DE102018210341A1 - System and method for autonomously picking up a target object by a vehicle - Google Patents

Abstract

A system for autonomously picking up a target object by a vehicle (1) has position determination means (3a), which are set up to determine the position of the vehicle (1) with respect to a stationary coordinate system, and orientation determination means (4a, 4b, 4c, 4d, 4e ), which are set up to determine an orientation of the vehicle (1) in relation to the target object. A control device (5) is also provided, which is set up to receive position information from the position determination means (3a) and alignment information from the orientation determination means (4a, 4b, 4c, 4d, 4e) and for autonomous operation of the vehicle (1). The control device (5) controls the autonomous operation of the vehicle (1) on the basis of the position determination information in a section between an initial position and an intermediate position of the vehicle (1) and additionally or alternatively on the basis of the alignment information in a section between the intermediate position and a receiving position.

Description

Technical field

The present invention relates to a system and a method for autonomously picking up a target object by a vehicle. In particular, the present invention relates to a system for autonomously picking up a target object designed as an interchangeable load carrier by a vehicle, wherein a plurality of detection devices are used to determine the position and orientation.

State of the art

In connection with vehicles which are provided to accommodate swap bodies as exchangeable load carriers, systems for supporting the engagement process of the vehicle under the swap body are already known from the prior art. For example, the document discloses DE 10 2006 057 610 A1 a system in which the lane-fitting process of a vehicle under a swap body is supported by image-based sensors. With this system, distance information between the vehicle and swap body can be determined and can thus be appropriately intervened in the single-track process.

When a vehicle is engaged to accommodate a swap body, only slight deviations with regard to the route are permitted, particularly during the actual engagement. It is therefore necessary to provide a system for an extremely precise determination of the position and orientation, in particular when the vehicle is being engaged under the swap body, in particular in an autonomous mode of operation.

Presentation of the invention

A system for autonomously picking up a target object by a vehicle has position determination means which are set up to determine the position of the vehicle in relation to a stationary coordinate system, and orientation determination means which are set up to determine an orientation of the vehicle in relation to the target object. In this case, the system can have a control device which is set up to receive position information from the position determination means and alignment information from the orientation determination means and to operate the vehicle autonomously. The control device can control the autonomous operation of the vehicle on the basis of the position determination information in a section between an initial position and an intermediate position of the vehicle and additionally or alternatively on the basis of the alignment information in a section between the intermediate position and a receiving position of the vehicle.

The position of the vehicle in relation to the stationary coordinate system can include the position of a reference point of the vehicle and the spatial orientation of the vehicle relative to the stationary coordinate system. The stationary coordinate system can be freely selected as long as the position determination means enable the position of the vehicle to be clearly determined. The orientation of the vehicle in relation to the target object relates to the position of the vehicle in relation to the position of the target object and can be determined dynamically.

The system can have a GPS-based position determination system as position determination means. In this case, a predetermined device can be installed in the system, which makes the position of the vehicle available as position information using the GPS system. Any currently and future available system can be considered as a GPS-based positioning system.

In the system, the position determination means can have a sensor system of a control system for detecting reference elements provided in the area of the travel path of the vehicle. In this case, the position information related to a fixed coordinate system can be determined with the control system if reference elements are provided with a known position related to the fixed coordinate system. In particular, RFID elements can be used in the sensor system for detecting reference elements provided in the area of the route. The RFID elements can be attached to known positions in the area of the route. The sensor system can have detection elements for detecting the position of the RFID elements, so that on the basis of the known positions of the RFID elements, the position can be made available as position information in relation to the stationary coordinate system. Elements other than RFID elements can be used as reference elements, as long as the position of the vehicle can be made available as position information in relation to the stationary coordinate system

In the system, the alignment determination means can have a laser-based sensor system. The laser-based sensor system can be mountable on the vehicle and can be set up to detect the orientation of the vehicle relative to the target object. Any type of laser-based sensor system can be used, as long as a geometric variable, in particular a Distance between at least one reference position of the vehicle and at least one reference position of the target object is quantitatively detectable. When using the laser-based sensor system, several sensor elements can be provided, so that a large amount of information can be made available.

