the portion of the transfer area leading to the target transfer point can have a direction within the target transfer point that is located within an angular range of greater than 25 degrees absolutely relative to the range of the stopping surface of the unit load receiving device.

[0043] In these embodiments, it may in particular be provided that the speed determination function uses a characteristic value of the unit load, which can in particular be the weight or the friction behavior of the unit load on the receiving component or on a receiving surface of the receiving component.

[0044] An embodiment of a vehicle according to the present invention, in combination with any other variant or embodiment of the vehicle described or encompassed herein, may provide that the vehicle is equipped with a weight sensor device by which the weight sensor device is capable of determining the weight of a unit load placed on the receiving component, assigning a weight value to the determined weight and transmitting the weight value to a speed determination function as a characteristic value of the unit load.

[0045] An embodiment of a vehicle according to the present invention, in combination with any other variant or embodiment of the vehicle described or encompassed in this specification, may provide that the vehicle control function adjusts or adapts a target speed or target acceleration, or a distance between a target transfer point and an edge area of ​​the unit load receiving device operating surface facing the operating surface, from at least one characteristic value of the unit load.

[0046] In an embodiment of a vehicle according to the invention, the speed profile criterion may be an acceleration value of the vehicle. In an embodiment of the vehicle according to the invention having a speed determination function, the speed determination function determines the speed of the vehicle based on at least one speed profile criterion. Within point A value for the target acceleration of may be determined, from which a target velocity or a target velocity profile having the target acceleration may be determined.

[0047] Embodiments of the vehicle according to the present invention may be implemented in combination with any other variations or embodiments of the vehicle described or encompassed herein such that the speed profile criteria are minimum energy requirements or minimum consumption when traversing the target trajectory.

[0048] Embodiments of the vehicle according to the present invention may be implemented in combination with any other variations or embodiments of the vehicle described or encompassed herein such that the target trajectory is stored as a predefined target trajectory within the vehicle control function, and the vehicle control function provides the target trajectory for the target trajectory tracking function.

[0049] An embodiment of a vehicle according to the present invention may be implemented in combination with any other variant or embodiment of a vehicle described or encompassed herein such that the vehicle control function comprises a target trajectory determination function that determines a target trajectory, and the vehicle control function provides a target trajectory for the target trajectory tracking function.

[0050] Embodiments of the vehicle of the present invention having a target trajectory determination function can be implemented in combination with each other variation or embodiment of the vehicle described or encompassed herein such that the target trajectory determination function determines a target trajectory based on at least one trajectory course criterion.

[0051] An embodiment of a vehicle according to the present invention having a target trajectory determination function, in combination with each other variation or embodiment of the vehicle described or encompassed herein, may be implemented such that the target trajectory determination function stores a plurality of target trajectories, and one of the plurality of target trajectories is determined by the target trajectory determination function based on at least one trajectory course criterion by selecting one of the trajectories.

[0052] An embodiment of a vehicle according to the present invention having a target trajectory determination function, in combination with each other variant or embodiment of the vehicle described or encompassed herein, may be implemented such that the target trajectory determination function stores at least one target trajectory and the target trajectory determination function adapts parameters of the target trajectory based on at least one trajectory course criterion.

[0053] An embodiment of a vehicle according to the invention having a target trajectory stored in a vehicle system or vehicle control function, in combination with any other variant or embodiment of the vehicle described or encompassed herein, may be used in which the target trajectory is selected from two alternatives (ST1), (ST2), i.e. (ST1) the transfer area includes a curved section having a uniform curvature for guiding the vehicle past the unit load receiving device and for subjecting the vehicle to lateral acceleration, the unit load receiving device being disposed on a convex side thereof; (ST2) The transfer area may be defined in accordance with one of the following: guiding the vehicle to a collision with a unit load receiving device within the target transfer point by a reversal of direction of movement within the target transfer point; and the section of the transfer area leading to the target transfer point may have a direction within the target transfer point that is located within an angular range of greater than 25 degrees absolutely with respect to the extension of the stopping surface of the unit load receiving device.

[0054] The embodiment of the vehicle according to the present invention having the target trajectory determination function, in combination with each of the other variants or embodiments of the vehicle described or encompassed herein, for the target speed profile in the transfer area defined as the control target specification and / or for the target acceleration in the target transfer point of the vehicle defined as the control target specification, the trajectory course criteria (TK1), (TK2), (TK3), (TK4), (TK5), (TK6), i.e. (TK1) The minimum length from the actual vehicle position or the start of the target trajectory to the target transfer point, (TK2) Minimum transfer speed, (TK3) The minimum duration from the actual vehicle position or the start of the target trajectory to the target transfer point, (TK4) The minimum energy requirement or minimum energy consumption for driving the vehicle from the actual vehicle position or the start of the target trajectory to the target transfer point; (TK5) Reliable / process-safe transfer of the unit load L from the vehicle 1 to the unit load receiving device (100) without malfunctions, (TK6) Minimum utilization of space within the unit load receiving device (100) may be realized so that one or more of the following are used to ensure that the transport acceleration of the vehicle 1 is realized.

[0055] An embodiment of the vehicle according to the invention, in combination with any other variant or embodiment of the vehicle described or encompassed herein, may comprise a vehicle comprising: a target trajectory formed from a load transfer trajectory and a coupling trajectory adjacent to the load transfer trajectory, the load transfer trajectory running between a starting point and a target transfer point assigned to the unit load receiving device, the coupling trajectory connecting to a coupling point and connecting a current actual vehicle position to the coupling point; Target trajectory tracking function, (i) a coupled trajectory tracking function for putting a current actual vehicle position and the coupled trajectory into a deviation relationship, determining a coupled trajectory control command from the deviation relationship, and sending the coupled trajectory control command to a driving device, so that the vehicle is moved along the coupled trajectory on the vehicle trajectory when the vehicle is moved; (ii) a load transfer trajectory tracking function that puts a current actual vehicle position and the load transfer trajectory into a deviation relationship, determines a load transfer trajectory control command from the deviation relationship, and sends the load transfer trajectory control command to the drive device so that after the vehicle reaches the load transfer trajectory, the vehicle is moved on the vehicle trajectory along the load transfer trajectory.

[0056] An embodiment of a vehicle according to the present invention having a target trajectory determination function, in combination with each other variant or embodiment of the vehicle described or encompassed in this specification, may be realized such that the vehicle system comprises a vehicle communication device in data or signal connection with a logistics hub device, the vehicle communication device being stationarily positioned within the operating area, receiving a control target specification from the logistics hub device and transmitting the control target specification to the vehicle control function.

[0057] An embodiment of the vehicle according to the present invention having a target trajectory determination function may be realized in combination with each of the other variants or embodiments of the vehicle described or encompassed in this specification, such that the vehicle system comprises a vehicle communication device, which is capable of wirelessly connecting with a logistics hub device stationary within the operating area, receiving data from the logistics hub device defining a current vehicle state by at least a current vehicle position, and transmitting this data to the vehicle control function.

[0058] An embodiment of a vehicle according to the present invention having a target trajectory determination function may be implemented in combination with each other variant or embodiment of the vehicle described or encompassed in this specification, such that the vehicle system comprises a sensor device for detecting a current actual vehicle position, the sensor device being functionally connected to a vehicle control function and transmitting the current actual vehicle position to the vehicle control function.

[0059] Each of the embodiments of the vehicle according to the present invention having a sensor device for detecting a current actual vehicle position may be realised such that the sensor device comprises an optical sensor or camera for imaging optical floor features or floor markings, respectively, of the operating surface, the optical floor features or floor markings being capable of being captured by the optical sensor and are, for example, visible, the vehicle system comprises an identification function, optionally having a corresponding assignment function, and the actual vehicle position is determined based on a current image of the ground markings placed on the operating surface by means of the identification function.

[0060] According to a further aspect of the present invention there is provided a logistics system, the logistics system comprising in particular a logistics center device stationarily disposed within the operating area and including a logistics communication device; a unit load receiving device disposed within the working area; A vehicle for transferring a unit load to a unit load receiving device, the vehicle comprising: a running gear; a drive device in communication with the running gear and configured to adjust a velocity vector of the vehicle on a working surface of a working area; and a vehicle frame disposed on the running gear and configured to include a receiving component for receiving the unit load, the vehicle comprising a vehicle system, the vehicle system comprising: a vehicle comprising a vehicle control function operatively connected to the driving devices, the vehicle control function determining control commands based on a control target specification and sending the commands to the driving devices to adjust a current velocity vector of each of the vehicles; a vehicle communication device in data or signal communication with the logistics communication device via wireless and operatively connected to a vehicle control function; a vehicle control function using or determining a target trajectory tracking command as a control target specification, the target trajectory tracking command causing the vehicle to move on a vehicle motion path along a target trajectory, the target trajectory comprising a transfer region running between a start point and an end point and having target transfer points assigned to the unit load receiving device; a vehicle control function using or determining a target speed profile as a control target specification for at least a transfer region of the target trajectory; a vehicle control function comprising a drive control function that converts the control target specification into control commands that define respective current target velocity vectors for respective current vehicle states; The drive device, based on the control command, realizes a transfer acceleration of the vehicle at least within a section comprising a target transfer point at which a unit load arranged on a receiving component of the vehicle is moved by its mass inertia onto the unit load receiving device.

[0061] Each of the embodiments of the logistics system according to the present invention may be implemented such that the vehicle control function comprises a target trajectory tracking function and a load transfer control function. Each of the embodiments of the logistics system according to the present invention may be implemented such that the target trajectory following function includes a target trajectory.

[0062] Each of the embodiments of the logistics system according to the present invention may be realized such that the vehicle is designed according to one of the variants or embodiments described or encompassed herein. Each of the embodiments of the logistics system according to the present invention comprises: a logistics central device comprising a vehicle identification device for determining a current actual vehicle position of each of the vehicles, the vehicle identification device being operatively connected to the logistics communication device and transmitting the determined current actual vehicle position of each of the vehicles to the logistics communication device, the logistics communication device being connected to the vehicle communication device via a wireless connection and transmitting the current actual vehicle position of each of the vehicles to the vehicle communication device; a vehicle control function operatively connected to the vehicle communication device for receiving a current actual vehicle position; The vehicle control function includes a target trajectory tracking function, which determines a target trajectory tracking command based on the received respective current actual vehicle position and the target trajectory, and transmits the control command to the drive device; The vehicle control function may comprise a load transfer control function, which may be implemented to generate a speed command based on a target speed profile of the vehicle and to send the speed command as a control command to the drive device.

[0063] Each of the embodiments of a logistics system according to the present invention having a vehicle identification device may be implemented such that the load transfer control function includes a target speed profile from which speed commands are generated.

[0064] Each of the embodiments of the logistics system according to the invention having a vehicle identification device comprises a logistics central device: a logistics identification device, in each case a centrally located logistics identification device for determining a current actual vehicle position, the logistics identification device comprising a target trajectory tracking function having a target trajectory, the target trajectory tracking function determining a target trajectory tracking command based on the current actual vehicle position and the target trajectory and transmitting the target trajectory tracking command as a control target specification to the logistics communication device, the logistics communication device transmitting the target trajectory tracking command as the control target specification to the vehicle communication device; a centrally located load transfer control function that generates a speed command and transmits the speed command as a control target specification to the logistics communication device, the logistics communication device determining the speed command and transmitting the speed command as a control target specification to the vehicle communication device; A vehicle communication device may be implemented to transmit the target tracking command as a control target specification to a vehicle control function, which transmits the target tracking command and a velocity command to the drive device.

[0065] Each embodiment of the logistics system according to the invention having a vehicle identification device comprises: the logistics central device comprises a logistics identification device for determining in each case a current actual vehicle position and a central target trajectory tracking function, the central target trajectory tracking function determines a target trajectory tracking command based on the current actual vehicle position and the target trajectory, and transmits the target trajectory tracking command as a control target specification to the logistics communication device, the logistics communication device transmits the target trajectory tracking command to the vehicle communication device, and the vehicle communication device transmits the target trajectory tracking command as a control command to the drive device; The vehicle control function may comprise a load transfer control function, which may be implemented to generate speed commands based on a target speed profile of the vehicle and act as control commands to the drive device.

