DESCRIPTION
FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENTS RULES, 2003
COMPLETE SPECIFICATION
[See section 10, Rule 13]
Vehicle, logistics system and method for transferring a unit load;
FRAUNHOFER-GESELLSCHAFT ZUR FÖRDERUNG DER ANGEWANDTEN
FORSCHUNG E.V., A CORPORATION ORGANIZED AND EXISTING UNDER THE
LAWS OF GERMANY, WHOSE ADDRESS IS HANSASTR. 27C, 80686
MÜNCHEN, GERMANY
THE FOLLOWING SPECIFICATION PARTICULARLY DESCRIBES THE INVENTION AND
THE MANNER IN WHICH IT IS TO BE PERFORMED.
2
Vehicle, logistics system and method for transferring a unit load
The invention relates to a vehicle, a logistics system and a method for transferring a unit
load.
5 Vehicle or logistics system or method according to the invention can be used in particular in
the field of sorting systems for charge carriers or unit loads in the form of packets in the
region of sorting systems and in particular in a packet center or for unit loads in the form of
luggage items of an airport or generally in distribution centers. The unit loads can be
delivered to the region of a sorting system in particular by transport vehicles such as trucks,
10 line vehicles or ships or aircraft.
US 3,327,179 A describes a vehicle with a trailer for charging a charge. The charge is moved
onto a conveyor belt by pushing the trailer on a roadway section with a gradient and by
moving the trailer onto a bollard besides the roadway section.
The publication DE 102019 122 055 A1 describes a vehicle with a charge hold. For the
15 delivery of cargo, which is located on the surface of the cargo hold, to a charge takeover
station the coefficient of friction of the surface of the cargo hold can be reduced.
A transport system with a transport device is known from WO 2008/148513 A1.
The object of the invention is to provide a vehicle and a method, by means of which unit
loads located on the vehicle can be moved in an efficient manner to a unit load receiving
20 device.
These objects are achieved with the features of the independent claims. Further
embodiments of the invention are specified in the dependent claims referred to in each case.
The term "unit loads" herein generally refers to a charge carrier or containers can be
understood in which material to be transported in each case, such as piece goods or also
25 liquids or gas, are contained or are not contained. Unit loads can also be packages or, in
particular, closed containers which are open on an upper side in the direction of gravity.
The expression "along" herein means in connection with a directional indication referred to
herein, which in particular also corresponds to the course of a contour line or a surface or a
3
direction of a component or a structural component such as an axis or a shaft or a central
axis thereof, with respect to a reference direction or a reference axis, that a portion of the
course or the tangent to a respective contour line or respective surface or the direction in an
explicitly or implicitly predefined viewing direction deviates locally or in a section at an angle
5 of a maximum of 45 degrees and in particular of a maximum of 30 degrees from the
respective reference direction or reference axis, to which the respective directional indication
is related.
The expression "transverse" herein means in connection with a directional indication referred
to herein, which in particular also corresponds to the course of a contour line or a surface or
10 a direction of a component or a structural component such as an axis or a shaft or a central
axis thereof, with respect to a reference direction or a reference axis, that a portion of the
course or the tangent to a respective contour line or respective surface or the direction in an
explicitly or implicitly predetermined viewing direction deviates locally or in a section at an
angle which is between 45 degrees and 135 degrees, and preferably at an angle which is
15 between 67 degrees and 113 degrees from the respective reference direction or reference
axis, to which the respective directional indication is related.
The term "movement direction reversal" with respect to a reversal point of a trajectory of a
vehicle means herein a vehicle movement along a trajectory in which the tangent at this
reversal point to the trajectory section which guides to this reversal point, runs along the
20 tangent in the same reversal point to a trajectory section which guides from this reversal
point.
The term "distance" in particular between two surfaces is understood here in particular as the
shortest distance.
More specifically, herein, a "distance" may be between two objects
25 or two surfaces or reference points, in particular the shortest distance or the shortest
distance between the two objects or surfaces or reference points wherein the shortest
distance or the shortest distance is not equal to zero, unless explicitly stated herein in this
respect.
A "longitudinal direction" or another reference direction of a reference line, such as in
30 particular a central axis or a centrally extending line or a center line of at least one structural
component or a component and in particular of a guide path is herein, in particular, a
4
connection line of the centers of gravity of the respectively smallest cross-sectional areas of
the respective structural component along a determined or predetermined direction or
between two determined or predetermined ends. In the case that the reference line can run
in a curved or at least partially curved manner, the reference direction can generally be
5 understood as a local longitudinal direction. However, the reference direction herein can also
be understood as the direction of a reference line, which is defined as straight-line, wherein,
in order to determine the straight reference line, a line is used the direction of which relative
to the curved line in the sum results in the smallest deviation between these lines or the
smallest deviation area. The same applies, if a straight reference line is to be derived from a
10 curved line herein.
In particular, the term "substantially" with respect to a feature or value is understood herein to
mean that the feature has a deviation of 20% and specifically of 10% from the feature or its
geometric property or of the value.
"Orientation" with respect to a surface and in particular surface is understood herein to mean
15 the normal to the respective surface. In the event that the surface concerned is not a straight
but, for example, a curved surface, in order to determine the surface normals, the normal can
be used on a straight surface of the same size, for the position of which the smallest
deviation results in the sum relative to the curved surface.
An "extension" of a surface portion is understood to mean a direction of a planar surface
20 portion which runs along the surface portion which is referred to and has such a position with
respect thereto in which the sum of the deviation amounts between the two surface sections
is minimal. With respect to a length amount of the extent of a surface portion is understood
herein as a length of a fictitious surface portion of the same size in a direction to be defined
which has a position relative to the referenced surface portion in which the sum of the
25 deviation amounts between the two surface sections is minimal.
The term "continuous” or “continuously connecting”, in particular with respect to a surface or
a structural component extending in at least one longitudinal direction, such as a skin, a plate
or wall, it will be understood herein that the surface or structural component extends without
interruption.
30 By a "continuous course” of a line or edge or surface is meant that the surface does not have
a corner, as seen along a reference direction, over the entire width extending transversely to
5
the reference direction, i.e. it comprises a differentiable course. By a "curved course” of a line
or edge or surface is meant that the surface does not have a corner, as seen along a
reference direction, over the entire width extending transversely to the reference direction,
i.e. has a differentiable profile.
5 A "uniformly curved profile" is understood herein to mean a curvature without a turning point.
The term "operation area" is understood herein to mean a range of movement of the vehicles
or devices described herein when they are moved or move as intended. The operation area
provides, in particular, a surface which is an operation surface or driving support for the
vehicle according to the invention. The operation surface or contact support is a surface
10 which extends, for example, in a planar manner. In this case, the operation surface can have
a continuous course. Alternatively or additionally, the operation surface may have steps,
small ramps, thresholds. The operation surface can also be formed from floors of a plurality
of halls.
The vehicle according to the invention is provided in particular for carrying out driving
15 movements on an operation surface of an operation area. The operation surface is formed as
a contact support for the vehicle. The operation surface may be a continuous surface, or a
discontinuous surface, such as a grid, wherein the operation surface forms a surface that
extends planar. In this case, the surface may also have steps and shapes such as ramps or
steps or channels.
20 The term "position" of a point such as a reference point or a body is referred to herein as the
position of the point as the reference point or the body defined in surface coordinates/spatial
coordinates and, in particular, in the three spatial coordinates. In the case of a position of a
body, in particular the position of a center or center point and in particular the center of
gravity of the body is understood here.
25 The vehicle according to the invention is in particular a self-controlling vehicle, that is to say it
can perform predetermined tasks without manual control, thus the driving movements of the
vehicle designed for task fulfillment are executed automatically that is to say without manual
intervention.
The term "vehicle state" herein refers to a state of the vehicle defined by one or more of the
30 following: a position, a velocity, and a current orientation of the vehicle in particular a
longitudinal axis of the vehicle. Vehicle state can be, in particular, a vehicle target state or a
6
vehicle actual state of the vehicle, which is a temporally current vehicle state.
The combination of a velocity and a (travel) direction of a vehicle can be defined by a velocity
vector of the vehicle, since this vector indicates the magnitude of the velocity and the (travel)
direction of the vehicle. Velocity vector is understood herein to mean a combination of data
5 indicating the velocity and the (travel) direction of the vehicle. The velocity vector may also
define the state at which the vehicle is not moved, i.e., the magnitude of the velocity is equal
to zero.
The term "orientation" of a vehicle is understood to mean a direction of a defined or
predetermined longitudinal axis of the vehicle. The longitudinal axis may in particular be a
10 center line or center axis of the vehicle. The orientation of the vehicle is in particular a
direction which can be stored as a reference in the control function. The orientation of a
vehicle can in particular coincide with the direction of travel of the vehicle which has the
vehicle at a neutral position of the running gear or the wheels of the running gear and in
particular a neutral position of the running gear or of the wheels of the running gear set by a
15 steering device.
The position and the velocity of the vehicle may in particular be related to a predetermined
reference point of the vehicle.
"Self-controlling" is understood herein with reference to a vehicle in particular to mean that
the vehicle fulfills a transfer mission task on the basis of target specifications to a control
20 function and control commands determined therefrom or control commands to a drive device
of the vehicle for controlling the vehicle for a movement thereof along a trajectory. In this
case, the transfer mission task includes in particular transporting a unit load conveyed or
carried by a vehicle by moving the vehicle along a trajectory on the basis of control
commands or adjustment commands transmitted to the drive device connected to the drive
25 device transmitted control commands or control commands and the transfer or movement of
the unit load from the vehicle to or on the unit load receiving device.
"Trajectory" is understood herein to mean a course of a path that a vehicle has traveled or is
intended to travel due to a mission task. The trajectory and in particular a target trajectory
can be defined as a mathematical function or as a series of discrete points or as a
30 combination of a mathematical function and a series of discrete points.
A "target speed profile" is used herein to describe a predefined or determined row or a profile
7
of target velocities along a trajectory and in particular a target trajectory and in the transfer
region of the target trajectory or in a section of these trajectories. The target velocities can be
constant or variable along the respective trajectory. The target acceleration is also defined at
a point of the target trajectory at a target velocity.
5 Herein, "transfer acceleration" of the vehicle at the respective point in time is understood to
mean an current transfer acceleration which is to be achieved in particular in order that, in
the event of a course of the transfer region of the target trajectory or current trajectory, the
unit load located on a receiving component of the vehicle is transferred by its mass inertia
from the receiving component to the unit load receiving device.
10 The term "function" is understood herein to mean a functional relationship or an algorithm
which is stored in a relevant device. For example, the target trajectory determination function
can be realized by an algorithm which is realized in the vehicle system or the logistics central
device.
The control commands are determined or generated at discrete points in time by the vehicle
15 control function. For this purpose, the vehicle system can have a clock generator which
determines or generates the control commands at predetermined times in a predetermined
iteration rate and transmits it to the drive device.
Vehicle according to the invention is provided for transferring a unit load to a unit load
receiving device in an operation area.
20 According to an embodiment of the vehicle according to the invention for transferring a unit
load to a unit load receiving device in an operation area, it is provided that the vehicle has: a
running gear, a drive device which is connected to the running gear and drives the running
gear on the basis of control commands for adjusting a velocity vector of the vehicle, and a
vehicle frame arranged on the running gear and having a receiving component for receiving
25 the unit load, wherein the vehicle comprises a vehicle system with a vehicle control function,
wherein the vehicle control function uses or determines target trajectory follow-up commands
as control target specifications with which the vehicle is moved on a vehicle movement path
along a target trajectory, wherein the target trajectory runs between an initial point and an
end point and comprises a transfer region with a target transfer point associated with the unit
30 load receiving device,
8
wherein the vehicle control function uses or determines, at least for the transfer region of the
target trajectory, a target speed profile as control target specification,
wherein the vehicle control function comprises a drive control function which converts the
control target specifications into control commands which define a respective current target
5 velocity vector with respect to the respective actual vehicle state,
wherein the drive device, on the basis of the control commands, realizes a transfer
acceleration of the vehicle at least in a section comprising the target transfer point in which
the unit load located on the receiving component of the vehicle is moved by its mass inertia
onto the unit load receiving device.
10 According to an embodiment of the vehicle according to the invention for transporting and
transferring a unit load to a unit load receiving device in an operation area, said vehicle
comprises: a running gear, a drive device which is connected to the running gear and drives
the running gear on the basis of control commands for adjustment of a velocity vector of the
vehicle, and a vehicle frame arranged on the running gear and comprising a receiving
15 component for receiving the unit load, wherein the vehicle comprises a vehicle system with:
a vehicle control function, which is functionally connected to the drive device and determines
control commands on the basis of control target specifications and transmits said commands
to the drive device in order to adjust a respective current velocity vector of the vehicle,
wherein the vehicle control function transmits target trajectory follow-up commands as
20 control commands to the drive device with which the vehicle is moved along a target
trajectory on a vehicle movement path, wherein the target trajectory runs between an initial
point and an end point and comprises a transfer region with a target transfer point assigned
to the unit load receiving device,
wherein the vehicle control function transmits velocity commands as control commands to
25 the drive device which sets a transfer velocity of the vehicle in the target transfer point on the
basis of the control target specifications,
wherein the shape of the transfer region, the position of the transfer point relative to the unit
load receiving device and the transfer velocity are set in such a way that the unit load located
on the receiving component of the vehicle is moved by its mass inertia onto the unit load
30 receiving device.
9
The embodiments of the vehicle according to the invention, in combination with otherwise,
any variant or embodiment of the vehicle described or contained herein, may provide that the
vehicle control function comprises:
a target trajectory follow-up function which, when the vehicle is moved, puts current vehicle
5 actual states at least with a vehicle actual position relative to a target trajectory into a
deviation relation and determines target trajectory follow-up commands from the deviation
relation and transmits them as control commands to the drive control function, by which the
vehicle is moved on a vehicle movement path along the target trajectory, wherein the target
trajectory runs between an initial point and an end point and comprises a transfer region with
10 a target transfer point assigned to the unit load receiving device,
a unit load transfer control function, which determines velocity commands on the basis of a
target speed profile of the vehicle and transmits them as control commands to the drive
device which adjusts a transfer velocity of the vehicle in the target transfer point,
wherein the shape of the transfer region, the position of the transfer point relative to the unit
15 load receiving device and the transfer velocity are set in such a way that the unit load located
on the receiving component of the vehicle is moved by its mass inertia onto the unit load
receiving device.
According to one embodiment of the vehicle according to the invention, the vehicle
comprises: a running gear, a drive device, which is connected to the running gear and drives
20 the running gear such that it adjusts a velocity vector of the vehicle on an operation surface
of the operation area, and a vehicle frame arranged on the running gear with a receiving
component for receiving a unit load. The vehicle comprises, in particular, a vehicle system
which comprises:
a vehicle control function, which is functionally connected to the drive device and determines
25 control commands on the basis of control target specifications and transmits said commands
to the drive device to adjust a respective current velocity vector of the vehicle, wherein the
vehicle control function comprises:
a target trajectory follow-up function, which, when the vehicle is moved, puts current vehicle
actual states at least and a vehicle actual position relative to a target trajectory into a
30 deviation relation and which determines target trajectory follow-up commands from the
deviation relation and transmits the same as control commands to the drive device with
10
which the vehicle is moved along the target trajectory on a vehicle movement path, wherein
the target trajectory runs between an initial point and an end point and comprises a transfer
region with a target transfer point assigned to the unit load receiving device,
a load transfer control function, which determines velocity commands on the basis of a target
5 speed profile of the vehicle and transmits them as control commands to the drive device in
order to set a transfer velocity of the vehicle in the target transfer point, so that the unit load
located on the receiving component of the vehicle is moved by its mass inertia onto the unit
load receiving device.