In the system, the laser-based sensor system can interact with elements of the target object and generate a distance signal that indicates the distance of the target object and the vehicle in the longitudinal direction. For this purpose, the sensor system on the vehicle can be arranged accordingly so that elements of the target object can be detected.

In the system, the laser-based sensor system can interact with elements of the target object and generate an alignment signal that indicates an alignment between the target object and the vehicle with respect to a relative rotation, in particular about a vertical axis of the vehicle and / or a relative lateral offset. For this purpose, several laser sensors can be provided, each of which generates a distance signal. Based on the knowledge of the geometry of the target object, an alignment between the target object and the vehicle can be assessed from the plurality of distance signals.

In the system, the alignment determining means can have a camera system. The camera system can be directed rearward with respect to the direction of travel of the vehicle. Furthermore, by imaging the field of view, the camera system can generate at least one distance signal that indicates the distance of the target object and the vehicle in the longitudinal direction. The camera system can generate an alignment signal that indicates an alignment between the target object and the vehicle with respect to a relative rotation, in particular about a vertical axis of the vehicle and / or a relative lateral offset. For this purpose, the image information of the camera system can be evaluated and information relating to the alignment between the target object and the vehicle can be generated from the image information using a predetermined algorithm.

In particular, it is possible to use a camera system with two camera elements, the cameras being attached to the vehicle offset in the direction of the main field of view or the longitudinal direction of the vehicle. In particular, one camera element is attached to a front portion of the vehicle and another camera element is attached to a rear portion of the vehicle. The information generated by the camera elements is combined with a predetermined algorithm to generate an alignment signal.

In the system, a level detection system can be provided that generates a level signal. The level signal indicates a distance between a reference element of the vehicle and a surface on which the vehicle is located. The level detection system can have a laser-based sensor system. The reference element of the vehicle can be a frame or a portion of the frame of the vehicle. Furthermore, the reference element of the vehicle can have elements that are used for receiving the target object, such as e.g. Einspurelemente.

In the system, the reaching determination of the intermediate position of the vehicle in autonomous operation of the vehicle can be detected by the orientation determination means. In this case, the orientation determination means detect the reaching of the intermediate position of the vehicle when the orientation determination means detects elements of the target object. The alternatives for the orientation determination means discussed above include camera-based systems, laser-based sensor systems and the like. Due to the different technology of the systems that can be used, there are differences in the detection range. In particular, a technically determined maximum detection distance can be specified for each of the systems used. The intermediate position of the vehicle is thus defined as that position of the vehicle relative to the target object, in which at least one of the detection systems of the orientation determination means can carry out a detection by interacting with elements of the target object. The orientation determining means can generate a signal that indicates that the intermediate position has been reached. The reaching of the intermediate position can alternatively or additionally be determined by the position determination means.

In the system, the control device can be set up to fuse available alignment information and / or position information with one another and to generate an overall alignment signal. The information is combined by the detection devices and evaluated in the control device using a predetermined algorithm. Due to the differing accuracy and / or reliability of the output signals of the detection systems, a correction and / or plausibility check can be carried out by the fusion. A reliable and accurate overall alignment signal can thus be generated using the entirety of the information.

A vehicle for accommodating a target object designed as a swap body can be provided with single-track elements which are set up for the single-track tunnel provided on the exchangeable load carrier. Furthermore, the vehicle can have a control device, which can be set up to receive position information from the position determination means of the vehicle and alignment information from the orientation determination means of the vehicle and for autonomous operation of the vehicle. The vehicle may also be equipped with a system having one or more of the features described above.

In the vehicle, the single-track elements can be provided in such a way that the single-track tunnel of the interchangeable load carrier can be engaged by reversing the vehicle under the interchangeable load carrier. In this case, the drive in is essentially a straight drive. The vehicle can also be equipped with a system for setting a level with which the distance of the engagement elements in relation to the ground can be adjusted. In particular, a level control system can be provided on the vehicle for this purpose.

