Transfer vehicle, system and logistic method

Abstract

The invention relates to a transfer vehicle (10) which includes a frame (12) comprising a first end (14) and a second end ( 16 ), a load space (18) attached to the frame (12) for a mobile work machine (20) to be loaded onto the transfer vehicle (10), wheels (22) for supporting the frame (12) on a substrate (100), a power unit (26) comprising a battery pack (30) arranged in the first end (14) of the frame (12) for transmitting power to the wheels (22) in order to move the transfer vehicle (10), an electric motor (32) for driving the wheels (22) of the transfer vehicle (10) by means of the power supplied by the battery pack (30), and an autonomous guidance system (38) for automatically guiding the transfer vehicle (10) according to a pre-selected plan, wherein the guidance system (38) includes geopositioning means (40) for geopositioning the transfer vehicle (10) for an autonomous guidance, wherein the guidance system (38) further includes at least two sensor units (42) pointing in opposite directions relative to each other for a positioning and a loading of the transfer vehicle (10) that occurs with a precision of 0.1-10 cm, preferably 1-5 cm. The invention also relates to a system (52) and to a logistic method.

Description

[0001] TRANSFER VEHICLE, SYSTEM AND LOGISTIC METHOD

[0002] The invention relates to a transfer vehicle which includes

[0003] - a frame comprising a first end and a second end,

[0004] - a load space attached to the frame for a mobile work machine to be loaded onto the transfer vehicle,

[0005] - wheels for supporting the frame on a substrate,

[0006] - a power unit comprising a battery pack arranged in the first end of the frame for transmitting power to the wheels in order to move the transfer vehicle,

[0007] - an electric motor for driving the wheels of the transfer vehicle by means of the power supplied by the battery pack, and

[0008] - an autonomous guidance system for automatically guiding the transfer vehicle according to a pre-selected plan, wherein the guidance system includes geopositioning means for geopositioning the transfer vehicle for an autonomous guidance. The invention also relates to a system and to a logistic method.

[0009] The general drive to reduce industrial carbon emissions has led to a growing trend to electrify mining machinery. For example, Epiroc manufactures electric drill rigs which use a lightweight driving battery pack for short transfers from one drillhole to another and a larger working battery pack connected by cable to the drill rig for long-lasting drilling operations .

[0010] A problem with electric drill rigs of this kind is the longer transfers from one working site to another for which the limited capacity of the driving battery pack constitutes a limiting factor. A long transfer can require a replacement of the driving battery pack in the middle of a transfer, which is a demanding operation. Moreover, when both the driving battery pack and the working battery pack run out, the fact that it is necessary to replace the battery pack with a charged battery pack so that work can be continued essentially uninterrupted also poses a problem. The replacement of a battery pack currently requires either moving the drill rig to a battery-pack charging station, which can be located a significant distance away from the drill rig, as there are generally a plurality of drill rigs at a mine or quarry. Moreover, the replacement of battery packs can require the manual intervention of an operator during which the operator who is on foot in the midst of work machinery is at risk of being run over by work machinery. Furthermore, a precise alignment of the drill rigs with the charging stations is challenging for an operator, who has poor visibility around the drill rig.

[0011] The object of the invention is to provide a transfer vehicle, a system and a method by means of which a transfer of a static object to be transferred, such as battery packs for drill rigs, can be facilitated through automation. Preferably, the static object to be transferred is a battery pack of a drill rig so that the problems associated with long transfers of drill rigs are resolved while simultaneously minimizing carbon emissions. A further aim is to develop a solution by means of which the replacement of battery packs is expedited and rendered safer than the solutions of the prior art. The characteristic features of a transfer vehicle according to the invention are set out in the attached patent claim 1, the characteristic features of a system according to the invention are set out in the attached patent claim 9, and the characteristic features of a method according to the invention are set out in the attached patent claim 13.

[0012] The object of a transfer vehicle according to the invention can be achieved with a transfer vehicle which includes a frame comprising a first end and a second end, a load space attached to the frame for a mobile work machine to be loaded onto the transfer vehicle, and wheels for supporting the frame on a substrate. The transfer vehicle further includes a power unit arranged in the first end of the frame for transmitting power to the wheels in order to move the transfer vehicle, wherein the power unit includes a battery pack for supplying electrical power to the power unit. In addition, the transfer vehicle also includes an electric motor for driving the wheels of the transfer vehicle using the power supplied by the battery pack, and an autonomous guidance system for automatically guiding the transfer vehicle according to a pre-selected plan. The guidance system includes geopositioning means for geopositioning the transfer vehicle for an autonomous guidance and at least two sensor units pointing in opposite directions relative to each other for a geopositioning of the transfer vehicle that occurs with a precision of 0, 1-10 cm, preferably 1-5 cm, in connection with the replacement of a battery pack as well as in connection with the charging of a battery pack of a work machine.

[0013] With a transfer vehicle according to the invention, it is possible to simultaneously provide two functions to assist in the operation of a work machine, namely the transfer of a battery pack of the work machine from the work machine to a charging station and vice versa, and longer transfers of the work machine. As it is electrically powered, the transfer vehicle does not produce carbon dioxide emissions in the manner of an internal combustion engine and is very well suited for use, for example, in mines where noise and exhaust fumes are a problem. Thanks to the autonomous guidance, the loading of a battery pack of a work machine or of a work machine onto the transfer vehicle can be carried out quickly and precisely, without any manual steps that require an operator to be on foot in the vicinity of work machinery. Work safety is thus also improved. Preferably, the transfer vehicle includes coupling means arranged in the second end of the frame in connection with the load space for loading a battery pack of a work machine onto the transfer vehicle. The coupling means allow the load space to be driven partially under the battery pack for loading.