[0066] Each of the embodiments of the logistics system according to the invention having a vehicle identification device and a centrally located target trajectory following function may be realized such that the logistics central device comprises a logistics control function, in which the target trajectory is stored as a predefined target trajectory, and the logistics communication device transmits the target trajectory to the target trajectory following function. In these embodiments of the logistics system according to the invention, it can be provided that the vehicle control function comprises a target trajectory determination function for determining the target trajectory, and that the vehicle control function provides the target trajectory for the target trajectory following function.

[0067] According to a further aspect of the present invention, there is provided a method for transferring a unit load from a vehicle to a unit load receiving device in a working area, the vehicle comprising a running gear, a drive device connected to the running gear and adapted to adjust a velocity vector of the vehicle on a working surface of the working area based on a control command, and a vehicle frame arranged on the running gear and comprising a receiving component for receiving the unit load, the method comprising: determining a control command based on the control target specification and sending the control command to the drive device to adjust a current velocity vector of each of the vehicles; determining a deviation relationship between each current actual vehicle state as the vehicle moves with the respective velocity vector, with at least each current actual vehicle position relative to a target trajectory, the target trajectory comprising a transfer region running between a start point and an end point and having a target transfer point associated with a unit load receiving device; determining a target trajectory tracking command from the deviation relationship and transmitting the target trajectory tracking command as a control command to a drive device, where the control command causes the vehicle to move along the target trajectory on the vehicle motion path; The method includes determining a speed command based on a target speed profile of the vehicle, and transmitting the speed command as a control command to the driving device, the speed command adjusting a transfer acceleration of the vehicle within the target transfer point, and transmitting the unit load disposed on a receiving component of the vehicle to the unit load receiving device by its mass inertia.

[0068] Each of the embodiments of the method according to the invention for a logistics system may be implemented such that a speed profile for the vehicle when driving along the target trajectory is predefined. The embodiment of the vehicle according to the invention, in combination with any other variant or embodiment of the vehicle described or encompassed herein, may be characterized in that the transfer acceleration is determined by the profiles (ST1), (ST2) of the transfer region, i.e. (ST1) the transfer area includes a curved section having a uniform curvature for guiding the vehicle past the unit load receiving device and for subjecting the vehicle to lateral acceleration, the unit load receiving device being disposed on a convex side thereof; (ST2) The transfer area may be determined based on one or both of the following: guiding the vehicle to a collision with a unit load receiving device within the target transfer point by a reversal of direction of movement within the target transfer point; and the section of the transfer area leading to the target transfer point may have a direction within the target transfer point that is located within an angular range of greater than 25 degrees absolutely with respect to the extension of the stopping surface of the unit load receiving device.

[0069] An embodiment of the method according to the invention may be implemented in combination with any other variant or embodiment of the vehicle described or encompassed herein such that the speed determination function uses a characteristic value of the unit load, where the weight of the unit load or a friction coefficient associated with the movement of the unit load can be used as a characteristic value of the unit load or a combination of weight and friction coefficient on a receiving component or surface of the vehicle for receiving the unit load.

[0070] An embodiment of the method according to the present invention, in combination with any other variant or embodiment of the vehicle described or encompassed in this specification, may be realised in such a way that the weight of a unit load placed on a receiving component is determined by a weight sensor device of the vehicle, a weight value is assigned to the determined weight, and this weight value is used to determine a speed as a characteristic value of the unit load, such that the transport speed is determined in particular by the weight.

[0071] Each of the embodiments of the method according to the invention may be implemented such that the acceleration value of the vehicle is a speed profile criterion. Each of the embodiments of the method according to the present invention may be implemented such that the velocity determination function determines and uses a value for the target acceleration within the transfer point at which the velocity profile is determined.

[0072] An embodiment of the method according to the present invention may be implemented in combination with any other variant or embodiment of the vehicle described or encompassed herein such that the speed profile criterion is a minimum energy requirement or minimum consumption when traversing the target trajectory.

[0073] The embodiment of the method according to the invention may be implemented in combination with any other variant or embodiment of the vehicle described or encompassed herein such that the target trajectory is a predefined target trajectory.

[0074] An embodiment of the method according to the present invention may be implemented in combination with any other variant or embodiment of the vehicle described or encompassed in this specification such that the vehicle control function comprises a target trajectory determination function that determines a target trajectory, and the vehicle control function provides the target trajectory to the target trajectory tracking function.

[0075] Each of the embodiments of the method according to the invention having a target orbit determination function may be implemented such that the target orbit determination function determines the target orbit based on at least one orbit trajectory criterion. Each of the embodiments of the method according to the present invention having a target trajectory determination function may be implemented such that a target trajectory is determined based on at least one trajectory course criterion by selecting one of the target trajectories.

[0076] Each of the embodiments of the method according to the invention having a target orbit determination function may be implemented in such a way that the parameters of the target orbit are adapted based on at least one orbit course criterion. Each embodiment of the method according to the invention having a target trajectory determination function is characterized in that the target trajectory is determined from two alternatives (ST1), (ST2), i.e. (ST1) the transfer area includes a curved section having a uniform curvature for guiding the vehicle past the unit load receiving device and for subjecting the vehicle to lateral acceleration, the unit load receiving device being disposed on a convex side thereof; (ST2) The transfer area may be defined in accordance with one of the following: guiding the vehicle to a collision with a unit load receiving device within the target transfer point by a reversal of direction of movement within the target transfer point; and the section of the transfer area leading to the target transfer point may have a direction within the target transfer point that is located within an angular range of greater than 25 degrees absolutely with respect to the extension of the stopping surface of the unit load receiving device.

[0077] Each embodiment of the method according to the invention having a target trajectory determination function determines the trajectory path criteria (TK1), (TK2), (TK3), (TK4), (TK5), (TK6) for the target speed profile in the transfer area defined as the control target specification and / or for the target acceleration in the target transfer point of the vehicle defined as the control target specification, i.e. (TK1) The minimum length from the actual vehicle position or the start of the target trajectory to the target transfer point, (TK2) Minimum transfer speed, (TK3) The minimum duration from the actual vehicle position or the start of the target trajectory to the target transfer point, (TK4) The minimum energy requirement or minimum energy consumption for driving the vehicle from the actual vehicle position or the start of the target trajectory to the target transfer point; (TK5) Reliable / process-safe transfer of unit load L from vehicle to unit load receiving device without malfunction, (TK6) Minimum utilization of space within the unit load receiving device may be realized so that one or more of the following are used to ensure that the transport acceleration of the vehicle 1 is realized.

[0078] An embodiment of the method according to the invention, in combination with any other variant or embodiment of the vehicle described or encompassed herein, may include a method for providing a vehicle that is capable of moving a load from a load transfer trajectory to a load transfer trajectory, the load transfer trajectory running between a starting point and a target transfer point associated with a unit load receiving device, the load transfer trajectory running between a starting point and a target transfer point associated with a unit load receiving device, the load transfer trajectory running between a load transfer trajectory and a load transfer trajectory ... The target trajectory tracking command is (i) a coupled trajectory tracking function for putting a current actual vehicle position and the coupled trajectory into a deviation relationship, determining a coupled trajectory control command from the deviation relationship, and sending the coupled trajectory control command to a driving device, so that the vehicle is moved along the coupled trajectory on the vehicle trajectory when the vehicle is moved; (ii) after the vehicle reaches the load transfer trajectory, a load transfer trajectory following function that puts a current actual vehicle position and the load transfer trajectory into a deviation relationship, determines a load transfer trajectory control command from the deviation relationship, and sends the load transfer trajectory control command to the drive device so that the vehicle is moved along the load transfer trajectory on the vehicle trajectory.

[0079] An embodiment of the method according to the present invention may be implemented in combination with any other variant or embodiment of the vehicle described or encompassed herein such that the vehicle systems of the vehicle have a wireless data or signal connection with a logistics hub device stationarily positioned within the operating area, receive control target specifications from the logistics hub device, and transmit the control target specifications to the vehicle control function.

[0080] The method embodiment according to the present invention may be combined with any other variant or embodiment of the vehicle described or encompassed herein: a vehicle system receiving data from a logistics hub device stationary within an operating area defining an actual vehicle state in terms of at least an actual vehicle position; A vehicle system may be implemented to determine a speed command from the deviation relationship and the speed command based on a target speed profile of the vehicle, and to send the speed command as a control command to the drive device.

[0081] Embodiments of the method according to the present invention may be implemented in combination with any other variant or embodiment of the vehicle described or encompassed herein such that the current actual vehicle position is captured by sensor devices of the vehicle system.

[0082] Each of the embodiments of the method according to the present invention having a sensor device of the vehicle system may be realised such that the sensor device comprises a camera for imaging optical floor features or floor markings, respectively, of the operating surface, the optical floor features or floor markings being capable of being captured by the optical sensor, and the vehicle system comprises an identification function, by means of which the actual vehicle position is determined based on a current mapping of ground features or floor markings located on the operating surface.

[0083] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In this specification, the description of features or components of an embodiment according to the present invention will be understood to mean that a specific embodiment according to the present invention may also comprise at least one feature of another embodiment, each as an additional feature of this particular embodiment, or as an alternative feature replacing another feature of this particular embodiment, provided that this is not expressly excluded. [Brief description of the drawings]

[0084] [Figure 1] 1 is a perspective view of an embodiment of a vehicle according to the invention, in which the vehicle has a running gear having four wheels, the first two of which are designed as differential rotation wheels in their combination and the further two of which are each designed as a support wheel. [Diagram 2] 1 shows a perspective view of an embodiment of a vehicle according to the invention, in which the vehicle is equipped with a running gear having four wheels, which in combination are designed as an omni-directional wheel; [Diagram 3] Schematic diagram of a first operating arrangement on an operating surface, the first operating arrangement comprising a vehicle, a unit load receiving device, and a first target trajectory leading to the unit load receiving device, the first target trajectory being designed such that the vehicle undergoes a head-on collision at the unit load receiving device and reverses direction. [Figure 4]Schematic diagram of a first operating arrangement on an operating surface, the first operating arrangement comprising a vehicle, a unit load receiving device, and a first target trajectory leading to the unit load receiving device, the first target trajectory being designed to drive the vehicle past the unit load receiving device or to abut laterally against the unit load receiving device. [Diagram 5] 2 is a functional diagram of an embodiment of a vehicle control function according to the present invention with functional integration in a vehicle. [Figure 6] 4 is a functional diagram of a further embodiment of a vehicle control function according to the invention with functional integration in the vehicle; [Figure 7] FIG. 2 is a functional diagram of an embodiment of a logistics system according to the present invention having an embodiment of a logistics central device and an embodiment of a vehicle control function, with functional integration in a vehicle. [Figure 8] FIG. 2 is a functional diagram of a further embodiment of a logistics system according to the invention having an embodiment of a logistics central device and an embodiment of a vehicle control function, with functional integration in a vehicle. [Figure 9] FIG. 2 is a functional diagram of a further embodiment of a logistics system according to the invention having an embodiment of a logistics central device and an embodiment of a vehicle control function, with functional integration in a vehicle. [Figure 10] FIG. 2 is a functional diagram of a further embodiment of a logistics system according to the invention having an embodiment of a logistics central device and an embodiment of a vehicle control function, with functional integration in a vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0085] By means of these figures, embodiments of the vehicle 1 according to the invention, the logistics system according to the invention and the method according to the invention are illustrated in each case in variants and mutually alternative embodiments having features, the features from which further alternative embodiments differ from the variants being also possible according to the invention in all embodiments described herein, in particular as alternatives to functionally identical or functionally similar features or as additional features.