• Bestimmen von Lageinformationen an einer Ausgangsposition des Fahrzeugs; Ermitteln einer Trajektorie zum Anfahren einer Zwischenposition, an der das Fahrzeug mit einer vorbestimmten Ausrichtung an dem Zielobjekt positioniert ist, auf der Grundlage der bestimmten Lageinformationen und Steuern eines autonomen Betriebs des Fahrzeugs zum Bewegen des Fahrzeugs an die Zwischenposition;
• Bestimmen von Ausrichtungsinformationen, nachdem das Fahrzeug die Zwischenposition erreicht hat;
• Herbeiführen eines Aufnahmezustands des Fahrzeugs auf der Grundlage der Ausrichtungsinformationen;
• Steuern eines autonomen Betriebs des Fahrzeugs zum Bewegen des Fahrzeugs von der Zwischenposition zu der Aufnahmeposition, in der das Zielobjekt von dem Fahrzeug aufgenommen werden kann.

A method for autonomously recording a target object by a vehicle has the following steps:

• Determining position information at a starting position of the vehicle; Determining a trajectory for approaching an intermediate position at which the vehicle is positioned with a predetermined orientation on the target object on the basis of the determined position information and controlling an autonomous operation of the vehicle for moving the vehicle to the intermediate position;
• Determining alignment information after the vehicle has reached the intermediate position;
• Establishing a shooting state of the vehicle based on the orientation information;
• Controlling an autonomous operation of the vehicle to move the vehicle from the intermediate position to the shooting position in which the target object can be picked up by the vehicle.

The method can be applied to a vehicle that has the features of the vehicle described above. In particular, the method is applicable to such a vehicle that has one or more of the features of the system described above. In particular, the method for receiving an exchangeable load carrier as a target object is used by a vehicle provided with single-track elements. The single-track elements are set up for meshing into a single-track tunnel provided on the interchangeable load carrier.

The position information is used in the method to determine a trajectory for moving to an intermediate position. The position of the target object in relation to the fixed coordinate system is taken into account. The intermediate position can be a position in which the vehicle has approached the target object. In the event that an interchangeable load carrier is used as the target object, the intermediate position is a position of the vehicle in which the longitudinal axis of the vehicle approximately coincides with the longitudinal axis of the interchangeable load carrier. The distance between the vehicle and the interchangeable load carrier can be variable as long as the orientation of the vehicle in relation to the interchangeable load carrier can be determined by the orientation determination means when the intermediate position is reached. When determining the trajectory, the intermediate position can thus be estimated and the reaching of the intermediate position can be confirmed by appropriate measures.

In the method, the position information is determined by determining the position and orientation of the vehicle in a fixed coordinate system and used to control the autonomous operation of the vehicle to move the vehicle to the intermediate position. In the method, it can be assumed that the intermediate position is reached when the vehicle is positioned with an approximate longitudinal alignment to the interchangeable load carrier and alignment information can be determined by means of alignment determination means provided on the vehicle through interactions between the alignment determination means and elements of the interchangeable load carrier. The alignment determination means can thus generate and emit a corresponding signal, so that it can be assumed for further operation that the intermediate position has been reached.

In the case of the method, it can be assumed that the recording state is reached when the single-track elements of the vehicle are fully meshed into the single-track tunnel of the interchangeable load carrier. This state is reached when the vehicle has been driven under the interchangeable load carrier by reversing and the interchangeable load carrier can be picked up in this state by subsequently lifting the engagement elements of the vehicle. The In this case, picking up means that the interchangeable load carrier, which is placed on support elements when the engagement elements of the vehicle are engaged in the engagement tunnel of the interchangeable load carrier, is raised in such a way that the support elements are lifted off the ground and the interchangeable load carrier is completely carried by the vehicle.

• Eine laserbasierte Abstandserfassungseinrichtung zur Erfassung einer Längs- und/oder Querausrichtung des Fahrzeugs relativ zum austauschbaren Lastenträger,
• ein Kamerasystem zur Erfassung von Bildinformationen zur Bestimmung von Ausrichtungsinformationen;
• eine laserbasierte Niveauerfassungseinrichtung zur Erfassung eines Abstands der Einspurelemente relativ zum Untergrund.

In the method, one or more of the following detection devices provided on the vehicle can be used when determining the alignment information:

• A laser-based distance detection device for detecting a longitudinal and / or transverse orientation of the vehicle relative to the exchangeable load carrier,
• a camera system for acquiring image information for determining alignment information;
• a laser-based level detection device for detecting a distance of the single-track elements relative to the ground.

