System and method for determining a lateral offset of a swap body in relation to a vehicle

Patent metadata

Field	Value
Publication number	US-2022105856-A1
Application number	US-201917255563-A
Country	US
Kind code	A1
Filing date	May 27, 2019
Priority date	Jun 26, 2018
Publication date	Apr 7, 2022
Grant date	—

Abstract

The invention discloses a system and a method for determining a lateral offset of a swap body in relation to a vehicle while aligning the vehicle under the swap body. Crossed pairs of distance sensors are used, which detect distances to the vertical surfaces on guide elements on the swap body to determine a lateral offset of the swap body in relation to the vehicle. The detected distances are evaluated by a signal processing device.

First claim

1 . A system ( 2 ) for determining a lateral offset of a swap body ( 4 ) in relation to a vehicle ( 1 ) while aligning the vehicle ( 1 ) under the swap body ( 4 ), characterized by at least two distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) that can be placed on the vehicle ( 1 ), each of which is configured to determine the distance (D 1 , D 2 , D 3 , D 4 ) from the vehicle ( 1 ) to predetermined measurement points (M 1 , M 2 , M 3 , M 4 ) on the swap body ( 4 ) and output a corresponding signal, wherein each distance sensor ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) emits a measurement beam ( 10 . 1 , 10 . 2 , 10 . 3 , 10 . 4 ) for measuring the distance (D 1 , D 2 , D 3 , D 4 ), which is oriented in relation to a vertical longitudinal plane (V) through the vehicle ( 1 ) such that it converges on the vertical longitudinal plane starting from the respective distance sensor ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ), and a signal processing device ( 14 ) that is configured to determine a lateral offset of the swap body ( 4 ) to the vehicle ( 1 ) based on the signals output by the at least two distance sensors ( 81 , 8 . 2 , 8 . 3 , 8 . 4 ), and output a corresponding output signal.

2 . The system ( 2 ) according to claim 1 , wherein two of the at least two distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are placed at substantially the same longitudinal position in the longitudinal direction of the vehicle ( 1 ).

3 . The system ( 2 ) according to claim 2 , wherein two of the at least two distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are placed symmetrically in relation to the vertical longitudinal plane (V) through the vehicle ( 1 ).

4 . The system ( 2 ) according to claim 2 , wherein the measurement beams ( 10 . 1 , 10 . 2 , 10 . 3 , 10 . 4 ) are oriented such that they pass by or cross one another before reaching the respective measurement points (M 1 , M 2 , M 3 , M 4 ).

5 . The system ( 2 ) according to claim 2 , wherein the measurement beams ( 10 . 1 , 10 . 2 , 10 . 3 , 10 . 4 ) are oriented such that they do not pass by or cross one another before reaching the respective measurement points (M 1 , M 2 , M 3 , M 4 ).

6 . The system ( 2 ) according to any of the preceding claims, wherein the at least two distance sensors ( 8 , 8 . 2 , 8 . 3 , 8 . 4 ) are arranged such that the direction of the measurement beams ( 10 . 1 , 10 . 2 , 10 . 3 , 10 . 4 ) contains a component in the upward vertical direction.

7 . The system ( 2 ) according to claim 6 , wherein at least two of the distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are arranged such that the direction of the measurement beams ( 10 . 1 , 10 . 2 , 10 . 3 , 10 . 4 ) contains a component in the longitudinal direction of the vehicle ( 1 ) toward the rear.

8 . The system ( 2 ) according to claim 6 , wherein at least two of the distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are arranged such that the direction of the measurement beams ( 10 . 1 , 10 . 2 , 10 . 3 , 10 . 4 ) contains a component in the lateral direction of the vehicle ( 1 ).

9 . The system ( 2 ) according to any of the preceding claims, wherein two ( 8 . 1 , 8 . 2 ) of the at least two distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are placed toward the rear of the vehicle ( 1 ).

10 . The system ( 2 ) according to any of the preceding claims, wherein two ( 8 . 3 , 8 . 4 ) of the at least two distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are placed toward the front of the vehicle ( 1 ).