[0014] Preferably, it is possible to attach a battery pack in a detachable manner to the power unit for a replacement of the battery pack. Where necessary, it is thus possible to provide a plurality of batteries in a transfer vehicle, which can be replaced as necessary.

[0015] The use of two sensor units allows the transfer vehicle to be positioned with precision both for a replacement of the transfer vehicle's own battery pack in one direction and for the loading of a battery pack of a work machine or a work machine in the other direction, which is uncommon. The autonomous guidance of a transfer vehicle according to the invention is based on the use of both geographic data obtained through the geopositioning means and environmental data obtained with the sensor units, so that it is not necessary for the transfer vehicle, for example, to follow other implements or devices. A collision avoidance system of the transfer vehicle by means of which collisions with objects in the environment are avoided is advantageously realized by means of the sensor units.

[0016] Preferably, the frame includes a front frame and a rear frame attached to the front frame by means of a vertical articulated joint. A turning radius of a transfer vehicle realized by means of a two-part frame is smaller than that of a vehicle with a fixed frame.

[0017] Preferably, the transfer vehicle includes steering means arranged between the front frame and the rear frame for a frame steering of the transfer vehicle. As it is frame-steered, the transfer vehicle has a small turning radius, which facilitates a turning of the transfer vehicle in confined spaces. The use of a frame steering further facilitates a suspension of the wheels, as the wheels do not need to be pivotable, a turning of the transfer vehicle instead occurring by means of the frame steering. The implementation of pivotable wheels in a preferable size class of a transfer vehicle is very challenging and expensive .

[0018] The transfer vehicle can be dimensioned to be for a transfer capacity of 10-200 t, preferably 20-80 t. A transfer of tracked work machinery in particular of this size class is problematic.

[0019] Preferably, the power unit is arranged in the front frame and the load space is arranged in the rear frame, or vice versa. The weight of the transfer vehicle is thereby more evenly distributed when either a battery pack of a work machine or a drill rig is transported in the load space, so that the power unit arranged in the front frame and the battery pack of the transfer vehicle balance out the whole.

[0020] Preferably, the electric motor is a hub motor. In particular a hub motor is particularly advantageous for use in conjunction with an electric transfer vehicle, as it transmits power directly to a drive wheel without a separate transmission. This renders the structure more energy efficient and simpler, thereby reducing the number of objects that require maintenance .

[0021] Preferably, a hub motor is arranged on each wheel of the rear frame. Force is thus transmitted via the rear frame, so that traction is better than in a device towed from the front. Preferably, the sensor unit is a laser scanner or lidar. A laser scanner, also known as a light radar, can be used to scan the environment in order to detect potential obstacles, as well as for a precise positioning of a drill rig, for example for the loading of a battery pack. A laser scanner allows a very large amount of data regarding the environment to be turned into a three-dimensional point cloud, which can be used, for example, for shape recognition in order to detect obstacles.

[0022] According to one embodiment, 4-6 laser scanners, preferably 5 laser scanners, are provided to map the environment of the transfer vehicle. The environment of the transfer vehicle can thereby be mapped in its entirety, which is important for an autonomous guidance in order to be able to prevent collisions with particular objects in the environment, such as work machinery .

[0023] Preferably, the guidance system includes an artificial intelligence (Al) unit that is configured to make a decision regarding the stopping of the autonomously guided transfer vehicle based on user-generated guidance rules and a guidance plan entered into the guidance system and based on data generated by the sensor units. By means of the Al unit, it is possible to effectively avoid collisions in a changing environment in which there are other moving objects.

[0024] Preferably, the Al unit is configured to execute a pre-selected plan for guiding the transfer vehicle based on user-generated guidance rules and a guidance plan entered into the guidance system and based on data generated by the sensor units.

[0025] In addition to or instead of data generated by the geopositioning means of the transfer vehicle, it is also possible to use, for example, data generated by a top-level guidance system of the mine as input of the Al unit. A top-level guidance system can be configured to guide all work machines and transfer vehicles of the mine and contains data relating to their movements and position. This data can be used in the Al unit of the transfer vehicle in order to avoid collisions.

[0026] According to one embodiment, the wheels of the transfer vehicle are suspended in the frame, wherein the suspension of a wheel comprises a supporting arm with a first end and a second end, wherein a wheel is attached in an articulated manner to the first end, and wherein the second end is attached in an articulated manner to the frame, and a height adjustment cylinder with a first end and a second end, wherein the first end is attached in an articulated manner to the frame. The suspension additionally comprises a damping element with a first end and a second end, wherein the first end is attached in an articulated manner to the first end of the supporting arm, and a linking element with a first support point, a second support point and a third support point. The second end of the height adjustment cylinder is attached in an articulated manner to the first support point of the linking element, the second end of the damping element is attached in an articulated manner to the second support point of the linking element, and the linking element is attached in an articulated manner by the third support point to the supporting arm. This type of suspension allows one end of the load space to be lowered flat against the substrate, so that the work machine to be loaded onto the transfer vehicle does not have to cross a threshold, as is the case when loading ramps according to the prior art are used.

[0027] Preferably, the transfer vehicle includes lifting means for lowering the load space into contact with the substrate in order to transfer a work machine into the load space. The lifting means facilitate a loading of tracked work machinery, as the flat load space can be pivoted against the substrate at one end.

[0028] Alternatively, the transfer vehicle can also include loading ramps, although crossing the angle between a loading ramp and the load space can cause a work machine to rock violently.

[0029] The object of a system according to the invention is achieved with a system which includes at least one static object to be transferred comprising geopositioning means for determining a position and an orientation of the object and a transfer vehicle for transferring a static object to be transferred according to any of the embodiments of the invention described in the foregoing, in which system the transfer vehicle is configured to calculate by means of an autonomous guidance system a route of approach of the transfer vehicle towards the object from a designated direction in order to load the object onto the transfer vehicle in order to transport the object between two points in an automated manner.