• Verwendung des Kamerasystems bei Rückwärtsfahrt des Fahrzeugs von der Zwischenposition zumindest bis zum Einspuren der Einspurelemente in den Einspurtunnel;
• Verwendung der laserbasierten Abstandserfassungseinrichtung zur Erfassung der Längsausrichtung des Fahrzeugs relativ zum austauschbaren Lastenträger von der Zwischenposition bis zur Aufnahmeposition;
• Verwendung der laserbasierten Niveauerfassungseinrichtung vor dem Einspuren der Einspurelemente in den Einspurtunnel;
• Verwendung der laserbasierten Abstandserfassungseinrichtung zur Erfassung der Querausrichtung des Fahrzeugs relativ zum austauschbaren Lastenträger während des Einspurens der Einspurelemente in den Einspurtunnel. Bei dem Verfahren können somit die einzelnen Erfassungseinrichtungen dann zum Einsatz kommen, wenn es technisch möglich und zweckdienlich ist.

Correspondingly, those systems can be used as detection devices which are mentioned in the above description of the system. In the method, the alignment information can be determined by fusing signals from the detection devices provided on the vehicle, starting from the intermediate position when the engagement elements are engaged in the engagement tunnel until the acquisition position is reached. The detection devices can be used as follows:

• Use of the camera system when the vehicle is reversing from the intermediate position at least until the engagement of the engagement elements in the engagement tunnel;
• Use of the laser-based distance detection device to detect the longitudinal orientation of the vehicle relative to the interchangeable load carrier from the intermediate position to the pick-up position;
• Use of the laser-based level detection device before the engagement of the engagement elements in the engagement tunnel;
• Use of the laser-based distance detection device to detect the transverse alignment of the vehicle relative to the interchangeable load carrier during the engagement of the engagement elements in the engagement tunnel. The individual detection devices can thus be used in the method if it is technically possible and expedient.

In the method, the position information determined by the position determination means can also be used for the determination of the alignment information. It should be noted here that the position information relates to the position of the vehicle in relation to a fixed coordinate system, while the orientation information relates to the relative orientation between the vehicle and the interchangeable load carrier. Due to the different characteristics of the position information and the alignment information, this procedure results in an extremely precise determination of the alignment between the vehicle and the exchangeable load carrier. It can be taken into account here that the position information is only used in this method if there is sufficient accuracy, for example of a GPS-based system used.

In the method, when the signals of the detection devices provided on the vehicle are merged, a plausibility check of the signals of the detection devices provided on the vehicle and, if appropriate, a corresponding correction of the signals when determining the alignment information can be carried out. The merger concerns the evaluation of the available signals with a predetermined algorithm. Since some of the available signals refer to the same size, redundant results can occur. For example, a distance signal can be generated both by the camera system and by the laser-based sensor system. In this case, the signals can be mutually corrected. If there is an excessive deviation of a signal from several redundant signals, the plausibility check can be used to determine whether this signal is excessively inaccurate. Such a signal, classified as inaccurate, can be disregarded for the further procedure.

In the method, the position information can be used in the plausibility check of the signals. The position information is recorded using the position determination means which determine the position of the vehicle in relation to the stationary coordinate system. In this way it can be prevented that a source of error, for example a positional deviation of a reference element on the exchangeable load carrier, has an effect on several redundant signals and that the deviation remains undetected by the plausibility check.

list of figures

• 1 shows a vehicle and a swap body applicable to embodiments of the invention;
• 2 shows a schematic plan view of an arrangement of sensors on a vehicle to which embodiments of the invention is applicable;
• 3 shows a lower portion of a swap body that can be picked up by the vehicle;
• 4 shows a schematic representation of various relative positions of a vehicle to the swap body to explain the inventive concept;
• 5 shows a schematic representation of the arrangement of sensors on a vehicle according to another embodiment;
• 6 shows the vehicle and the swap body in a schematic view from behind according to the in 5 embodiment shown;
• 7 shows a schematic flow diagram for explaining the method according to an embodiment of the invention;

Description of the embodiments

In the following, embodiments of the present invention are described with reference to the drawings.