[0086] The embodiment of the vehicle 1 according to the invention may be combined with any other variant of the vehicle described herein: (S1) The vehicle is a manned vehicle having a vehicle system, the vehicle system having available a current actual vehicle position, in particular comprising a vehicle sensor device for determining in each case the current actual vehicle position, and comprising a control element that can be actuated by a person, by actuating the control element a control command is generated and transmitted to a drive device, the drive device moves the vehicle on the operating surface in response to the control command, the control command being an input according to a control target specification provided by the vehicle system, for example a display thereof, (S2) The vehicle is a self-controlled vehicle having a vehicle system that generates a control target specification, the control target specification is transmitted to a drive control device of the vehicle, the drive control device transmits control commands to the vehicle drive device, directly or indirectly, based on the control target specification, and the vehicle drive device causes the vehicle to move on the operating surface in response to the control commands. (S2) The vehicle may be a self-controlled vehicle having a vehicle system, and the control target specification may be generated by an external device, in particular a logistics central device stationarily positioned within the operating area, the control target specification may be transmitted wirelessly to a vehicle communication device of the vehicle, and transmitted from the vehicle communication device to a drive control device of the vehicle, the drive control device may transmit control commands directly or indirectly to the vehicle drive device based on the control target specification, and the vehicle drive device may move the vehicle on the operating surface in response to the control commands.

[0087] Thus, the vehicle 1 according to the invention can in particular be driven in a controlled or self-controlled manner, i.e. with or without manual control, in particular by means of corresponding functions provided by the invention, to self-controllably execute at least one predefined transfer task or execute a series of transfer mission tasks, the predefined transfer mission task comprising moving the vehicle 1 with the cargo unit L along a target trajectory towards the unit load receiving device 100 and transferring the unit load L to the unit load receiving device 100.

[0088] FIG. 1 shows, by way of example, a reference system KS-F for a vehicle 1, which may also be defined for functions used by the invention. FIG. 1 shows, for example, a longitudinal axis A1, a vertical axis A2 and a transverse axis A3 for the vehicle 1. In particular, it can be provided that these axes A1, A2, A3 converge at a point of the vehicle 1, which is defined as the center ZF of the vehicle 1. A different point, generally any point, may also be defined as the center of the vehicle 1. In particular, the center line may be the longitudinal axis A1 of the vehicle 1. For example, these definitions may be defined for functions used by the invention. For example, in these functions, information on the position or speed of the vehicle 1 or both the position and the speed refers to such a center of the vehicle 1. These definitions may be implemented individually or in any combination for functions used by the invention.

[0089] As also shown in FIG. 1, the vehicle 1 comprises a running gear 5 for adjusting the orientation of the vehicle 1 on the working surface E of the working area B, and a vehicle frame 10 fastened to the running gear 5. The vehicle frame 10 comprises a receiving component 7, on which at least one unit load L can be placed. The vehicle frame 10 can also be formed from a base part 8 and a receiving component 7, which is fastened to the base part 8 and is located on the base part 8 in particular opposite to the direction of gravity. The invention also relates to a method for manufacturing the receiving component 7. Furthermore, the receiving component 7 can have a receiving surface 9 oriented opposite to the direction of gravity. Such a receiving surface 9 is provided for placing at least one unit load L.

[0090] The vehicle frame 10 may have an outer surface 10a oriented at least partially along a planar extension of the operating surface E. The vehicle frame 10 may be formed or consist of an outer wall having the outer surface 10a. The outer wall may be an outer peripheral wall of the vehicle 1 having the outer surface 10a, the outer surface 10a forming the outer peripheral wall. The outer wall of the vehicle 1 may also form the outer wall of the vehicle 1, formed in a section on the vehicle 1 having the outer surface 10a. The vehicle frame 10 may also be formed of a circumferentially extending grid, frame or beam, in each case having the outer surface 10a. Furthermore, the vehicle frame 10 may in each case be formed from a combination of each of the alternatives mentioned above for this purpose, together with the outer surface 10a.

[0091] Thus, the outer surface 10a of the vehicle 1 forms a vehicle contact surface or comprises at least one vehicle contact surface by which the vehicle 1 can come into contact with the unit load receiving device 100. As mentioned above, the vehicle 1 can comprise a number of vehicle contact surfaces oriented in different directions relative to each other. In this specification, the term "contact" in relation to the unit load receiving device 100 refers in particular to a contact of the vehicle 1 and the unit load receiving device 100 and / or a collision of the vehicle 1 against the unit load receiving device 100, whereby the vehicle 1 undergoes an acceleration during its movement along or on the target trajectory. In the embodiment of the vehicle 1 shown in FIG. 1, the vehicle frame 10 has four contact surfaces 11, 12, 13, 14. In this specification, the contact or contact surface of the vehicle frame 10 can be any surface of the vehicle 1, in particular a surface having an orientation extending along a surface extension of the operating surface E.

[0092] The vehicle 1 comprises a drive device 30 arranged on the vehicle frame 10, which has at least one motor and, optionally, further a braking device. The drive device 30 is coupled to the running gear 5 and drives the running gear to adjust the speed and direction of the vehicle 1. In particular, the running gear 5 comprises a number of wheels each attached to a wheel suspension of the running gear 5, and the vehicle 1 can be moved and positioned on the operating surface E. In this case, the running gear 5 comprises at least two wheels. The drive device drives at least one of these wheels of the running gear 5 and is coupled to each one of the at least one wheel for this purpose.

[0093] For example, the wheel suspensions of the two wheels in each case can be mounted in a cardan manner, so that the two wheels of the steering device in each case of the running gear 5 coupled to the wheel suspensions of the two wheels and connected to the drive device can each be rotated around a rotation axis extending transversely to the rotation axis. The predetermined heading and speed of the vehicle 1 are adjusted based on corresponding control commands generated by the drive device and transmitted to the running gear 5 of the vehicle 1. In particular, the predetermined heading of the vehicle 1 can be set based on corresponding control commands generated by the drive device and transmitted to the running gear 5. In these embodiments of the vehicle 1, for example, it can be provided that two wheels or two pairs of wheels out of a total of four or more than five wheels are capable of performing steering movements. FIG. 1 shows a perspective view of an embodiment of a vehicle according to the invention, which has a running gear with four wheels, of which the first two wheels, which are each arranged opposite one another with respect to the longitudinal axis of the vehicle, are designed in their combination as differential rotation wheels, and two further wheels, which are arranged opposite one another and are formed in each case with respect to the transverse axis of the vehicle between the first two wheels as viewed on the longitudinal axis, of the four wheels, are arranged opposite one another and are designed as support wheels; FIG. 2 shows a perspective view of an embodiment of a vehicle according to the invention, which has a running gear with four wheels designed as omnidirectional wheels or full-surface rollers.

[0094] Generally, the running gear 5 of the vehicle 1 can be designed, in particular in the case of a cardan suspension, such that at least one pair of opposing wheels are coupled to one another via a steering device, which in turn is designed such that the wheels can be rotated about a steering axis in order to adjust the vehicle's heading. The steering device can be operatively coupled to the vehicle propulsion device.

[0095] In an embodiment of the running gear with omnidirectional wheels or side rollers, the running gear can also be designed without a steering device. The omnidirectional wheels or side rollers can be functionally coupled to the vehicle drive device in such a way that the direction of movement of the vehicle, to be set according to the respective control target specifications, is adjusted by the different rotational speeds of the individual wheels. Accordingly, the wheel suspensions and wheels of the vehicle 1 can also be designed in such a way that the wheels of the vehicle 1 are realized as omnidirectional wheels of the running gear. The vehicle 1 in an embodiment with omnidirectional wheels can be moved in each direction of travel from its current position, provided that there are no obstacles on the contact support in this respect. For this purpose, the running gear 5 of the vehicle 1 can have a steering device coupled to each of the wheel suspensions of the respective wheels for adjusting the direction of rotation of each wheel, the steering device being connected to the drive device. Alternatively, the predetermined direction of travel and speed of the vehicle 1 can be set based on corresponding control commands generated by the drive device and transmitted to the running gear 5 of the vehicle 1. The corresponding control commands are transmitted to the steering device in order to adjust in particular the direction of travel of the vehicle 1.

[0096] Furthermore, the vehicle comprises a control function 50, which is functionally connected to the driving device and determines a control command based on the control target specification and transmits said command to the driving device 30. The driving device 30 drives the wheels of the vehicle 1 and correspondingly moves the vehicle 1 on the operating surface E, and generates an actuation command or actuation signal from the control command to the running gear for adjusting a target vehicle state of the vehicle 1 on the operating surface E based on a current vehicle state of the vehicle 1.

[0097] According to the invention, in the initial state shown by way of example in Fig. 3 and Fig. 4, at least one vehicle 1 is located in a first current vehicle state at a distance from the unit load receiving device 100. The output state distance can in particular be due to a previous movement of the vehicle 1. The output state distance can in particular be defined as the distance between a predefined center ZF of the vehicle 1 and a predefined reference point R or reference position R on the unit load receiving device 100 or the unit load receiving device 100. The reference point of the unit load receiving device 100 can be a point or area outside the unit load receiving device 100 or the unit load receiving device 100, in particular any desired location, the reference point R being fixedly located in the receiving device fixed coordinate system, i.e. invariant. The reference point of the unit load receiving device 100 can in particular be a surface area or point of the unit load receiving device 100, for example a surface point or an area such as a contact surface 105 thereof, whose orientation runs along the extension of the working plane E. However, the output state distance may also refer to other points or locations of the vehicle 1 and the cargo unit receiving device 100. For example, the output state distance can be defined as the distance between a reference point or surface center point of the exterior surface 10a of the vehicle 1 that is provided to contact the contact surface, and the surface center point of the exterior surface 10a of the vehicle 1 that is provided to contact the contact surface, and the surface center point of the installation surface or contact surface 105 of the unit load receiving device 100.

[0098] The vehicle 1 operates based on a target trajectory ST, which is arranged between a start point and an end point in a locally variable or locally invariant trajectory direction RST and comprises a transfer area 215 having target transfer points assigned to unit load receiving devices.

[0099] Figures 3 and 4 show, by way of example, a target trajectory ST for the unit load receiving device 100. In Figure 3, the reference number 200 is assigned to the target trajectory ST. The target trajectory 200 runs between a start point 201 and an end point 202 in a locally variable or locally invariant trajectory direction R200 and comprises a transfer area 215 having a target transfer point 211 assigned to the unit load receiving device 100. In Figure 4, the reference number 300 is assigned to the target trajectory ST. The target trajectory 300 runs between a start point 301 and an end point 302 in a locally variable or locally invariant trajectory direction R300 and comprises a transfer area 315 having a target transfer point 311 assigned to the unit load receiving device 100.

[0100] The reference point R can also be identical to the target transfer point 211. The reference point R is preferably a reference point on the unit load receiving device 100. The reference point R can be a target point for the transfer movement of the unit load L from the vehicle 1 to the unit load receiving device 100, i.e. the reference point R can be in particular a point or a place or an area in the vicinity of which the unit load L should be moved onto the unit load receiving device 100. The reference point R can also define a target point or a target area, in which the vehicle 1 is intended to come into contact with the unit load receiving device 100 in case of a corresponding course of the target trajectory, in order to realize the transfer movement of the unit load L from the vehicle 1 to the unit load receiving device 100.

[0101] The target transfer point 211, 311 is preferably a point on the target trajectory ST at which the vehicle 1 undergoes an acceleration which accelerates the vehicle 1 and, as a result of its mass inertia, the unit load L located on the receiving component 7, in particular on the receiving surface 9, is transferred from the receiving component 7 or receiving surface 9 of the vehicle 1 to a reference point R, in particular on the receiving component 101, which may in particular comprise a receiving surface 101a of the unit load receiving device 100. The receiving surface 101 is at least partially oriented against the direction of gravity, so that the unit load L can be transported to the receiving surface 101, in particular by free movement.

[0102] The target transfer point 211 or 311 is located within the transfer region 215 or 315 of the target trajectory 200 or 300, the transfer region 215 or 315 being a portion of the target trajectory 200 or 300. In this case, the target transfer point 211 or 311 can be located within a region within the transfer region 215 or 315 of the target trajectory 200 or 300, or centrally within the transfer region 215 or 315, or at an edge of the transfer region 215 or 315, in particular also at an edge point of the transfer region 215 or 315.