[0030] Preferably, the system includes at least one battery-powered work machine, preferably a drill rig, at least two identical battery packs of the work machine configured to operate the work machine in turns, wherein each of the battery packs constitutes a static object to be transferred, a first charging station for charging a battery pack of the work machine, which charging station is located at a distance from the work machine .

[0031] Preferably, the autonomous guidance system is configured to determine an orientation and a position of the transfer vehicle and an orientation and a position of the static object to be transferred that is to be approached in order to calculate a route of approach for the transfer vehicle. This allows objects which can only be approached from a designated direction to be autonomously loaded onto the transfer vehicle.

[0032] Alternatively, instead of a battery pack, the static object to be transferred can be any object to be transferred which is equipped with its own stand and which is suitable to be loaded in the load space of the transfer vehicle.

[0033] In a system according to the invention, the transfer of battery packs of a work machine from a first charging station to the work machine and back can be carried out in a controlled and autonomous manner by means of the transfer vehicle. It is also possible to use the same transfer vehicle for longer transfers of work machinery from one work site to another.

[0034] Preferably, the work machine is an autonomous drill rig with a tracked chassis. Long transfers of tracked drill rigs are particularly problematic, because a transfer speed of a tracked drill rig is very low and long transfers subject a tracked chassis to considerable wear.

[0035] According to one embodiment, the drill rig includes geopositioning means for geopositioning the drill rig based on which the drill rig is configured to drill holes automatically at designated positions, and the system further includes a satellite geopositioning station for generating a geopositioning corrective signal in order to improve a precision of the geopositioning means of the transfer vehicle and of the geopositioning means of the drill rig, and a virtual position point is created for the transfer vehicle in the load space, to which position point the drill rig is configured to navigate automatically using the geopositioning means of the drill rig and the corrective signal. In this embodiment, the loading of the drill rig onto the transfer vehicle is also automated, wherein a level of precision is attained by the geopositioning means that allows the drill rig to be loaded into the very limited space in the load space of the transfer vehicle without any problem .

[0036] Preferably, the system also includes at least two identical battery packs configured to be used in the transfer vehicle in turns as well as a second charging station for charging a battery pack of the transfer vehicle. A power supply of the transfer vehicle is thereby guaranteed in all circumstances.

[0037] Preferably, a battery pack of the transfer vehicle also includes geopositioning means by means of which the transfer vehicle can approach the battery pack with precision for the purposes of a replacement.

[0038] The geopositioning means of the battery packs of both the work machine and the transfer vehicle can include A) two satellite geopositioning antennas for determining a position of the battery pack and a gyroscope for determining an orientation of the battery pack, or B) three satellite geopositioning antennas for determining a position and an orientation of the battery pack. Determining the orientation is important because preferably a battery pack of a work machine can only be loaded onto the transfer vehicle from one direction so that it is positioned correctly in relation to the drill rig during unloading in connection with the replacement of a battery pack. Analogously, a battery pack of a transfer vehicle can only be replaced when the transfer vehicle is approached from a certain direction .

[0039] The object of a method according to the invention can be achieved with a logistic method, in which method a static object to be transferred is transferred between two points by means of any of the embodiments of a transfer vehicle according to the invention described in the foregoing, the static object to be transferred is geopositioned by means of geopositioning means comprised by the object in order to determine a position and an orientation of the object, and the object is approached from a designated direction by the transfer vehicle in order to load the object onto the transfer vehicle in order to transport the object between the two points in an automated manner .

[0040] Preferably, in the method, work is performed by at least one battery-powered work machine, at least two detachable battery packs of the work machine are used in turns in connection with the work machine, wherein each battery pack constitutes a static object to be transferred, and each battery pack of the work machine is charged in turns at a first charging station located at a distance from the drill rig. In addition, in the method, a battery pack of the work machine is preferably approached from a designated direction by the transfer vehicle in order to load it onto the transfer vehicle in order to transport the battery pack of the work machine between a first charging station and the work machine in an automated manner, and the work machine is transferred in the load space of the transfer vehicle in transfers 300 m - 15 km long.

[0041] Alternatively to batteries, the objects to be moved with the logistic method can be, for example, shipping containers or fuel tanks or the like.

[0042] Preferably, in the method, a battery pack of the transfer vehicle is also geopositioned by means of geopositioning means comprised by the battery pack in order to determine a position and an orientation of a battery pack of the transfer vehicle, and the battery pack of the transfer vehicle is approached by the transfer vehicle from a designated direction in order to connect it to the transfer vehicle. For this transfer between battery packs of the transfer vehicle, the transfer vehicle can include a separate reserve battery pack with a capacity only sufficient for a short journey in connection with the replacement of a battery pack of the transfer vehicle.

[0043] Preferably, the charge of a battery pack of the work machine is monitored remotely and the guidance system of the transfer vehicle is configured to schedule the transfer of a charged battery pack of the work machine from the first charging station to the work machine so that the charge of the battery pack of the work machine in use in the work machine is 10-35%, preferably 20-30%, when the transfer vehicle arrives at the work machine.

[0044] According to one embodiment, the charge of a battery pack of the work machine is monitored remotely and the guidance system of the transfer vehicle is configured to schedule the transfer of a charged battery pack of the work machine from the first charging station to the work machine so that the charge of the battery pack of the work machine in use in the work machine is 10-35%, preferably 20-30%, when the transfer vehicle arrives at the work machine. The service life of the battery packs can thereby be extended by always keeping the battery packs within an optimum range of operation while the battery packs are not allowed to run down.

