Method and system for operating an automatically guided transport vehicle for containers

Patent metadata

Field	Value
Publication number	US-11269359-B2
Application number	US-201816611079-A
Country	US
Kind code	B2
Filing date	Apr 25, 2018
Priority date	May 5, 2017
Publication date	Mar 8, 2022
Grant date	Mar 8, 2022

Abstract

A method and system are provided for operating an automatically guided container transport vehicle that can be automatically guided during forward driving and during rearward driving. The transport vehicle includes a towing vehicle and a trailer with a loading surface for at least one container. The transport vehicle has a vehicle control system for controlling a steering system and a travel drive of the transport vehicle in such a way that the transport vehicle follows a nominal route. The nominal route is automatically pre-defined taking into account a trajectory of the transport vehicle.

First claim

The invention claimed is:

1. A method for operating automated guided transport vehicles, each transport vehicle comprising a towing vehicle and a trailer having a loading surface for containers, the method comprising:
determining a trajectory of one of the transport vehicles;
specifying a desired route for the transport vehicle based on the trajectory;
determining actual values of a position and orientation of the transport vehicle based at least partially on an articulation angle between the towing vehicle and the trailer;
comparing the specified desired route with the actual values of the position and orientation of the transport vehicle;
guiding the transport vehicle in an automated manner during forwards travel and also during rearwards travel;
actuating a steering mechanism and a travel drive of the transport vehicle with a vehicle controller at the towing vehicle such that the transport vehicle follows the desired route;
reducing a deviation of the actual values from the desired route by correspondingly actuating the steering mechanism and/or the travel drive;
operating the steering mechanism to adjust a steering angle relative to an actual value of the articulation angle between the towing vehicle and the trailer; and
determining different trajectories and specifying different desired routes for different ones of the transport vehicles.

2. The method as claimed in claim 1 , wherein the trajectory is determined at least partially based on kinematic boundary conditions of the transport vehicle.

3. The system as claimed in claim 1 , wherein said reducing a deviation of the actual values from the desired route comprises actuating the steering mechanism and/or the travel drive with the vehicle controller.

4. The system as claimed in claim 1 , wherein said determining the actual values of the position and orientation of the transport vehicle comprises sensing the articulation angle between the towing vehicle and the trailer with a sensor coupled to the towing vehicle.

5. A system for operating automated guided transport vehicles for containers, the system comprising:
a management system; and
transport vehicles configured to be guided in an automated manner during forwards travel and also during rearwards travel;
wherein each transport vehicle comprises a towing vehicle and a trailer having a loading surface for at least one container;
wherein the towing vehicle comprises a vehicle controller for actuating, in an automated manner, a steering mechanism and a travel drive of the respective transport vehicle such that each respective transport vehicle follows a desired route;
wherein the management system is configured and operable to:
specify the desired route in consideration of a trajectory of the respective transport vehicle and to transmit the desired route to the vehicle controller, and wherein
determine different trajectories and specify different desired routes for different transport vehicles;
determine actual values of a position and orientation of each transport vehicle based at least partially on an actual value of an articulation angle between the towing vehicle and the trailer; and
adjust a steering angle relative to the actual value of the articulation angle between the towing vehicle and the trailer;

wherein the management system and the vehicle controllers are configured and operable to:
actuate the steering mechanism and the travel drive of each transport vehicle such that each transport vehicle follows the desired route;
compare the specified desired route of each transport vehicle with the actual values of a position and an orientation of each transport vehicle; and
reduce a deviation of the actual values from the desired route by correspondingly actuating the steering mechanism or the travel drive.

6. The system as claimed in claim 5 , wherein the loading surface is delimited by guide elements for guiding and aligning the at least one container to be placed on the loading surface.

7. The system as claimed in claim 5 , wherein the trajectory of each transport vehicle is determined at least partially based on kinematic boundary conditions of each transport vehicle.

8. The method as claimed in claim 6 , wherein said reducing a deviation of the actual values from the desired route comprises actuating the steering mechanism and/or the travel drive with the vehicle controller.

9. The method as claimed in claim 5 , wherein said determining the actual values of the position and orientation of the transport vehicle comprises sensing the articulation angle between the towing vehicle and the trailer with a sensor.

Assignees

• Konecranes Global Corp

Inventors

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

Classifications

• G05D2109/10

  Land vehicles · CPC title

• G05D1/69

  Coordinated control of the position or course of two or more vehicles · CPC title

• G05D1/65

  Following a desired speed profile · CPC title

• B60D1/62

  involving supply lines, electric circuits or the like · CPC title

• B62D15/02

  Steering position indicators {; Steering position determination; Steering aids} · CPC title