[0103] The transfer area 215, 315 of the respective target trajectory 200 or 300 is shown in Fig. 3 and Fig. 4 in each case by a dotted line, as an example. The length of the transfer area 215, 315 is defined or defined depending on the application. The length of the transfer area 215 is sufficient in terms of its volume to generate the required acceleration for the vehicle 1 in the transfer area 215, 315, in particular in the target transfer point 211 or 311, in order to move the unit load L placed on the receiving component 7 of the vehicle 1 by its mass inertia onto the unit load receiving device 100. For example, the length of the transfer area 215, 315 is at least 50% of the volume of the length of the vehicle 1. Alternatively, the length of the transfer area 215, 315 can be at least the length of the vehicle 1, in particular at least 1.5 times the length of the vehicle 1. In this regard, the length of vehicle 1 may be the length of vehicle 1, which is taken along the respective target trajectory 200 or 300, or along the minimum length of vehicle 1 located on the operating plane E, which is taken in the extension direction of the operating plane E.

[0104] The vehicle trajectories of the vehicle 1 from the respective current actual vehicle position to the target trajectory ST are shown in each case in Figures 3 and 4 by dashed lines, the vehicle motion path in Figure 3 being assigned the reference sign "210" and the vehicle motion path in Figure 4 being assigned the reference sign "310". In the shown example, after reaching the respective target trajectory 200 or 300 on its vehicle motion path, the vehicle 1 moves further along this respective target trajectory 200 or 300.

[0105] A target velocity vector is assigned to the vehicle 1 for describing and defining the target movement of the vehicle 1, and a current velocity vector V1 is assigned to the vehicle 1 for describing and defining the current movement of the vehicle 1. A target velocity and a target acceleration, as well as a target velocity profile, are also assigned to the vehicle 1 for describing and defining the target movement of the vehicle 1.

[0106] The target or actual velocity vector has a value 0 when the pre-determined target velocity is equal to 0 or when the vehicle 1 is not moving on the working surface E, and has a magnitude other than 0 when the vehicle 1 is moving, and the direction of the target or actual velocity vector indicates the pre-determined or current moving direction of the vehicle 1. In the case of the actual movement of the vehicle 1 with the respective current velocity vector V1 to accomplish the transfer mission task, this can be provided starting from the respective current output state Z1, in particular already in this initial state Z1, or in another state before or after the respective current output state Z1 in the time series is moved along the target trajectory ST by a route guidance or route control function. This route guidance or route control function can be defined by determining a deviation relationship between the respective current actual vehicle state, in each case defined relative to the target trajectory ST, at least by the actual vehicle position, and for example a point of the currently determined or defined target trajectory ST. The currently defined point of the target trajectory ST can be, for example, a point located at a minimum distance from the respective current actual vehicle position. Instead of the minimum distance, a different distance or a different relationship between the current actual vehicle state and the currently determined or defined point of the target trajectory ST can also be used. A route guidance or route control function determines a target trajectory tracking command from the deviation relationship. The target trajectory tracking command is a control target input that is converted into a control command. The control command is suitable for correspondingly operating the drive device 30 to move the vehicle 1 on the vehicle motion path along the target trajectory ST.

[0107] The target tracking command can be predefined. According to the invention, the target tracking command can also be determined. The determination of the target tracking command, in particular based on the deviation relationship, and the transmission of the target tracking command to the drive device can in each case be performed by the target tracking function 60.

[0108] Alternatively or additionally, it can be provided that the target trajectory tracking function 60 is a functional component of a trajectory control function, in particular a functional component of a vehicle control function 50 of the vehicle 1 or of the logistics central device 400. Independently from this, it can be provided that the load transfer control function 70 is a functional component of the vehicle control function 50 of the vehicle 1 or of the logistics central device 400.

[0109] The vehicle control function 50 may be a functional component of the vehicle system S functionally integrated in the vehicle 1, i.e. the vehicle control function 50 is functionally connected to the driving device 30 and determines a control command based on a control command specification and transmits the control command to the driving device 30 to adjust the current actual speed vector of the vehicle 1 in each case. In particular, an algorithm defining the target tracking function and providing the target tracking command of the vehicle control function 50 may be stored in the target tracking function 60. Optionally, it may be provided that the vehicle control function 50 uses or determines a speed command based on an activation of the target tracking function 60 and acts when a control command to the driving device 30 is transmitted.

[0110] Further, the vehicle control function 50 may include a load transfer control function 70 which uses or determines a determined or predefined target speed profile having a constant or variable speed and optionally a determined or predefined target acceleration profile for the vehicle 1 as control target specifications based on at least one transfer region 215, 315 of the target trajectory ST, 200, 300 and transmits these profiles as control commands to the drive device 30.

[0111] In general, it can be provided that the control target specifications related to each relevant time point, in particular each calculation time of the vehicle system S, are related to the current state of the vehicle 1 at the respective time point and optionally compared, from which a control command for the drive device 30 is determined. The control command is determined such that the current state of the vehicle 1 corresponding to the respective time point is changed to a target state related to the respective time point. The determination of the control command for the respective time point can be provided in particular using a control method or an estimation method. By means of the control command, the drive device 30 adjusts the transfer speed of the vehicle 1 in or along the transfer area 215, 315, and optionally adjusts the target acceleration of the vehicle 1 in the target transfer point 211, so that the unit load L placed on the receiving component 7 of the vehicle is transferred by its mass inertia to the unit load receiving device 100.

[0112] In particular, an algorithm defining the target tracking function 60 and determining the target tracking command can be stored in the vehicle control function 50. Independently of this, it can be provided that an algorithm defining the load transfer control function 70 and determining for the vehicle 1 a target speed profile along the transfer area 215, 315 and optionally a target acceleration profile along the transfer area 215, 315, optionally a target acceleration within the target transfer point 211, 311, is stored in the vehicle control function 50.

[0113] The vehicle 1 shown diagrammatically in Figures 3 and 4 is, for example, at the beginning of the method according to the invention, in each case in the initial state shown in Figures 3 and 4 and has a current vehicle state to which at least one current actual vehicle position and optionally an actual vehicle speed belongs, in which state the vehicle 1 or the center ZF of the vehicle 1 is at an initial state distance D1 to the starting point 201, 301.

[0114] According to the invention, a control target specification is provided for the vehicle 1, from which the vehicle 1 determines whether or not the vehicle 1 is within the target transfer point 211, 311 or within the target transfer point 211. 、311In at least one section of the transfer area 215 extending to the direction of the vehicle 1, a transfer acceleration and optionally a lateral transfer acceleration and / or a negative longitudinal transfer acceleration is provided by the specific morphology of the transfer area 215, 315. According to an embodiment of the invention, the target trajectory ST can have a profile in which the target transfer points 211, 311 have positions relative to the unit load receiving device 100 or the contact surface 105 of the unit load receiving device 100 that do not cause a contact or abutment or a stop of the vehicle 1 with the unit load receiving device 100 or on its contact surface 105, or positions that cause a more or less strong contact or abutment or a stop of the vehicle 1, and in order to implement the transfer acceleration of the vehicle 1, i.e. the current transfer acceleration, within the target transfer point 211, depending on a predefined or determined target velocity vector or a predefined or determined target velocity and the morphology of the target trajectory ST, optionally further a predefined or determined target acceleration of the vehicle 1, in particular a negative target acceleration, is provided, whereby the acceleration specifications (b1), (b2), (b3), i.e. (b1) Lateral transfer acceleration, (b2) a negative longitudinal transport acceleration accompanied by a reduction in the current vehicle speed; (b3) one or more of a combination of lateral translation acceleration and negative longitudinal translation acceleration are realized.

[0115] The transfer acceleration is the acceleration of the vehicle 1 resulting from a control command, or a contact of the unit load receiving device 100, or both a control command and such a contact. In this case, the transfer acceleration can be sufficient for the unit load L to not contact the unit load receiving device 100, which is moved thereon by its inertia, in the case of a corresponding configuration of the transfer area 215, 315 of the target trajectory ST, 200.

[0116] In the present specification, "negative longitudinal transport acceleration" is understood to mean a negative acceleration of the vehicle 1, i.e. a reduction in the speed of the vehicle 1, exerted on the vehicle 1 at least in a section extending to the target transfer point 211. The negative longitudinal transport acceleration may be brought about partly or entirely by a braking acceleration of the vehicle 1, commanded by the drive device 30, and thus in the case of a correspondingly commanded speed profile of the vehicle 1. For this purpose, alternatively or additionally, the negative longitudinal transport acceleration can be brought about partly or entirely by a collision of the vehicle 1 with the unit load receiving device 100 in the case of the respective configuration of the transfer area 215, 315.

[0117] According to the invention, in particular to achieve the transfer acceleration of the vehicle 1 required to transfer the unit load L placed on the receiving component of the vehicle 1 to the unit load receiving device 100 by its mass inertia, (M1) a particular shape or form of the transfer area 215, 315, optionally with a defined position of the transfer point 211, 311 relative to the unit load receiving device 100, in particular the contact surface 105; (M2) A combination of measures is taken, in which the speed is constant up to the target transfer point 211, 311, particularly within at least a section of the transfer region 215 or 315, or a speed reduction is set, particularly within this section, and the speed profile is indicated as a control command to the drive device 30 by a speed command.

[0118] The respective acceleration specifications for the acceleration that the vehicle 1 should have in the transfer area 215, 315 or the target transfer point 211, 311 are dimensioned such that the unit load L is moved by its mass inertia from the receiving component 7 to the unit load receiving device 100. The state of the unit load L on the vehicle 1 is indicated by the reference character "L1" in Figures 3 and 4, and the state of the unit load L on the unit load receiving device 100 is indicated by the reference character "L2" in Figures 3 and 4.

[0119] 3, the transfer area 215 extending between the start point 201 and the end point 202 comprises a first portion 216 and a second portion 217, the first portion 216 and the second portion 217 comprising paths that run at least partially along each other and in the opposite direction to the direction of motion of the vehicle 1. Based on the target direction of motion R200 of the vehicle 1, the first section 216 runs towards the unit load receiving device 100 to the target transfer point 211, i.e. includes the target transfer point 211, and the second section 217 extends away from the target transfer point 211 when viewed in the target direction of motion R200. As a result, in the case of the target speed profile defined as the control target specification, a motion reversal of the vehicle 1 occurs within the target transfer point 211, which is therefore a motion reversal point where the speed vector is equal to zero. The motion reversal can be performed by one of the following alternatives (BU1), (BU2), (BU3).

[0120] (BU1) The vehicles 1 move on or along the target trajectory 200 in their respective current direction of travel R200 in the direction of the transfer area 215, and the indicated target speed up to the target transfer point 211, i.e. at least just before the target transfer point 211, is different from 0 and is sufficient for a braking acceleration equal to or greater than the negative longitudinal transfer acceleration to be exerted by pressing the vehicle 1 against the unit load receiving device 100, in particular against the contact surface 105, and the drive device 30 of the vehicle 1 does not contribute to the negative longitudinal transfer acceleration or exerts a contribution to the negative longitudinal transfer acceleration just before the target transfer point 211, i.e. in the first section 216, i.e. no braking of the vehicle 1 is performed. The braking acceleration of the vehicle 1 by pressing the vehicle 1 against the unit load receiving device 100 can optionally be further combined with a recoil impulse, whereby the vehicle 1 performs a movement reversal. Independently of this, a control command can be sent to the driving device 30, thereby providing that the vehicle 1 in the second portion 217 is moved from the unit load receiving device 100 towards the end point 202.