1 shows a vehicle 1 that is suitable for taking a target object. Furthermore shows 1 a swap body 2 , which is designed as an interchangeable load carrier and is defined in the present description as a target object. In the 1 swap body shown 2 can from the vehicle 1 be included. The swap body 2 is designed to hold cargo. For this is on the swap body 2 an optional suitcase 10 intended to hold the cargo. The vehicle 1 has a cab on the front section and a frame 8th at the back section. The vehicle is shown 1 shown with a front axle and two rear axles, but different arrangements with more or fewer axles are conceivable.

Longitudinally behind the vehicle 1 is in the representation of 1 the swap body 2 on support elements 9 switched off. In the in 1 configuration shown is the vehicle 1 to accommodate the swap body 2 prepared. Picking up the swap body 2 after the vehicle has been run in 1 under the swap body 2 by lifting the vehicle 1 carried out. The process of picking up the swap body is discussed below.

In 2 is a schematic plan view of the arrangement of single track elements 6a . 6b . 6c . 6d on the frame 8th of the vehicle 1 shown. In particular, are on a rear portion of the frame 8th of the vehicle 1 Einspurelemente 6a . 6b attached in the transverse direction of the vehicle 1 are spaced from each other. At the front of the frame 8th of the vehicle 1 are single track elements 6c . 6d shown, also in the transverse direction of the vehicle 1 are spaced. The single track elements 6a . 6b that are at the rear of the frame 8th are assembled, form a first pair of guide elements. The single track elements 6c . 6d the one at the front of the frame 8th attached, form a second pair of single-track elements. The first pair of single track elements 6a . 6b is in the longitudinal direction of the second pair of single track elements 6c . 6d spaced. In the present exemplary embodiment there are therefore four single-track elements 6a . 6b . 6c . 6d on the frame 8th provided, which are each mounted at four corners of an imaginary rectangle.

In 3 is the design of the swap body 2 shown. In particular, the view of 3 the area of the lower surface of the swap body 2 recognizable. The swap body 2 has the optional case in the present embodiment 10 on, which is intended for receiving cargo. On the lower surface of the swap body 2 is a single-track tunnel 7 intended. The single-track tunnel 7 is going up through the lower surface of the swap body 2 limited. The single-track tunnel turns left and right 7 through a right guide element 7a and a left guide 7b educated. The right guide 7a and the left guide 7b are each designed as guide rails that run continuously on the underside of the swap body 2 are provided. The distance between the left guide rail 7a and the right guide rail 7b is set up so that the single-track elements 6a . 6b . 6c . 6d in the single-track tunnel thus formed 7 can track.

The swap body also has support elements 9 on, in the present embodiment four support elements 9 are provided. The support elements 9 support the swap body on the ground, so that the swap body 2 is held at a predetermined distance from the ground. The support elements 9 are in 3 Locked state shown and can after picking up the swap body 2 through the vehicle 1 , especially after lifting the swap body 2 folded in from the surface and locked in the folded position.

This in 2 shown vehicle 1 also has a number of sensors and measuring devices. The sensors and measuring devices on the vehicle 1 of the present embodiment are described below.

On a front area of the frame 8th is a distance detection device 4a intended. The distance detection device 4a has a laser-based sensor system. The distance detection device 4a directs a laser beam backwards with respect to the direction of travel of the vehicle. The one from the distance detection device 4a Laser beam directed backwards can hit an element of the swap body 2 to meet. The element that the rear-facing laser beam can hit is a cross member of the swap body in the present embodiment 2 at the front of the swap body 2 , The distance detection device 4a has a measuring device with which the distance between the distance detection device is known 4a and the swap body element 2 which the laser beam hits can be determined. The distance detection device can thus 4a the relative position between vehicle 1 and swap body 2 determine lengthways.

The distance detection device 4a emits a corresponding signal for further processing.

On the in 2 In the vehicle shown, a camera system is also provided which has two cameras oriented rearward with respect to the direction of travel of the vehicle 4c . 4d includes. There is a front camera 4c on the front section of the frame 8th arranged, whereas a rear camera 4d at the rear section of the frame 8th is arranged. Both cameras are set up in such a way that they capture an area in the corresponding field of view and pass on the captured information for processing. In particular, those from the cameras 4c . 4d captured information in the present embodiment is converted into a signal based on the orientation of the rear of the vehicle 1 swap body located 2 lets close.