[0045] A charge level of a battery pack of the transfer vehicle is also preferably monitored locally and a replacement of a battery pack of the transfer vehicle is scheduled so that the charge of the battery pack is 10-35%, preferably 20-30%. In other words, battery packs are used in the system according to the invention that are detachable from the work machine as well as preferably from the transfer vehicle.

[0046] Preferably, in the method, there are 2-200 of these battery packs which can be moved by a transfer vehicle, and the battery packs are also used to feed power into the national or local power grid for a load balancing. This allows the electrical energy stored in the battery packs to be transferred, where necessary, to different locations and discharged for different purposes .

[0047] According to one embodiment, energy can be discharged from the battery packs by means of a discrete transformer unit for a fast charging of other equipment, e.g. mining trucks, which can require a charging power as high as in the MW range.

[0048] The invention, which is not limited to the embodiments described in the following, is explained in more detail with reference to the attached figures, wherein

[0049] Figures la-ld illustrate the design of a transfer vehicle according to the invention from different directions without cargo,

[0050] Figs. 2a and 2b illustrate an axonometric view of a battery pack of a transfer vehicle according to the invention, detached from the power unit,

[0051] Figures 3a-3c illustrate an axonometric view of the structure and the action of the lifting means of the load space of a transfer vehicle according to the invention in different steps,

[0052] Figs. 4a and 4b illustrate an instance of a loading of a transfer vehicle according to the invention with a battery pack of a work machine in an axonometric view,

[0053] Figure 4c illustrates a side view of a work machine loaded in the load space of a transfer vehicle,

[0054] Figures 5a-5d illustrate an instance of a loading of a transfer vehicle according to the invention with a battery pack of a work machine in a side view,

[0055] Figure 6 schematically illustrates the structure of a system according to the invention,

[0056] Figure 7 illustrates an autonomous drill rig configured to move in drilling areas along a route defined by preset route points,

[0057] Figure 8 illustrates a system according to the invention for loading a work machine into the load space of the transfer vehicle.

[0058] In the figures, the different parts of the invention are designated by the following reference numbers

[0059] 10 transfer vehicle 35 28 lifting means

[0060] 12 frame 29 artificial intelligence

[0061] 14 first end (Al) unit

[0062] 16 second end 30 battery pack of the

[0063] 17 static object to be transfer vehicle transferred 40 32 electric motor

[0064] 18 load space 34 coupling means

[0065] 19 drill rig 36 battery pack of a work

[0066] 20 work machine machine

[0067] 22 wheels 38 guidance system

[0068] 24 satellite geoposition45 39 computing unit ing antenna 40 geopositioning means

[0069] 26 power unit 41 memory 42 sensor unit 72 second end of the height

[0070] 43 slot 30 adjustment cylinder

[0071] 44 front frame 73 route point

[0072] 46 vertical articulated 74 route joint 75 satellite geoposition¬

[0073] 47 retaining element ing station

[0074] 48 rear frame 35 76 local antenna

[0075] 50 laser scanner 77 load space position

[0076] 52 system point 54 first charging station 80 damping element

[0077] 56 second charging station 81 first end of the damping

[0078] 58 geopositioning means of 40 element a battery pack of a work 82 second end of the dampmachine ing element 60 supporting arm 90 linking element

[0079] 61 first end of the sup91 first support point of porting arm 45 the linking element

[0080] 62 second end of the sup92 second support point of porting arm the linking element 64 tracked chassis 93 third support point of

[0081] 65 contact connections the linking element

[0082] 66 quick couplings 50 95 attachment element

[0083] 67 lifting hooks 96 first attachment point

[0084] 68 lifting complements of the attachment ele70 height adjustment cylinment der 97 second attachment point

[0085] 71 first end of the height 55 of the attachment eleadjustment cylinder ment

[0086] 100 substrate.

[0087] The embodiments described in the following are all illustrated from the standpoint according to which the static object to be transferred 17 is a battery pack 36 of a work machine 20. It is understood, however, that the invention can also be applied for other uses, such as the transfer of shipping containers or the like.

[0088] Figures la-3c illustrate views of the structure of a transfer vehicle 10 according to the invention from different directions. The transfer vehicle 10 includes a frame 12, which preferably consists of two parts, namely a front frame 44 and a rear frame 48 attached in an articulated manner to the front frame 44 by means of a vertical articulated joint 46. The frame 12 is supported on the substrate by means of wheels 22. Preferably, a power unit 26 is provided in the front frame 44, which power unit 26 is powered by a battery pack 30 of the transfer vehicle 10 which can preferably be attached to the power unit 26 in a detachable manner. The power unit 26 uses an electric motor 32 to drive drive wheels 22 of the transfer vehicle 10, which are preferably at least the wheels 22 of the rear frame 48 of the transfer vehicle 10. It is also possible for all wheels 22 of the transfer vehicle 10 to be drive wheels. Preferably, the power unit 26 comprises components associated with an electric power transmission of the transfer vehicle, such as an inverter, a battery-pack control unit (Battery Management System, BMS) and power electronics by means of which the electrical energy stored in the battery pack can be utilized by the electric motor 32. The power electronics can include, inter alia, current-regulating elements, voltage transformers and controllers by means of which the transfer of power from the battery pack to the electric motor can be regulated and controlled.

[0089] The power transmission of the transfer vehicle can be an electric hybrid power transmission, which enables a transfer of electric power without the use of drive shafts, which saves space with its compact design. The power transmission preferably includes the option of reducing the speed of the transfer vehicle while charging the battery pack of the transfer vehicle. Two hub motors arranged in connection with the wheels of the rear frame are preferably employed as the electric motors. A planetary gearing is also preferably employed in connection with the hub motors in order to adapt the speed of the power transmission so as to be appropriate for an intended use. A power of the hub motors can be, for example, respectively 220 kW, with which a torque of approximately 1600 Nm is obtained. The power transmission can also encompass hub motors by means of which power is transmitted to the wheels of the front frame.