[0121] (BU2) The vehicles 1 move on or along the target trajectory 200 in their respective current direction of travel R200 in the direction of the transfer area 215, the commanded target speed is different from zero up to the target transfer point 211, i.e. at least until just before the target transfer point 211, and further until just before the target transfer point 211, i.e. within the first section 216, the drive device 30 of the vehicles 1 exerts a commanded braking acceleration on the vehicles 1 until the vehicles 1 hit the unit load receiving device 100, in particular the contact surface 105, at a speed different from zero, so that together with the braking acceleration a negative longitudinal transfer acceleration is exerted on the vehicles 1. The braking acceleration of the vehicles 1 can be optionally further combined with a collision impulse by pressing the vehicles 1 against the unit load receiving device 100, whereby the vehicles 1 perform a motion reversal. Independently of this, a control command can be sent to the drive device 30, thereby providing that the vehicle 1 in the second portion 217 is moved from the cargo unit receiving device 100 towards the end point 202.

[0122] (BU3) The vehicles 1 move on or along the target trajectory 200 in their respective current direction of travel R200 in the direction of the transfer area 215 and are subjected to a braking acceleration or a negative longitudinal transfer acceleration so that the commanded target speed is equal to 0 up to the target transfer point 211. In this case, it is possible to provide that the contact or non-contact between the vehicles 1 and the unit load receiving device 100, in particular the contact surface 105, occurs in the target transfer point 211, whereby no recoil impulse is exerted on the vehicles 1. The generated braking acceleration is therefore equal to or greater than the negative longitudinal transfer acceleration for transferring the unit load L to the unit load receiving device 100. The reversal of the motion of the vehicles 1 results from a control command being sent to the drive device 30, which causes the vehicles 1 in the second portion 217 to move from the cargo unit receiving device 100 towards the end point 202.

[0123] In the case of the motion reversal alternatives (BU1) and (BU2), the speed command transmitted to the drive device 30 of the vehicle 1 comprises a command for generating a negative longitudinal transfer acceleration, i.e. a braking acceleration, for the vehicle 1 by the drive device 30. The speed command for realizing the target speed profile is used or determined in particular within the load transfer control function 70 as a control target specification and transmitted to the drive device 30 as a control command.

[0124] Within the transfer region 215, the angle disposed between the tangents to the two sections 216, 217 of the transfer region 215 within the target transfer point 211 may be an acute angle or an obtuse angle. The section of the transfer region 215 that connects to the target transfer point 211 can have an orientation within the target transfer point that is located within an angular range greater than 25 degrees in magnitude relative to the extent of the contact surface 105 of the unit load receiving device 100.

[0125] The vehicle 1 controllably moves from its initial state as a first current vehicle position along the target trajectory 200 to the target transfer point 211, within which the vehicle 1 proceeding along or on the target trajectory 200 performs a motion direction reversal. As mentioned above, the motion direction reversal can be exclusively or partially performed by the collision of the vehicle 1 with the unit load receiving device 100 or by hitting the unit load receiving device 100 in the case of a target speed profile defined by the control target specification having a required transfer acceleration, but the target speed profile defined by the control target specification can also be designed such that the motion direction reversal occurs without contact or collision of the vehicle 1 with the contact surface 105.

[0126] The amount of negative longitudinal transfer acceleration when the vehicle 1 is pressed against the unit load receiving device 100 or when the vehicle 1 collides with the unit load receiving device 100 is determined by the combination of the target speed profile with the definition of the position of the transfer point 211 relative to the unit load receiving device 100 and thus by the distance D2 between the transfer point 211 and the unit load receiving device 100 or the contact surface 105. As a result, the strength of the pulse exerted on the vehicle 1 can be adjusted by pressing the vehicle 1 against the unit load receiving device 100 and thus by the amount of transfer acceleration.

[0127] As shown in the target trajectory ST in Figure 4, the transfer region 3 15 can run curved, with the unit load receiving device 100 being located on the convex side of the target trajectory ST. In addition, this may be the case, for example, when the vehicle 1 is spaced from the unit load receiving device 100 on the side of the operating plane E by a distance D2. This distance D2 is determined by the vehicle 1 running along the target trajectory ST. 3 00 to the unit load receiving device 100 3 02, the unit load receiving device 100 may be dimensioned such that no contact occurs between the vehicle 1 and the unit load receiving device 100. In this case, the target transfer point 3 The required lateral transfer acceleration in 11 is determined by the vehicle 1 being in the transfer region. 3 15, which acts on the vehicle 1 while moving along the vehicle speed limit, which is determined by at least one target speed profile defined as a control target specification and, accordingly, a target transfer point. 3 11 or the transfer area 3 15. By reaching the required transfer acceleration, the movement of the unit load L from the receiving component 7 to the unit load receiving device 100 is brought about by its mass inertia. In this case, in particular, the target transfer point 3 11. Transfer region 3 15 or the transfer area 3The target speed profile within a portion of 15 may also have a constant vehicle speed, but also have a reduction in vehicle speed along at least one portion of the trajectory, i.e., vehicle braking, or an increase in vehicle speed along at least one portion of the trajectory, i.e., vehicle acceleration.

[0128] target trajectory 3 For the 00 path, the curved shape of the transfer area 3 15 is provided, where the unit load receiving device 100 is located on the convex side of the target trajectory ST, and the target transfer point 3 11 and the unit load receiving device 100 Away , there is no contact between the vehicle 1 and the unit load receiving device 100, and the target transfer point 3 If the target transfer point 11 is smaller than the distance D2, the target transfer point 11 is located sufficiently close to the unit load receiving device 100. 3 Vehicle 1 moving on 11 (i) Transfer area 3 Target trajectory within 15 3 00 curved shape transfer area 3 15, the first component of the translation acceleration, in particular the lateral translation acceleration, (ii) By applying the vehicle 1 against the unit load receiving device 100 or against its contact surface 105 facing the working surface E, it is subjected to a transport acceleration, in particular the second component of the lateral transport acceleration.

[0129] The smaller the distance D2, the closer vehicle 1 is to the transfer area. 3 During movement along the unit load receiving device 100 within 15, the transport acceleration, and in particular the second component of the lateral transport acceleration, becomes large.

[0130] According to the invention, in combination with any other variant or embodiment of the vehicle or method of the logistics system described or encompassed herein, the target trajectory ST and / or the transfer area, in particular the shape of the transfer area, can in each case be predefined by the position of the transfer point 211, 311 relative to the unit load receiving device 100 or the distance between the transfer point 211, 311 and the unit load receiving device 100. As an alternative to this, according to the invention it can be provided that the target trajectory ST and / or the transfer area, in particular the shape of the transfer area, is determined in a target trajectory determination function, which can be realized in the vehicle system S or in a logistics center device 400 arranged stationarily in the operating area. The target trajectory ST determined in the target trajectory determination function is in particular determined by the start point 3 01, End point 3 02, and the target transfer point 3 11, and a transfer region 3 15 is arranged between them with a particularly uniformly curved profile, and the unit load receiving device 100 is a transfer area 3 15. The target trajectory determination function can be designed such that the distance D2 between the target transfer point 211 and the unit load receiving device 100 comprises a predetermined or determined amount. As a result, by determining a suitable target trajectory ST and / or a transfer area, in particular the shape of the transfer area, having the described profile, a required transfer acceleration, in particular a lateral transfer acceleration, can be realized, which is due to the transfer acceleration, in particular the first component of the lateral transfer acceleration (i), and optionally further the transfer acceleration, in particular the second component of the lateral transfer acceleration (ii), of the vehicle 1.

[0131] It can be provided that, in order to determine the target trajectory ST, the target trajectory determination function can include or be functionally associated with a predefinition of the target trajectory ST or the target trajectory path and / or the transfer area, for example a stored trajectory form, in particular the form of the transfer area. The at least one trajectory shape, or the shape of the transfer area, can in particular be defined by a mathematical function described, for example, by the coordinate axes of a coordinate system, which can be arranged to span the working plane E or a substantial extension thereof. The at least one trajectory shape, or the shape of the transfer area, can in particular be used as a parabolic or spline function, or as another predefined function in the target trajectory determination function or in a function assigned to the target trajectory determination function. In this case, it can be further provided that in the target trajectory determination function, the predefined trajectory shape is defined as a function with at least one parameter, so that this at least one parameter can in each case be equated to a characteristic value in order to define the respective trajectory shape or shape of the transfer area as a characteristic function or to vary this respective function to determine the appropriate trajectory shape or shape of the transfer area.

[0132] In addition, the target trajectory determination function may comprise an adaptation function for varying at least one parameter, so that by varying or adjusting at least one parameter of a predefined trajectory shape or shape of a transfer area, a specific target trajectory ST or a specific transfer area is defined, a suitable shape of a suitable specific target trajectory ST or transfer area is determined, and a required transfer acceleration according to one or more of the acceleration specifications (b1), (b2), (b3) can be optionally realized for the vehicle 1 in combination with a predefined or determined target speed profile with a target speed and / or target acceleration in the target transfer point 211, 311. In this case, it is also possible that multiple trajectory forms or multiple shapes of the transfer area are predefined, for example, in the target trajectory determination function, and an adaptation function of the target trajectory determination function is provided for realizing the described adaptation of the multiple trajectory shapes or shapes of the transfer area by parameter variation.

[0133] Alternatively or additionally, it can be provided that the target trajectory determination function, i.e. without parameters, stores a number of specific target trajectory paths, defined in each case, for example as predefined functions, and selects one of the specific target trajectory paths during the determination of the target trajectory ST. In this case, the target trajectory determination function can have a selection function by means of which a target trajectory path is selected from the selectable target trajectories as the basis for determining a control command, whereby in the case of a target speed profile defined by the control target specification in the transfer area and / or a target acceleration in the target transfer point, the transfer acceleration to the vehicle 1 is reached or exceeded.

[0134] In embodiments according to the invention with an adaptation function of the target trajectory determination function and in embodiments according to the invention with a selection function of the target trajectory determination function, a variation of the target speed profile in the transfer area or, if appropriate, the target acceleration in the target transfer point can be performed and a value for which the transfer acceleration is realized as a comparison value or a threshold value or a minimum value can be used. In this case, it is possible to select or determine the target speed profile or, if appropriate, the target acceleration, whereby a comparison value or a threshold value or a minimum value is exceeded at least for other parameter values.

[0135] In this specification, the determination of whether a comparison value or threshold or minimum value for a target speed profile in the transfer region and / or a target acceleration in the target transfer point is achieved can generally be performed based on pre-determined decision variables, such as a target trajectory and / or a target speed profile selected along a target trajectory or transition region, by performing simulation calculations, optionally for a theoretical transfer acceleration occurring for one or more of the aforementioned components (i), (ii), in this case, and comparing this theoretical transfer acceleration with the respective comparison value or threshold or minimum value. If the comparison value or threshold or minimum value is exceeded by the respective determined value of the theoretical transfer acceleration, the selection or adaptation that has reached the comparison value can be identified as the selection or adaptation to be used, based on the pre-determined decision variables.

[0136] The variation of the parameters or functions or profiles described herein above may be performed according to a predefined sequence, or by statistical probability, or in some other manner.

[0137] As an alternative or in addition to the aforementioned embodiment of the target trajectory determination function, the determination of the target trajectory path can be provided by adapting a predefined shape of the target trajectory path or by selecting the target trajectory path, optionally by its adaptation, such that the target trajectory determination function applies at least one trajectory path criterion. In this case, the target trajectory determination function selects as trajectory path criterion the trajectory path criterion (TK1), (TK2), (TK3), (TK4), i.e. the trajectory path criterion (TK5), (TK6), (TK7), (TK8), (TK9), (TK10), (TK11), (TK12), (TK13), (TK14), (TK15), (TK16), (TK17), (TK18), (TK19), (TK20), (TK21), (TK22), (TK23), (TK24), (TK25), (TK26), (TK27), (TK28), (TK29), (TK30), (TK31), (TK32), (TK33), (TK34), (TK35), (TK36), (TK37), (TK38), (TK39), (TK31), (TK31), (TK32), (TK33), (TK34), (TK35), (TK36), (TK37), (TK38), (TK39 ... (TK1) the minimum length from the actual vehicle position or the start point 201, 301 of the target trajectory ST to the target transfer point 211, 311; (TK2) The maximum curvature of the transfer region 215, 315 is minimized; (TK3) the minimum duration from the actual vehicle position or the start of the target trajectory ST to the target transfer point 211, 311 in a predefined speed profile of the vehicle 1, which can be constant over the target trajectory ST or can vary over the target trajectory ST; (TK4) the minimum energy requirement or minimum energy consumption for driving the vehicle 1 from the actual vehicle position or the start point 201 of the target trajectory ST to the target transfer point 211, 311; (TK5) Reliable / process-safe transfer of unit load L from vehicle 1 to unit load receiving device 100 or without incorrect delivery, (TK6) Minimal utilization of space within the unit load receiving device 100.

