Driverless transport vehicle and method for moving a semi-trailer using a driverless transport vehicle

Abstract

The invention relates to a driverless transport vehicle for moving a semi-trailer. The driverless transport vehicle comprises a base body and a telescopic arm protruding from the base body, said telescopic arm comprising a surroundings detection device on one end facing away from the base body. The invention also relates to a method for moving a semi-trailer using a driverless transport vehicle.

Claims

1. A driverless transport vehicle for moving a semi-trailer or similar trailer, comprising: a base body; an extendable arm protruding from the base body, which comprises a surroundings detection device at an end facing away from the base body; and a coupling device disposed on a top surface of the base body, the coupling device configured for engagement with the semi-trailer or similar trailer; wherein the arm is configured on the base body such that the arm and the surroundings detection device arranged on the arm are below a frame of the semi-trailer or similar trailer when the coupling device engages the semi-trailer or similar trailer, the surroundings detection device being extendable below the frame of the semi-trailer or similar trailer to detect objects in a vicinity of the semi-trailer or similar trailer.

2. The driverless transport vehicle according to claim 1, wherein the arm is a telescopic arm protruding from the base body that is formed telescopically extendable.

3. The driverless transport vehicle according to claim 1, wherein the surroundings detection device comprises at least one laser sensor.

4. The driverless transport vehicle according to claim 1, wherein the surroundings detection device comprises at least one ultrasonic sensor.

5. The driverless transport vehicle according to claim 1, wherein the surroundings detection device comprises two laser sensors and two ultrasonic sensors.

6. The driverless transport vehicle according to claim 1, wherein the coupling device is configured for automatically coupling the driverless transport vehicle to a kingpin of the semi-trailer or similar trailer.

7. The driverless transport vehicle according to claim 6, comprising a plurality of sensors for surroundings detection and/or for automatically coupling the coupling device of the driverless transport vehicle to the kingpin.

8. The driverless transport vehicle according to claim 7, wherein the driverless transport vehicle comprises a substantially cuboid base body, at which at least four sensors are arranged.

9. The driverless transport vehicle according to claim 1, wherein the arm is extendable to position the surroundings detection device behind a rear axle of the semi-trailer or similar trailer in a vehicle longitudinal direction when the coupling device engages the semi-trailer or similar trailer.

10. A method for moving a semi-trailer by a driverless transport vehicle, comprising the following steps: providing a driverless transport vehicle according to claim 1, providing a semi-trailer to be moved, coupling the driverless transport vehicle to the semi-trailer, extending the arm in an axial direction, and moving the semi-trailer by the driverless transport vehicle.

11. The driverless transport vehicle according to claim 6, wherein the base body is disposed entirely at or below a level of the kingpin.

12. The driverless transport vehicle according to claim 1, further comprising a communication device connected to the base body.

13. The driverless transport vehicle according to claim 6, wherein the base body is configured to fit underneath the semi-trailer or similar vehicle when the coupling device is engaging the kingpin.

14. The driverless transport vehicle according to claim 1, wherein the base body is not configured to accommodate a human occupant.

15. The driverless transport vehicle of claim 6, further comprising a hydraulic device configured to raise the coupling device to engage the kingpin.

16. The driverless transport vehicle of claim 2, wherein the telescopic arm further comprises one or more support wheels configured to support the telescopic arm when the arm is extended.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Further advantages and advantageous embodiments of the driverless transport vehicle described here and of the method for moving a semi-trailer by a driverless transport vehicle are apparent from the embodiments described in the following in context of FIGS. 1 to 3. There is shown in:

(2) FIG. 1 a schematic representation of a driverless transport vehicle for moving a semi-trailer according to an embodiment,

(3) FIG. 2 a schematic representation of a telescopic arm of a driverless transport vehicle described here according to a further embodiment, and

(4) FIG. 3 a schematic representation of a driverless transport vehicle for moving a semi-trailer according to a further embodiment.

(5) In the embodiments and figures, identical or identically acting constituents can each be provided with the same reference characters. The illustrated elements and the size ratios thereof among each other are basically not to be regarded as true to scale. Rather, individual elements can be illustrated excessively thickly or largely dimensioned for better representability and/or for better comprehension.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

(6) FIG. 1 shows a driverless transport vehicle 1 according to an embodiment. The driverless transport vehicle 1 comprises a structure referred to as base body 7 afterwards or a corresponding body and a telescopic arm 5 protruding from the base body 7, which comprises a surroundings detection device 6 at an end facing away from the base body 7.

(7) As is apparent from FIG. 3 in a schematic representation of a further embodiment, this driverless transport vehicle 1 can be coupled or is coupled to an indicated semi-trailer 2 or similar trailer. Therein, a coupling device 4 of the driverless transport vehicle 1 is connected to a kingpin 3 of the semi-trailer 2.