[0090] The battery packs can consist of, for example, LiFePCE or NMC battery technology in which the capacity of a single battery pack can be 200-600 kWh. In this case, 280 kW DC generators, for example, can be used for charging. A detachment and attachment of a battery pack 30 of the transfer vehicle 10 can be automated by means of quick couplings 66 with a design analogous to the quick-coupling complements of excavators, as illustrated in Figures 2a and 2b. As illustrated in Figure 2a, the quick couplings 66 preferably include lifting hooks 67, which are attached to the power unit 26 and which can be moved on guides by means of an actuator in a vertical direction, and lifting complements 68 shown in Figure 2b, which are integrated in the battery pack 30. Preferably, the battery pack 30 and the power unit 26 both include contact connections 65 that form a contact between them when the battery pack 30 is lifted onto the transfer vehicle 10 by means of the quick couplings 66. The known solution disclosed in EP 3026004 Al can also be employed as quick couplings.

[0091] A load space 18 is in turn preferably formed in the rear frame 48 between the wheels 22, wherein the load space 18 can be used both for transporting battery packs 36 of a work machine as illustrated in Figures 4a-5d and for transferring a work machine 20 between work sites. Preferably, for this purpose, the support surface of the load space 18 can be lowered at one end by means of the lifting means 28 essentially to the level of the substrate, so that a preferably tracked work machine can be safely loaded onto the transfer vehicle 10. The structure of the lifting means 28 is described in greater detail later on with reference to Figures 3a-3c.

[0092] The transfer vehicle 10 according to the invention further comprises an autonomous guidance system 38, which is configured to guide the movements of the transfer vehicle 10 according to a preset program. Preferably, the autonomous guidance system 38 is a computer realized by means of a computing unit and a memory 41, wherein the computer is preferably located in the front frame 44 of the transfer vehicle 10, connected to the power unit 26. In addition to the computer, the autonomous guidance system 38 preferably includes geopositioning means 40 for geopositioning the transfer vehicle 10 for an autonomous guidance and at least two sensor units 42 pointing in opposite directions relative to each other. The geopositioning means 40 enables the guidance system to detect the position of the transfer vehicle on a map while the sensor units 42 enable the guidance system to perceive the environment of the transfer vehicle 10 with greater accuracy and to detect an orientation of the transfer vehicle 10. Based on this data, the transfer vehicle can move with a precision of 1-10 cm, preferably 1-5 cm, in connection with the replacement of a battery pack 30 as well as in connection with the charging of a battery pack 36 of a work machine 20, which is a prerequisite for an autonomous guidance .

[0093] Preferably, the guidance system is configured to receive preset guidance rules, for example from a central computer or the like at which a human operator has established guidance rules and a guidance plan, on the basis of which the computer of the autonomous guidance system autonomously guides the transfer vehicle using the positional data provided by the geopositioning means and the environmental data provided by the sensor units. The environmental data can be, for example, a point cloud set generated by laser scanners that constitute the sensor unit, from which it is possible with machine vision to detect various objects - such as obstacles, battery packs of a work machine or work machinery to be loaded onto the transfer vehicle - using shape recognition. Preferably, the guidance system includes an Al unit, which is configured to make decisions regarding the guidance of the transfer vehicle based on the data generated by the sensor units, the guidance rules and the guidance plan. For example, for a second transfer vehicle detected from a point cloud set using shape recognition, the Al unit can determine from successive perceptions an expected trajectory of the second transfer vehicle, determine the trajectory of the transfer vehicle in relation thereto, and make a decision whether the transfer vehicle must be stopped to avoid a collision or whether it is possible to continue the trajectory according to the original guidance plan.

[0094] The autonomous guidance system can be realized by already existing systems, for example the Mobius® Autonomous Vehicle Control guidance system marketed by Autonomous Solutions Inc (ASI) .

[0095] The function of the transfer vehicle 10 according to the invention is preferably to transfer a work machine in longer transfers from one work site to another or to transport full battery packs of a battery-powered work machine from a first charging station to the work machine for use and to transport used batteries back to the first charging station for charging. To this end, the load space 18 and the lifting means 28 of the transfer vehicle 10 are configured to be suitable for this function .

[0096] Figures 3a-3c illustrate one way of realizing a height adjustment of the load space 18 of a transfer vehicle according to the invention between a loading position and a position of use. Another possible realization is disclosed in the patent application WO / 2022064104 Al of the Applicant, which discloses a solution using a kind of eccentric shaft. In the embodiment of Figures 3a-3c, the wheels 22 of the transfer vehicle 10 are suspended in the frame 12, and the suspension of the wheels 22 comprises a supporting arm 60 with a first end 61 and a second end 62. The wheel 22 is attached in an articulated manner to the first end 61 of the supporting arm 60 and the second end 62 is attached in an articulated manner to the frame 12, more precisely to the rear frame. The suspension further includes a height adjustment cylinder 70 with a first end 71 and a second end 72, wherein the first end 71 is attached in an articulated manner to the frame. The suspension further includes a damping element 80 with a first end 81 and a second end 82, wherein the first end 81 is attached in an articulated manner to the first end 61 of the supporting arm 60. The suspension also includes a linking element 90 with a first support point 91, a second support point 92 and a third support point 93. The second end 72 of the height adjustment cylinder 70 is attached in an articulated manner to the first support point 91 of the linking element 91, the second end 82 of the suspension element 80 is attached in an articulated manner to the second support point 92 of the linking element 90 and the linking element 90 is attached in an articulated manner by the third support point 93 to the supporting arm 60. Preferably, the linking element 90 is attached in an articulated manner by the third support point 93 between the first end 61 and the second end 62 of the supporting arm 60, preferably to a central part of the supporting arm 60.