The embodiments of the vehicle according to the invention, in combination with otherwise
10 any variant or embodiment of the vehicle described or contained herein, provide that the
target trajectory in the vehicle system or in the vehicle control function and in this case in
particular in the target trajectory follow-up function, for example is present and stored as a
predetermined target trajectory, or is received from the vehicle system from the outside, i.e.
from a device outside the vehicle, and is provided to the vehicle control function.
15 The embodiments of the vehicle according to the invention, in combination with otherwise
any variant or embodiment of the vehicle described or contained herein, may provide that the
vehicle control function (50) comprises a target trajectory follow-up function (60) which, when
the vehicle is moved, puts current vehicle actual states and at least a vehicle actual position
relative to a target trajectory in each case in a deviation relation and, from the deviation
20 relation, determines target trajectory follow-up commands and transmitts as control
commands to the drive control function (55).
The embodiments of the vehicle according to the invention, in combination with otherwise
any variant or embodiment of the vehicle described or contained herein, may provide that a
target speed profile is predefined in the load transfer control function. In this case, it can in
25 particular be provided that a target speed profile with a target acceleration is preset.
The embodiments of the vehicle according to the invention, in combination with otherwise
any variant or embodiment of the vehicle described or contained herein, may provide that the
vehicle control function comprises a load transfer control function which determines velocity
commands on the basis of a target speed profile of the vehicle and transmits the same as
30 control commands to the drive control function which adjusts a transfer velocity of the vehicle
in the target transfer point,
11
wherein the shape of the transfer region, the position of the transfer point relative to the unit
load receiving device and the transfer velocity are set in such a way that the unit load (L)
located on the receiving component of the vehicle is moved by its mass inertia onto the unit
load receiving device.
5 In each of the embodiments of the invention with a load transfer control function, it may be
provided that the load transfer control function defines a target velocity of the vehicle in the
target transfer point.
Furthermore, in each of the embodiments of the invention with a load transfer control
function, it can be provided that the load transfer control function defines a target
10 acceleration of the vehicle in the transfer region.
The embodiments of the vehicle according to the invention, in combination with otherwise
any variant or embodiment of the vehicle described or contained herein, may provide that the
vehicle system comprises a velocity determination function which determines the transfer
velocity on the basis of at least one speed profile criterion.
15 The embodiments of the vehicle according to the invention, in combination with otherwise
any variant or embodiment of the vehicle described or contained herein, may provide that the
velocity determination function determines the target speed profile on the basis of one or
both of the profiles (ST1), (ST2) of the transfer region:
(ST1) the transfer area guides the vehicle past the unit load receiving device and
20 comprises a curvature section with substantially uniform curvature so that the
vehicle experiences a lateral acceleration wherein the unit load receiving device is
located on the convex side thereof,
(ST2) the transfer region guides the vehicle to an impact against the unit load receiving
device in the target transfer point with a movement direction reversal in this target
25 transfer point, wherein the portion of the transfer region which guides to the target
transfer point can have a direction in the target transfer point relative to the extent of
a stop surface of the unit load receiving device, which is situated in an angular
range, which is greater than 25 degrees in absolute terms.
In these embodiments, it may in particular be provided that the velocity determination
30 function uses a property value of the unit load. A property value of the unit load can in
12
particular be the weight or the friction behavior of the unit load on the receiving component or
on a receiving surface of the receiving component.
The embodiments of the vehicle according to the invention, in combination with otherwise
any variant or embodiment of the vehicle described or contained herein, may provide that the
5 vehicle comprises a weight sensor device, by means of which the weight of a unit load
located on the receiving component can be determined and assigns a weight value to the
determined weight, and transmits the weight value as a property value of the unit load to the
velocity determination function.
The embodiments of the vehicle according to the invention, in combination with otherwise
10 any variant or embodiment of the vehicle described or contained herein, may provide that the
vehicle control function adjusts or adapts the target velocity or a target acceleration or the
distance between the target transfer point and an edge region of the unit load receiving
device operation surface facing the operation surface, from at least one property value of the
unit load.
15 In the embodiments of the vehicle according to the invention, a speed profile criterion can be
an acceleration value of the vehicle.
The embodiments of the vehicle according to the invention with a velocity-determining
function, the same may determine a value for the target acceleration in the transfer point
(211, 311) and, from this, the target speed profile with the target velocity or target
20 acceleration on the basis of at least one speed profile criterion.
The embodiments of the vehicle according to the invention, in combination with otherwise
any variant or embodiment of the vehicle described or contained herein, may be realized
such that the speed profile criterion is a minimum energy requirement or minimal
consumption when driving off the target trajectory.
25 The embodiments of the vehicle according to the invention, in combination with otherwise
any variant or embodiment of the vehicle described or contained herein, may be realized
such that the target trajectory is stored in the vehicle control function as a predefined target
trajectory, and the vehicle control function provides the target trajectory of the target
trajectory follow-up function.
30 The embodiments of the vehicle according to the invention, in combination with otherwise
13
any variant or embodiment of the vehicle described or contained herein, may be realized
such that the vehicle control function comprises a target trajectory determination function
which determines the target trajectory and that the vehicle control function provides the
target trajectory of the target trajectory follow-up function.
5 The embodiments of the vehicle according to the invention with a target trajectory
determination function, in combination with otherwise each variant or embodiment of the
vehicle described or contained herein, can be realized such that the target trajectory
determination function determines the target trajectory on the basis of at least one trajectory
course criterion.
10 The embodiments of the vehicle according to the invention with a target trajectory
determination function, in combination with otherwise each variant or embodiment of the
vehicle described or contained herein may be realized such that the target trajectory
determination function has stored a plurality of target trajectories, one of which is determined
by the target trajectory determination function on the basis of at least one trajectory course
15 criterion by selecting one of the trajectories.
The embodiments of the vehicle according to the invention with a target trajectory
determination function, in combination with otherwise each variant or embodiment of the
vehicle described or contained herein may be realized such that the target trajectory
determination function has stored at least one target trajectory and the target trajectory
20 determination function adapts parameters of the target trajectory on the basis of at least one
trajectory course criterion.
The embodiments of the vehicle according to the invention with a target trajectory stored in
the vehicle system or the vehicle control function, in combination with otherwise any variant
or embodiment of the vehicle described or contained herein, may be realized such that target
25 trajectories are defined according to one of the two following alternatives (ST1), (ST2):
(ST1) the transfer area guides the vehicle past the unit load receiving device and
comprises a curvature section with uniform curvature so that the vehicle
experiences lateral acceleration, wherein the unit load receiving device is located on
the convex side thereof,
30 (ST2) the transfer region guides the vehicle to an impact against the unit load receiving
device in the target transfer point with a movement direction reversal in this target
14
transfer point, wherein the section of the transfer region which leads to the target
transfer point may have a direction in the target transfer point which is situated in an
angular range relative to the extension of a stop surface of the unit load receiving
device which is greater than 25 degrees in absolute terms.
5 The embodiments of the vehicle according to the invention with a target trajectory
determination function, in combination with otherwise each variant or embodiment of the
vehicle described or contained herein may be realized such that the target trajectory
determination function in the case of a target speed profile in the transfer region defined as a
control target specification and/or in the case of a target acceleration in the target transfer
10 point of the vehicle defined as a control target specification, one or more of the following
trajectory course criteria (TK1), (TK2), (TK3), (TK4), (TK5), (TK6) are used in order to ensure
the transfer acceleration of the vehicle 1 to be achieved:
(TK1) minimum length from the vehicle actual position or the initial point of the target
trajectory to the target transfer point,
15 (TK2) minimum transfer velocity,
(TK3) minimum time duration from the vehicle actual position or the initial point of the
target trajectory to the target transfer point,
(TK4) minimal energy demand or minimum energy consumption for driving the vehicle
from the vehicle actual position or the initial point of the target trajectory to the target
20 transfer point,
(TK5) reliable/process-safe transfer or no malfunction of the unit load L from the vehicle 1
to the unit load receiving device (100),
(TK6) minimal utilization of space in the unit load receiving device (100).
The embodiments of the vehicle according to the invention, in combination with otherwise
25 any variant or embodiment of the vehicle described or contained herein, may be realized
such that the target trajectory is formed from a load transfer trajectory and a coupling
trajectory adjoining the latter, wherein the load transfer trajectory runs between an initial point
and a target transfer point assigned to the unit load receiving device and wherein the
coupling trajectory leads to the coupling point and connects the current vehicle actual
15
position to the coupling point,
wherein the target trajectory follow-up function comprises the following functions:
(i) a coupling trajectory follow-up function, which, when the vehicle is moved, puts
current actual vehicle positions and the coupling trajectory into a deviation relation
5 and determines coupling trajectory control commands from the deviation relation
and transmits the same to the drive device such that the vehicle is moved on a
vehicle trajectory along the coupling trajectory,
(ii) a load transfer trajectory follow-up function which, after the vehicle has reached the
load transfer trajectory, puts current vehicle actual positions and the load transfer
10 trajectory in a deviation relation and determines from the deviation relation load
transfer trajectory control commands and transmits the same to the drive device so
that the vehicle is moved on a vehicle trajectory along the load transfer trajectory.
The embodiments of the vehicle according to the invention with a target trajectory
determination function, in combination with otherwise each variant or embodiment of the
15 vehicle described or contained herein, may be realized such that the vehicle system
comprises a vehicle communication device which is in data or signal connection with a
logistics central device, which is arranged in a stationary manner in the operation area, and
which receives control target specifications from the logistics central device and transmits the
same to the vehicle control function.
20 The embodiments of the vehicle according to the invention with a target trajectory
determination function, in combination with otherwise each variant or embodiment of the
vehicle described or contained herein, may be realized such that the vehicle system
comprises a vehicle communication device, which can be brought into radio connection with
a logistics central device that is stationary in the operation area and which receives from the
25 same data which define a vehicle current state at least with a vehicle current position and
which transmits the same to the vehicle control function.
The embodiments of the vehicle according to the invention with a target trajectory
determination function, in combination with otherwise each variant or embodiment of the
vehicle described or contained herein, may be realized such that the vehicle system
30 comprises a sensor device that detects current vehicle actual positions, wherein the sensor
device is functionally connected to the vehicle control function and transmits the current
16
vehicle actual positions to the vehicle control function.
Each of the embodiments of the vehicle according to the invention with a sensor device for
detecting current vehicle actual positions, may be realized such that the sensor device
comprises an optical sensor or a camera which respectively images optical floor features or
5 floor markings of the operation surface that can be captured by the optical sensor and, for
example, are visible, wherein the vehicle system comprises an identification function
optionally with a corresponding assignment function, with which the vehicle actual position is
determined on the basis of a current image of ground markings which are arranged on the
operation surface.
10 According to a further aspect of the invention, a logistics system is provided, which in
particular comprises:
a logistics central device which is arranged in a stationary manner in an operation area and
comprises a logistics communication device,
a unit load receiving device arranged in the operation area,
15 a vehicle for transferring a unit load to the unit load receiving device, the vehicle which
comprising: a running gear, a drive device, which is in communication with the running gear
and which adjusts a velocity vector of the vehicle on an operation surface of the operation
area, and a vehicle frame which is arranged on the running gear and comprises a receiving
component for receiving the unit load, wherein the vehicle comprises a vehicle system which
20 comprises:
a vehicle control function which is functionally connected to the drive device and which
determines control commands on the basis of control target specifications and transmits said
commands to the drive device for adjusting a respective current velocity vector of the vehicle,
a vehicle communication device which is in data or signal connection with the logistics
25 communication device via radio and is functionally connected to the vehicle control function,
wherein the vehicle control function uses or determines target trajectory follow-up commands
as control target specifications with which the vehicle is moved along a target trajectory on a
vehicle movement path, wherein the target trajectory runs between an initial point and an end
point and comprises a transfer region with a target transfer point assigned to the unit load
17
receiving device,
wherein the vehicle control function uses or determines a target speed profile as control
target specification at least for the transfer region of the target trajectory,
wherein the vehicle control function comprises a drive control function which converts the
5 control target specifications into control commands which define a respective current target
velocity vector with respect to the respective current vehicle state,
wherein the drive device, on the basis of the control commands, realizes a transfer
acceleration of the vehicle at least in a section comprising the target transfer point in which
transfer acceleration the unit load located on the receiving component of the vehicle is
10 moved by its mass inertia onto the unit load receiving device,
Each of the embodiments of the logistics system according to the invention may be realized
such that the vehicle control function comprises the target trajectory follow-up function and a
load transfer control function.
Each of the embodiments of the logistics system according to the invention may be realized
15 such that the target trajectory follow-up function contains the target trajectory.
Each of the embodiments of the logistics system according to the invention may be realized
such that the vehicle is designed according to one of the variants or embodiments described
or contained herein.
Each of the embodiments of the logistics system according to the invention may be realized
20 such
that the logistics central device comprises a vehicle identification device for determination of
respective current vehicle actual positions, wherein the vehicle identification device is
functionally connected to the logistics communication device and transmits the determined
respective current vehicle actual positions to the logistics communication device, wherein the
25 logistics communication device is connected to the vehicle communication device via a radio
connection and transmits the respective current vehicle actual positions to the vehicle
communication device,
that the vehicle control function is operatively connected to the vehicle communication device
and receives the current actual vehicle positions, respectively,
18
that the vehicle control function comprises a target trajectory follow-up function which, on the
basis of the received respective current vehicle actual positions and on the basis of the target
trajectory, determines target trajectory follow-up commands and transmits control commands
to the drive device,
5 that the vehicle control function comprises a load transfer control function which generates
velocity commands on the basis of a target speed profile of the vehicle and transmits the
velocity commands as control commands to the drive device.
Each of the embodiments of the logistics system according to the invention with a vehicle
identification device may be realized such that the load transfer control function contains the
10 target speed profile and the velocity commands are generated therefrom.
Each of the embodiments of the logistics system according to the invention with a vehicle
identification device may be realized such that the logistics central device comprises:
a centrally arranged logistics identification device for determining in each case current
vehicle actual positions, which comprises: the target trajectory follow-up function with the
15 target trajectory which, on the basis of the current vehicle actual positions and the target
trajectory, determines target trajectory follow-up commands and transmits the same as
control target specifications to the logistics communication device, which transmits the target
trajectory follow-up commands to the vehicle communication device as control target
specifications,
20 a centrally arranged load transfer control function that generates velocity commands and
transmits the same as control target specifications to the logistics communication device
which determines the velocity commands and transmits the same as control target
specifications to the vehicle communication device,
wherein the vehicle communication device transmits the target trajectory follow-up
25 commands as control target specifications to the vehicle control function which transmits the
target trajectory follow-up commands and the velocity commands to the drive device.
Each of the embodiments of the logistics system according to the invention with a vehicle
identification device may be realized such
that the logistics central device comprises: a logistics identification device for determining in
19
each case current vehicle actual positions, a central target trajectory follow-up function
which, on the basis of the current vehicle actual positions and the target trajectory,
determines target trajectory follow-up commands and transmits them as control target
specifications to the logistics communication device which transmits the target trajectory
5 follow-up commands to the vehicle communication device, wherein the vehicle
communication device transmits the target trajectory follow-up commands as control
commands to the drive device,
that the vehicle control function comprises: the load transfer control function that generates
velocity commands based on a target speed profile of the vehicle and acts as control
10 commands to the drive device.
Each of the embodiments of the logistics system according to the invention with a vehicle
identification device and a centrally arranged target trajectory follow-up function may be
realized such that the logistics central device comprises a logistics control function in which
the target trajectory is stored as a predefined target trajectory and the logistics
15 communication device transmits the target trajectory to the target trajectory follow-up
function. In these embodiments of the logistics system according to the invention, it can be
provided that the vehicle control function comprises a target trajectory determination function
which determines the target trajectory and the vehicle control function provides the target
trajectory of the target trajectory follow-up function.
