DE102018008007A1 - Rangiertransportystem and method for maneuvering a trailer of a truck, computer program product - Google Patents

Abstract

A maneuvering system (12, 12 ') for maneuvering a trailer (4, 4', 4 ") of a truck (2, 2 '), comprising a drive (18, 30) for at least one wheel (34), is described A maneuvering unit (24) for autonomously maneuvering the trailer (4, 4 ', 4 "), wherein the maneuvering transport system (12, 12') has an interface (22) for coupling to an environmental sensor system (8). of the trailer (4; 4 '; 4 "), wherein the arithmetic unit (24) is adapted to use sensor data of the environment sensor system (8) of the trailer (4; 4'; 4") for maneuvering. Described are further a method for maneuvering a trailer (4; 4 '; 4 ") and a computer program product.

Description

Described are shunting transport system, a method for shunting a trailer of a truck and a computer program product.

Shunting transport systems and methods of the type mentioned are known in the art.

The loading and unloading of trailers usually takes a long time. This naturally applies, in particular, to large trailers which have to be transported by lorries (tractors). Such trailers are usually equipped as a semi-trailer or with a drawbar and steerable axle. In such a case, it is usually not useful for economic reasons, to leave the tractor coupled to the trailer during loading and unloading, since the tractor does not yield a profit during loading and unloading, but only produces costs. Furthermore, maneuvering trailers, especially articulated trailers, is very challenging for the driver, despite modern electronic assistance, so especially when rearranging at bottlenecks increases the risk of accidents and damage to trailer and tractor.

Thus, the task is to automate the maneuvering of trailers without tractor for the purpose of loading and unloading.

The object is achieved by a shunting transport system according to claim 1, a method for shunting a trailer of a truck according to the independent claim 9 and by a computer program product according to the independent claim 10. Further developments and further developments are the subject of the dependent claims.

The invention relates to a shunting transport system for shunting a trailer of a truck, comprising a drive for at least one wheel, wherein the shunting transport system comprises a computing unit for autonomously maneuvering the trailer, wherein the shunting transport system has an interface for coupling to an environment sensor of the trailer, wherein the computing unit to set is to use sensor data of the trailer's environment sensor for maneuvering.

The fact that the maneuvering transport system can use the trailer's environment sensor technology allows it to be docked on one side of the trailer, for example in the front, and still obtain uncomplicated environmental information in the form of data about the rear area of the trailer, which are necessary for maneuvering, for example to see if obstacles are in the way or if the trailer is approaching a loading dock. Autonomous driving makes the maneuvering system efficient and accurate, eliminating human maneuvering mistakes.

In a first further embodiment, it can be provided that the interface is a data bus interface. Data bus interfaces are usually normalized, so that the shunting transport system can be attached to trailers from different manufacturers, which increases the versatility of the shunting transport system.

In another further embodiment, the surroundings sensor system of the trailer may include cameras and / or distance meters. The distance meters can, for example, have radar sensors, lidar sensors and / or ultrasound sensors.

In a further refinement that goes beyond that, it can be provided that the maneuvering transport system is designed to be coupled to a steerable drawbar of the trailer. Such trailers are particularly difficult to maneuver in reverse.

In a further embodiment, it can be provided that the maneuvering transport system has ambient sensors for detecting the environment, which, for example, allows a view forward in the normal direction of travel.

In another further embodiment, it can be provided that the shunting transport system is designed as a separate vehicle, which has at least one steerable wheel and a coupling for mechanically coupling the trailer. Thus, the shunting transport system can independently move from one trailer to be shunted to the next.

In an alternative further embodiment, it can be provided that the shunting transport system is installed in the trailer and has at least one decoupled drive for a wheel of the trailer, wherein the trailer has an environmental sensor in both directions of travel. Such a shunting transport system requires only very few components and can thus be integrated inexpensively into a trailer.

In a further embodiment of the alternative described above, it can be provided that a further drive for an opposite wheel of the same axis of the trailer is provided, which can be easily driven by appropriate control curves.