On the in 2 The vehicle shown is in the present embodiment as a position determining means 3 a GPS-based position detection system 3a intended. The GPS-based position detection system 3a is set up to determine the position and orientation of the vehicle 1 to be determined in relation to a fixed coordinate system. The GPS based positioning system 3a emits appropriate signals for further processing.

On the vehicle in 2 is also a level detection device 4e intended. In the present embodiment, the level detector has 4e a laser-based sensor based on a reference position on the frame 8th detects a distance from the surface on which the vehicle is located. The level detection device 4e emits a corresponding signal for further processing.

This in 2 The vehicle shown also has a laser-based single-track sensor system 4b on that for laser-based detection of the orientation of the vehicle 1 relative to the swap body 2 is set up. The laser-based single-track sensor system 4b has four laser-based sensors 4b1 . 4b2 . 4b3 . 4b4 on, each in pairs on the frame 8th of the vehicle 1 are arranged. There is a first pair of laser-based sensors 4b1 . 4b2 on the rear section of the vehicle 8th arranged. In particular, the first pair is laser-based sensors 4b1 . 4b2 behind the first pair of single track elements 6a . 6b intended. Furthermore, the laser-based single-track sensor system 4b a second pair of laser-based sensors 4b3 . 4b4 related to the longitudinal direction in the central area of the frame 8th of the vehicle 1 are arranged. In particular, the second pair is laser-based sensors 4b3 . 4b4 between the first pair of single track elements 6a . 6b and the second pair of single track elements 6c . 6d arranged. The laser-based sensors 4b1 . 4b2 . 4b3 . 4b4 are set up to align and position the swap body 2 relative to the vehicle 1 capture.

The laser-based single-track sensor system 4b is in 5 and 6 shown in more detail. As in 5 can be seen, laser beams are the laser-based sensors 4b1 . 4b2 that at the rear section of the frame 8th are arranged so that they are on elements of the swap body 2 to meet. The laser beams from the laser-based sensors 4b1 . 4b2 are aligned so that they cross. 6 shows in a cross section the relative orientations of the laser-based sensors 4b1 . 4b2 in relation to the right guide element 7a and the left guide 7b of the single-track tunnel 7 ,

By detecting the distances between the laser-based sensor 4b1 on the right side of the vehicle and an element of the swap body 2 on the left side or between the laser-based sensor 4b2 on the left side of the vehicle 1 and an element of the swap body 2 on the right-hand side, even before the first pair is engaged, single-track elements can be used 6a . 6b the orientation of the vehicle 1 relative to the swap body 2 be recorded. After the vehicle has been retracted 1 under the swap body 2 can the laser-based sensors 4b3 . 4b4 that are on the central area of the frame 8th are arranged, the distance to elements of the swap body 2 , especially to the left guide rail 7b and the right guide rail 7a to capture. This registration can also be used to determine the alignment between the vehicle 1 and the swap body 2 be performed. By combining the measurement results from the four laser-based sensors provided in the present embodiment 4b1 . 4b2 . 4b3 . 4b4 while the vehicle is running in 1 under the swap body 2 can cause a lateral offset of the vehicle 1 relative to the swap body 2 and an angular offset of the vehicle 1 relative to the swap body 2 be recorded. Corresponding signals are generated by the laser-based single-track sensor system 4b generated for further processing.

In 4 is a schematic of the procedure for engaging and picking up the swap body 2 through the vehicle 1 shown. In 4 is in the with A designated view the vehicle 1 lengthways in front of the swap body 2 , Here is the vehicle 1 in the longitudinal direction from the swap body 2 spaced. This position can be defined as an intermediate position, which is discussed below.

In the with B designated view is the vehicle 1 already with its rear section under the swap body 2 hazards. The first pair is single-track elements 6a . 6b already in the single-track tunnel 7 between the right guide element 7a and the left guide 7b meshed.