20 According to a further aspect of the invention, a method for transferring a unit load from a
vehicle to a unit load receiving device in an operation area, the vehicle comprising: a running
gear, a drive device which is connected to the running gear and which, on the basis of
control commands, adjusts a velocity vector of the vehicle on an operation surface of the
operation area, and a vehicle frame arranged on the running gear and comprising a receiving
25 component for receiving a unit load, wherein the method comprises the following steps:
based on control target specifications, determination of control commands and transmission
thereof to the drive device in order to adjust a respective current velocity vector of the
vehicle,
upon movement of the vehicle with a respective velocity vector, determining a deviation
30 relation between respective current vehicle actual states at least with a respective current
vehicle actual position relative to a target trajectory, wherein the target trajectory runs
20
between an initial point and an end point and comprises a transfer region with a target
transfer point associated with the unit load receiving device,
from the deviation relation determining target trajectory follow-up commands and
transmission of the same as control commands to the drive device, wherein by means of the
5 control commands the vehicle is moved on a vehicle movement path along the target
trajectory,
based on a target speed profile of the vehicle, determining velocity commands and
transmitting the same as control commands to the drive device, wherein the velocity
commands adjust a transfer acceleration of the vehicle in the target transfer point and
10 wherein the unit load which is located on the receiving component of the vehicle is moved by
the mass inertia thereof to the unit load receiving device.
Each of the embodiments of the method according to the invention of the logistics system
may be realized such that a speed profile for the vehicle is predefined when driving along the
target trajectory.
15 The embodiments of the vehicle according to the invention, in combination with otherwise
any variant or embodiment of the vehicle described or contained herein may be realized such
that the transfer acceleration is determined on the basis of one or both of the profiles (ST1),
(ST2) of the transfer region:
(ST1) the transfer area guides the vehicle past the unit load receiving device and
20 comprises a curvature section with uniform curvature so that the vehicle
experiences lateral acceleration, wherein the unit load receiving device is located on
the convex side thereof,
(ST2) the transfer region guides the vehicle to an impact against the unit load receiving
device in the target transfer point with a movement direction reversal in this target
25 transfer point, wherein the section of the transfer region which leads to the target
transfer point may have a direction in the target transfer point which is situated in an
angular range relative to the extension of a stop surface of the unit load receiving
device which is greater than 25 degrees in absolute terms.
The embodiments of the method according to the invention in combination with otherwise
21
any variant or embodiment of the vehicle described or contained herein may be realized such
that the velocity determination function uses a property value of the unit load. In this case,
the weight of the unit load or a coefficient of friction in relation to a movement of the unit load
can be used as the property value of the unit load on the receiving component or the
5 receiving surface of the vehicle for receiving a unit load or a combination of the weight and
the coefficient of friction.
The embodiments of the method according to the invention in combination with otherwise
any variant or embodiment of the vehicle described or contained herein may be realized such
that, by means of a weight sensor device of the vehicle, the weight of a unit load located on
10 the receiving component is determined and a weight value is assigned to the determined
weight and this weight value is used for determining the velocity as a property value of the
unit load, wherein the transfer velocity is determined in particular with the weight.
Each of the embodiments of the method according to the invention may be realized such that
an acceleration value of the vehicle is a speed profile criterion.
15 Each of the embodiments of the method according to the invention may be realized such that
the velocity determination function determines and uses a value for the target acceleration in
the transfer point speed profile is determined.
The embodiments of the method according to the invention in combination with otherwise
any variant or embodiment of the vehicle described or contained herein may be realized such
20 that the speed profile criterion is a minimum energy requirement or minimal consumption
when driving off the target trajectory.
The embodiments of the method according to the invention in combination with otherwise
any variant or embodiment of the vehicle described or contained herein may be realized such
that the target trajectory is a predefined target trajectory.
25 The embodiments of the method according to the invention in combination with otherwise
any variant or embodiment of the vehicle described or contained herein may be realized such
that the vehicle control function comprises a target trajectory determination function which
determines the target trajectory and the vehicle control function provides the target trajectory
to the target trajectory follow-up function.
30 Each of the embodiments of the method according to the invention with a target trajectory
22
determination function may be realized such that the target trajectory determination function
determines the target trajectory on the basis of at least one trajectory course criterion.
Each of the embodiments of the method according to the invention with a target trajectory
determination function may be realized such that the target trajectory is determined on the
5 basis of at least one trajectory course criterion by selecting one of the target trajectories.
Each of the embodiments of the method according to the invention with a target trajectory
determination function may be realized such that parameters of the target trajectory are
adapted on the basis of at least one trajectory course criterion.
Each of the embodiments of the method according to the invention with a target trajectory
10 determination function may be realized such that target trajectories are defined according to
one of the two following alternatives (ST1), (ST2):
(ST1) the transfer area guides the vehicle past the unit load receiving device and
comprises a curvature section with uniform curvature so that the vehicle
experiences lateral acceleration, wherein the unit load receiving device is located on
15 the convex side thereof,
(ST2) the transfer region guides the vehicle to an impact against the unit load receiving
device in the target transfer point with a movement direction reversal in this target
transfer point, wherein the section of the transfer region which leads to the target
transfer point may have a direction in the target transfer point which is situated in an
20 angular range relative to the extension of a stop surface of the unit load receiving
device which is greater than 25 degrees in absolute terms.
Each of the embodiments of the method according to the invention with a target trajectory
determination function may be realized such that the target trajectory determination function,
that the target trajectory determination function in the case of a target speed profile in the
25 transfer region defined as a control target specification and/or in the case of a target
acceleration in the target transfer point of the vehicle defined as a control target specification,
one or more of the following trajectory course criteria (TK1), (TK2), (TK3), (TK4), (TK5),
(TK6) are used in order to ensure the transfer acceleration of the vehicle 1 to be achieved:
(TK1) minimum length from the vehicle actual position or the initial point of the target
30 trajectory to the target transfer point,
23
(TK2) minimum transfer velocity,
(TK3) minimum time duration from the vehicle actual position or the initial point of the
target trajectory to the target transfer point,
(TK4) minimal energy demand or minimum energy consumption for driving the vehicle
5 from the vehicle actual position or the initial point of the target trajectory to the target
transfer point,
(TK5) reliable/process-safe transfer or no malfunction of the unit load from the vehicle to
the unit load receiving device,
(TK6) minimal utilization of space in the unit load receiving device.
10 The embodiments of the method according to the invention in combination with otherwise
any variant or embodiment of the vehicle described or contained herein may be realized such
that the target trajectory is formed from a load transfer trajectory and a coupling trajectory
connected thereto, wherein the load transfer trajectory runs between an initial point and a
target transfer point associated with the unit load receiving device, and the coupling
15 trajectory guides to the coupling point and connects the current vehicle actual position to the
coupling point,
wherein the target trajectory follow-up commands are determined with the following
functions:
(i) a coupling trajectory follow-up function, which, when the vehicle is moved, puts
20 current actual vehicle positions and the coupling trajectory into a deviation relation
and determines coupling trajectory control commands from the deviation relation
and transmits the same to the drive device such that the vehicle is moved on a
vehicle trajectory along the coupling trajectory,
(ii) a load transfer trajectory follow-up function which, after the vehicle has reached the
25 load transfer trajectory, puts current vehicle actual positions and the load transfer
trajectory in a deviation relation and determines from the deviation relation load
transfer trajectory control commands and transmits the same to the drive device so
that the vehicle is moved on a vehicle trajectory along the load transfer trajectory.
The embodiments of the method according to the invention in combination with otherwise
24
any variant or embodiment of the vehicle described or contained herein may be realized such
that the vehicle system of the vehicle is in data or signal connection via radio in a logistics
central device arranged in a stationary manner in the operation area and receives control
target specifications from the logistics central device and transmits the same to the vehicle
5 control function.
The embodiments of the method according to the invention, in combination with otherwise
any variant or embodiment of the vehicle described or contained herein, may be realized
such
that the vehicle system receives data defining a vehicle-actual state at least with a vehicle10 actual position from a logistics central device stationary in the operation area,
that the vehicle system determines the velocity commands from the deviation relation and
the velocity commands on the basis on a target speed profile of the vehicle and transmits the
same as control commands to the drive device.
The embodiments of the method according to the invention in combination with otherwise
15 any variant or embodiment of the vehicle described or contained herein may be realized such
the current vehicle actual positions are captured by means of a sensor device of the vehicle
system.
Each of the embodiments of the method according to the invention with the sensor device of
the vehicle system may be realized such that the sensor device comprises a camera which
20 respectively images optical floor features or floor markings of the operation surface that can
be captured by the optical sensor, wherein the vehicle system comprises an identification
function with which the vehicle actual position is determined on the basis of a current
mapping of ground features or floor markings which are arranged on the operation surface.
In the following, embodiments of the invention will be described with reference to the
25 accompanying figures. Herein, the description of features or components of embodiments
according to the invention is to be understood as such that a specific embodiment according
to the invention, provided that this is not explicitly excluded, can also comprise at least one
feature of another embodiment, each as an additional feature of this particular embodiment,
or as an alternative feature that replaces another feature of this particular embodiment. The
30 figures show:
25
figure 1 shows a perspective illustration of an embodiment of the vehicle according to the
invention, wherein the vehicle comprises a running gear with four wheels, of which two first
wheels are designed in their combination as differential rotating wheels and of which two
further wheels are each designed as support wheels, and
5 figure 2 shows a perspective illustration of an embodiment of the vehicle according to the
invention, wherein the vehicle comprises a running gear with four wheels, which are
designed in their combination as omni-directional wheels,
figure 3 is a schematic illustration of a first operating constellation on an operation surface,
the first operating constellation comprising: a vehicle, a unit load receiving device, and a first
10 a target trajectory which leads to the unit load receiving device, which is designed in such a
way that the vehicle experiences a frontal impact with direction reversal at the unit load
receiving device,
figure 4 is a schematic illustration of a first operation constellation on an operation surface,
the first operating constellation comprising: a vehicle, a unit load receiving device and a first
15 a target trajectory which leads to the unit load receiving device, wherein the target trajectory
is designed in such a way that the vehicle drives past the unit load receiving device or
laterally abuts the unit load receiving device,
figure 5 shows a functional illustration of an embodiment of the vehicle control function
according to the invention with its functional integration into the vehicle,
20 figure 6 shows a functional illustration of a further embodiment of the vehicle control function
according to the invention with its functional integration into the vehicle,
figure 7 shows a functional illustration of an embodiment of the logistics system according to
the invention with an embodiment of the logistics central device and an embodiment of the
vehicle control function with its functional integration in the vehicle,
25 figure 8 shows a functional illustration of a further embodiment of the logistics system
according to the invention with an embodiment of the logistics central device and an
embodiment of the vehicle control function with its functional Integration in the vehicle,
figure 9 shows a functional illustration of a further embodiment of the logistics system
according to the invention with an embodiment of the logistics central device and an
26
embodiment of the vehicle control function with its functional Integration in the vehicle,
figure 10 shows a functional illustration of a further embodiment of the logistics system
according to the invention with an embodiment of the logistics central device and an
embodiment of the vehicle control function with its functional Integration in the vehicle.
5 By means of the figures, embodiments of the vehicle 1 according to the invention, of the
logistics system according to the invention and of the method according to the invention are
described in each case in variants and mutually alternative embodiments with features. The
features by which the further alternative embodiments differ from the variants can also be
present according to the invention on all the embodiments described herein specifically both
10 as an alternative to functionally identical or functionally similar features and as additional
features.
The embodiments of the vehicle 1 according to the invention, in combination with otherwise
any variant of the vehicle described herein, may be realized according to one or more of the
following controls:
15 (S1) the vehicle is a manned vehicle having a vehicle system which has available current
vehicle actual positions and comprises in particular a vehicle sensor device for
determination current vehicle actual positions in each case and which comprises
control elements which can be actuated by a person, wherein by actuating the
control elements control commands are generated and transmitted to the drive
20 device, which moves the vehicle on the operation surface as a function of the control
commands, wherein the control commands are input due to control target
specifications provided by the vehicle system, e.g, a display thereof;
(S2) the vehicle is a self-controlling vehicle having a vehicle system which generates
control target specifications, wherein the same are transmitted to a drive control
25 device of the vehicle which, on the basis of the control target specifications,
transmits control commands directly or indirectly to the vehicle drive device, by
means of which the vehicle moves on the operation surface as a function of the
control commands;
(S2) the vehicle is a self-controlling vehicle having a vehicle system, wherein control
30 target specifications are generated by an external device, such as in particular a
logistics central device arranged in a stationary manner in the operation area,
27
wherein the same are transmitted via radio to a vehicle communication device of the
vehicle and from the latter to a drive control device of the vehicle which, on the basis
of the control target specifications, transmits control commands directly or indirectly
to the vehicle drive device, by means of which the vehicle moves on the operation
5 surface as a function of the control commands.
The vehicle 1 according to the invention can thus be driven in particular in a controlled or
self-controlling manner, that is to say with or without manual control, and, in particular by
means of corresponding functions provided according to the invention, performs, in a selfcontrolling manner, at least one predefined transfer task or performs a sequence of transfer
10 mission tasks. A predetermined transfer mission task includes moving the vehicle 1 with a
cargo unit L along a target trajectory to a unit load receiving device 100 and the transfer of a
unit load L to the unit load receiving device 100.
Figure 1 shows, by way of example, a reference system KS-F for the vehicle 1, as can also
be defined for the functions used according to the invention. Figure 1shows, for example, a
15 longitudinal axis A1, a vertical axis A2 and a transverse axis A3 for the vehicle 1. In
particular, it can be provided that these axes A1, A2, A3 converge at a point of the vehicle 1
which is defined as the center ZF of the vehicle 1. A different point and generally any point
may also be defined as the center of the vehicle 1. In particular, a center line can be a
longitudinal axis A1 of the vehicle 1. For example, these definitions may be defined for the
20 functions used according to the invention. For example, in these functions, information
regarding position or velocity or both position and velocity of the vehicle 1 refers to such a
center of the vehicle 1. These definitions may be performed individually or in any
combination for the functions used according to the invention.
As also shown in figure 1, the vehicle 1 comprises a running gear 5, which adjusts the
25 direction of the vehicle 1 on an operation surface E of the operation area B, and a vehicle
frame 10 fastened thereto. Vehicle frame 10 comprises a receiving component 7 on which at
least one unit load L can be placed. The vehicle frame 10 can also be formed from a base
part 8 and the receiving component 7, the receiving component 7 being fastened to the base
part 8 and being situated above the base part 8 in particular opposite to the direction of
30 gravity. The invention also relates to a method for producing the same. Furthermore, the
receiving component 7 may have a receiving surface 9 which is oriented opposite the
direction of gravity. Such a receiving surface 9 is provided for placing at least one unit load L.
28
The vehicle frame 10 can comprise an outer surface 10a which is oriented at least in a
section along the planar extension of the operation surface E. The vehicle frame 10 can be
formed or consist of an outer wall with the outer surface 10a. The outer wall can be a
circumferential outer wall of the vehicle 1 with the outer surface 10a, which forms a
5 circumferential outer wall. The outer wall of the vehicle 1 can also form an outer wall of the
vehicle 1, which is formed in a section on the vehicle 1, with the outer surface 10a. The
vehicle frame 10 can also be formed from a grid, a frame or a beam extending in the
circumferential direction, in each case with the outer surface 10a. Furthermore, the vehicle
frame 10 can be formed in each case with the outer surface 10a from combinations of each
10 of the alternatives mentioned for this purpose.