(8) As is apparent from FIG. 1, the driverless transport vehicle 1 serves for moving the semi-trailer 2 in particular within a freight yard or similar factory premises W.

(9) Namely, it has turned out that the previous moving in factory premises W, in which respective semi-trailers 2 or trailers are transported in production factories with a classical tractor, is not reasonable, in particular from economical view. Namely, these tractors are designed for the long-distance employment on the road and are not very efficient with respect to the energy consumption in drives in factory premises W, which are mostly only very short in proportion to the long-distance employment. In addition, it often has to be maneuvered on the factory premises W; however, the tractors are not very maneuverable.

(10) For this reason, instead of a semi-trailer tractor, the driverless transport vehicle 1 is presently provided on the factory premises W, which can be automatically coupled to the semi-trailer 2. Hereto, the driverless transport vehicle 1 comprises the coupling device 4 apparent in FIG. 3, which is connectable to the kingpin 3 of the semi-trailer 2 or connected to it in FIG. 3.

(11) As is additionally apparent from FIG. 3, the coupling device 4 comprises an adapter unit for connecting to the kingpin 3 in form- and/or force-fit manner, which here includes a usually employed fifth-wheel coupling 9. Herein, the fifth-wheel coupling 9 comprises a fifth-wheel plate 10, which is carried by the structure or body, which is here referred to as base body 7 of the driverless transport system 1 afterwards. A locking device 11 is integrated in the fifth-wheel plate 10, by means of which the kingpin 3 can be locked to the fifth-wheel plate 10. Thus, the fifth-wheel coupling 9 serves for supporting and carrying the trailer 2 with intervention of the kingpin 3 on the one hand and for locking the kingpin 3 to the fifth-wheel plate 10 on the other hand among other things. Herein, a normalized fifth-wheel coupling 9 and fifth-wheel plate 10 are in particular employed to be able to receive and maneuver as many usual semi-trailers 2 as possible.

(12) Furthermore, the driverless transport vehicle 1 comprises a plurality of drive wheels, of which respective front and rear drive wheels 12, 13 are shown in FIGS. 1 and 3. Here, they are controllable such that the driverless transport vehicle 1 is omnidirectionally movable. For example, at least two drive wheels 12, 13 can be formed such that they can be applied with different drive torques and/or oppositely oriented drive torques and/or oppositely oriented rotational directions. In particular, the driverless transport system 1 can comprise at least one front axle 14 and at least one rear axle 15 and corresponding, associated drive wheels 12, 13, respectively, which are operable with different drive torques and/or oppositely oriented drive torques and/or oppositely oriented rotational directions. Thus, the driverless transport vehicle 1 is for example omnidirectionally movable in vehicle longitudinal direction and vehicle transverse direction. In a particular embodiment, the driverless transport vehicle 1 comprises a front axle 14 with respective, driven and steerable front wheels 12 and two rear axles 15 with respective, driven and steerable rear wheels 13. Hereby, the semi-trailer 2 is particularly well maneuverable.

(13) It is clear that other configurations of driven and steerable wheels of the driverless transport vehicle 1 are also conceivable within the scope of the invention. Therein, the driverless transport vehicle 1 can also comprise rigid and/or non-driven wheels.

(14) Furthermore, the driverless transport vehicle 1 comprises a device 16 for lifting the front end of the semi-trailer 2 such that it can be moved with the aid of its wheels 14, 15 at the rear end of the trailer 2. This device 16 can for example be a hydraulic device, by means of which the trailer 2 can be lifted immediately before and/or during and/or immediately after coupling the kingpin 3 to the fifth-wheel coupling 9, such that it can be moved by the driverless transport vehicle 1. In particular for improving the maneuverability of the trailer 2 and the articulated truck overall, it would optionally also be conceivable that at least one axle and the corresponding wheels 14, 15 of the trailer 2, respectively, are lifted by corresponding control/manipulation.

(15) According to FIG. 3, in the present case, the hydraulic device 16 is arranged between the fifth-wheel coupling 9 and the base body 7 of the driverless transport system 1. Herein, respective hydraulic elements, for example piston-cylinder elements, are for example arranged between the fifth-wheel plate 10 and the base body 7, by means of which the fifth-wheel plate 10 can be lifted and lowered in relation to the base body 7 in vehicle vertical direction.