The shunting transport system described above is designed in particular for crawls, so extremely low-speed trips. As a result, lower demands are placed on the performance of the shunting transport system and its control.

A first independent subject relates to a method of maneuvering a trailer of a truck, wherein a maneuvering transport system of the type described above coupled to the trailer, connects to an environment sensor of the trailer and autonomously manages the trailer, where data of the environment sensors of the trailer are evaluated for maneuvering.

A further independent subject relates to a computer program product having a computer-readable storage medium embedded with instructions that, when executed by a computing unit, cause the computing unit to be configured to perform the method described above.

Further advantages, features and details will become apparent from the following description in which - where appropriate, with reference to the drawings - at least one embodiment is described in detail. Same, similar and / or functionally identical parts are provided for better readability with the same reference numerals.

• 1 eine typische Rangiersituation mit einem Rangiertransportsystem gemäß einer ersten Ausführungsform
• 2 eine andere typische Rangiersituation mit dem Rangiertransportsystem gemäß der ersten Ausführungsform;
• 3 das Rangiertransportsystem gemäß der 1. Ausführungsform, sowie
• 4 ein Rangiertransportsystem gemäß einer 2. Ausführungsform.

They show schematically:

• 1 a typical shunting situation with a shunting transport system according to a first embodiment
• 2 another typical shunting situation with the shunting transport system according to the first embodiment;
• 3 the shunting transport system according to the first embodiment, as well
• 4 a shunting transport system according to a second embodiment.

1 and 2 show a typical shunting situation.

Shown in 1 and 2 different stages of maneuvering each originally to a truck 2 . 2 ' attached trailers 4 . 4 ' , In 1 the truck is a semi-trailer 2 , where the trailer 4 is designed as a semi-trailer. In 2 is a truck 2 ' with a trailer 4 ' shown with steered drawbar.

Lorry 2 . 2 ' and followers 4 . 4 ' each have ambient sensors 6 . 8th on that over a data bus 10 connected to each other. The ambient sensor 8th of the trailer 4 . 4 ' For example, it may include cameras that are a driver of the truck 2 . 2 ' facilitate reversing. The truck 2 . 2 ' can the data from the environmental sensors 8th of the trailer 4 . 4 ' also for other purposes, eg for collision warning etc.

The tractor 2 . 2 ' is first of the trailer 4 . 4 ' disconnected and leaves the trailer 4 . 4 ' stand.

An autonomous shunting transport system 12 drives in the next phase to the respective trailer 4 . 4 ' zoom in, attach the trailer 4 . 4 ' mechanically and connects to the ambient sensor 8th about in the trailer 4 . 4 ' provided data bus 10 ago.

The shunting transport system 12 can then follow the trailer 4 . 4 ' with environmental information from all possible directions, forwards and backwards.

3 shows the shunting transport system 12 with more details.

The shunting transport system 12 is with two axes 14 . 16 educated. The shunting transport system 12 has a drive 18 for the axis 16 on. The axis 14 is designed as a steerable axle.

The shunting transport system 12 has a coupling 20 for mechanical coupling of the trailer 4 . 4 ' on. In some embodiments, instead of a clutch, multiple clutches may be provided for coupling different types of trailers with different clutch mechanisms.

The shunting transport system 12 also has an interface 22 to the data bus 10 of the trailer 4 . 4 ' on. This can provide environmental information about the environmental sensors 8th of the trailer 4 . 4 ' be obtained and from a computing unit 24 be evaluated.

The shunting transport system 12 has further directed in both directions own environmental sensor system 26 on, the maneuvering and coupling to the semi-trailer 4 allow. The ambient sensor 26 For example, it can use lidar, radar and / or ultrasound sensors and / or have cameras.

4 shows a shunting transport system 12 ' in a second embodiment.

The shunting transport system 12 ' is as a drive 30 with one of a disengaged position in an engaged position and back adjustable friction wheel 32 trained per page. The friction wheel 32 coupled in the engaged position to a wheel 34 a trailer 4 ' and can the bike 34 drive in both directions. On the invisible, opposite side of the trailer 4 ' Another driven friction wheel is provided. By differential drive of the two friction wheels 32 So drive with different speeds and / or directions is a cornering of the trailer 4 ' possible.

