Load Transfer Vehicle Docking With Trajectory-Based Tool Maneuvering
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Solution Overview
Problem
Existing methods for efficiently transferring and conveying load units in sorting systems, such as airports and distribution centers, lack an efficient and automated solution for optimizing the movement and docking of vehicles with tool devices to receive and place load units on operational surfaces.
Innovation Solution
A vehicle system with a running gear, drive device, and vehicle frame that adjusts its velocity vector and can self-control to dock with a tool device, generating target docking and maneuvering trajectories to efficiently move and place load units on a receiving component, potentially without a running gear or sensor system for the tool device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the vehicle system generates target docking trajectories and maneuvering trajectories to optimize vehicle movement and docking, then the efficiency of load unit transfer is improved, but the control system complexity increases
Solution Approach 1:
The vehicle system pre-generates target docking trajectories and maneuvering trajectories before the actual docking operation. This preliminary calculation of optimal paths allows the vehicle to efficiently navigate to and dock with the tool device, improving load transfer productivity while the trajectory generation is performed in advance rather than during critical docking moments
Solution Approach 2:
The control system acts as an intermediary that translates high-level docking objectives into detailed maneuvering trajectories. This intermediary layer processes the complex coordination between vehicle movement and tool device positioning, managing system complexity by breaking down the docking task into manageable trajectory segments
2Extent of automation
If the vehicle autonomously docks with the tool device using sensor-based control, then the automation level is improved, but the sensor system complexity and cost increase
Solution Approach 1:
The vehicle system performs autonomous docking by generating its own target docking trajectories and maneuvering trajectories without requiring complex external sensor systems. The vehicle serves itself by calculating optimal paths and executing docking maneuvers independently, reducing automation complexity while maintaining high autonomous capability
Solution Approach 2:
The patent replaces complex sensor-based autonomous docking systems with a trajectory-generation-based control approach. Instead of relying on sophisticated sensors to detect and correct positioning errors in real-time, the system uses pre-calculated trajectories to guide the vehicle, substituting mechanical/control complexity with computational planning
3Device complexity
If the tool device is designed without a running gear or sensor system, then the device complexity is reduced, but the difficulty of precise positioning and docking increases
Solution Approach 1:
Instead of equipping the tool device with running gear and sensors for active positioning, the invention inverts the approach: the vehicle becomes the active element that navigates to and docks with the passive tool device. The tool device remains stationary without complex mechanisms, while the vehicle performs all positioning and docking maneuvers
Solution Approach 2:
The vehicle system creates a digital model or representation of the tool device position and generates trajectories based on this copied information. This allows the vehicle to plan and execute precise docking maneuvers without the tool device needing physical sensors, as the position information is replicated and used for trajectory calculation
Data Source
AI summary
A vehicle having a chassis (5), having a drive device (30) and having a vehicle frame (10) which is arranged on the chassis (5) and which has a receiving component (7) for the placement of at least one payload unit (L) that is situated in an operating area, wherein the vehicle (1) has a vehicle system (S) having: •a control function (50) which, on the basis of control setpoint specifications, determines control commands and transmits these to the drive device (30), •a docking specification function (60), which generates a setpoint docking trajectory for the vehicle (1) to attain a setpoint docking state, wherein, in the setpoint docking state, the vehicle (1) is docked by way of a contact device of the vehicle frame (10) on a docking device (101) of a tool device (100), wherein the docking specification function (60) transmits the setpoint docking trajectory to the control function (50) as a control setpoint specification for the movement of the vehicle (1) along said setpoint docking trajectory, •a manoeuver specification function (70) with a manoeuver trajectory generating function which, on the basis of a respective actual tool state, determines a reference point manoeuver trajectory and, in a manner dependent thereon, uses the tool movement model to determine a vehicle manoeuver trajectory into a setpoint receiving state of the vehicle (1), along which vehicle manoeuver trajectory the vehicle (1) manoeuvers the tool device (100) from the actual tool state into a setpoint tool state in which a reference point position of the reference point is situated within a setpoint difference in relation to a payload unit position of the payload unit (L), wherein, with regard to the vehicle manoeuver trajectory, the manoeuver specification function (70) transmits control setpoint specifications, for the movement of the vehicle (1) along the vehicle manoeuver trajectory, to the drive device.