The outer surface 10a of the vehicle 1 thus forms a vehicle contact surface or comprises at
least one vehicle contact surface with which the vehicle 1 can be brought into contact with
the unit load receiving device 100. As described, the vehicle 1 can comprise a plurality of
vehicle contact surfaces which are oriented in different directions relative to one another. The
15 term "contact" in connection with the unit load receiving device 100 is here in particular a
contacting of the vehicle 1 and the unit load receiving device 100 and/or an impact of vehicle
1 against the unit load receiving device 100, by which the vehicle 1 experiences an
acceleration during its movement along or on the target trajectory. In the embodiment of the
vehicle 1 shown in figure 1, the vehicle frame 10 has four contact surfaces 11, 12, 13, 14. A
20 contact or contact surface of the vehicle frame 10 may be any surface of the vehicle 1 herein,
in particular a surface having an orientation that extends along the surface extension of the
operation surface E.
The vehicle 1 comprises a drive device 30 arranged on the vehicle frame 10 with at least one
motor and optionally additionally a braking device. The drive device 30 is coupled to the
25 running gear 5 and drives the running gear to adjust the velocity and direction of the vehicle
1. In particular, the running gear 5 comprises a plurality of wheels which are each mounted in
a wheel suspension of the running gear 5 and on which the vehicle 1 can be moved and
positioned on the operation surface E. In this case, the running gear 5 comprises at least two
wheels. The drive device drives at least one wheel of these wheels of the running gear 5 and
30 for this purpose is coupled to the respective one of the at least one wheel.
For example, the wheel suspensions of in each case two wheels can be mounted
cardanically, so that the respective two wheels of in each case one steering device of the
running gear 5 which is coupled to the wheel suspensions of the two wheels and is
29
connected to the drive device, can each be rotated about an axis of rotation extending
transversely to the axes of rotation. A predetermined direction of travel and velocity of the
vehicle 1 is adjusted on the basis of corresponding control commands which are generated
by the drive device and transmitted to the running gear 5 of the vehicle 1. In particular, a
5 predetermined direction of travel of the vehicle 1 can be set on the basis of corresponding
control commands which are generated by the drive device and transmitted to the running
gear 5. In these embodiments of the vehicle 1, it can be provided, for example, that two
wheels or two pairs of wheels of a total of four or more than four wheels can carry out
steering movements. Figure 1 shows a perspective illustration of an embodiment of the
10 vehicle according to the invention, wherein the vehicle comprises a running gear with four
wheels, of which two first wheels, which are each arranged opposite one another with
respect to a longitudinal axis of the vehicle, are designed in their combination as differential
rotating wheels, and of which two further wheels, which are formed viewed in the longitudinal
axis between the two first wheels and in each case with respect to a transverse axis of the
15 vehicle, are arranged opposite one another and are designed as support wheels, and
figure 2 is a perspective view of an embodiment of the vehicle according to the invention,
wherein the vehicle comprises a running gear with four wheels, which are designed as omnidirectional wheels or all side rollers.
In general, the running gear 5 of the vehicle 1, in particular in the case of a cardanic
20 suspension, can be designed in such a way that at least one pair of opposing wheels are
coupled to one another via a steering device. In this case, the steering device is designed in
such a way that the wheels can be rotated about their steering axis in order to adjust the
direction of travel of the vehicle. The steering device may be operatively coupled to the
vehicle propulsion device.
25 In an embodiment of the running gear with omni-directionally operable wheels or side rollers,
the running gear can also be designed without a steering device. The omni-directionally
operable wheels or all side rollers can be functionally coupled to the vehicle drive device in
such a way that the direction of movement of the vehicle to be set according to the
respective control target specifications is adjusted by different rotational velocities of the
30 individual wheel. Accordingly, the wheel suspensions and wheels of the vehicle 1 can also be
designed in such a way that the wheels of the vehicle 1 are realized as omni-directional
wheels of the running gear. The vehicle 1 in the embodiment with omni-directional wheels
can be moved from a current position in each direction of travel, provided that there are no
30
obstacles on the contact support in this respect. For this purpose, the running gear 5 of the
vehicle 1 can have a steering device which is coupled to each of the wheel suspensions of a
respective wheel for adjusting the direction of rotation of each wheel and is connected to the
drive device. Alternatively, a predetermined direction of travel and velocity of the vehicle 1
5 can be set on the basis of corresponding control commands which are generated by the
drive device and transmitted to the running gear 5 of the vehicle 1 In particular, in order to
adjust the direction of the vehicle 1, the corresponding control commands are transmitted to
the steering device.
Furthermore, the vehicle comprises a control function 50, which is functionally connected to
10 the drive device and determines control commands on the basis of control target
specifications and transmits said commands to the drive device 30. The drive device 30
generates actuating commands or actuating signals from the control commands to the
running gear in order to drive the wheels of the vehicle 1 and to move the vehicle 1 in a
corresponding manner on the operation surface and, on the basis of a vehicle current state
15 of the vehicle 1, to adjust a vehicle target state of the vehicle 1 on the operation surface E.
According to the invention, in an initial state, which is shown by way of example in figures 3
and 4, at least one vehicle 1 is located in a first vehicle-current state at a distance from the
unit load receiving device 100. The output state distance can result in particular from
previous movements of the vehicle 1. The output state distance can be defined in particular
20 as the distance between a predefined center ZF of the vehicle 1 and a predefined reference
point R or a reference position R of the unit load receiving device 100 or on the unit load
receiving device 100. The reference point of the unit load receiving device 100 can be a point
or a region and in particular any desired location of the unit load receiving device 100 or
outside the unit load receiving device 100, wherein the reference point R is situated fixedly,
25 that is to say invariable, in a receiving device-fixed coordinate system. The reference point of
the unit load receiving device 100 can in particular be a region such as, for example, a
surface region or a point such as, for example, a surface point of the unit load receiving
device 100 or a contact surface 105 thereof, the orientation of which runs along the
extension of the operation surface E. However, the output state distance may also refer to
30 other points or locations of the vehicle 1 and the cargo unit receiving device 100. For
example, the output state distance can be defined as the distance between the reference
point or the surface center point of an outer surface 10a of the vehicle 1 provided for
contacting the contact surface and the surface center point of an outer surface 10a of the
31
vehicle 1, which is provided for contacting the contact surface, and the surface center point
of a lay-on surface or contact surface 105 of the unit load receiving device 100.
The vehicle 1 operates on the basis of a target trajectory ST, which is arranged between an
initial point and an end point in a locally variable or locally invariable trajectory direction RST
5 and which comprises a transfer region 215 with a target transfer point assigned to the unit
load receiving device.
Figures 3 and 4 show, by way of example, a target trajectory ST relative to the unit load
receiving device 100. In figure 3, reference numeral 200 is assigned to the target trajectory
ST. The target trajectory 200 runs between an initial point 201 and an end point 202 in a
10 locally variable or locally unchangeable trajectory direction R200 and comprises a transfer
region 215 with a target transfer point 211 which is assigned to the unit load receiving device
100. In figure 4, reference numeral 300 is assigned to the target trajectory ST. The target
trajectory 300 runs between an initial point 301 and an end point 302 in a locally variable or
locally unchangeable trajectory direction R300 and comprises a transfer region 315 with a
15 target transfer point 311 assigned to the unit load receiving device 100.
The reference point R can also be identical to the target transfer point 211. The reference
point R is a reference point preferably on the unit load receiving device 100. The reference
point R can be the target point for the transfer movement of the unit load L from the vehicle 1
to the unit load receiving device 100, i.e. the reference point R can in particular be the point
20 or the location or the region in the vicinity of which the unit load L is to be moved onto the
unit load receiving device 100. The reference point R can also define the target point or the
target region, at which, in the case of a corresponding course of the target trajectory, in order
to achieve the transfer movement of the unit load L from the vehicle 1 to the unit load
receiving device 100, the vehicle 1 is intended to contact the unit load receiving device 100.
25 The target transfer point 211, 311 is preferably that point on the target T trajectory at which
the vehicle 1 experiences an acceleration which causes the vehicle 1 to accelerate, as a
result of its mass inertia, the unit load L lying on the receiving component 7 and in particular
on the receiving surface 9 is transferred from the receiving component 7 or from the
receiving surface 9 of the vehicle 1 to the reference point R and, in particular, a receiving
30 component 101, which in particular can comprise a receiving surface 101a of the unit load
receiving device 100. The receiving surface 101 is oriented at least in a section opposite to
the direction of gravity so that a unit load L can be conveyed to the latter, in particular by free
32
movement.
The target transfer point 211 or 311 lies in a transfer region 215 or 315 of the target trajectory
200 or 300, wherein the transfer region 215 or 315 is a portion of the target trajectory 200 or
300. In this case, the target transfer point 211 or 311 can lie in a region within the transfer
5 region 215 or 315 of the target trajectory 200 or 300 or centrally in the transfer region 215 or
315 or at an edge of the transfer region 215 or 315 and in particular also an edge point of the
transfer region 215 or 315.
The transfer regions 215, 315 of the respective target trajectory 200 or 300 are illustrated
schematically in figures 3 and 4 by way of example in each case with a dotted line. The
10 length of the transfer region 215, 315 is defined or defined depending on the application
case. The length of the transfer region 215 is, in terms of the amount thereof, sufficient for
the generation of a required acceleration to the vehicle 1 in the transfer region 215, 315 and
in particular in the target transfer point 211 or 311 in order to move the unit load L located on
the receiving component 7 of the vehicle 1 by its mass inertia onto the unit load receiving
15 device 100. For example, the length of the transfer region 215, 315 is the amount after at
least 50% of the length of the vehicle 1. Alternatively, the length of the transfer region 215,
315 can amount to at least the length of the vehicle 1 and specifically at least 1.5 times the
length of the vehicle 1. In this regard, the length of the vehicle 1 may be the length of the
vehicle 1, which results along the respective target trajectory 200 or 300, or the smallest
20 length of the vehicle 1 standing on the operation surface E, which results in the direction of
extension of the operation surface E.
The vehicle trajectory of the vehicle 1 from its respective current vehicle actual position to the
target trajectory ST is shown in figures 3 and 4 in each case with a dashed line, wherein the
vehicle movement path of figure 3 is assigned the reference sign "210" and the vehicle
25 movement path of figure 4 is assigned the reference sign "310". In the examples shown, after
reaching the respective target trajectory 200 or 300 on its vehicle movement path, the vehicle
1 moves further along this respective target trajectory 200 or 300.
For the description and definition of the target movement of the vehicle 1, a target velocity
vector and, for the description and definition of the current movement of the vehicle 1, an
30 current velocity vector V1 is assigned to the same. For the description and definition of the
target movement of the vehicle 1, a target velocity and a target acceleration as well as a
target speed profile are also assigned to the same.
33
The target or actual velocity vector has the value zero when the predetermined target
velocity is equal to zero, or when the vehicle 1 is motionless on the operation surface E, and
has a non-zero magnitude when the vehicle 1 is in motion, wherein the direction of the target
or actual velocity vector indicates the predetermined or current direction of travel of the
5 vehicle 1. In the case of an actual movement of the vehicle 1 with the respective current
velocity vector V1 for fulfilling the transfer mission task, it can be provided starting from the
respective current output state Z1, in particular already in this initial state Z1 or in another
state chronologically before or after the respective current output state Z1 is moved along the
target trajectory ST by means of a path guidance function or path control function. This path
10 guidance function or path control function can be defined by determining a deviation relation
between the respective current vehicle actual state, which is defined at least with a vehicle
actual position, in each case relative to the target trajectory ST and, for example, to a point of
the target trajectory ST that is determined or defined currently. The currently defined point of
the target trajectory ST can be, for example, a point which is located at the smallest distance
15 from the respective current vehicle actual position. Instead of the smallest distance, a
different distance or a different relation between the current vehicle actual state and the
currently determined or defined point of the target trajectory ST can also be used. Target
trajectory follow-up commands are determined from the deviation relation by means of the
path guidance function or the path control function. The target trajectory follow-up commands
20 are control target inputs which are converted into control commands. The control commands
are suitable for actuating the drive device 30 in a corresponding manner in order to move the
vehicle 1 along the target trajectory ST on a vehicle movement path.
The target trajectory follow-up commands can be predefined. According to the invention, the
target trajectory follow-up commands can also be determined. The determination of target
25 trajectory follow-up commands in particular on the basis of a deviation relation and the
transmission of the same to the drive device can in each case take place by means of a
target trajectory follow-up function 60.
Alternatively or additionally, it can be provided that the target trajectory follow-up function 60
is a functional component of a trajectory control function and, in particular, a functional
30 component of the vehicle control function 50 of the vehicle 1 or a logistics central device 400.
Independently of this, it can be provided that the load transfer control function 70 is a
functional component of the vehicle control function 50 of the vehicle 1 or of a logistics
central device 400.
34
Vehicle control function 50 can be a functional component of a vehicle system S which is
functionally integrated in the vehicle 1, i.e. that the vehicle control function 50 is functionally
connected to the drive device 30 and, on the basis of control command specifications,
determines control commands and transmits them to the drive device 30 in order to adjust a
5 current actual velocity vector of the vehicle 1 in each case. In particular, an algorithm can be
stored in the target trajectory follow-up function 60 which defines the target trajectory followup function and which provides the target trajectory follow-up commands of the vehicle
control function 50. Optionally, it can be provided that the vehicle control function 50 uses or
determines velocity commands on the basis of an activation of the target trajectory follow-up
10 function 60 and acts as control commands to the drive device 30 is transmitted.
Furthermore, the vehicle control function 50 can comprise a load transfer control function 70
which, on the basis of at least one transfer region 215, 315 of the target trajectory ST, 200
300, uses or determines a determined or predefined target speed profile with a constant or
variable velocity and optionally a determined or predefined target acceleration profile for the
15 vehicle 1 as control target specifications is and transmits the same as control commands to
the drive device 30.
In general, it can be provided that the control target specifications with regard to each
relevant point in time and in particular to each calculation time of the vehicle system S are
put in relation to the current state of the vehicle 1 of the respective point in time and
20 optionally are compared and control commands for the drive device 30 are determined
therefrom. The control commands are determined in such a way that the current state of the
vehicle 1 which corresponds to the respective point in time changes to the target state
relevant to the respective point in time. The determination of control commands for the
respective point in time can be provided, in particular, using a control method or an
25 estimation method. Due to the control commands, the drive device 30 adjusts a transfer
velocity of the vehicle 1 in the transfer region 215, 315 or along the transfer region 215 , 315
and optionally a target acceleration of the vehicle 1 in the target transfer point 211, so that
the unit load L located on the receiving component 7 of the vehicle is transferred by its mass
inertia to the unit load receiving device 100.
30 In particular, an algorithm can be stored in the vehicle control function 50, which defines the
target trajectory follow-up function 60 and determines the target trajectory follow-up
commands. Independently of this, it can be provided that in particular an algorithm is stored
in the vehicle control function 50 which defines the load transfer control function 70 and for
35
the vehicle 1 determines the target speed profile along the transfer region 215, 315 and
optionally a target acceleration profile along the transfer region 215, 315, an optionally a
target acceleration in the target transfer point 211, 311.
The vehicle 1 which is schematically illustrated in figures 3 and 4 is, for example at the start
5 of the method according to the invention, in the initial state shown in each case in figures 3
and 4 and has a vehicle current state to which at least one current vehicle actual position and
optionally a vehicle actual velocity belongs, in which the vehicle 1, or the center ZF of the
vehicle 1, is at an initial state distance D1 to the initial point 201 , 301.