The friction wheels 32 can be decoupled for normal trailer operation on the truck (not shown). Once the friction wheels 32 docked uses the shunting transport system 6 ' the ambient sensor 8th of the trailer 4 ' for maneuvering.

The maneuvering system 12 ' like the maneuvering system 12 also have an interface and a computing unit.

In the two embodiments of shunting systems shown above 12 . 12 ' Furthermore, a control is provided for the autonomous operation of the shunting transport system 12 . 12 ' serves. The shunting transport system 12 . 12 ' may further comprise memory, communication means, power supply, etc. to enable autonomous and self-sufficient operation.

Although the invention has been further illustrated and explained in detail by way of preferred embodiments, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exists. It is also to be understood that exemplified embodiments are really only examples that are not to be construed in any way as limiting the scope, applicability, or configuration of the invention. Rather, the foregoing description and description enable the skilled artisan to practice the exemplary embodiments, and those of skill in the knowledge of the disclosed inventive concept may make various changes, for example, to the function or arrangement of particular elements recited in an exemplary embodiment. without departing from the scope defined by the claims and their legal equivalents, such as further explanation in the description.

LIST OF REFERENCE NUMBERS

2, 2 '

Lorry

4, 4 ', 4 "

pendant

6

Ambient sensor truck

8th

Ambient sensor trailer

10

bus

12, 12 '

Rangiertransportsystem

14

Steerable axle

16

drive axle

18

drive

20

clutch

22

interface

24

computer unit

26

sensors

30

drive

32

friction wheel

34

wheel

Claims (10)

A shunting transport system for shunting a trailer (4, 4 ', 4 ") of a truck (2, 2'), comprising a drive (18, 30) for at least one wheel (34), characterized in that the shunting transport system (12, 12 ') ), an arithmetic unit (24) for autonomously maneuvering the trailer (4, 4 ', 4 "), wherein the maneuvering transport system (12, 12') has an interface (22) for coupling to an environment sensor system (8) of the trailer (4; ', 4 "), wherein the arithmetic unit (24) is adapted to use sensor data of the environment sensor system (8) of the trailer (4; 4', 4") for maneuvering. Shunting transport system according to Claim 1 , characterized in that the interface is a data bus interface (22). Shunting transport system according to Claim 1 or 2 , characterized in that the environment sensors of the trailer (8) include cameras and / or distance meter. Rangiertransportystem according to any one of the preceding claims, characterized in that the shunting transport system (12, 12 ') for coupling to a steerable drawbar of the trailer (4') is formed. Rangiertransportystem according to any one of the preceding claims, characterized in that the shunting transport system (12, 12 ') environment sensor system (26) for detecting the environment. Rangiertransportystem according to any one of the preceding claims, characterized in that the shunting transport system (12) is formed as a separate vehicle having at least one steerable wheel and a coupling (20) for mechanically coupling the trailer (4, 4 '). Shunting transport system according to one of Claims 1 to 5 characterized in that the shunting transport system (12 ') is installed in the trailer (4 ") and has at least one decoupled drive (30) for a wheel (34) of the trailer (4"), the trailer (4 ") in both Driving directions has an environment sensor (8). Shunting transport system according to Claim 7 , characterized in that a further drive for an opposite wheel of the same axis of the trailer (4 ") is provided. Method for maneuvering a trailer (4; 4 '; 4 ") of a lorry (2), wherein a shunting transport system (12, 12') according to one of the preceding claims attaches to the trailer (4; 4 ';4"), characterized in that a connection is made to an environment sensor system (8) of the trailer (4; 4 '; 4 "), wherein the maneuvering transport system (12, 12') autonomously manages the trailer (4; 4 ';4") Data from the environment sensor (8) of the trailer (4, 4 ', 4 ") evaluates. A computer program product having a computer-readable storage medium embedded with instructions that, when executed by a computing unit (16), causes the computing unit (16) to recreate the method Claim 9 perform.

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