In the with C designated view is the vehicle 1 completely under the swap body 2 hazards. Both are the first pair of single-track elements 6a . 6b as well as the second pair of single track elements 6c . 6d into the single-track tunnel between the right guide element 7a and the left guide 7b meshed. The vehicle is in this situation 1 in a shooting position, discussed below.

Thus, from the location determining means 3 Information regarding the position and orientation of the vehicle 1 generated and provided with respect to a fixed coordinate system. Furthermore, by the orientation determining means 4 Information about the orientation of the vehicle 1 in relation to the swap body 2 provided as soon as the acquisition by the corresponding acquisition means is possible. The alignment determining means 4 have the distance detecting means in the present embodiment 4a , the laser-based single-track sensor system 4b with the laser-based sensors 4b1 . 4b2 . 4b3 . 4b4 , the camera system 4c . 4d with the front camera 4c and the rear camera 4d and the level detection device 4e on. The thus in the alignment determining means 4 summarized detection means generate signals that are made available for further processing.

The vehicle of the present embodiment has a control device 5 equipped, among other things, to perform autonomous operation of the vehicle 1 is set up. The control device points to this 5 corresponding means, which are provided for receiving sensor signals, for emitting control signals and the like. Furthermore, the control device has a processing unit in which a predetermined program can be executed. The control device 5 takes in particular the location information from the location determining means 3 and the alignment information from the alignment determining means 4 on. Furthermore, the control device 5 additional signals are supplied that are required for autonomous operation.

The control device 5 is also set up to control actuators via control outputs, such as an actuator for adjusting a steering angle of steerable wheels, an actuator for actuating a drive with a predetermined operating state, an actuator for actuating a braking device and an actuator for actuating a level control system of the vehicle 1 ,

The method for autonomously picking up the target object by the vehicle according to one embodiment is explained below. In the present embodiment, the method of picking up the swap body 2 carried out by the vehicle. The structure and functions of the vehicle 1 and the swap body 2 proceeded as described above.

The vehicle is in an initial situation 1 at a starting position. There is also the swap body to be accommodated 2 at a shooting position. Both the starting position and the recording position are defined by information relating to the position and orientation of the vehicle 1 or the swap body 2 include.

While the pickup position of the swap body 2 through a previous parking process of the swap body 2 can be known, the starting position of the vehicle 1 through the GPS-based positioning system 3a determined and made available.

Based on this situation and the need, the swap body 2 through the vehicle 1 to start by an autonomous operation, that is in 7 schematically shown flow diagram started at START.

After performing initial processes, the step S1 the position information at the starting position of the vehicle 1 certainly. To this end, as described above, in the present embodiment, the GPS-based positioning system 3a used.

In step S2 becomes a trajectory T determined. The trajectory T is determined for moving to an intermediate position. The intermediate position is defined so that the vehicle 1 at this position with a predetermined orientation on the swap body 2 is positioned. According to the present embodiment, the intermediate position is in the vicinity of the swap body 2 at the shooting position, the vehicle 1 and the swap body 2 are already approximately aligned in the longitudinal position in the intermediate position.

On the basis of the determined trajectory T becomes the vehicle in the present embodiment, taking into account the location information 1 driven by the autonomous operation from the starting position to the intermediate position. In the present embodiment, the continuously available position information is generated by the GPS-based position determination system for the autonomous operation of the vehicle 1 used.

In step S3 orientation information is determined after the vehicle 1 has reached the intermediate position. In the present embodiment, alignment information may be generated by one or more of the sensing devices that the alignment determining means 4 exhibit. As soon as, for example, the rear camera 4d the front section of the swap body 2 captured and alignment information between vehicle 1 and the swap body 2 can generate, it can be determined that the vehicle 1 has reached the intermediate position. In this situation, all the detection elements of the alignment determining means 4 used to continuously generate alignment information.

In step S4 becomes a recording state of the vehicle 1 based on the targeting information. In the present embodiment, based on the signal of the level detector 4e and using the on the vehicle 1 provided level control system the level of the frame 8th and especially the single track elements 6a . 6b . 6c . 6d relative to the ground so that the single-track elements 6a . 6b . 6c . 6d in the single-track tunnel 7 the swap body 2 can track. The existence of the recording status is checked by the camera system 4c . 4d approved. In addition, in the present embodiment, information is generated in advance regarding the geometry of the swap body 2 and the vehicle 1 resorted.