(16) In order to achieve automatic coupling of the kingpin 3 to the fifth-wheel coupling 9, the coupling device 4 for example comprises respective sensors for automatically coupling to the kingpin 3. Hereby, the position of the fifth-wheel coupling 9 in relation to the kingpin 3 can for example be ascertained. Herein, it would be conceivable to support the fifth-wheel coupling 9 relatively movable to the base body 7 of the driverless transport vehicle 1 in vehicle transverse direction and/or in vehicle longitudinal direction such that the fifth-wheel coupling 9 can be (finely) adjusted in relation to the kingpin 3 according to relative position ascertained by means of the sensor technology until the coupling position between fifth-wheel coupling 9 and kingpin 3 is achieved. If a coarse adjustment between fifth-wheel coupling 5 and kingpin 3 is in particular required, it can be effected by moving the driverless transport vehicle 1 in relation to the kingpin 3. Optionally, the positioning of the fifth-wheel coupling 9 in relation to the kingpin 3 can also be performed exclusively by moving the driverless transport vehicle 1. After achieved coupling position between fifth-wheel coupling 9 and kingpin 3, which is for example detected via corresponding sensor technology, the automatic locking of the kingpin 3 to the fifth-wheel coupling 9 can then be effected by means of the locking device 11.

(17) Decoupling after maneuvering the trailer 1 can be effected in correspondingly reversed order in that the locking device 11 is first detached and then the fifth-wheel coupling 9 is disengaged from the kingpin 3 by assistance by means of the sensor technology, in that for example the driverless transport vehicle 1 is moved and/or the fifth-wheel coupling 9 is moved in relation to the base body 7.

(18) Alternatively to the described device for lifting the fifth-wheel plate 10, the chassis of the driverless transport system 1 can also serve as the device for lifting the front end of the semi-trailer 2. Herein, it would for example be conceivable to support the respective wheels 12, 13 of the driverless transport vehicle 1 on the base body 7 via an air suspension or the like such that lifting and lowering the driverless transport system 1 and thereby also the front end of the trailer 2 can be performed by height variation of respective air springs or the like of the air suspension.

(19) In FIG. 3, the arm 5 is additionally illustrated in a detailed view, which protrudes from the rear end of the base body 7. In the present case, the arm is telescopically movable below the trailer 2. Hereto, the telescopic arm 5 comprises two support wheels 8, which roll on the ground upon extending the telescopic arm 5, at its rear or free end. During drive of the driverless transport vehicle 1, the wheels 8 serve for supporting the arm 5 and thus correspondingly roll with it. With a shorter arm 8, the wheels 8 can optionally be omitted. With a longer arm 8, further wheels can optionally also be provided over the length thereof.

(20) Instead of telescopically elongating or extending and retracting the arm 8, other usual extension and retraction mechanisms by folding, pivoting or similarly moving corresponding parts of the arm would of course also be conceivable.

(21) As is further apparent from FIGS. 2 and 3, a surroundings detection device 6 is provided at the telescopic arm 5, in particular at the rear end thereof. Thus, the surroundings detection device 6 can be positioned in the area of the trailer, in particular of the semi-trailer 2, by means of the arm 8. Herein, the arm 8 with the surroundings detection device 6 arranged thereon is preferably positioned below the structure or the frame of the trailer/semi-trailer 2. Thus, the surroundings detection device 6 can be positioned in a rear part of the vehicle/trailer combination/semi-trailer by the arm 8 such that the surroundings in the area of the trailer/semi-trailer 2 can also be (better) detected. Thus, obstacles in the vicinity of the trailer 2 can be (better) recognized and the autonomously driving vehicle/trailer combination or the articulated truck can be better navigated around them. For example, this is of great advantage in particular in reversing since the driverless transport system can timely intervene or stop and thus avoid dangerous situations in case of obstacles.

(22) Preferably, the arm 8 is formed as long and extendable as the surroundings detection device 6 is positioned at least at the level of or behind a rearmost axle of the trailer 2 in vehicle longitudinal direction and thus can freely detect the rear end of the trailer 2.

(23) Here, the surroundings detection device 6 comprises at least one laser sensor or LIDAR sensor. These LI DAR sensors can be located at the end of the telescopic arm 8 to be able to recognize obstacles in the vicinity of the trailer. However, other technologies for distance and/or speed measurement, for example on radar basis, would alternatively also be conceivable.

(24) The driverless transport vehicle 1 additionally comprises a plurality of sensors for surroundings detection. For example, the driverless transport vehicle 1 can comprise at least four laser sensors or similar sensors at the base body 7. For example, respective sensors can be arranged at four different corners or edges 17, 18 of the base body 7 of the driverless transport vehicle 1. Therein, the driverless transport system 1 can recognize obstacles in the vicinity of the vehicle 1 and of the optionally attached semi-trailer 2 with the aid of the sensors and optionally drive around them or stop.

(25) In addition, the driverless transport vehicle 1 can be connected to a central control of the factory premises for example by means of a transmit and/or receiver unit 19, which is here arranged at a support tower 20, to thus for example be guided to the corresponding trailers 1 and the corresponding unloading and/or loading sites, respectively.

(26) In the present case, the driverless transport vehicle 1 is first coupled to the semi-trailer 2 or similar trailer for moving the semi-trailer 2 by the driverless transport vehicle 1 and the telescopic arm 5 is then extended, in particular in an axial direction of the vehicle, before the trailer/semi-trailer 2 is moved by the driverless transport vehicle 1.