[0097] Preferably, the linking element 90 is triangular and each support point is located at each corner of the linking element 90. A triangular structure is very rigid.

[0098] The frame 12 can comprise an attachment element 95 with a first attachment point 96 and a second attachment point 97, and the first end 71 of the height decision cylinder 70 is attached in an articulated manner to the first attachment point 96, and the second end 62 of the supporting arm 60 is attached in an articulated manner to the second attachment point 97.

[0099] The damping element can be a mechanical, hydraulic or pneumatic element. Preferably, however, it is a hydraulic cylinder, as shown in Figures 3a-3c.

[0100] The height adjustment cylinder 70 can be a hydraulic or pneumatic cylinder, but preferably it is likewise a hydraulic cylinder .

[0101] As illustrated in Figures 3a-3c, the components of the suspension, preferably using hydraulic power, allow the load space 18 to be lowered at one end of the same in such a manner that it is placed essentially against the substrate 100. In this case, there is no need with the flat load space 18 to use separate loading ramps, but rather the entire load space 18 can be tilted for loading. There is thus no significant threshold that has to be crossed by a tracked work machine on its way into the load space 18. Figure 4c illustrates a situation in which a work machine 20, which is a drill rig 19 in this case, is loaded into the load space 18 of the transfer vehicle 10.

[0102] It is described in the following with reference to Figures 4a, 4b and 5a-5d how a transfer vehicle 10 according to the invention can be employed in a realization according to a preferred embodiment for transferring a battery pack 36 of a work machine. In this preferred embodiment, the coupling means 34 comprised by the load space 18 visible in Figure la is configured to receive a battery pack 36 of a work machine 20, wherein the battery pack 36 comprises legs 21 and 23 on which the battery pack 36 of the work machine 20 is configured to stand on the substrate 100 so that an empty space remains between the battery pack 36 of the work machine 20 and the substrate 100. As explained earlier with reference to Figures 3a-3c, the load space 18 of the transfer vehicle 10 is configured to be lowered by the lifting means 28 to a lower position in which an elevation H of the load space 10 from the substrate 100 is less than a clearance between the battery pack 36 of the work machine 20 and the substrate 100, so that the load space can be placed between the object to be transferred and the substrate. The load space 18 is configured to be raised by the lifting means 28 to an upper position in which an elevation of the load space 18 from the substrate 100 is greater than a clearance between the battery pack 36 of the work machine 20 and the substrate 100, i.e. a height of the legs, so that the load space 18 can raise the legs 21 and 23 of the battery pack 36 of the work machine 20 off the substrate 100.

[0103] Preferably, the battery pack 36 of a work machine 20 comprises three legs. For the transfer of a three-legged battery pack 36 of a work machine 20, the load space 18 of the transfer vehicle 10 preferably comprises a slot 43 illustrated in Figures la and lb, which is configured to receive one leg 21 of the battery pack 36 of the work machine 20.

[0104] Preferably, as illustrated in Figure 5d, at least one leg 21 or 23 of the battery pack 36 of the work machine 20 is configured to remain outside the load space 18 of the transfer vehicle 10 when the battery pack 36 of the work machine 20 is loaded on board the transfer vehicle 10.

[0105] The load space of the transfer vehicle can comprise a retaining element 47, which is configured to prevent the battery pack 36 of the work machine 20 from sliding in the load space 18 when the load space 18 of the transfer vehicle 10 is in the upper position and the battery pack 36 of the work machine 20 is on board the transfer vehicle 10. The retaining element 47 is a round opening here. The battery pack 36 of the work machine 20 can have a cone 25 that corresponds to the opening. The leg 21 is driven to the back of the slot 43, so that the cones are placed over the openings. When the load space is raised, the cones slide into the openings.

[0106] A battery pack of a work machine can include two separate geopositioning antennas for determining a position of the battery pack of the work machine and a gyroscope for determining an orientation of the battery pack of the work machine. Alternatively, it is also possible to use three separate geopositioning antennas by means of which it is possible to ascertain the correct orientation of the battery pack for loading it onto the transfer vehicle. As a further option, it is possible to use the sensor units of the transfer vehicle together with an Al shape recognition to identify an orientation of the battery pack of the work machine. Figure 6 schematically illustrates the structure of a system according to the invention. The basic parts of the system 52 include a transfer vehicle 10 according to the invention, at least one battery-powered work machine 20, preferably a drill rig 19, and at least two identical battery packs 36 of the work machine 20 that are configured to operate the work machine 20 in turns. For charging the battery packs 36 of the work machine 20, the system 52 further includes a first charging station 54 at a distance from the work machine 20. In this context, distance means a distance of at least 100 m, although a transport distance can generally be 100-2000 m. In addition, each battery pack 36 of the work machine 20 includes geopositioning means 58 for determining a position and an orientation of the battery pack 36 of the work machine 20. This is important since, due to the structure of the transfer vehicle and the battery pack of a work machine, the autonomous transfer vehicle according to the invention can only approach the battery pack of a work machine from a certain direction for loading to be successful. In the system, the transfer vehicle 10 according to the invention transports the battery packs 36 of a work machine 20 between a first charging station 54 and the work machine 20, so that the work machine 20 does not need to drive itself to the first charging station 54 for the replacement of a battery pack 36 of the work machine 20. Preferably, the system also includes at least two transfer-vehicle battery packs 30 for the transfer vehicle 10 in order to allow an uninterrupted operation of the latter, except for during a replacement of a battery pack, as one battery pack 30 is continuously being charged .

