Payload Conveying Vehicle Docking and Maneuver Trajectory Control
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Solution Overview
Problem
Current methods for efficiently transferring and transporting cargo units in sorting systems, such as parcel centers and airports, face challenges in optimizing the docking and maneuvering processes, leading to inefficiencies in cargo handling and movement.
Innovation Solution
A vehicle system with a chassis, drive device, and receiving component that can autonomously dock with a tool device, generate target docking and maneuvering trajectories, and control the tool device to pick up and transport cargo units to a receiving area, utilizing a control function connected to the drive device to set speed vectors and manage docking and maneuvering specifications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If autonomous docking and maneuvering systems are implemented, then productivity and operational efficiency are improved, but device complexity increases due to multiple control units and sensors
Solution Approach 1:
The autonomous vehicle system is divided into functionally independent modules: a control function for vehicle movement, a docking specification function for trajectory generation, and a maneuvering specification function for tool positioning. Each module operates with dedicated algorithms and data structures, allowing parallel processing and independent optimization while maintaining system-wide coordination through standardized communication interfaces.
Solution Approach 2:
The patent introduces intermediate data structures and communication protocols that mediate between different control functions. The docking specification function generates target trajectories that are transmitted to the control function, while the maneuvering specification function processes tool state information and converts it to vehicle control commands. These intermediary layers decouple the complexity of individual modules while enabling coordinated autonomous operation.
2Manufacturing precision
If precise docking trajectories are generated from any actual position, then manufacturing precision of docking is improved, but measurement precision requirements increase
Solution Approach 1:
The docking specification function dynamically adapts target docking trajectories based on the vehicle's actual position and orientation at any given moment. Rather than requiring precise pre-positioning, the system continuously calculates optimal paths from the current state to the target docking state, allowing flexibility in initial positioning while ensuring precise final docking through real-time trajectory adjustment.
Solution Approach 2:
The system incorporates feedback mechanisms where the control function continuously monitors actual vehicle position and compares it with the target trajectory. Based on this feedback, the docking specification function recalculates and adjusts the target path, and the maneuvering specification function modifies tool positioning commands. This closed-loop control compensates for initial positioning errors and maintains high docking precision even with moderate measurement accuracy.
Data Source
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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.