11 . The system ( 2 ) according to claim 1 , wherein two of the at least two distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are spaced apart in the longitudinal direction of the vehicle ( 1 ), and the system ( 2 ) is configured to store reference distances for the respective distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) based on measured distances (D 1 , D 2 , D 3 , D 4 ) when the swap body ( 4 ) is on the vehicle ( 1 ) or when the swap body ( 4 ) is correctly positioned and oriented over a vehicle ( 1 ), and determine a lateral offset of the swap body ( 4 ) to the vehicle ( 1 ) in a subsequent loading of the swap body ( 4 ) based on a comparison of the stored reference distances with the actual distances detected with the distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ), and output a corresponding output signal.

12 . The system ( 2 ) according to claim 11 , wherein the at least two distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are placed at the same distance to the vertical longitudinal plane (V) through the vehicle ( 1 ).

13 . The system ( 2 ) according to either of the claim 11 or 12 , wherein the at least two distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are arranged such that a direction of the measurement beams ( 10 . 1 , 10 . 2 , 10 . 3 , 10 . 4 ) contains a component in the upward vertical direction.

14 . The system ( 2 ) according to claim 13 , wherein at least two of the distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are arranged such that the direction of the measurement beams ( 10 . 1 , 10 . 2 , 10 . 3 , 10 . 4 ) contains a component in the longitudinal direction of the vehicle ( 1 ) toward the rear.

15 . The system ( 2 ) according to claim 13 or 14 , wherein two of the at least two distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are arranged such that the direction of the measurement beams ( 10 . 1 , 10 . 2 , 10 . 3 , 10 . 4 ) contains a component in the lateral direction of the vehicle ( 1 ).

16 . The system ( 2 ) according to any of the preceding claims, wherein the distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are laser sensors.

17 . The system ( 2 ) according to any of the preceding claims, wherein each of the measurement points (M 1 , M 2 , M 3 , M 4 ) is located on a guide assembly on the undersurface ( 41 ) of the swap body ( 4 ).

18 . The system ( 2 ) according to claim 17 , wherein the guide assembly contains two guide rails ( 42 , 43 ), wherein the measurement points (M 1 , M 2 , M 3 , M 4 ) are located on an inner surface ( 42 . 1 , 43 . 1 ) of the guide rails ( 42 , 43 ) or an outer surface ( 42 . 2 , 42 . 3 ) of the guide rails ( 42 , 43 ).

19 . The system ( 2 ) according to any of the preceding claims, also comprising a longitudinal distance sensor ( 18 ) pointed horizontally toward the rear, which is configured to determine a distance between the vehicle ( 1 ) and the swap body ( 4 ) in the longitudinal direction of the vehicle ( 1 ), wherein the signal processing device ( 14 ) is configured to output control signals that assist in the alignment based on the distances measured by the distance sensors and the longitudinal distance sensor ( 18 ).

20 . A vehicle ( 1 ) that has a receiving structure ( 13 ) for receiving the swap body ( 4 ) and a system ( 2 ) according to any of the claims 1 to 18 , wherein the distance sensors ( 8 . 1 , 8 . 2 , 8 . 3 , 8 . 4 ) are located on the receiving structure ( 13 ).

21 . The vehicle ( 1 ) according to claim 20 , wherein the height of the receiving structure ( 13 ) is adjustable.

22 . The vehicle ( 1 ) according to claim 21 , wherein the vehicle ( 1 ) contains a control unit for autonomous operation of the vehicle, that enables an autonomous operating mode at least when receiving the swap body ( 4 ), wherein the control unit for autonomous operation of the vehicle is sent the output signal from the signal processing device ( 14 ).

23 . The vehicle ( 1 ) accordi

Assignees

• Zahnradfabrik Friedrichshafen

Inventors

• Kniess Patrick
• JäGER THOMAS
• Häfele Alexander
• Abdo Basem
• Banerjee Alexander

Classifications

• G01S17/08

  for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) · CPC title

• B60P1/649 Primary

  Guiding means for the load-transporting element · CPC title

• B62D15/0285

  Parking performed automatically · CPC title

• G01S17/87

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

• G01S17/88

  Lidar systems specially adapted for specific applications · CPC title