According to the invention, control target specifications are provided for the vehicle 1, from
10 which, in the target transfer point 211, 311 or at least one section of the transfer region 215
extending to the target transfer point 211, with a specific form of the transfer region 215, 315,
a transfer acceleration of the vehicle 1 and optionally a transfer lateral acceleration and/or a
negative transfer longitudinal acceleration result. According to the embodiments of the
invention, the target trajectory ST can have a profile in which the target transfer point 211,
15 311 has a position relative to the unit load receiving device 100 or to a contact surface 105 of
the unit load receiving device 100 which causes no or a more or less powerful contacting or
abutment or stop of the vehicle 1 on the unit load receiving device 100 or the contact surface
105 thereof, wherein in the target transfer point 211 a predefined or determined target
velocity vector or a predefined or determined target velocity and, depending on the form of
20 the target trajectory ST, optionally additionally a predefined or determined target acceleration
of the vehicle 1 and in particular a negative target acceleration is provided in order to carry
out a transfer acceleration of the vehicle 1, that is to say a current transfer acceleration, by
which one or more of the following acceleration specifications (b1), (b2), (b3) are achieved:
(b1) a transfer lateral acceleration,
25 (b2) a negative transfer longitudinal acceleration with a reduction of the vehicle current
velocity,
(b3) a combination of transfer lateral acceleration and negative transfer longitudinal
acceleration.
The transfer acceleration is that acceleration of the vehicle 1, which is effected as a result of
30 control commands or of a contacting of the unit load receiving device 100 or of both control
commands and such a contacting. In this case, the transfer acceleration can be sufficient for
36
the unit load L, in the case of a corresponding form of the transfer region 215, 315 of the
target trajectory ST, 200, even without contacting the unit load receiving device 100 that the
unit load L is moved on the receiving device 100 due to its inertia.
Herein, "negative transfer longitudinal acceleration" is understood to mean a negative
5 acceleration of the vehicle 1, that is to say a reduction in the velocity of the vehicle 1 which is
exerted on the vehicle 1 at least in a section extending up to the target transfer point 211.
The negative transfer longitudinal acceleration may be partially or entirely effected by a
braking acceleration of the vehicle 1, which is commanded by a drive device 30, and thus in
the case of a correspondingly commanded speed profile of the vehicle 1. For this purpose,
10 alternatively or additionally, the negative transfer longitudinal acceleration can take place, in
the case of a respective form of the transfer region 215, 315, partially or entirely by an
bumping of the vehicle 1 into the unit load receiving device 100.
According to the invention, in particular that the combination of the following measures are
taken to achieve a transfer acceleration of the vehicle 1, which is required in order to transfer
15 the unit load L located on the receiving component of the vehicle 1 by its mass inertia to the
unit load receiving device 100:
(M1) a specific shape or form of the transfer region 215, 315, optionally with a defined
position of the transfer point 211, 311 relative to the unit load receiving device 100
and in particular to the contact surface 105
20 (M2) a speed profile, which is commanded by means of velocity commands to the drive
device 30 as control commands, at which speed profile, in particular, the velocity is
constant at least in a section of the transfer region 215 or 315 up to the target
transfer point 211, 311, or in particular a reduction in the velocity is set at least in
this section.
25 The respective acceleration specification for the acceleration, which the vehicle 1 is to have
in the transfer region 215, 315 or in the target transfer point 211, 311, is dimensioned in such
a way that the unit load L is moved by its mass inertia from the receiving component 7 to the
unit load receiving device 100. The state of the unit load L on the vehicle 1 is denoted by the
reference sign "L1" in figures 3 and 4, while the state of the unit load L on the unit load
30 receiving device 100 is denoted in figures 3 and 4 by the reference sign "L2".
The target trajectory 200 according to figure 3 comprises a course in which the transfer
37
region 215 extending between the initial point 201 and the end point 202 comprises a first
portion 216 and a second portion 217 which run at least in a section along one another and
run in opposite directions with respect to the direction of movement of the vehicle 1. Based
on the target movement direction R200 of the vehicle 1, the first section 216 runs to the
5 target transfer point 211 and up to this target transfer point 211, that is to say including the
target transfer point 211, and in the direction of the unit load receiving device 100, while the
second section 217 extends, when viewed in the target movement direction R200, away from
the target transfer point 211. As a result, a movement reversal of the vehicle 1 takes place in
the target transfer point 211, in the case of a target speed profile defined as a control target
10 specification, so that the target transfer point 211 is a motion reversal point in which the
velocity vector is equal to zero. The reversal of movement can be carried out according to
one of the following alternatives (BU1), (BU2), (BU3):
(BU1) Vehicle 1 moves on the target trajectory 200 or along the target trajectory 200 in its
respective current direction of travel R200 in the direction of the transfer region 215,
15 wherein the commanded target velocity up to the target transfer point 211, that is to
say at least to just before the target transfer point 211, is different to zero and is
sufficient that, by pushing the vehicle 1 against the unit load receiving device 100
and in particular the contact surface 105, a braking acceleration is exerted which is
equal to or greater than the negative transfer longitudinal acceleration, wherein the
20 drive device 30 of the vehicle 1 does not make a contribution to the negative transfer
longitudinal acceleration or exerts a contribution to the negative transfer longitudinal
acceleration directly before the target transfer point 211, that is to say in the first
section 216, i.e. no braking of the vehicle 1 is carried out. The braking acceleration
of the vehicle 1 by pushing the vehicle 1 against the unit load receiving device 100
25 can optionally be additionally combined with a recoil impulse so that the vehicle 1
thereby executes a reversal of movement. Independently of this, it can be provided
that control commands are transmitted to the drive device 30 through which the
vehicle 1 in the second portion 217 is removed from the unit load receiving device
100 toward the end point 202.
30 (BU2) The vehicle 1 moves on the target trajectory 200 or along the target trajectory 200 in
its respective current direction of travel R200 in the direction of the transfer region
215 , wherein the commanded target velocity is different to zero up to the target
transfer point 211, that is to say at least to just before the target transfer point 211,
38
and additionally directly in front of the target transfer point 211 that is to say in the
first section 216, the drive device 30 of the vehicle 1 exerts a commanded braking
acceleration on the vehicle 1 until the vehicle 1 strikes against the unit load receiving
device 100 and in particular the contact surface 105 at a velocity different to zero so
5 that, together with the braking acceleration, a negative transfer longitudinal
acceleration is exerted on the vehicle 1. The braking acceleration of the vehicle 1
can optionally be additionally combined, by pushing the vehicle 1 against the unit
load receiving device 100, with a strike impulse so that the vehicle 1 thereby
executes a reversal of movement. Independently of this, it can be provided that
10 control commands are transmitted to the drive device 30 through which the vehicle 1
in the second portion 217 is removed from the cargo unit receiving device 100
toward the end point 202.
(BU3) The vehicle 1 moves on the target trajectory 200 or along the target trajectory 200 in
its respective current direction of travel R200 in the direction of the transfer region
15 215 and experiences a braking acceleration or negative transfer longitudinal
acceleration in such a way that the commanded target velocity is equal to zero up to
the target transfer point 211. In this case, provision can be made for a contact or no
contact between the vehicle 1 and the unit load receiving device 100 and in
particular the contact surface 105 to take place in the target transfer point 211,
20 whereby no recoil impulse is exerted on the vehicle 1. The occurring braking
acceleration is thus equal to or greater than the negative transfer longitudinal
acceleration for transferring the unit load L to the unit load receiving device 100. The
reversal of the movement of the vehicle 1 takes place in that control commands are
transmitted to the drive device 30 through which the vehicle 1 in the second portion
25 217 is removed from the cargo unit receiving device 100 toward the end point 202.
In the case of the motion reversal alternatives (BU1) and (BU2), the velocity commands
transmitted to the drive device 30 of the vehicle 1 include commands for generating a
negative transfer longitudinal acceleration that is to say a braking acceleration to the vehicle
1 by the drive device 30. The velocity commands for realizing a target speed profile are used
30 or determined in particular in the load transfer control function 70 as control target
specifications and are transmitted as control commands to the drive device 30.
In the transfer region 215, the angle which is located between the tangents to the two
sections 216, 217 of the transfer region 215 in the target transfer point 211 may be an acute
39
or an obtuse angle. The section of the transfer region 215 which leads to the target transfer
point 211 can have a direction in the target transfer point which is situated in an angular
range relative to the extent of the contact surface 105 of the unit load receiving device 100,
which is greater in magnitude than 25 degrees.
5 The vehicle 1 moves in a controlled manner from its initial state as a first vehicle current
position along the target trajectory 200 to the target transfer point 211 in which the vehicle 1
traveling along the target trajectory 200 or on the target trajectory 200 executes a movement
direction reversal. As described, the movement direction reversal in the case of a target
speed profile defined by control target specifications with the required transfer acceleration
10 can be effected exclusively or partially by a bumping of the vehicle 1 into the unit load
receiving device 100 or by striking the unit load receiving device 100, but the target speed
profile defined by control target specifications can also be designed in such a way that the
movement direction reversal takes place without contacting or striking the vehicle 1 with the
contact surface 105.
15 The amount of the negative transfer longitudinal acceleration in the case of a pushing the
vehicle 1 against the unit load receiving device 100 or of an impact of the vehicle 1 against
the unit load receiving device 100 is determined by the combination of the target speed
profile with the definition of the position of the transfer point 211 relative to the unit load
receiving device 100 and thus by a distance D2 between the transfer point 211 and the unit
20 load receiving device 100 or the contact surface 105. As a result, the strength of the pulse
exerted on the vehicle 1 can be adjusted by pushing the vehicle 1 against the unit load
receiving device 100 and thus the amount of the transfer acceleration.
As the target trajectory ST of FIG. 4 shows, the transfer region 215 can run in a curved
manner, wherein the unit load receiving device 100 is situated on the convex side of the
25 target trajectory ST. In addition, this may be the case, for example at a distance D2 from the
unit load receiving device 100 on the side of the operation surface E. This distance D2 can
be dimensioned such that, during the movement of the vehicle 1 on the target trajectory 200
past the unit load receiving device 100 up to the end point 202, no contact between the
vehicle 1 and the unit load receiving device 100 occurs. In this case, a required transfer
30 lateral acceleration in the target transfer point 211 acts on the vehicle 1 during the movement
of the vehicle 1 along the transfer region 215 which results from at least one target speed
profile defined as a control target specification and from control commands which are
determined accordingly from a target velocity vector in the target transfer point 211 or
40
transfer region 215. By reaching the required transfer acceleration, the movement of the unit
load L is brought about by its mass inertia from the receiving component 7 to the unit load
receiving device 100. In this case, in particular, the target speed profile in the transfer region
215 or a portion of the transfer region 215 with the target transfer point 211 may also
5 comprise a constant vehicle velocity but also a reduction of the vehicle velocity along at least
one portion of the trajectory, that is to say a vehicle braking, or an increase in the vehicle
velocity along at least one portion of the trajectory, that is to say have a vehicle acceleration.
If, in the case of a course of the target trajectory 200, a curved-shaped transfer region 215, in
which the unit load receiving device 100 is situated on the convex side of the target trajectory
10 ST, is provided and the distance D2 between the target transfer point 211 and the unit load
receiving device 100 is less than the distance D2, in which there is no contact between the
vehicle 1 and the unit load receiving device 100, and the target transfer point 211 is located
sufficiently close to the unit load receiving device 100, the vehicle 1 which moves in the
target transfer point 211 with the commanded target velocity vector or the commanded target
15 velocity, experiences
(i) a first component of the transfer acceleration and in particular of the transfer lateral
acceleration by the movement along the curved-shaped transfer region 215 of the
target trajectory 200 in the transfer area 215 and
(ii) a second component of the transfer acceleration and in particular of the transfer
20 lateral acceleration by striking the vehicle 1 against the unit load receiving device
100 or a contact surface 105 thereof facing the operation surface E.
The smaller the distance D2, the greater is the second component of the transfer
acceleration and in particular the transfer lateral acceleration during the movement of the
vehicle 1 in the transfer region 215 along the unit load receiving device 100.
25 According to the invention, in combination with otherwise any variant or embodiment of the
vehicle of the logistics system or of the method described or contained herein, the target
trajectory ST and/or the transfer region and in particular the shape of the transfer region are
in each case with the position of the transfer point 211 , 311 relative to the unit load receiving
device 100 or the distance between the transfer point 211, 311 and the unit load receiving
30 device 100 can be predefined. As an alternative to this, it can be provided according to the
invention that the target trajectory ST and/or the transfer region and in particular the shape of
41
the transfer region is determined in a target trajectory determination function, wherein the
target trajectory determination function can be realized in a vehicle system S or a logistics
central device 400 arranged in a stationary manner in the operation area. The target
trajectory ST determined in the target trajectory determination function can in particular have
5 an initial point 201, an end point 202 and a target transfer point 211 and with a transfer
region 215 located between them in particular with a uniformly curved profile, wherein the
unit load receiving device 100 is situated on the convex side of the curvature of the transfer
region 215. The target trajectory determination function can be designed in such a way that
the distance D2 between the target transfer point 211 and the unit load receiving device 100
10 comprises a predetermined or determined amount. As a result, by determining a suitable
target trajectory ST and/or the transfer region and in particular the shape of the transfer
region with the described profile, a required transfer acceleration and in particular transfer
lateral acceleration can be achieved, which results from the first component (i) of the transfer
acceleration and in particular transfer lateral acceleration and optionally additionally the
15 second component (ii) of the transfer acceleration and in particular hand-over lateral
acceleration of the vehicle 1.
In order to determine the target trajectory ST, it can be provided that the target trajectory
determination function contains or is able to functionally relate to a predefined and e.g.
stored trajectory form of the target trajectory ST or a target trajectory course and/or the
20 transfer region, and in particular a form of the transfer region. The at least one trajectory
shape or the shape of the transfer region can be defined in particular by a mathematical
function, which is described, for example, with coordinate axes of a coordinate system,
wherein the coordinate axes can be arranged in such a way that they span the operation
surface E or their substantial extension. The at least one trajectory shape or the shape of the
25 transfer region can be used in particular as a parabolic function or as a spline function or as
another predefined function in the target trajectory determination function or in a function
assigned to it. In this case, it can additionally be provided in the target trajectory
determination function that a trajectory shape predefined as a function, which comprises at
least one parameter, is defined, so that this at least one parameter can in each case be
30 equated to a specific value in order to define the respective trajectory shape or the shape of
the transfer region as a specific function or to vary this respective function in order to
determine the appropriate trajectory shape or the shape of the transfer region.
In addition, the target trajectory determination function can comprise an adaptation function
42
which varies the at least one parameter so that by varying or adjusting the at least one
parameter of the predefined trajectory shape or the shape of the transfer region, by which the
specific target trajectory ST or the specific transfer region is defined and a suitable specific
target trajectory ST or suitable shape of the transfer region is determined, with which, in
5 combination with a predefined or determined target speed profile with a target velocity and/or
a target acceleration in the target transfer point 211, 311, a required transfer acceleration
with one or more of the acceleration specifications (b1), (b2), (b3) can optionally be achieved
for the vehicle 1. In this case, it can also be provided that a plurality of trajectory forms or a
plurality of forms of the transfer region are predefined, for example, in the target trajectory
10 determination function, and the adaptation function of the target trajectory determination
function realizes the described adaptation of a plurality of trajectory shapes or shapes of the
transfer region by parameter variation.
As an alternative or in addition, it can be provided that the target trajectory determination
function has stored a plurality of specific target trajectory courses, i.e., defined without
15 parameters, for example in each case as a predefined function and selects one of the
specific target trajectory courses during the determination of the target trajectory ST. In this
case, the target trajectory determination function can have a selection function with which a
target trajectory course is selected as a basis for determining the control commands from the
selectable target trajectory courses by means of which the transfer acceleration to the
20 vehicle 1 is reached or exceeded in the case of a target speed profile defined by control
target specifications in the transfer region and/or a target acceleration in the target transfer
point.
In the embodiments according to the invention with an adaptation function of the target
trajectory determination function and in embodiments according to the invention with a
25 selection function of the target trajectory determination function, a variation of target speed
profiles in the transfer region or, if appropriate, a target acceleration in the target transfer
point can be performed, and a value for the transfer acceleration to be achieved as a
comparison value or threshold value or minimum value can be used. In this case, it can be
provided that the target speed profile or, if appropriate, that target acceleration is selected or
30 determined with which the comparison value or threshold value or minimum value is
exceeded at least with respect to other parameter values.