[0107] The technology of the charging stations can be technology for the charging of batteries known from the prior art, for example analogous to charging technology for electric cars. The system according to the invention can include integrated traffic guidance software and hardware which include route planning, scheduling and optimization, a collision avoidance system and a digital positioning system for positioning mobile work machinery and transfer vehicles. The traffic guidance software and hardware allow a transfer vehicle and a work machine to be monitored and guided autonomously.

[0108] In addition to a transfer of battery packs 36 of a work machine 20, the transfer vehicle 10 is also configured to automatically transfer a work machine 20 in its load space 18 from one work site to another, so that self-propelled transfers of the work machine 20 are eliminated. In the system according to the invention, a drill rig 19 preferably used as the work machine 20 is preferably equipped with a tracked chassis 64 with which transfers are slow and wear out the tracked chassis 64. Preferably, a power consumption of a drill rig 19 is 200 kW, so that the drill rig must be operated during drilling by means of a battery pack 36 of a work machine 20, which is a separate component from the drill rig 19 connected to the drill rig 19 by a transmission cable. The drill rigs have their own small transfer battery for transfers, but its capacity is insufficient for longer transfers.

[0109] Preferably, in the system 52 according to the invention, the transfer vehicle 10 and the work machine 20 utilize a satellite geopositioning. The position of a battery pack 36 of a work machine 20 can be derived from either the position of the work machine 20 or the fixed position of the first charging station 54, while the position of a battery pack 30 of the transfer vehicle 10 can be derived from the fixed position of the second charging station 56. For the determination of geographic data, the transfer vehicle 10 has geopositioning means 40, which are illustrated in Figure la, and the work machine 20 has geopositioning means 62. While the aforementioned geopositioning means preferably all utilize geographic data obtained from satellites, the system 52 preferably additionally includes a local satellite geopositioning station 75, the exact position of which is known. The local satellite geopositioning station 75 transmits its precise geographic data over the area via a local antenna 76 to the work machine 20 and to the transfer vehicle 10. The geopositioning means can use both local geographic data and data obtained from satellites to determine their position with a precision of + / - 2 cm. GPS can be primarily used as the geopositioning means, although it can also be implemented by means of some other known satellite geopositioning system such as Glonass, Galileo, Beidou, IRNSS, QZSS, etc .

[0110] The final precision for autonomous operation is achieved by means of the sensor units 42, which are preferably constituted by laser scanners 50. The satellite geopositioning system allows the transfer vehicle 10 to be guided to, for example, a first charging station 54, the exact position of which is known, while an autonomous positioning of the transfer vehicle can be achieved with a precision of 1-10 cm, preferably 1-5 cm, using the additional data provided by the sensor units 42. Preferably, the transfer vehicle has 4-6 laser scanners 52, preferably 5 laser scanners 52, for mapping the environment of the transfer vehicle 10. The transfer vehicle according to the invention preferably comprehends 5 laser scanners, so as to be able to steer the transfer vehicle with precision both in a reverse direction of the transfer vehicle when loading a battery pack of a work machine and in a direction of travel when attaching a transfer-vehicle battery pack. Moreover, with a sufficient number of laser scanners, an environment of the transfer vehicle can be mapped comprehensively enough to also ensure that collisions with the environment and other moving work machinery can be avoided in all circumstances. Preferably, the laser scanners are arranged at the corners of the transfer vehicle so as to obtain the best coverage of the whole environment of the transfer vehicle.

[0111] Instead of laser scanners, the sensor units can also be, for example, camera units utilizing machine vision, radar or other perception devices suitable for this purpose.

[0112] The loading of a work machine onto the transfer vehicle preferably also makes use of a geopositioning of the work machine and the transfer vehicle. Figure 7 illustrates an autonomous drill rig 19 according to the prior art, which in this example constitutes the work machine 20. Preferably, the drill rig 19 is configured to move in drilling areas along a route 74 defined by preset route points 73. The drill rig 19 comprises geopositioning means 62 for determining a position of a work machine 20 and a guidance system for guiding a work machine 20 based on positional data provided by the geopositioning means 62 and the route points 73 entered into the guidance system. The drill rig 19 is configured to drill a hole at each route point 73 and then continue along the route 74. In the system according to the invention, this feature can be utilized to load a work machine 20, preferably precisely a drill rig 19, into the load space 18 of the transfer vehicle 10.

[0113] This occurs by first determining the position of the transfer vehicle 10 using the geopositioning means 40. Once the position of the transfer vehicle 10 is known, it is possible to determine a load space position point 77 for the load space 18 of the transfer vehicle 10. In addition to the position, the cargospace position point data can include the orientation of the transfer vehicle 10, which can be determined by means of the sensor units, preferably laser scanners 50. The position of the work machine 20 is then determined. Once this determination has been carried out, a route 74 can be generated for the work machine 20 which includes route points 73 and the load space position point 77 as the last route point. The work machine 20 can then move via the route points 73 to the cargo-space position point 77 formed in the load space 18, naturally without drilling at the route points or the load space position point. The loading of a work machine onto the transfer vehicle can thus also be carried out autonomously.

[0114] The system according to the invention can also include, as an additional feature, a solar panel unit or a wind power unit by means of which the battery packs of a work machine or the battery packs of a transfer vehicle, or preferably both, are charged. In addition, the first and second charging stations can include means for feeding power from fully charged battery packs of a work machine and the battery packs of a transfer vehicle via the charging stations to a national or mine grid for a load peak balancing. An analogous principle can also be employed, for example, in connection with the start-up of mine equipment, which causes a high peak in power consumption. Detachable battery packs allow the stored electrical energy to be transported to a point of use by a transfer vehicle.