[0138] In an adaptation function of the target orbit determination function, said function can be provided for defining at least one parameter for which a comparison value or a threshold or a minimum value is exceeded with respect to at least the other parameter values. Alternatively or additionally, at least one of the criteria TK1 to TK6 can be used and in addition the at least one parameter can be defined such that one or more of the aforementioned criteria are fulfilled or such that a maximum number of criteria are fulfilled.

[0139] In the selection function, it can be provided to select among the target trajectory paths and / or transfer regions, the comparison value or threshold value or minimum value of which is exceeded at least with respect to the other target trajectory paths. Alternatively or additionally, at least one of the criteria TK1 to TK6 can be used, in which case one of the target trajectory paths can be selected such that one or more of the aforementioned criteria are fulfilled or such that the maximum number of criteria are fulfilled.

[0140] According to the present invention, the vehicle transfer acceleration to be realized for load transfer due to mass inertia of unit load L within the target transfer point 211, 311 can generally be predetermined as a comparison value within the target trajectory determination function, which may perform selection or adaptation of the target trajectory path or transfer area when a limit value is reached, in combination with the achievement of at least one or more of the trajectory path criteria (TK1), (TK2), (TK3), (TK4), (TK5), (TK6).

[0141] The aforementioned embodiments of the target trajectory determination function using a predefined target trajectory ST, having an adaptation function and having a selection function, i.e. the embodiments having one or more of these options, can each comprise a speed profile determination function, which further determines a target speed profile of the respective transfer area along the respective target trajectory ST or for the respective predefined or determined target trajectory ST, 200, 300, or of the transfer area 215 of the respective target trajectory 200 or 300, by means of which the lateral acceleration to be realized for the vehicle 1 is realized. In this case, the speed profile determination function can be realized to start from a predefined target speed profile and to increase the target speed profile incrementally or in predefined steps until the simulation calculations result that the target speed profile thus defined results in a comparison value for the acceleration to be realized being reached or exceeded. In this regard, the target speed profile can be defined by the speed profile function or by a series of target speeds, each assigned to a point of the target trajectory, or in some other way. As an alternative to this, the speed profile determination function may store different target speed profiles and may gradually carry out simulation calculations for various target speed profiles by determining the theoretical transfer acceleration occurring within the target transfer point 211, 311. If the comparison value or threshold or minimum value is exceeded in each case by the determined value of the theoretical transfer acceleration occurring within the target transfer point 211, 311, the target speed profile to be used can be identified on the basis of the respectively used target speed profile which reached the comparison value. In particular, in those embodiments in which the respective theoretical transfer acceleration exceeds the comparison value by a minimum amount, that target speed profile for the transfer of the unit load L may be used.

[0142] In all embodiments in which a comparison value or a threshold value or a minimum value is required for the transport acceleration of the vehicle 1, in particular in connection with the use of a theoretical transport acceleration, the comparison value or threshold value or minimum value may be determined. For this purpose, a comparison value determination function may be functionally integrated in the respective speed profile determination function in which the comparison value or threshold value or minimum value is determined. In the determination of the comparison value or threshold value or minimum value, a characteristic value or a combination of several characteristic values, i.e. (K1) the weight or weight range of the unit load L, (K2) the coefficient of friction between the unit load L and the receiving component 7; (K3) It can be provided that from a value for the magnitude of the unit load L, a factor or influence factor may be derived.

[0143] In this case, each influence factor can be applied to a pre-determined comparison value or threshold value or minimum value. In each embodiment according to the invention having a speed determination function, the speed determination function determines the speed criteria (GK1), (GK2), i.e. (GK1) the minimum duration from the start 201 of the actual vehicle position or target trajectory ST to the target transfer point 211, in particular while maintaining predefined limitations, such as the maximum lateral acceleration of the vehicle 1, (GK2) It may be provided that one or more of the energy requirements or energy consumption for driving the vehicle 1 from the actual vehicle position or the start point 201 of the target trajectory ST to the target transfer point 211 are used as transfer speed criteria or speed profile criteria.

[0144] Furthermore, according to the invention, it can be provided that each of the speed determination functions described herein can be combined with each of the target trajectory determination functions described herein in order to determine both the target speed profile and the target trajectory path or the path of the transfer region. In this case, it can be provided that for each determined combination of the respectively determined target speed profile and the respectively determined target trajectory path or the path of the transfer region, a simulation calculation is performed by determining the theoretical transfer acceleration occurring in the target transfer point 211, 311. In this case, in particular, among the aforementioned combinations in which the theoretical transfer acceleration exceeds the comparison value or threshold value or minimum value, the combination is used to perform the transfer mission task or to transfer the unit load L to the unit load receiving device 100, which is optimized according to the optimization criteria (OK1), (OK2), (OK3), (OK4), (OK5), (OK6), i.e. (OK1) The minimum length from the actual vehicle position or the start point of the target trajectory ST to the target transfer point 211, 311, (OK2) Minimum transfer speed, (OK3) the minimum duration from the actual vehicle position or the start of the target trajectory ST to the target transfer point 211, 311; (OK4) Energy requirements or energy consumption for driving the vehicle 1 from the actual vehicle position or the start point of the target trajectory ST to the target transfer point 211, 311; (OK5) Reliable / process-safe transfer or no incorrect delivery of the unit load L from the vehicle 1 to the unit load receiving device 100, (OK6) Minimum utilization of space within the unit load receiving device 100 may be provided for use as optimization goals.

[0145] The optimization criterion (O6) has, in particular, the goal that, when the unit load receiving device 100 is already partially occupied, the vehicle adapts its target trajectory ST so that the unit load L also fits in the targeted manner within the vacant area of ​​the unit load receiving device 100.

[0146] FIG. 5 shows an embodiment of a vehicle system S according to the invention having a vehicle control function 50, a driving control function 55 and a vehicle communication device 80. In this embodiment, the vehicle communication device 80 is provided to receive the control target specification and, optionally, in each case, the current actual vehicle state and to provide and transmit to the driving control function 55. In the embodiment shown in FIG. 5, the control target specification received by the vehicle communication device 80 is in particular a target trajectory following command and a target speed profile, the target speed profile having a target speed along the respective target trajectory ST or at least along the transfer area 215, 315 of the target trajectory ST, 200, 300, optionally together with at least one target trajectory ST or each target trajectory ST. The control target specification is determined as a current value, in particular at pre-determined time intervals and in particular by a pre-defined repetition rate from the vehicle communication device 80. Before the transmission of the control target specification to the vehicle communication device 80, the control target specification has been determined based on the current actual vehicle state. In this case, the respective current actual vehicle state is determined by an external device, which is provided to be arranged outside the vehicle and in particular stationary within the operating area B. The determination of the current actual vehicle state can in each case generally be determined by a sensor device, for example a camera, by a corresponding transformation of sensor data into a coordinate system assigned to the operating plane E. Optionally, the respective current actual vehicle state is received as a value of such coordinate system from the vehicle communication device 80. In this embodiment, based on the respective target trajectory ST and the respective current actual vehicle state, a target trajectory tracking command is determined by the external device, for example as a target direction vector of the vehicle 1 and also a target speed profile is determined and transmitted to the vehicle communication device 80, so that these control target specifications are received by the vehicle communication device 80. The vehicle communication device 80 transmits the target trajectory tracking command for the respective target trajectory ST and the respective current actual vehicle state to the drive control function 55 as a control target specification according to an embodiment described herein.Based on the respective control target specifications, the drive control function 55 determines a control command for adjusting the velocity vector of the vehicle 1, which is sent to the drive device 30. The control command can include, for example, a steering command or a direction change command or an acceleration command. The control command is suitable for the drive device 30 to convert into a running gear control command, which is sent to the running gear 5, which is suitable for the running gear 5 to move the vehicle 1 along the target trajectory ST, in particular along the transfer area 215, 315, so as to achieve a transfer acceleration of the vehicle 1 at least in the area comprising the target transfer points 211, 311, 311 or within the target transfer points 211, 311.

[0147] FIG. 6 shows a further embodiment of a vehicle system S according to the invention with a vehicle control function 50, a drive control function 55 and a vehicle communication device 80. In this embodiment, the vehicle communication device 80 is provided for receiving a current actual vehicle state and at least one target trajectory ST, for example in the form of data or a mathematical function. The respective current actual vehicle state can generally be determined by a corresponding transformation of the sensor data into a coordinate system assigned to the working plane E by the sensor device. The current actual vehicle state and the at least one target trajectory ST are transmitted to a target trajectory tracking function 60. The target trajectory tracking function 60 performs an assignment of the respective points of the current actual vehicle state and the target trajectory ST and determines a target trajectory tracking command for each current actual vehicle state. The target trajectory tracking function 60 can be realized by an embodiment described herein.

[0148] Furthermore, the vehicle communication device 80 transmits at least one target trajectory ST to the load transfer control function 70, which can be realized according to an embodiment described herein. The load transfer control function 70 determines in each case for each target trajectory ST a target speed profile according to an embodiment described herein, and at least at one of the target transfer points 211 a target acceleration of the vehicle 1 is defined within the section of the desired target trajectory ST comprising the target trajectory ST or within the transfer point 211, 311.

[0149] The target trajectory tracking function 60 transmits a target trajectory tracking command to the drive control function 55, and the load transfer control function 70 transmits a target speed profile for the respective target trajectory ST or at least along the transfer area 215, 315 of the target trajectory ST, 200, 300 to the drive control function 55. These control target specifications are transmitted to the drive control function 55 as current values, in particular at pre-determined time intervals, in particular at a pre-determined repetition rate. The control target specifications can be transmitted to the drive control function 55 in a time-integrated form, i.e. for the respective current time point, in particular as a data packet or in a data structure. The drive control function 55 determines a control command from the target trajectory tracking command and the target speed profile, optionally according to the respective target trajectory ST, and transmits the control command to the drive device 30. The control command can include, for example, a steering command or a direction change command or an acceleration command. The control command is preferably converted by the drive device 30 into a running gear command, which is then transmitted to the running gear 5, which moves the vehicle 1 along the target trajectory ST, in particular along the transfer area 215, 315, and in this process, the transfer acceleration of the vehicle 1 to be achieved is preferably realized at least at one of the target transfer points 211, 311.

[0150] As an alternative to the embodiment of Fig. 6, the target trajectory tracking function 60 can be arranged in an external device, for example a logistics central device 300 arranged stationarily in the operating area B, so that a target trajectory tracking command, optionally together with at least one or each target trajectory ST, is transmitted to the vehicle communication device 80, received by the vehicle communication device 80 and transmitted to the drive control function 55. In this alternative, the vehicle control function 50 comprises a load transfer control function 70, which transmits a target speed profile for each target trajectory ST to the drive control function 55. The functions of the drive control function 55 and the drive device 30 may be realised according to an embodiment described herein with reference to Fig. 5 or Fig. 6.

[0151] As a further alternative to the embodiment of Fig. 6, the load transfer control function 70 may be integrated in an external device, for example a logistics central device 300 located stationarily in the operating area B, so that the target speed profile, optionally together with at least one or each target trajectory ST, can be transmitted to the vehicle communication device 80 and from there to the drive control function 55. In this alternative, the vehicle control function 50 comprises a target trajectory tracking function 60, which transmits target trajectory tracking commands for each target trajectory ST to the drive control function 55.