The determination of whether a comparison value or threshold value or minimum value for
the target speed profile in the transfer region and/or a target acceleration in the target
43
transfer point is achieved can generally be carried out herein by performing a simulation
calculation, with respect to a theoretical transfer acceleration occurring in this case,
optionally for one or more of the aforementioned components (i), (ii), based on the
predetermined determination variables, such as, for example, the selected target trajectory
5 and/or a target speed profile along the target trajectory or the transition region, and by
comparison of this theoretical transfer acceleration with the respective comparison value or
threshold value or minimum value. In case that the comparison value or threshold value or
minimum value is exceeded by the respectively determined value of the theoretical transfer
acceleration, the selection or adaptation, which has led to reach the comparison value, can
10 be identified as a selection or adaptation to be used on the basis of the predetermined
determination variables.
The variations of parameters or functions or profiles mentioned herein can be carried out in
accordance with a predefined sequence or after a statistical probability or in some other way.
As an alternative or in addition to the aforementioned embodiments of the target trajectory
15 determination function the determination of the target trajectory course can be provided by
adapting a predefined shape of the target trajectory course or by selecting a target trajectory
course, optionally with adaptation thereof, such that the target trajectory determination
function applies at least one trajectory course criterion. In this case, it can be provided that
the target trajectory determination function uses as a trajectory course criterion, in particular
20 in the case of a target speed profile defined as a control target specification in the transfer
region and/or in the case of a target acceleration defined as a control target specification in
the target transfer point of the vehicle, one or more of the following trajectory course criteria
(TK1), (TK2), (TK3), (TK4) to ensure the transfer acceleration of the vehicle 1 to be achieved:
(TK1) minimum length from the vehicle actual position or the initial point 201, 301 of the
25 target trajectory ST to the target transfer point 211, 311,
(TK2) the maximum curvature of the transfer region 215, 315 is minimal,
(TK3) minimum time duration from the vehicle actual position or the initial point of the
target trajectory ST to the target transfer point 211, 311 at a predefined speed profile
of the vehicle 1 which can be constant over the target trajectory ST or variably over
30 the target trajectory ST,
(TK4) minimal energy demand or minimum energy consumption for driving the vehicle 1
44
from the actual vehicle position or the initial point 201 of the target trajectory ST to
the target transfer point 211, 311,
(TK5) reliable/process-safe transfer or no incorrect delivery of the unit load L from the
vehicle 1 to the unit load receiving device 100,
5 (TK6) minimal utilization of space in the unit load receiving device 100.
In the adaptation function of the target trajectory determination function, it can be provided
that said function defines those of the at least one parameter in such a way that the
comparison value or threshold value or minimum value is exceeded at least with respect to
other parameter values. Alternatively or additionally, at least one of the criteria TK1 to TK6
10 can be used and, additionally, the at least one parameter can be defined such that one of the
aforementioned criteria or a plurality of the aforementioned criteria are met or the largest
number of met criteria results.
In the selection function, it can be provided that it selects that of the target trajectory courses
and/or those of the transfer regions in which the comparison value or threshold value or
15 minimum value is exceeded least with respect to other target trajectory courses. Alternatively
or additionally, at least one of the criteria TK1 to TK6 can be used and in this case the one of
the target trajectory courses can be selected that one of the aforementioned criteria or a
plurality of the aforementioned criteria are met or the largest number of met criteria results.
According to the invention, the transfer acceleration of the vehicle to be achieved for load
20 transfer by mass inertia of the unit load L in the target transfer point 211, 311 can generally
be predetermined as a comparison value in the target trajectory determination function, and
the target trajectory determination function may perform a selection or adaptation of a target
trajectory course or transfer region, when the limit value is reached combined with the
fulfillment of at least one or more of the trajectory course criteria (TK1), (TK2), (TK3), (TK4),
25 (TK5), (TK6).
The mentioned embodiments of the target trajectory determination function, using a
predefined target trajectory ST, with an adaptation function, with a selection function, i.e. the
embodiments with one or more of these options can each comprise a speed profile
determination function, which additionally determines a target speed profile along the
30 respective target trajectory ST or of the respective transfer region for the respective
predetermined or determined target trajectory ST, 200, 300 or the transfer region 215 of the
45
respective target trajectory 200 or 300, by which target speed profile the lateral acceleration
to be achieved for the vehicle 1 is realized. In this case, the speed profile determination
function can be realized in such a way that it starts from a predetermined target speed profile
and increases the target speed profile incrementally or in predetermined steps until the
5 simulation calculation results that with a target speed profile defined in this way the
comparative value for the acceleration to be achieved is reached or exceeded. In this regard,
the target speed profile can be defined with a speed profile function or by a series of target
velocities, which are each assigned to a point of the target trajectory, or in some other way.
As an alternative to this, the speed profile determination function may have stored different
10 target speed profiles and may perform a simulation calculation gradually for the various
target speed profiles with determination of the theoretical transfer acceleration occurring in
the target transfer point 211, 311. If the comparison value or threshold value or minimum
value is exceeded by the in each case determined value of the theoretical transfer
acceleration, which occurs in the target transfer point 211 311, the target speed profile to be
15 used can be identified on the basis of the respectively used target speed profile which has
resulted in the reaching of the comparison value. In particular, that target speed profile for
the transfer of the unit load L may be used in these embodiments in which the respective
theoretical transfer acceleration exceeds the comparison value by the least amount.
In all embodiments, in which a comparison value or threshold value or minimum value is
20 required for the transfer acceleration of the vehicle 1, in particular in connection with the use
of a theoretical transfer acceleration, the comparison value or threshold value or minimum
value may be determined. For this purpose, a comparison value determination function may
be functionally integrated in the respective speed profile determination function in which the
comparison value or threshold value or minimum value is determined. In the determination of
25 the comparison value or threshold value or minimum value, it can be provided that factors or
influencing factors may be derived from one property value or a combination of a plurality of
the following property values:
(K1) a weight or a weight range of the unit load L,
(K2) a coefficient of friction between the unit load L and the receiving component 7,
30 (K3) a value for the magnitude of the unit load L
In this case, the respective influencing factor can be applied to a predetermined comparison
46
value or threshold value or minimum value.
In each embodiment according to the invention with a velocity-determining function, it can be
provided that the velocity-determining function uses one or a plurality of the following velocity
criteria (GK1), (GK2) as a transfer velocity criterion or speed profile criterion to ensure the
5 transfer acceleration of the vehicle 1 to be achieved:
(GK1) minimum time duration from the vehicle actual position or the initial point 201 of the
target trajectory ST to the target transfer point 211, in particular while maintaining
predefined restrictions such as, for example, maximum lateral acceleration of the
vehicle 1,
10 (GK2) energy demand or energy consumption for driving the vehicle 1 from the vehicle
actual position or the initial point 201 of the target trajectory ST to the target transfer
point 211.
Furthermore, it can be provided according to the invention that each of the velocity
determination functions described herein can be combined with each of the target trajectory
15 determination functions described herein in order to determine both a target speed profile
and a target trajectory course or a course of the transfer region. In this case, provision can
be made that, for the respectively determined combination of the respectively determined
target speed profile with a respectively determined target trajectory course or course of the
transfer region, a simulation calculation is carried out with determination of the theoretical
20 transfer acceleration occurring in the target transfer point 211, 311. In this case, it can be
provided, in particular, that of the combinations mentioned whose theoretical transfer
acceleration exceeds the comparison value or threshold value or minimum value, the
combination is used for carrying out the transfer mission task or for the transfer of the unit
load L to the unit load receiving device 100 which uses one or more of the following
25 optimization criteria (OK1), (OK2), (OK3), (OK4), (OK5), (OK6) as an optimization target:
(OK1) minimum length from the vehicle actual position or the initial point of the target
trajectory ST to the target transfer point 211, 311,
(OK2) minimum transfer speed,
(OK3) minimum time duration from the vehicle actual position or the initial point of the
30 target trajectory ST to the target transfer point 211, 311,
47
(OK4) energy demand or energy consumption for driving the vehicle 1 from the vehicle
actual position or the initial point of the target trajectory ST to the target transfer
point 211, 311,
(OK5) reliable/process-safe transfer or no incorrect delivery of the unit load L from the
5 vehicle 1 to the unit load receiving device 100,
(OK6) minimal utilization of space in the unit load receiving device 100.
The optimization criterion (O6) has, in particular, for the case that the unit load receiving
device 100 is already partially occupied, the goal that the vehicle adapts its target trajectory
ST in such a way that the unit load L lands in a targeted manner in an even free region of the
10 unit load receiving device 100.
Figure 5 shows an embodiment of the vehicle system S according to the invention with the
vehicle control function 50, a drive control function 55 and a vehicle communication device
80. In this embodiment, it is provided that the vehicle communication device 80 receives
control target specifications and optionally in each case current actual vehicle states and
15 provides and transmits the drive control function 55. In the embodiment shown in figure 5,
the control target specifications received by the vehicle communication device 80 are, in
particular, target trajectory follow-up commands and a target speed profile which has target
velocities along the respective target trajectory ST or at least along the transfer region 215,
315 of the target trajectory ST, 200, 300, optionally with the at least one target trajectory ST
20 or respective target trajectories ST. The control target specifications are determined as
current values in particular at predetermined time intervals and in particular with a predefined
Iteration rate from the vehicle communication device 80. Prior to the transmission of the
control target specifications to the vehicle communication device 80, the same have been
determined on the basis of a current actual vehicle state. In this case, it is provided that the
25 respective current actual vehicle states are determined by an external device which is
arranged outside the vehicle and which is arranged in particular in a stationary manner in the
operation area B. The determination of the current actual vehicle states in each case can
generally be determined by means of a sensor device, for example by means of a camera
and corresponding transformation of the sensor data into a coordinate system assigned to
30 the operation surface E. Optionally, the respective current actual vehicle states are received
as values of such a coordinate system from the vehicle communication device 80. On the
basis of the respective target trajectory ST and the respective current actual vehicle states in
48
this embodiment, target trajectory follow-up commands, for example as a target direction
vector of the vehicle 1, and the target speed profile are determined by an external device and
transmitted to the vehicle communication device 80, so that these control target
specifications are received by the vehicle communication device 80. The vehicle
5 communication device 80 transmits target trajectory follow-up commands for the respective
target trajectory ST and the respective current actual vehicle states as control target
specifications according to an embodiment described herein to the drive control function 55.
On the basis of the respective control target specifications, the drive control function 55
determines control commands for adjusting a velocity vector of the vehicle 1 which are
10 transmitted to the drive device 30. The control commands can include, for example, steering
commands or direction change commands or acceleration commands. The control
commands are suitable for the drive device 30 to transform these in running gear control
commands which are transmitted to the running gear 5 and which are suitable that the
running gear 5 moves the vehicle 1 along the target trajectory ST and in particular along the
15 transfer region 215, 315 and as result realizes the transfer acceleration of the vehicle 1 to be
achieved at least in a section, which comprises the target transfer point 211 311, 311, or in
the target transfer point 211, 311.
Figure 6 shows a further embodiment of the vehicle system S according to the invention with
the vehicle control function 50, a drive control function 55 and a vehicle communication
20 device 80. In this embodiment, it is provided that the vehicle communication device 80
receives current actual vehicle states and at least one target trajectory ST, for example in the
form of data or a mathematical function. The respective current actual vehicle states can
generally be determined by means of a sensor device and corresponding transformation of
the sensor data into a coordinate system assigned to the operation surface E. The current
25 actual vehicle states and the at least one target trajectory ST are transmitted to the target
trajectory follow-up function 60. The target trajectory follow-up function 60 performs an
assignment of current actual vehicle states and respective points of the target trajectory ST
and determines target trajectory follow-up commands for respectively current actual vehicle
states The target trajectory follow-up function 60 can be realized according to an
30 embodiment described herein.
Furthermore, the vehicle communication device 80 sends the at least one target trajectory
ST to the load transfer control function 70. The load transfer control function 70 can be
realized according to an embodiment described herein. The load transfer control function 70
49
determines, for the respective target trajectory ST, in each case a target speed profile
according to an embodiment described herein, in which at least in one of the target transfer
points 211 a target acceleration of the vehicle 1 is defined in the section of the desired Ttrajectory ST comprising the target T trajectory or in the transfer point 211, 311.
5 The target trajectory follow-up function 60 transmits the target trajectory follow-up commands
to the drive control function 55 and the load transfer control function 70 transmits the target
speed profile for the respective target trajectory ST or at least along the transfer region 215,
315 of the target trajectory ST, 200, 300 to the drive control function 55. These control target
specifications are transmitted as current values in particular at predetermined time intervals
10 and in particular at a predetermined iteration rate to the drive control function 55. The control
target specifications can be transmitted to the drive control function 55 in a temporally
consolidated manner, that is to say for the respective current point in time, in particular as a
data packet or in a data structure. The drive control function 55 determines control
commands from the target trajectory follow-up commands and the target speed profile,
15 optionally with the respective target trajectory ST, and transmits them to the drive device 30.
The control commands can include, for example, steering commands or direction change
commands or acceleration commands. The control commands are suitable for the drive
device 30 to convert them into running gear commands which are transmitted to the running
gear 5 and which are suitable that the running gear 5 moves the vehicle 1 along the target
20 trajectory ST and, in particular, along the transfer region 215, 315, and that in this process
the transfer acceleration of the vehicle 1 to be achieved is realized at least in one of the
target transfer points 211, 311.
As an alternative to the embodiment of figure 6, the target trajectory follow-up function 60
can be arranged in an external device, for example a logistics central device 300 arranged in
25 a stationary manner in the operation area B, so that the target trajectory follow-up
commands, optionally with the at least one target trajectory ST or respective target
trajectories ST, is transmitted to the vehicle communication device 80 and received by the
vehicle communication device 80 and transmitted to the drive control function 55. In this
alternative, the vehicle control function 50 comprises the load transfer control function 70,
30 which transmits the target speed profile for the respective target trajectory ST to the drive
control function 55. The functionality of the drive control function 55 and the drive device 30
may be realized in accordance with an embodiment described herein with reference to
figure 5 or figure 6.
50
As a further alternative to the embodiment of figure 6, the load transfer control function 70
may be integrated in an external device, e.g. a logistics central device 300 which is arranged
stationary in the operation area B, so that the target speed profile is optionally with the at
least one target trajectory ST or respective target trajectories ST can be transmitted to the
5 vehicle communication device 80 and from the latter can be transmitted to the drive control
function 55. In this alternative, the vehicle control function 50 comprises the target trajectory
follow-up function 60 which transmits the target trajectory follow-up commands for the
respective target trajectory ST to the drive control function 55.
In the embodiments described with reference to figure 6, it may alternatively or additionally
10 be provided that the vehicle control function 50 has stored at least one target trajectory ST.
For this purpose, it may alternatively or additionally be provided that the vehicle control
function 50 comprises a target trajectory determination function which is designed according
to a manner described herein and determines a respective target trajectory ST and transmits
the same to the target trajectory follow-up function 60 and, if appropriate, the load transfer
15 control function 70. Alternatively or additionally, it may also be provided that the load transfer
control function 70 comprises a velocity determination function which is designed according
to a manner described herein and determines the target speed profile for the respective
target trajectory ST or at least along the transfer region 215, 315 of the target trajectory ST,
200, 300.
20 In the embodiments described with reference to figure 6, the transmission of the control
target specifications and the embodiments thereof can be carried out , the functionality of the
drive driving function 55 and the drive device 30 may be realized in accordance with an
embodiment described herein with reference to figure 5 or figure 6.
