System and method for determining a position and/or orientation of a swap body in relation to a vehicle

Patent metadata

Field	Value
Publication number	US-12007780-B2
Application number	US-201917253476-A
Country	US
Kind code	B2
Filing date	May 27, 2019
Priority date	Jun 26, 2018
Publication date	Jun 11, 2024
Grant date	Jun 11, 2024

Abstract

The invention relates to a system for determining a position and orientation of a swap body in relation to a vehicle while aligning the vehicle under the swap body. The system has three distance sensors which can be placed on the vehicle oriented in the longitudinal direction thereof, each of which is configured to determine a longitudinal distance between the vehicle and predetermined measurement points on the swap body, and output a corresponding signal. The system has a signal processing device that is configured to determine a relative position and/or relative orientation of the swap body to the vehicle based on the signals output by the three distance sensors, and output a corresponding output signal.

First claim

The invention claimed is:

1. A system for determining a position and orientation of a swap body in relation to a vehicle while aligning the vehicle under the swap body, comprising:
at least three distance sensors placed on the vehicle oriented in the longitudinal direction thereof, each of which is configured to determine a longitudinal distance between the vehicle and predetermined measurement points on the swap body, and output a corresponding signal; and
a signal processor that is configured to determine a relative position and a relative orientation of the swap body to the vehicle based on the signals output by the at least three distance sensors, and output a corresponding output signal,
wherein each of the three distance sensors emits a measurement beam for measuring the longitudinal distance, which runs parallel to a longitudinal axis of the vehicle,
wherein two distance sensors are arranged at a lateral distance to one another on the vehicle, and
wherein the two distance sensors are aligned on the vehicle such that their respective measurement beams pass laterally by guide rollers located behind the distance sensors in the longitudinal direction of the vehicle.

2. The system according to claim 1 , wherein the two distance sensors can be arranged on the vehicle symmetrically to one another in relation to a vertical longitudinal plane through the vehicle.

3. The system according to claim 1 , wherein the two distance sensors are aligned on the vehicle such that their respective measurement beams pass laterally outside guide rollers located behind the respective distance sensors in the longitudinal direction of the vehicle.

4. The system according to claim 1 , wherein the two distance sensors are aligned on the vehicle such that their respective measurement beams pass by the guide rollers located behind the respective distance sensors in the longitudinal direction of the vehicle at a tangent to a conical section of the guide rollers and substantially at half the height of the guide rollers.

5. The system according to claim 1 , further comprising:
a calibration device configured to provide a feature that at least one of the three distance sensors is to be aimed at,
wherein the at least one of the three distance sensors is configured to be aimed at the feature.

6. The system according to claim 5 , wherein the feature is at least one of a mark or a hole through which light passes.

7. The system according to claim 5 , wherein the calibration device is configured to be placed in a guide roller hole for the guide rollers.

8. The system according to claim 5 , wherein the distance sensors are configured to be laterally and vertically positioned on the vehicle and have an orientation of the distance sensors adjusted.

9. The system according to claim 1 , wherein one distance sensor is placed at a higher position than the other two distance sensors, to detect an end surface of the swap body.

10. The system according to claim 1 , wherein the three distance sensors are laser sensors.

11. A vehicle for receiving a swap body with a receiving structure for receiving a swap body, the vehicle comprising the system according to claim 1 .

12. The vehicle according to claim 11 , wherein the vehicle comprises a controller for autonomous operation, which at least enables autonomous operation while aligning the swap body, wherein the controller for autonomous operation receives the output signal from the signal processor.

13. A method for determining a position and orientation of a swap body in relation to a vehicle while aligning the vehicle under the swap body with a system or vehicle, the method comprising:
determining a longitudinal distance between the vehicle and predefined measurement points on the swap body with a plurality of distance sensors arranged on the vehicle and oriented toward a rear in the longitudinal direction of the vehicle,
positioning the plurality of distance sensors such that they can detect the predefined measurement points on the swap body when aligning the vehicle, wherein at least two of the measurement points lie on the inner surfaces of guide rails forming a guide channel on the swap body, and at least one measurement point lies on an end surface of the swap body, and
determining a relative position and a relative orientation of the swap body to the vehicle based on the determined longitudinal distance.

14. The method according to claim 13 , further comprising: calibrating at least two of the plurality of distance sensors such that their respective calibrated measurement beams pass laterally outside guide rollers located behind the respective distance sensors in the longitudinal direction of the vehicle.

15. The method according to claim 14 , wherein calibrating the at least two of the plurality of distance sensors further comprises:
placing a calibration device in each guide hole for the guide rollers located behind the at least two of the plurality of distance sensors in the longitudinal direction of the vehicle; and
positioning the at least two of the plurality of distance sensors such that their positions and orientations correspond to specifications based on the calibration device.

16. A method for determining a position and orientation of a swap body in relation to a vehicle while aligning the vehicle under the swap body with a system or vehicle, the method comprising:
determining a longitudinal distance between the vehicle and predefined measurement points on the swap body with a plurality of distance sensors arranged on the vehicle and oriented toward a rear in the longitudinal direction of the vehicle,
calibrating at least two of the plurality of distance sensors such that their respective calibrated measurement beams pass laterally outside guide rollers located behind the respective distance sensors in the longitudinal direction of the vehicle, and
determining a relative position and a relative orientation of the swap body to the vehicle based on the determined longitudinal distance.

17. The method according to claim 16 , wherein calibrating the at least two of the plurality of distance sensors further comprises:
placing a calibration device in each guide hole for the guide rollers located behind the at least two of the plurality of distance sensors in the longitudinal direction of the vehicle; and
positioning the at least two of the plurality of distance sensors such that their positions and orientations correspond to specifications based on the calibration device.

Assignees

• Zahnradfabrik Friedrichshafen

Inventors

• Kniess Patrick

Classifications

• G05D1/661

  Docking at a base station (delivering or retrieving payloads G05D1/667) · CPC title

• G01S17/87

  Combinations of systems using electromagnetic waves other than radio waves · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title

• B60P1/649 Primary

  Guiding means for the load-transporting element · CPC title

• G01S17/931

  of land vehicles · CPC title