[0152] In the embodiment described with reference to Fig. 6, it may alternatively or additionally be provided that the vehicle control function 50 stores at least one target trajectory ST. For this purpose, it may alternatively or additionally be provided that the vehicle control function 50 comprises a target trajectory determination function designed according to the method described herein, determines the respective target trajectory ST and transmits the respective target trajectory ST to the target trajectory following function 60 and, where appropriate, to the load transfer control function 70. Alternatively or additionally, it may also be provided that the load transfer control function 70 comprises a speed determination function designed according to the method described herein, and determines a target speed profile for the respective target trajectory ST or at least along the transfer area 215, 315 of the target trajectory ST, 200, 300.

[0153] In the embodiment described with reference to FIG. 6, the transmission of the control target specification and its embodiment may be implemented, and the functionality of the drive control function 55 and the drive device 30 may be realized by an embodiment described in this specification with reference to FIG. 5 or FIG. 6.

[0154] According to a further aspect of the invention, the logistics system A comprises a logistics system having a central device 300 and at least one vehicle system S. In an embodiment of the logistics system A shown in FIG. 7, the logistics central device 400 comprises a vehicle identification device 440, by means of which data defining in each case the respective current actual vehicle state, in particular the current actual vehicle position and optionally the current actual vehicle orientation, are determined. Furthermore, the logistics central device 400 comprises a logistics communication device 480, which transmits the current actual vehicle state to the vehicle communication device 80 of the at least one vehicle system S. In this case, as shown, it is also possible that at least one target trajectory ST is provided or stored in the logistics central device 400, in this case for example in the logistics control function 450, and that at least one target trajectory ST is transmitted from the logistics communication device 480 to the respective vehicle system S. Alternatively or additionally, the logistics central device 400 or the logistics control function 450 can be provided with a target trajectory determination function designed according to one of the implementations described herein, determining at least one respective target trajectory ST and transmitting at least one respective target trajectory ST to the target trajectory tracking function 60 and, where appropriate, to the load transfer control function 70. In the case of these implementations, it may be alternatively or additionally provided that at least one target trajectory ST is provided or stored in the vehicle control function 50 and / or that the vehicle control function 50 includes a target trajectory determination function executed according to one of the implementations described herein, determining at least one respective target trajectory ST and, where appropriate, transmitting to the load transfer control function 70.

[0155] In the embodiment described with reference to FIG. 7, the transmission of the control target specification and its embodiment, the functionality of the drive control function 55 and the drive device 30 may be realized by an embodiment described in this specification with reference to FIG. 5 or FIG. 6.

[0156] In the embodiment described with reference to FIG. 7, the drive control function 55 and the functionality of the drive device 30 may be realized according to an embodiment described herein with reference to FIG. 5 or FIG.

[0157] In an embodiment of the logistics system A shown in FIG. 8, the logistics central device 400 comprises a vehicle identification device 440, which can be designed to include a logistics control function 450 and a load transfer control function 470 as described with reference to FIG. 7. The load transfer control function 470 may be realized by the functions generally described herein for the load transfer control function. The logistics control function 450 provides at least one target trajectory ST. The logistics control function 450 is realized by an embodiment described with reference to FIG. 7. The logistics central device 400 comprises a logistics communication device 480. The logistics control function 450 transmits at least one target trajectory ST to the logistics communication device 480. The load transfer control function 470 transmits a target speed profile for each target trajectory ST at least along the transfer area 215, 315 of the target trajectory ST, 200, 300 according to an embodiment described herein. The target speed profile can in particular be designed such that a target acceleration of the vehicle 1 is defined at least within the section of the target trajectory ST that comprises the target transfer point 211 or within the transfer points 211, 311. The logistics communication device 480 transmits to the vehicle communication device 80 the current actual vehicle state, in particular the current actual vehicle position and optionally the current actual vehicle orientation, in each case the at least one target trajectory ST, and the target speed profile.

[0158] The vehicle control function 50 comprises a target trajectory tracking function 60, which receives at least one target trajectory ST and the respective current actual vehicle state from a vehicle communication device 80. The target trajectory tracking function 60 may be realized by the functionality generally described herein with respect to the target trajectory tracking function.

[0159] The target trajectory tracking function 60 transmits target trajectory tracking commands to the drive control function 55. The vehicle communication device 80 transmits, for each target trajectory ST, a target speed profile to the drive control function 55, which may be realized in an embodiment described herein. These control target specifications are transmitted to the drive control function 55 as current values, in particular at pre-determined time intervals, in particular at a pre-determined repetition rate. These control target specifications are transmitted to the drive control function 55 as current values, in particular at pre-determined time intervals, in particular at a pre-determined repetition rate. In the embodiment described with reference to FIG. 7, the functions of the drive control function 55 and the drive device 30 may be realized in an embodiment described herein with reference to FIG. 5 or FIG. 6.

[0160] In an embodiment of the logistics system A shown in FIG. 9, the logistics central device 400 comprises a vehicle identification device 440, which can be designed to include a logistics control function 450 and a target trajectory tracking function 460 as described with reference to FIG. 7. The target trajectory tracking function 460 can be realized by the functions generally described herein for the target trajectory tracking function. The logistics control function 450 provides at least one target trajectory ST. The logistics control function 450 is realized by an embodiment described with reference to FIG. 7. The logistics central device 400 comprises a logistics communication device 480. The logistics control function 450 transmits at least one target trajectory ST to the logistics communication device 480. The target trajectory tracking function 460 performs an assignment of the current actual vehicle state and each point of the target trajectory ST, and determines a target trajectory tracking command for each current actual vehicle state. The target trajectory tracking function 60 can be realized by an embodiment described herein. The target trajectory tracking function 60, according to an embodiment described herein, determines a target trajectory tracking command for each target trajectory ST and each current actual vehicle state, and transmits the target trajectory tracking command to the logistics communication device 480. The logistics communication device 380 transmits each current target trajectory tracking command, and optionally at least one target trajectory ST, to the vehicle communication device 80.

[0161] The vehicle control function 50 includes a load transfer control function 70. The vehicle communication device 80 transmits at least one target trajectory ST to the load transfer control function 70, optionally together with the respective current actual vehicle state. The load transfer control function 70 may be realized by the functions generally described herein for the load transfer control function. The load transfer control function 70 determines for each target trajectory ST a target speed profile, in each case according to a specific embodiment described herein, at least along a transfer area 215, 315 of the target trajectory ST, 200, 300, and a target acceleration of the vehicle 1 is defined at least in a section of the target trajectory ST that comprises the target transfer point 211, 311 or at the transfer point 211, 311. The load transfer control function 70 transmits the target speed profile for each target trajectory ST to the drive control function 55 as a control target specification according to an embodiment described herein. The vehicle communication device 80 transmits the target trajectory tracking commands for each target trajectory ST and each current actual vehicle state to the drive control function 55 as a control target specification according to one embodiment described herein.

[0162] These control target specifications are transmitted as current values, in particular at predetermined time intervals, in particular at a predetermined repetition rate, to the drive control function 55. In the embodiment described with reference to Figure 7, the functionality of the drive control function 55 and the drive device 30 can be realised by an embodiment described herein with reference to Figure 5 or Figure 6.

[0163] In an embodiment of the logistics system A shown in FIG. 10, the logistics central device 400 comprises a vehicle identification device 440, which can be designed to include a logistics control function 450, a target trajectory tracking function 460, and a load transfer control function 470, as described with reference to FIG. 7. The target trajectory tracking function 460 can be realized by the functions generally described herein with respect to the target trajectory tracking function. The load transfer control function 470 can be realized by the functions generally described herein with respect to the load transfer control function. The logistics control function 450 provides at least one target trajectory ST. The logistics control function 450 is realized by an embodiment described with reference to FIG. 7. The logistics central device 400 comprises a logistics communication device 480. Optionally, the logistics control function 450 transmits at least one target trajectory ST to the logistics communication device 480. The target trajectory tracking function 460 performs an assignment of the current actual vehicle state and each point of the target trajectory ST and determines a target trajectory tracking command for each current actual vehicle state. The target trajectory tracking function 60 determines a target trajectory tracking command for each target trajectory ST and each current actual vehicle state according to an embodiment described herein and transmits the target trajectory tracking command and optionally at least one target trajectory ST to the logistics communication device 480. The load transfer control function 470 transmits a target speed profile along at least the transfer area 215, 315 of each target trajectory ST of the target trajectory ST, 200, 300 according to an embodiment described herein. The target speed profile may be designed in particular such that at least at one of the target transfer points 211, a target acceleration of the vehicle 1 is defined in the section of the target trajectory ST having the target trajectory ST or at the transfer point 211, 311. The logistics communication device 480 transmits the respective current target trajectory tracking commands, optionally the respective current actual vehicle states, optionally at least one target trajectory ST, and the target speed profile to the vehicle communication device 80.

[0164] The vehicle control function 50 may be realized by an embodiment described with reference to figure 6. These control target values ​​are determined as current values, in particular at pre-determined time intervals, and transmitted, in particular at a pre-determined repetition rate, to the drive control function 55. In the embodiment described with reference to figure 10, the functions of the drive control function 55 and the drive device 30 may be realized by an embodiment described herein with reference to figure 5 or figure 6.

[0165] Each of the trajectory tracking functions 60 specified herein above may be a functional component of a trajectory control function of a logistics hub device 400 stationarily positioned within the operating area. According to a further aspect of the invention, a method for transferring a unit load L from a vehicle 1 to a unit load receiving device in a working area is provided. In particular, the vehicle 1 comprises a running gear 5, a drive device 30 connected to the running gear 5 and adapted to adjust the speed vector of the vehicle 1 on the working surface of the working area, and a vehicle frame 10 arranged on the running gear 5 and having a receiving component 7 for receiving the unit load L. The method according to the invention comprises the steps of: determining a control command based on the control target specification and sending the control command to the driving device 30 to set a current velocity vector of each of the vehicles 1; determining a deviation relationship between the current actual vehicle state when the vehicle is moved with the respective velocity vector, in each case at least with the actual vehicle position relative to a target trajectory, the target trajectory comprising a transfer area running between a start point and an end point and having a target transfer point assigned to a unit load receiving device; determining a target trajectory tracking command from the deviation relationship and sending the target trajectory tracking command as a control command to the drive device, where the vehicle is moved on the vehicle motion path along the target trajectory by the control command; The method includes determining a speed command, which can be implemented by the load transfer control function described in this specification based on a target speed profile of the vehicle, in particular based on activation of the target trajectory tracking function, and transmitting the speed command as a control command to the drive device, where the speed command adjusts the transfer speed of the vehicle within the target transfer point, and a unit load L placed on a receiving component of the vehicle is moved onto the unit load receiving device as a result of its mass inertia.

[0166] Determining a tracking command from the deviation relationship and sending the tracking command as a control command to the drive device can be done by a tracking function described herein.

[0167] Determining the speed command based on the target speed profile of the vehicle can be performed by the load transfer control function described in this specification, and in particular can be performed based on the activation of the target trajectory tracking function.

[0168] Generally, the control target specification is set at any relevant time point in relation to the current state of the vehicle 1 at the respective time point, in particular at each calculation time of the vehicle system S, in which case the target state of the vehicle 1 can optionally be compared with the current state of the vehicle 1 and in each case provided for determining a control command therefrom for the drive device 30. The control command is determined such that the current state of the vehicle 1 at the respective time point is changed into the target state associated with the respective time point. The control command for the respective time point can be determined in particular using known control or estimation methods.