According to a further aspect of the invention, a logistics system A is provided with a logistics
25 system with a central device 300 and at least one vehicle system S. In an embodiment of the
logistics system A shown in figure 7, the logistics central device 400 comprises a vehicle
identification device 440 by means of which data are determined which define the respective
current actual vehicle state, in particular the current actual vehicle position and optionally the
current actual vehicle orientation in each case. Furthermore, the logistics central device 400
30 comprises a logistics communication device 480, which transmits the current actual vehicle
state to the vehicle communication device 80 of the at least one vehicle system S. In this
case, as shown, it can also be provided that at least one target trajectory ST is provided or
stored in the logistics central device 400 and in this case, for example, in the logistics control
51
function 450, and in that the at least one target trajectory ST is transmitted from the logistics
communication device 480 to the respective vehicle system S. Alternatively or additionally, it
can be provided that the logistics central device 400 or the logistics control function 450
comprises a target trajectory determination function which is designed according to one of
5 the realizations described herein and determines at least one respective target trajectory ST
and transmits the same to the target trajectory follow-up function 60 and, if appropriate, to
the load transfer control function 70. For these realizations, it may alternatively or additionally
be provided that at least one target trajectory ST is provided or stored in the vehicle control
function 50 and/or that the vehicle control function 50 includes The target trajectory
10 determination function, which is executed according to one of the realizations described
herein, and determines at least one respective target trajectory ST and, if appropriate, load
transfer control function 70 is transmitted.
In the embodiments described with reference to figure 7, the transmission of the control
target specifications and the embodiments thereof, the functionality of the drive driving
15 function 55 and the drive device 30 may be realized in accordance with an embodiment
described herein with reference to figure 5 or figure 6.
In the embodiments described with reference to figure 7, the functionality of the drive control
function 55 and of the drive device 30 may be realized according to an embodiment which is
described herein with reference to figure 5 or figure 6.
20 In an embodiment of the logistics system A shown in figure 8, the logistics central device 400
comprises a vehicle identification device 440, which can be designed as described with
reference to figure 7, a logistics control function 450 and a load transfer control function 470.
The load transfer control function 470 may be realized according to a functionality generally
described herein with respect to a load transfer control function. The logistics control function
25 450 provides at least one target trajectory ST. The logistics control function 450 is realized
according to an embodiment which is described with reference to figure 7. The logistics
central device 400 comprises a logistics communication device 480. The logistics control
function 450 transmits at least one target trajectory ST to the logistics communication device
480. The load transfer control function 470 transmits a target speed profile for the respective
30 target trajectory ST at least along the transfer region 215, 315 of the target trajectory ST, 200
300 according to an embodiment described herein. The target speed profile can in particular
be designed in such a way that at least in a section of the target trajectory ST which
comprises the target transfer point 211 or in the transfer point 211, 311 a target acceleration
52
of the vehicle 1 is defined. The logistics communication device 480 transmits the current
actual vehicle state, in particular the current actual vehicle position and optionally the current
actual vehicle orientation in each case the at least one target trajectory ST and the target
speed profile to the vehicle communication device 80.
5 The vehicle control function 50 comprises a target trajectory follow-up function 60, which
receives at least one target trajectory ST and the respective current actual vehicle state from
the vehicle communication device 80. The target trajectory follow-up function 60 can be
realized in accordance with a functionality generally described herein with respect to a target
trajectory follow-up function.
10 The target trajectory follow-up function 60 transmits the target trajectory follow-up commands
to the drive control function 55. The vehicle communication device 80 transmits the target
speed profile which can be realized in an embodiment described herein for the respective
target trajectory ST to the drive control function 55. These control target specifications are
transmitted as current values in particular at predetermined time intervals and in particular at
15 a predetermined iteration rate to the drive control function 55. These control target
specifications are transmitted as current values in particular at predetermined time intervals
to the drive control function 55 at a predetermined iteration rate. In the embodiments
described with reference to figure 7, the functionality of the drive control function 55 and of
the drive device 30 can be realized according to an embodiment that is described herein with
20 reference to figure 5 or figure 6.
In an embodiment of the logistics system A shown in figure 9, the logistics central device 400
comprises a vehicle identification device 440, which can be designed as described with
reference to figure 7, a logistics control function 450 and a target trajectory follow-up function
460. The target trajectory tracking function 460 may be realized according to a functionality
25 generally described herein with respect to a target trajectory follow-up function may be. The
logistics control function 450 provides at least one target trajectory ST. The logistics control
function 450 is realized according to an embodiment which is described with reference to
figure 7. The logistics central device 400 comprises a logistics communication device 480.
The logistics control function 450 transmits at least one target trajectory ST to the logistics
30 communication device 480. The target trajectory follow-up function 460 takes an assignment
of current actual vehicle states and respective points of the target trajectory ST and
determines target trajectory follow-up commands for respectively current actual vehicle
states. The target trajectory follow-up function 60 can be realized according to an
53
embodiment described herein. The target trajectory follow-up function 60 determines target
trajectory follow-up commands for the respective target trajectory ST and the respective
current actual vehicle states according to an embodiment described herein and transmits the
target trajectory follow-up commands to the logistics communication device 480. The
5 logistics communication device 380 transmits the respective current target trajectory followup commands and optionally the at least one target trajectory ST to the vehicle
communication device 80.
The vehicle control function 50 includes the load transfer control function 70. The vehicle
communication device 80 transmits the at least one target trajectory ST to the load transfer
10 control function 70 optionally the respective current actual vehicle states. The load transfer
control function 70 May be realized according to a functionality generally described herein
with respect to a load transfer control function. The load transfer control function 70
determines, for the respective target trajectory ST, in each case a target speed profile
according to a specific embodiment described herein at least along the transfer region 215,
15 315 of the target trajectory ST, 200, 300, in which a target acceleration of the vehicle 1 is
defined at least in a section of the target trajectory ST comprising the target transfer point
211, 311 or at the transfer point 211, 311. The load transfer control function 70 transmits a
target speed profile for the respective target trajectory ST to the drive control function 55 as
control target specifications according to an embodiment described herein. The vehicle
20 communication device 80 transmits target trajectory follow-up commands for the respective
target trajectory ST and the respective current actual vehicle states as control target
specifications according to an embodiment described herein to the drive control function 55.
These control target specifications are transmitted as current values in particular at
predetermined time intervals and in particular at a predetermined iteration rate to the drive
25 control function 55. In the embodiments described with reference to figure 7, the functionality
of the drive control function 55 and of the drive device 30 can be realized according to an
embodiment which is described herein with reference to figure 5 or figure 6.
In an embodiment of the logistics system A shown in figure 10, the logistics central device
400 comprises a vehicle identification device 440, which can be designed as described with
30 reference to figure 7 a logistics control function 450, a target trajectory follow-up function 460
and a load transfer control function 470. The target trajectory follow-up function 460 can be
realized in accordance with a functionality generally described herein with respect to a target
trajectory follow-up function. The load transfer control function 470 may be realized
54
according to a functionality generally described herein with respect to a load transfer control
function. The logistics control function 450 provides at least one target trajectory ST. The
logistics control function 450 is realized according to an embodiment which is described with
reference to figure 7. The logistics central device 400 comprises a logistics communication
5 device 480. Optionally, the logistics control function 450 transmits the at least one target
trajectory ST to the logistics communication device 480. The target trajectory follow-up
function 460 performs an assignment of current actual vehicle states and respective points of
the target trajectory ST and determines target trajectory follow-up commands for respectively
current actual vehicle states. The target trajectory follow-up function 60 determines target
10 trajectory follow-up commands for the respective target trajectory ST and the respective
current actual vehicle states according to an embodiment described herein and transmits the
target trajectory follow-up commands and optionally the at least one target trajectory ST to
the logistics communication device 480. The load transfer control function 470 transmits a
target speed profile at least along the transfer region 215 for the respective target trajectory
15 ST 315 of the target trajectory ST, 200, 300 according to an embodiment described herein.
The target speed profile may in particular be designed in such a way that at least in one of
the target transfer points 211 a target acceleration of the vehicle 1 is defined in the section of
the target trajectory ST having the target trajectory ST or at the transfer point 211, 311. The
logistics communication device 480 transmits the respective current target trajectory follow20 up commands, optionally the respective current actual vehicle state optionally the at least
one target trajectory ST and the target speed profile to the vehicle communication device 80.
The vehicle control function 50 may be realized according to an embodiment described with
reference to figure 6. These control target values are determined as current values in
particular at predetermined time intervals and in particular is transmitted to the drive control
25 function 55 at a predetermined iteration rate. In the embodiments described with reference to
figure 10, the functionality of the drive driving function 55 and the drive device 30 may be
realized according to an embodiment that is described herein with reference to figure 5 or
figure 6.
Each specified trajectory follow-up function 60 mentioned herein can be a functional
30 component of a trajectory control function of a logistics central device 400, which is arranged
in a stationary manner in the operation area.
According to a further aspect of the invention, a method for transferring a unit load L from a
vehicle 1 to a unit load receiving device is provided in an operation area. In particular, the
55
vehicle 1 comprises: the running gear 5, the drive device 30, which is connected to the
running gear 5 and which adjusts a velocity vector of the vehicle 1 on the operation surface
of the operation area and the vehicle frame 10 arranged on the running gear 5 with a
receiving component 7 for receiving a unit load L. The method according to the invention
5 comprises the following steps:
based on control target specifications, determination of control commands and transmission
thereof to the drive device 30 in order to set a respective current velocity vector of the vehicle
1,
upon movement of the vehicle with the respective velocity vector, determining a deviation
10 relation between current vehicle actual states at least with a vehicle actual position relative to
a target trajectory in each case, wherein the target trajectory runs between an initial point
and an end point and comprises a transfer region with a target transfer point assigned to the
unit load receiving device,
from the deviation relation, determining target trajectory follow-up commands and
15 transmitting the same as control commands to the drive device. wherein the vehicle is moved
along the target trajectory with the control commands on a vehicle movement path,
on the basis of a target speed profile of the vehicle, in particular on the basis of an activation
of the target trajectory follow-up function, determination of velocity commands which can be
carried out by means of a load transfer control function described herein, and transmitting the
20 same as control commands to the drive device, wherein the velocity commands adjust a
transfer velocity of the vehicle in the target transfer point and the unit load L located on the
receiving component of the vehicle changes, as a result of the mass inertia thereof, is moved
onto the unit load receiving device.
The determination of target trajectory follow-up commands from the deviation relation and
25 the transmission of the same as control commands to the drive device can take place with a
target trajectory follow-up function described herein.
The determination of velocity commands on the basis of a target speed profile of the vehicle
can take place with a load transfer control function described herein and can in particular be
carried out on the basis of an activation of the target trajectory follow-up function.
30 In general, it can be provided that the control target specifications, at any relevant point in
56
time, are set in relation to the current state of the vehicle 1 of the respective point in time and
in particular each calculation time of the vehicle system S, and in this case the target states
of the vehicle 1 are optionally compared with current states of the vehicle 1 in order to
determine control commands for the drive device 30 in each case therefrom. The control
5 commands are determined in such a way that the current state of the vehicle 1 of the
respective time point changes into the target state relevant for the respective point in time.
The control commands for the respective point in time can be determined, in particular, using
known control methods or an estimation method.
10
57
We Claim :
1. Vehicle (1) for transferring a unit load (L) to a unit load receiving device (100) in an
operation area (B), the vehicle (1) comprising: a running gear (5), a drive device (30) which is
5 connected to the running gear (5) and drives the running gear on the basis of control
commands for adjusting a velocity vector of the vehicle (1), and a vehicle frame (10)
arranged on the running gear (5) and comprising a receiving component (7) for receiving the
unit load (L), wherein the vehicle (1) comprises a vehicle system (S) with a vehicle control
function (50),
10 wherein the vehicle control function (50) uses or determines target trajectory follow-up
commands as control target specifications with which the vehicle (1) is moved on a vehicle
movement path (210, 310) along a target trajectory (ST), wherein the target trajectory (ST)
runs between an initial point (201, 301) and an end point (202, 302) and comprises a transfer
region (215,315) with a target transfer point (211, 311) associated with the unit load receiving
15 device,
wherein the vehicle control function (50) uses or determines, at least for the transfer region
(215, 315) of the target trajectory (ST, 200, 300), a target speed profile as control target
specification,
wherein the vehicle control function (50) comprises a drive control function (55) which
20 converts the control target specifications into control commands which define a respective
current target velocity vector with respect to the respective actual vehicle state,
wherein the drive device (30), on the basis of the control commands, realizes a transfer
acceleration of the vehicle (1) at least in a section comprising the target transfer point (211,
311) in which the unit load (L) located on the receiving component (7) of the vehicle (1) is
25 moved by its mass inertia onto the unit load receiving device (100).
2. Vehicle (1) according to claim 1, wherein the vehicle control function (50) comprises a
target trajectory follow-up function (60) which, when the vehicle is moved, puts current
vehicle actual states at least with a vehicle actual position relative to a target trajectory into a
58
deviation relation and determines target trajectory follow-up commands from the deviation
relation and transmits them as control commands to the drive control function (55).
3. Vehicle (1) according to one of the preceding claims, wherein the vehicle control function
5 (50) comprises a load transfer control function (70) which determines velocity commands on
the basis of a target speed profile of the vehicle and transmits the same as control
commands to the drive control function (55) which sets a transfer velocity of the vehicle in the
target transfer point (211, 311),
wherein the shape of the transfer region (215), the position of the transfer point (211) relative
10 to the unit load receiving device (100) and the transfer velocity are set in such a way that the
unit load (L) located on the receiving component of the vehicle is moved by its mass inertia
onto the unit load receiving device (100).
4. Vehicle (1) according to claim 3, wherein the load transfer control function (70) defines a
15 target velocity of the vehicle (1) in the target transfer point (211).
5. Vehicle (1) according to any one of claims 3 or 4, wherein the load transfer control function
(70) defines a target acceleration of the vehicle (1) in the transfer region (215,315).
20 6. Vehicle (1) according to any one of claims 3 to 5, wherein a target speed profile is
predetermined in the load transfer control function (70).
7. Vehicle (1) according to one of the preceding claims, wherein a velocity determination
function determines the target speed profile on the basis of one or both of the profiles (ST1),
25 (ST2) of the transfer region (215,315):
(ST1) the transfer area (215,315) guides the vehicle past the unit load receiving device
(100) and comprises a curvature section with substantially uniform curvature so that
59
the vehicle experiences a lateral acceleration, wherein the unit load receiving device
is located on the convex side thereof,
(ST2) the transfer region (215,315) guides the vehicle to an impact against the unit load
receiving device (100) in the target transfer point (211, 311) with a movement
5 direction reversal in this target transfer point (211, 311).
8. Vehicle (1) according to claim 7, wherein the velocity determination function uses a
property value of the unit load (L).
10 9. Vehicle (1) according to claim 8, wherein the vehicle comprises a weight sensor device by
means of which the weight of a unit load (L) located on the receiving component (7) can be
determined, which assigns a weight value to the determined weight and transmits said
weight value to the velocity determination function as a property value of the unit load (L).
15 10. Vehicle (1) according to one of claims 7 to 9, wherein the velocity determination function
determines a value for the target acceleration in the transfer point (211, 311) and determines
therefrom the target speed profile.
11. Vehicle (1) according to any one of claims 2 to 10, wherein the target trajectory in the
20 vehicle control function (50) is stored as a predetermined target trajectory and the vehicle
control function (50) provides the target trajectory to the follow-up function (60).
12. Vehicle (1) according to any one of claims 1 to 10, wherein the vehicle control function
(50) comprises a target trajectory determination function which determines the target
25 trajectory and the vehicle control function (50) provides the target trajectory to the target
trajectory follow-up function.
60
13. Vehicle (1) according to claim 12, wherein the target trajectory determination function
determines the target trajectory on the basis of at least one trajectory course criterion.
14. Vehicle (1) according to claim 13, wherein the target trajectory determination function has
5 stored a plurality of target trajectories and the target trajectory is determined on the basis of
at least one trajectory course criterion selecting one of the target trajectories.
