Automatically guided transportation vehicle for containers and method for operating the same and also system with an automatically driven transportation vehicle

Patent metadata

Field	Value
Publication number	US-11247672-B2
Application number	US-201816484758-A
Country	US
Kind code	B2
Filing date	Feb 12, 2018
Priority date	Feb 15, 2017
Publication date	Feb 15, 2022
Grant date	Feb 15, 2022

Abstract

A transportation vehicle for containers has a vehicle controller for automatically driving and controlling the speed of the transportation vehicle. The transportation vehicle includes a sensor apparatus for object identification, with the sensor apparatus interacting with the vehicle controller such that a movement region of the transportation vehicle can be ascertained. The transportation vehicle is configured to come to a standstill within the movement region by a braking process during a braking time, and that a movement region of an object that is identified by the sensor apparatus can be ascertained, with the object being moved within the movement region during the braking time of the transportation vehicle, so that the permissible speed of the transportation vehicle can be automatically reduced by the vehicle controller, and so that the two movement regions do not touch after the reduction in the permissible speed.

First claim

The invention claimed is:

1. A transport vehicle for containers comprising a vehicle controller operable to automatically guide and control a speed of the transport vehicle, wherein the transport vehicle has a sensor apparatus for object recognition which cooperates with the vehicle controller to ascertain a movement area of the transport vehicle within which the transport vehicle can come to a standstill by a braking procedure during a braking time, and to ascertain a movement area of an object recognized via the sensor apparatus within which the object can be moved during the braking time of the transport vehicle, wherein a permissible speed of the transport vehicle can be reduced automatically by the vehicle controller such that the two movement areas do not come into contact with one another after the reduction in the permissible speed, wherein the movement area of the object is ascertained on the basis of kinematic limits of a worst-case maneuver of the recognized object.

2. The transport vehicle as claimed in claim 1 , wherein the sensor apparatus is configured to recognize as an object at least one manually guided transport vehicle and/or a person and/or an automatically guided transport vehicle.

3. The transport vehicle as claimed in claim 1 , wherein the sensor apparatus is configured to detect a position, speed and movement direction of the object and from this the movement area of the object is ascertained.

4. The transport vehicle as claimed in claim 3 , wherein the sensor apparatus has a detection region that is dimensioned such that an object can be recognized before the movement areas of the transport vehicle and the object come into contact with one another.

5. The transport vehicle as claimed in claim 4 , wherein the vehicle controller and the sensor apparatus are configured to continuously ascertain the movement areas of the transport vehicle and the object and to adapt them in dependence upon the current speed of the transport vehicle.

6. The transport vehicle as claimed in claim 1 , wherein the sensor apparatus has a detection region that is dimensioned such that an object can be recognized before the movement areas of the transport vehicle and the object come into contact with one another.

7. The transport vehicle as claimed in claim 1 , wherein the vehicle controller and the sensor apparatus are configured to continuously ascertain the movement areas of the transport vehicle and the object and to adapt them in dependence upon a current speed of the transport vehicle.

8. The transport vehicle as claimed in claim 1 , wherein said transport vehicle is disposed in a system comprising a first lane provided for a manually guided transport vehicle and a second lane provided for the automatically guided transport vehicle and wherein the two lanes are separated from one another by a barrier in order to delimit the movement area of the manually guided transport vehicle.

9. A method for operating a transport vehicle for containers that has a vehicle controller, comprising:
automatically guiding the transport vehicle and automatically controlling a speed of the transport vehicle via the vehicle controller;
ascertaining a movement area of the transport vehicle within which the transport vehicle can come to a standstill by means of a braking procedure during a braking time, wherein the movement area of the transport vehicle is ascertained utilizing a sensor apparatus in cooperation with the vehicle controller;
ascertaining a movement area of an object recognized via the sensor apparatus within which the object is moveable during the braking time of the transport vehicle;
wherein a permissible speed of the transport vehicle is configured to be reduced automatically by the vehicle controller such that the two movement areas do not come into contact with one another after the reduction in the permissible speed; and
wherein the movement area of the object is ascertained on the basis of kinematic limits of a worst-case maneuver of the recognized object.

10. The method as claimed in claim 9 , further comprising recognizing as an object via the sensor apparatus at least one manually guided transport vehicle and/or a person and/or an automatically guided transport vehicle.

11. The method as claimed in claim 9 , wherein said ascertaining the movement area of the object further comprises ascertaining a position, speed and movement direction of the object via the sensor apparatus and from this the movement area of the object is ascertained.

12. The method as claimed in claim 11 , wherein the sensor apparatus has a detection region that is dimensioned such that an object can be recognized before the movement areas of the transport vehicle and the object come into contact with one another.

13. The method as claimed in claim 12 , further comprising continuously ascertaining the movement area of the transport vehicle and continuously ascertaining the movement area of the object via the vehicle controller and the sensor apparatus and to adapt the movement area of the transport vehicle and the movement area of the object in dependence upon a current speed of the transport vehicle.

14. The method as claimed in claim 9 , wherein the sensor apparatus has a detection region that is dimensioned such that an object can be recognized before the movement areas of the transport vehicle and the object come into contact with one another.

15. The method as claimed in claim 9 , further comprising continuously ascertaining the movement area of the transport vehicle and continuously ascertaining the movement area of the object via the vehicle controller and the sensor apparatus and adapting the movement area of the transport vehicle and the movement area of the object in dependence upon a current speed of the transport vehicle.

16. A system comprising a transport vehicle for containers which has a vehicle controller operable to automatically guide and control a speed of the transport vehicle, wherein a sensor apparatus for object recognition is provided which cooperates with the vehicle controller to ascertain a movement area of the transport vehicle within which the transport vehicle can come to a standstill by a braking procedure during a braking time, and to ascertain a movement area of an object recognized via the sensor apparatus within which the object can be moved during the braking time of the transport vehicle, wherein a permissible speed of the transport vehicle can be reduced automatically by the vehicle controller such that the two movement areas do not come into contact with one another after the reduction in the permissible speed, wherein the movement area of the object is ascertained on the basis of kinematic limits of a worst-case maneuver of the recognized object.

Assignees

• Konecranes Global Corp

Inventors

• Wieschemann Armin
• Aldejohann Stefan
• Schulz Heiko
• Schmidt-Ewig Jan Philipp
• Eichner Heinz

Classifications

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• B60W10/18

  including control of braking systems · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W10/04

  including control of propulsion units · CPC title