Claims

1. A vehicle (1) for transferring a unit load (L) to a unit load receiving device (100) in an operating area (B), said vehicle (1) comprising a running gear (5), a drive device (30) connected to said running gear (5) and driving said running gear based on a control command for adjusting a speed vector of said vehicle (1), and a vehicle frame (10) arranged on said running gear (5) and comprising a receiving component (7) for receiving said unit load (L), said vehicle (1) comprising a vehicle system (S) having a vehicle control function (50), The vehicle control function (50) uses or determines a target trajectory tracking command as a control target specification, and the target trajectory tracking command causes the vehicle (1) to move along a target trajectory (ST) on a vehicle motion path (210, 310), the target trajectory (ST) comprising a transfer area (215, 315) extending between a start point (201, 301) and an end point (202, 302) and having a target transfer point (211, 311) associated with the unit load receiving device; The vehicle control function (50) uses or determines a target speed profile as a control target specification for at least the transfer region (215, 315) of the target trajectory (ST, 200, 300); said vehicle control function (50) comprising a drive control function (55) for converting said control target specification into control commands defining a current target speed vector corresponding to an actual vehicle state; The vehicle (1), wherein the drive device (30), based on the control command, realizes a transfer acceleration of the vehicle (1) at least in a section including the target transfer point (211, 311) where the unit load (L) arranged on the receiving component (7) of the vehicle (1) is moved onto the unit load receiving device (100) by the mass inertia of the unit load (L).

2. The vehicle control function (50) includes a target trajectory tracking function (60), which, when the vehicle is moved, A current actual vehicle state is determined based on at least an actual vehicle position relative to a target trajectory in a deviation relationship; determining a target trajectory tracking command from the deviation relationship; 2. The vehicle (1) of claim 1, further comprising a drive control function (55) configured to transmit the target tracking command as a control command.

3. The vehicle control function (50) comprises a load transfer control function (70), the load transfer control function (70) determines a speed command based on a target speed profile of the vehicle and transmits the speed command as a control command to the drive control function (55), the drive control function (55) sets a transfer speed of the vehicle at the target transfer point (211, 311), 3. The vehicle (1) according to claim 1 or 2, wherein the shape of the transfer area (215), the position of the target transfer point (211) relative to the unit load receiving device (100), and the transfer speed are set such that the unit load (L) placed on the receiving component of the vehicle is moved onto the unit load receiving device (100) by the mass inertia of the unit load (L).

4. 4. The vehicle (1) of claim 3, wherein the load transfer control function (70) defines a target speed of the vehicle (1) at the target transfer point (211).

5. 5. The vehicle (1) according to claim 3 or 4, wherein the load transfer control function (70) defines a target acceleration of the vehicle (1) in the transfer region (215, 315).

6. 6. The vehicle (1) according to any one of claims 3 to 5, wherein a target speed profile is predetermined in the load transfer control function (70).

7. In the vehicle control function (50), (ST1) The transfer area (215, 315) guides the vehicle past the unit load receiving device (100) so that the vehicle is subjected to lateral acceleration, and includes a curved section having a substantially uniform curvature, the unit load receiving device being disposed on a convex side of the curved section; and (ST2) guiding the vehicle through the transfer area (215, 315) so that the vehicle collides against the unit load receiving device (100) at the target transfer point (211, 311) and reverses its direction of motion at the target transfer point (211, 311); 7. A vehicle (1) according to any one of the preceding claims, further comprising a target trajectory determined according to one of the alternatives.

8. The speed determining function is based on the profile (ST1) and the profile (ST2) of the transfer region (215, 315), i.e. (ST1) The transfer area (215, 315) guides the vehicle past the unit load receiving device (100) so that the vehicle is subjected to lateral acceleration, and includes a curved section having a substantially uniform curvature, the unit load receiving device being disposed on a convex side of the curved section; and (ST2) guiding the vehicle through the transfer area (215, 315) so that the vehicle collides against the unit load receiving device (100) at the target transfer point (211, 311) and reverses its direction of motion at the target transfer point (211, 311); 7. The vehicle (1) of claim 6, further comprising a step of determining the target speed profile based on one or both of:

9. 3. The vehicle (1) of claim 2, wherein the target trajectory in the vehicle control function (50) is stored as a predetermined target trajectory, and the vehicle control function (50) provides the target trajectory to the target trajectory following function (60).

10. 3. The vehicle (1) of claim 2, wherein the vehicle control function (50) comprises a target trajectory determination function for determining the target trajectory, the vehicle control function (50) providing the target trajectory to the target trajectory tracking function.

11. A vehicle (1) according to any one of claims 1 to 10, wherein the vehicle system (S) comprises a vehicle communication device (80) capable of data or signal connection with a logistics central device stationarily arranged in the operating area (B), the vehicle communication device (80) receiving a control target specification from the logistics central device and transmitting the control target specification to a vehicle control function (50).

12. A vehicle (1) according to any one of claims 1 to 11, wherein the vehicle system (S) comprises a vehicle communication device (80) capable of being wirelessly connected to a logistics central device (400) stationary in the operating area (B) and for receiving data defining a current vehicle state including at least an actual vehicle position and for transmitting said data to the vehicle control function (50).

13. 13. A vehicle as claimed in any one of claims 1 to 12, wherein the vehicle system comprises a sensor device for capturing a current actual vehicle position, the sensor device being operatively connected to the vehicle control function (50) and transmitting the current actual vehicle position to the vehicle control function (50).

14. 14. The vehicle of claim 13, wherein the sensor device comprises an optical sensor or camera for imaging optical floor features or floor markings, respectively, of an operating surface (B), the optical floor features or floor markings being capable of being captured by the optical sensor, and the vehicle system comprises an identification function, by which the actual vehicle position is determined based on a current mapping of ground features or floor markings located on the operating surface (B).

15. a logistics central device (400) stationarily arranged in the operating area (B) and equipped with a logistics communication device (480); a unit load receiving device (100) disposed in said working area (B); a vehicle (1) for transporting a unit load (L) to the unit load receiving device (100), The vehicle (1), A running gear (5); a drive device (30) in communication with the running gear (5) and adapted to adjust a velocity vector of the vehicle (1) on a motion plane (E) of the motion area (B); a vehicle frame (10) arranged on said running gear (5) and provided with a receiving element (7) for receiving said unit load (L); A vehicle system (S), The vehicle system (S), a vehicle control function (50) operatively connected to the driving device (30), for determining a control command based on a control target specification and for sending the control command to the driving device (30) to adjust a current velocity vector of the vehicle (1); a vehicle communication device (80) in data or signal communication with said logistics communication device (480) via wireless and operatively connected to said vehicle control function (50); the vehicle control function (50) uses or determines a target trajectory tracking command as a control target specification, the target trajectory tracking command causes the vehicle (1) to move on a vehicle motion path (210, 310) along a target trajectory (ST), the target trajectory (ST) comprising a transfer area (215, 315) extending between a start point and an end point and having a target transfer point (211, 311) assigned to the unit load receiving device; The vehicle control function (50) uses or determines a target speed profile as a control target specification, at least for the transfer region (215, 315) of the target trajectory (ST, 200, 300); the vehicle control function (50) comprises a drive control function (55) for converting the control target specification into control commands defining a current target speed vector corresponding to a current vehicle state; the driving device (30) realizing, based on the control command, a transfer acceleration of the vehicle (1) at least in a section comprising the target transfer point (211, 311) at which the unit load (L) arranged on the receiving component of the vehicle is moved onto the unit load receiving device (100) by the mass inertia of the unit load (L); Logistics system (A).

16. the logistics central device (400) comprises a vehicle identification device (440) for determining each of a plurality of current actual vehicle positions, the vehicle identification device being operatively connected to the logistics communication device (480) and transmitting each of the determined plurality of current actual vehicle positions to the logistics communication device (480), the logistics communication device being connected to the vehicle communication device (80) via a wireless connection and transmitting each of the plurality of current actual vehicle positions to the vehicle communication device (80); the vehicle control function (50) is operatively connected to the vehicle communication device (80) for receiving each of the plurality of current actual vehicle positions; The vehicle control function (50) comprises a target trajectory tracking function (60), the target trajectory tracking function (60) determines a target trajectory tracking command based on each of the received current actual vehicle positions and the target trajectory, and transmits a control command to the drive device (30); the vehicle control function (50) comprises a load transfer control function (70), the load transfer control function (70) generating a speed command based on a target speed profile of the vehicle and transmitting the speed command as a control command to the drive device (30); A logistics system (A) according to claim 15.

17. A method for transferring a unit load (L) from a vehicle (1) to a unit load receiving device (100) in a working area (B), the vehicle comprising a running gear (5), a drive device (30) connected to the running gear (5) and adapted to adjust the speed vector of the vehicle (1) on a working surface of the working area based on a control command, and a vehicle frame (10) arranged on the running gear (5) and comprising a receiving component (7) for receiving the unit load (L), the method comprising the steps of: determining a deviation relationship between each of a plurality of current actual vehicle states, at least with respect to a target trajectory (ST, 200, 300), when the vehicle (1) moves with a velocity vector, the target trajectory comprising a transfer area (215, 315) extending between a start point (201, 301) and an end point (202, 302) and having a target transfer point (211, 311) associated with the unit load receiving device (100); a transmitting step of determining a target trajectory tracking command from the deviation relationship and transmitting the target trajectory tracking command as a control command to the driving device (30), the control command adjusting a current velocity vector of the vehicle (1) to move the vehicle (1) along the target trajectory (ST, 200, 300) on a vehicle motion path; and a transmitting step of determining a speed command based on a target speed profile of the vehicle and transmitting the speed command as a control command to the driving device (30), wherein the speed command adjusts a transfer acceleration of the vehicle (1) at the target transfer point (211, 311), and the unit load (L) placed on the receiving component (7) of the vehicle (1) is moved to the unit load receiving device (100) by the mass inertia of the unit load (L).

18. 18. The method of claim 17, wherein a speed profile for the vehicle (1) when driving along the target trajectory is predefined.

19. The transfer acceleration is determined by the profile (ST1) and the profile (ST2) of the transfer region (215, 315), i.e. (ST1) The transfer area (215, 315) guides the vehicle past the unit load receiving device so that the vehicle achieves lateral acceleration, and includes a curved section having a substantially uniform curvature, the unit load receiving device being disposed on a convex side of the curved section; (ST2) guiding the vehicle through the transfer area (215, 315) so that the vehicle collides against the unit load receiving device at the target transfer point (211, 311) and reverses its direction of motion at the target transfer point (211, 311); determined based on one or both of the following:

19. The method of claim 17 or 18.

20. 20. The method of any one of claims 17 to 19, wherein the target trajectory is a predefined target trajectory.

21. The target trajectory is divided into two alternatives (ST1) and (ST2), namely: (ST1) The transfer area guides the vehicle past the unit load receiving device so that the vehicle achieves lateral acceleration, and includes a curved section having a uniform curvature, the unit load receiving device being disposed on a convex side of the curved section; and (ST2) guiding the vehicle through the transfer area (215, 315) so that the vehicle collides against the unit load receiving device at the target transfer point (211, 311) and reverses its direction of motion at the target transfer point (211, 311); 21. The method according to any one of claims 17 to 20, wherein the method is determined according to one of the following:

22. The vehicle (1) is equipped with a vehicle system (S) having a vehicle control function (50), The vehicle control function (50) includes a target trajectory determination function that determines the target trajectory, and the vehicle control function (50) provides the target trajectory; In the case of the target speed profile defined as a control target specification in the transfer area and / or in the case of a target acceleration defined as a control target specification at the target transfer point of the vehicle, in order to ensure that the transfer acceleration of the vehicle (1) is realized, the following trajectory references (TK1), (TK2), (TK3), (TK4), (TK5), (TK6), i.e. (TK1) the minimum length from the current vehicle position or the start point of the target trajectory (ST) to the target transfer point (211, 311); (TK2) Minimum transfer speed, (TK3) the minimum duration from the current vehicle position or the start point of the target trajectory (ST) to the target transfer point (211, 311); (TK4) the minimum energy requirement or minimum energy consumption for driving the vehicle (1) from the actual vehicle position or the start point of the target trajectory (ST) to the target transfer point (211, 311); (TK5) Reliable / process-safe transfer of the unit load (L) from the vehicle (1) to the unit load receiving device (100) without malfunctions, and (TK6) Minimal use of space in the unit load receiving device (100); 22. The method according to any one of claims 17 to 21.

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