[0115] In addition to the aforementioned guidance of the transfer vehicle, the system can use artificial intelligence to guide the transfer vehicle to transfer a battery pack of a work machine to the work machine in a scheduled manner so that the charge status of the battery packs of the work machinery remains in an optimized range at all times. This requires the transfer of data from the battery pack to the Al unit, which schedules the movements of the transfer vehicle so as to optimize the use of the battery pack according to an embodiment of the method of the invention.

Claims

CLAIMS1. A transfer vehicle (10) which includes- a frame (12) comprising a first end (14) and a second end ( 16 ) ,- a load space (18) attached to the frame (12) for a mobile work machine (20) to be loaded onto the transfer vehicle (10) ,- wheels (22) for supporting the frame (12) on a substrate (100) ,- a power unit (26) comprising a battery pack (30) arranged in the first end (14) of the frame (12) for transmitting power to the wheels (22) in order to move the transfer vehicle (10) ,- an electric motor (32) for driving the wheels (22) of the transfer vehicle (10) by means of the power supplied by the battery pack (30) , and- an autonomous guidance system (38) for automatically guiding the transfer vehicle (10) according to a pre-selected plan, wherein the guidance system (38) includes geopositioning means (40) for geopositioning the transfer vehicle (10) for an autonomous guidance, characterized in that the guidance system (38) additionally includes at least two sensor units (42) pointing in opposite directions relative to each other for positioning and loading the transfer vehicle (10) with a precision of 0.1-10 cm, preferably 1-5 cm.

2. The transfer vehicle according to claim 1, characterized in that the battery pack (30) attachable to a power unit (26) in a detachable manner for a replacement of the battery pack (30) .

3. The transfer vehicle according to claim 1 or 2, char— acterized in that the frame (12) includes a front frame (44)and a rear frame (48) attached the front frame (44) by means of a vertical articulated joint (46) .

4. The transfer vehicle according to claim 3, characterized in that the transfer vehicle (10) includes steering means arranged between the front frame (44) and the rear frame (48) for a frame steering of the transfer vehicle (10) .

5. The transfer vehicle according to claim 3 or 4, characterized in that the power unit (26) is arranged in the front frame (44) and the load space (18) is arranged in the rear frame (48) , or vice versa.

6. The transfer vehicle according to any one of claims 1-5, characterized in that the electric motor (32) is a hub motor .

7. The transfer vehicle according to claim 6, characterized in that the hub motor is arranged on each wheel (22) of the rear frame (48) .

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

9. A system (52) which includes at least one static object to be transferred (17) ,- a transfer vehicle (10) for transferring the static object to be transferred (17) , characterized in that the transfer vehicle (10) is a transfer vehicle (10) according to any one of claims 1-8, and the static object to be transferred (17) includes geopositioning means (58) for determining a position and an orientation of the object (17) , in which system (52) the transfer vehicle (10) is configured to calculate by means of an autonomous guidance system (88) a route of approach of the transfer vehicle (10) towards the object (17) from a designated direction in order to load the object (17) onto the transfer vehicle (10) in order to transport the object (17) between two points in an automated manner .

10. The system according to claim 9, characterized in that the system (52) includes- at least one battery-powered work machine (20) , preferably a drill rig (19) ,- at least two identical battery packs (36) of the work machine (20) configured to operate the work machine (20) in turns, wherein each battery pack (36) constitutes a static object to be transferred (17) ,- a first charging station (54) for charging a battery pack (36) of the work machine (20) , which charging station (54) is located at a distance from the work machine (20) .

11. The system according to claim 10, characterized in that the work machine (20) is an autonomous drill rig (19) which includes a tracked chassis (64) and geopositioning means (62) for geopositioning the drill rig (19) based on which the drill rig (19) is configured to drill (80) holes automatically at designated positions, and the system (52) further includes a satellite geopositioning station (96) for generating a geopositioning corrective signal in order to improve precision of the geopositioning means (40) of the transfer vehicle (10) and of the geopositioning means (62) of the drill rig (20) , and a virtual position point (77) is created for the transfer vehicle (10) in the load space (18) , to which position point (77) the drill rig (20) is configured to navigate automatically using the geopositioning means (62) of the drill rig (20) and the corrective signal.

12. The system according to claim 10 or 11, characterized in that the geopositioning means (58) of the battery pack (36) of the work machine (20) includesA) two satellite geopositioning antennas (24) for determining a position of the battery pack (36) of the work machine (20) and a gyroscope for determining an orientation of the battery pack (36) of the work machine (20) , orB) three satellite geopositioning antennas (24) for determining a position and an orientation of the battery pack (36) of the work machine (20) .

13. A logistic method, in which method- a static object to be transferred (17) is transferred between two points by means of a transfer vehicle (10) , characterized in that the transfer vehicle (10) is a transfer vehicle (10) according to any one of claims 1-8, and in the method- the static object to be transferred (17) is geopositioned by means of the geopositioning means (58) comprised by the object (17) in order to determine a position and an orientation of the object (17) , and- the object (17) is approached from a designated direction by the transfer vehicle (10) in order to load it onto the transfer vehicle (10) in order to transport the object (17) between two points in an automated manner.

14. The method according to claim 13, characterized in that- work is performed by means of at least one battery- powered work machine (20) ,- at least two detachable battery packs (36) of the work machine (20) are used in turns in connection with the work machine (20) , wherein each battery pack (36) constitutes a static object to be transferred (17) ,- each battery pack (36) of the work machine (20) is charged in turns at a first charging station (54) located at a distance (d) from the drill rig (20) , and- the battery pack (36) of the work machine (20) is approached from a designated direction by the transfer vehicle (10) in order to load it onto the transfer vehicle (10) in order to transport the battery pack (36) of the work machine(20) between the first charging station (54) and the work machine (20) in an automated manner, and- the work machine (20) is transferred in the load space(18) of the transfer vehicle (10) in transfers 300 m - 15 km long.

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

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