15. Vehicle (1) according to claim 13 or 14, wherein the target trajectory determination
function has stored at least one target trajectory and the target trajectory determination
10 function, based on at least one trajectory course criterion, adapts parameters of the target
trajectory according to the trajectory course criterion.
16. Vehicle (1) according to claim 14 or 15, wherein the stored target trajectories are defined
according to one of the two following alternatives (ST1), (ST2):
15 (ST1) the transfer area guides the vehicle past the unit load receiving device and
comprises a curvature section with uniform curvature so that the vehicle
experiences lateral acceleration, wherein the unit load receiving device is located on
the convex side thereof,
(ST2) the transfer region guides the vehicle to an impact against the unit load receiving
20 device in the target transfer point (211, 311) with a movement direction reversal in
this target transfer point (211, 311).
17. Vehicle (1) according to one of claims 2 to 16,
wherein the target trajectory determination function uses, in the case of a target speed profile
25 defined as a control target specification in the transfer region and/or in the case of an target
acceleration defined as target transfer point of the vehicle, one or more of the following
trajectory course criteria (TK1), (TK2), (TK3), (TK4), (TK5), (TK6) to achieve the transfer
acceleration to be achieved to ensure vehicle 1:
61
(TK1) minimum length from the vehicle actual position or the initial point of the target
trajectory (ST) to the target transfer point (211, 311),
(TK2) minimum transfer velocity,
(TK3) minimum time duration from the vehicle actual position or the initial point of the
5 target trajectory (ST) to the target transfer point (211, 311),
(TK4) minimal energy demand or minimum energy consumption for driving the vehicle 1
from the vehicle actual position or the initial point of the target trajectory ST to the
target transfer point (211, 311)
(TK5) reliable/process-safe transfer or no malfunction of the unit load L from the vehicle 1
10 to the unit load receiving device (100),
(TK6) minimal utilization of space in the unit load receiving device (100).
18. Vehicle (1) according to one of the preceding claims, wherein the vehicle system (S)
comprises a vehicle communication device (80) which is in data or signal connection with a
15 logistics central device arranged in a stationary manner in the operation area (B) and
receives control target specifications from the logistics central device and vehicle control
function (50).
19. Vehicle (1) according to one of the preceding claims, wherein the vehicle system (S)
20 comprises a vehicle communication device (80) which can be radio-connected to a logistics
central device (400) which is stationary in the operation area (B) and which receives data,
which define a current vehicle state at least with a vehicle-actual position, and transmits to
the vehicle control function (50).
25 20. Vehicle according to one of the preceding claims, wherein the vehicle system comprises
a sensor device which captures current vehicle actual positions, which is operatively
connected to the vehicle control function (50) and transmits the current vehicle actual
positions to the vehicle control function (50).
62
21. Vehicle according to claim 20, wherein the sensor device comprises an optical sensor or
a camera, which respectively images optical floor features or floor markings of the operation
surface (B) that can be captured by the optical sensor, wherein the vehicle system comprises
5 an identification function with which the vehicle actual position is determined on the basis of
a current mapping of ground features or floor markings which are arranged on the operation
surface (B).
22. A logistics system (A) comprising:
10 a logistics central device (400) which is arranged in a stationary manner in an operation area
(B) and comprises a logistics communication device (480),
a unit load receiving device (100) arranged in the operation area (B),
a vehicle (1) for transferring a unit load (L) to the unit load receiving device (100), the vehicle
(1) which comprising: a running gear (5), a drive device (30), which is in communication with
15 the running gear (5) and which adjusts a velocity vector of the vehicle (1) on an operation
surface (E) of the operation area (B), and a vehicle frame (10) which is arranged on the
running gear (5) and comprises a receiving component (7) for receiving the unit load (L),
wherein the vehicle (1) comprises a vehicle system (S) which comprises:
a vehicle control function (50) which is functionally connected to the drive device (30) and
20 which determines control commands on the basis of control target specifications and
transmits said commands to the drive device (30) for adjusting a respective current velocity
vector of the vehicle (1),
a vehicle communication device (80) which is in data or signal connection with the logistics
communication device (480) via radio and is functionally connected to the vehicle control
25 function (50),
wherein the vehicle control function (50) uses or determines target trajectory follow-up
commands as control target specifications with which the vehicle (1) is moved along a target
trajectory (ST) on a vehicle movement path (210, 310), wherein the target trajectory (ST)
runs between an initial point and an end point and comprises a transfer region (215, 315)
63
with a target transfer point (211, 311) assigned to the unit load receiving device,
wherein the vehicle control function (50) uses or determines a target speed profile as control
target specification at least for the transfer region (215,315) of the target trajectory (ST, 200,
300),
5 wherein the vehicle control function (50) comprises a drive control function (55) which
converts the control target specifications into control commands which define a respective
current target velocity vector with respect to the respective current vehicle state,
wherein the drive device (30), on the basis of the control commands, realizes a transfer
acceleration of the vehicle (1) at least in a section comprising the target transfer point (211,
10 311) in which transfer acceleration the unit load (L) located on the receiving component of
the vehicle is moved by its mass inertia onto the unit load receiving device (100).
23. Logistics system (A) according to claim 22, wherein the vehicle control function (50)
comprises a target trajectory follow-up function (60) and a load transfer control function (70).
15
24. Logistics system (A) according to claim 23, wherein the target trajectory follow-up
function (60) contains the target trajectory.
25. Logistics system (A) according to one of claims 22 to 24, wherein the vehicle (1) is
20 designed according to one of claims 2 to 21.
26. Logistics system (A) according to one of claims 22 to 25,
wherein the logistics central device (400) comprises a vehicle identification device (440) for
determination of respective current vehicle actual positions, wherein the vehicle identification
25 device is functionally connected to the logistics communication device (480) and transmits
the determined respective current vehicle actual positions to the logistics communication
device (480), wherein the logistics communication device is connected to the vehicle
64
communication device (80) via a radio connection and transmits the respective current
vehicle actual positions to the vehicle communication device (80),
wherein the vehicle control function (50) is operatively connected to the vehicle
communication device (80) and receives the current actual vehicle positions, respectively,
5 wherein the vehicle control function (50) comprises a target trajectory follow-up function (60)
which, on the basis of the received respective current vehicle actual positions and on the
basis of the target trajectory, determines target trajectory follow-up commands and transmits
control commands to the drive device (30),
wherein the vehicle control function (50) comprises a load transfer control function (70) which
10 generates velocity commands on the basis of a target speed profile of the vehicle and
transmits the velocity commands as control commands to the drive device (30).
27. Logistics system (A) according to claim 26, wherein the load transfer control function
(70) contains the target speed profile and the velocity commands are generated therefrom.
15
28. Logistics system (A) according to one of claims 22 to 25,
wherein the logistics central device (400) comprises:
a logistics identification device (410) for determining respective current vehicle actual
positions,
20 a target trajectory follow-up function (460) with the target trajectory which, on the basis of the
current vehicle actual positions and the target trajectory, determines target trajectory followup commands and transmits the same as control target specifications to the logistics
communication device (480), which transmits the target trajectory follow-up commands to the
vehicle communication device (80) as control target specifications,
25 a load transfer control function (470) that generates velocity commands and transmits the
same as control target specifications to the logistics communication device (480) which
determines the velocity commands and transmits the same as control target specifications to
the vehicle communication device (80),
65
wherein the vehicle communication device (80) transmits the target trajectory follow-up
commands as control target specifications to the vehicle control function (50) which transmits
the target trajectory follow-up commands and the velocity commands to the drive device (30).
5 29. Logistics system (A) according to one of Claims 22 to 25,
wherein the logistics central device (400) comprises: a logistics identification device (410) for
determining in each case current vehicle actual positions, a central target trajectory follow-up
function (460) which, on the basis of the current vehicle actual positions and the target
trajectory, determines target trajectory follow-up commands and transmits them as control
10 target specifications to the logistics communication device (480) which transmits the target
trajectory follow-up commands to the vehicle communication device (80), wherein the vehicle
communication device (80) transmits the target trajectory follow-up commands as control
commands to the drive device (30),
wherein the vehicle control function (50) comprises: the load transfer control function (70)
15 that generates velocity commands based on a target speed profile of the vehicle and acts as
control commands to the drive device (30).
30. Logistics system (A) according to claim 29, wherein the logistics central device (400)
comprises a logistics control function (450) in which the target trajectory (ST) is stored as a
20 predefined target trajectory and the logistics communication device (480) transmits the target
trajectory to the target trajectory follow-up function (460).
31. Logistics system (A) according to claim 29, wherein the vehicle control function (50)
comprises a target trajectory determination function which determines the target trajectory
25 (ST) and wherein the vehicle control function (50) provides the target trajectory of the target
trajectory follow-up function.
32. Method for transferring a unit load (L) from a vehicle (1) to a unit load receiving device
66
(100) in an operation area (B), the vehicle comprising: a running gear (5), a drive device (30)
which is connected to the running gear (5) and which, on the basis of control commands,
adjusts a velocity vector of the vehicle (1) on an operation surface of the operation area, and
a vehicle frame (10) arranged on the running gear (5) and comprising a receiving component
5 (7) for receiving a unit load (L), wherein the method comprises the following steps:
upon movement of the vehicle (1) with a respective velocity vector, determining a deviation
relation between respective current vehicle actual states at least with a respective current
vehicle actual position relative to a target trajectory (ST, 200, 300), wherein the target
trajectory runs between an initial point (201, 301) and an end point (202, 302) and comprises
10 a transfer region (215, 315) with a target transfer point (211, 311) associated with the unit
load receiving device (100),
from the deviation relation determining target trajectory follow-up commands and
transmission of the same as control commands to the drive device (30), wherein by means of
the control commands a respective current velocity vector of the vehicle (1) is adjusted and
15 the vehicle (1) is moved on a vehicle movement path along the target trajectory (ST, 200
(300),
based on a target speed profile of the vehicle, determining velocity commands and
transmitting the same as control commands to the drive device (30), wherein the velocity
commands adjust a transfer acceleration of the vehicle (1) in the target transfer point (211,
20 311) and wherein the unit load (L) which is located on the receiving component (7) of the
vehicle (1) is moved by the mass inertia thereof to the unit load receiving device (100).
33. Method according to claim 32, wherein a speed profile for the vehicle (1) is predefined
when driving along the target trajectory.
25
34. Method according to one of claims 32 to 33,
wherein the transfer acceleration is determined on the basis of one or both of the profiles
(ST1), (ST2) of the transfer region (215,315):
(ST1) the transfer area (215, 315) guides the vehicle past the unit load receiving device
67
and comprises a curvature section with substantially uniform curvature so that the
vehicle realizes a lateral acceleration wherein the unit load receiving device is
located on the convex side thereof is located,
(ST2) the transfer region (215, 315) guides the vehicle to an impact against the unit load
5 receiving device in the target transfer point (211, 311) with a movement direction
reversal in this target transfer point (211, 311).
35. The method of claim 34, wherein the velocity determination function uses a property
value of the unit load (L).
10
36. Method according to claim 35, wherein the weight of a unit load (L) located on the
receiving component (7) is determined by means of a weight sensor device of the vehicle
and a weight value is assigned to the determined weight and is transmitted as a property
value of the unit load (L) to said velocity determination function.
15
37. Method according to one of claims 34 to 36, wherein the velocity determination function
determines a value for the target acceleration in the transfer point (211, 311) and determines
therefrom the speed profile.
20 38. Method according to one of claims 32 to 37, wherein the target trajectory is a predefined
target trajectory.
39. Method according to one of claims 32 to 38, wherein the vehicle control function (50)
comprises a target trajectory determination function which determines the target trajectory
25 and the vehicle control function (50) provides the target trajectory of the target trajectory
follow-up function (60).
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40. Method according to claim 39, wherein the target trajectory determination function
determines the target trajectory on the basis of at least one trajectory course criterion.
41. Method according to claim 40, wherein the target trajectory is determined on the basis of
5 at least one trajectory course criterion by selecting one of the target trajectories.
42. Method according to claim 40 or 41, wherein parameters of the target trajectory are
adapted on the basis of at least one trajectory course criterion.
10 43. Method according to claim 41 or 42, wherein target trajectories are defined according to
one of the two following alternatives (ST1), (ST2):
(ST1) the transfer area guides the vehicle past the unit load receiving device and
comprises a curvature section with uniform curvature so that the vehicle realizes a
lateral acceleration, wherein the unit load receiving device is located on the convex
15 side thereof,
(ST2) the transfer region (215,315) guides the vehicle to an impact against the unit load
receiving device in the target transfer point (211, 311) with a movement direction
reversal in this target transfer point (211, 311).
20 44. Method according to one of claims 39 to 43,
wherein the target trajectory determination function in the case of a target speed profile
defined as a control target specification in the transfer region and/or in the case of a target
acceleration defined as a control target specification in the target transfer point of the vehicle,
one or more of the following trajectory course criteria (TK1), (TK2), (TK3), (TK4), (TK5),
25 (TK6) to ensure the transfer acceleration of the vehicle 1 to be achieved:
(TK1) minimum length from the vehicle current position or the initial point of the target
trajectory (ST) to the target transfer point (211, 311),
69
(TK2) minimum transfer velocity,
(TK3) minimum time duration from the vehicle current position or the initial point of the
target trajectory (ST) to the target transfer point (211, 311),
(TK4) minimal energy demand or minimum energy consumption for driving the vehicle 1
5 from the vehicle actual position or the initial point of the target trajectory ST to the
target transfer point (211, 311)
(TK5) reliable/process-safe transfer or no malfunction of the unit load L from the vehicle 1
to the unit load receiving device (100),
(TK6) minimal utilization of space in the unit load receiving device (100).
10
45. Method according to one of claims 32 to 37,
wherein the target trajectory is formed from a load transfer trajectory and a coupling
trajectory connected thereto, wherein the load transfer trajectory runs between an initial point
and a target transfer point associated with the unit load receiving device, and the coupling
15 trajectory guides to the coupling point and connects the current vehicle actual position to the
coupling point,
wherein the target trajectory follow-up commands are determined with the following
functions:
(i) a coupling trajectory follow-up function, which, when the vehicle is moved, puts
20 current actual vehicle positions and the coupling trajectory into a deviation relation
and determines coupling trajectory control commands from the deviation relation
and transmits the same to the drive device such that the vehicle is moved on a
vehicle trajectory along the coupling trajectory,
(ii) a load transfer trajectory follow-up function which, after the vehicle has reached the
25 load transfer trajectory, puts current vehicle actual positions and the load transfer
trajectory in a deviation relation and determines from the deviation relation load
transfer trajectory control commands and transmits the same to the drive device so
that the vehicle is moved on a vehicle trajectory along the load transfer trajectory.
70
46. Method according to one of claims 32 to 37, wherein the vehicle system (S) of the vehicle
(1) is in data or signal connection with a logistics central device (400) arranged in a
stationary manner in the operation area (B) and receives control target specifications from
5 the logistics central device (400) and transmits the same to the vehicle control function (50).
47. Method according to one of claims 32 to 37,
wherein the vehicle system receives data defining a vehicle actual state at least with a
vehicle actual position from a logistics central device (400) stationary in the operation area
10 (B),
wherein the vehicle system determines the velocity commands from the deviation relation
and determines the velocity commands as a result of a target speed profile of the vehicle and
transmits the same as control commands to the drive device (30).
15 48. Method according to one of claims 32 to 37, wherein the current vehicle actual position is
detected by means of a sensor device of the vehicle system (S).
49. Method according to claim 48, wherein the sensor device comprises an optical sensor or
a camera, which respectively images optical floor features or floor markings of the operation
20 surface (B) that can be captured by the optical sensor, wherein the vehicle system comprises
an identification function, with which the vehicle actual position is determined on the basis of
a current mapping of ground features or floor markings which are arranged on the operation
surface