At step S5 becomes the autonomous operation of the vehicle 1 for moving the vehicle 1 from the intermediate position to the shooting position. In the shooting position, the swap body 2 from the vehicle 1 be included. In particular, the vehicle 1 in the receiving position completely under the swap body 2 driven and are all single track elements 6a . 6b . 6c . 6d in the single-track tunnel 7 meshed. In this situation it's in 7 the method shown ended in principle.

In the present embodiment, by lifting the vehicle using the level control system after reaching the pickup position, the swap body 2 raised by the frame so that the support elements 9 stand out from the ground. The support elements 9 are now folded up and can be locked in this position. In the present embodiment, this process can also be carried out automatically with appropriate actuating means. The vehicle is in this situation 1 with the swap body 2 ready for departure and can be driven autonomously or driver-assisted to a predetermined destination.

In the present embodiment, that of the detection elements of the alignment means 4 provided signals evaluated fused. This is when starting the vehicle 1 the camera system to the intermediate position 4c . 4d used the alignment between vehicle 1 and swap body 2 to determine. After further reversing and while determining the alignment between the vehicle 1 and swap body 2 through the camera system 4c . 4d becomes the distance detection device 4a used to distance the vehicle 1 and swap body 2 to determine exactly. This is before the start of the engagement of the engagement elements 6a . 6b . 6c . 6d in the single-track tunnel 7 through the level detection device 4e the distance of the vehicle frame 8th determined in relation to the subsurface. After the vehicle has continued to reverse 1 towards the swap body 2 detect the laser-based sensors 4b1 . 4b2 that are at the rear end of the frame 8th are mounted, the guide elements 7a . 7b the swap body 2 , After further backward travel, the laser-based sensors record 4b3 . 4b4 that in the middle area of the frame 8th are arranged, the guide elements 7a . 7b of the single-track tunnel 7 ,

Thus, in a logical sequence, the detection elements of the alignment determination means 4 depending on the running-in state of the vehicle 1 under the swap body 2 used to track through the autonomous operation of the vehicle 1 to regulate.

In the present embodiment, the GPS-based position determination system is used as the position determination means 3a used. In a modified embodiment are on the vehicle 1 alternatively or additionally sensors of a control system 3b provided that can detect elements embedded in the road, such as RFID elements, whose position is known. This way the vehicle 1 between the starting position and the intermediate position can be controlled accordingly autonomously.

LIST OF REFERENCE NUMBERS

1

vehicle

2

Target object (swap body)

3

Location determining means

3b

Positioning System

3c

Control System

4

Orientation determining means

4a

Distance detector

4b

Einspursensorsystem

4b1, 4b2, 4b3, 4b4

Laser based sensors

4c, 4d

camera system

4e

Level detection device

5

control device

6a, 6b, 6c, 6d

Einspurelement

7

single-track

7a, 7b

guide element

8th

frame

9

support element

10

suitcase

T

trajectory

S1

Determine location information

S2

Find a trajectory

S3

Determine targeting information

S4

Establishing a state of admission

S5

Control autonomous operation

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102006057610 A1 [0002]

Claims (21)

System for the autonomous recording of a target object (2) by a vehicle (1), the system comprising position determining means (3), which are set up to determine the position of the vehicle (1) in relation to a stationary coordinate system, and orientation determining means (4) for determining an orientation of the vehicle (1) in relation to the target object (2), further comprising a control device (5) which is used to receive position information from the position determination means (3) and orientation information from the orientation determination means (4) and autonomous operation of the vehicle (1), characterized in that the control device (5) on the autonomous operation of the vehicle (1) based on the position determination information in a section between an initial position and an intermediate position of the vehicle (1) and in addition or alternatively Base the alignment information in a section between the intermediate points sition and a recording position controls. System according to Claim 1 , characterized in that the position determination means (3) have a GPS-based position determination system (3a). System according to Claim 1 , characterized in that the position determining means (3) have a sensor system (3b) for detecting reference elements (3c) provided in the area of the travel path. System according to one of the Claims 1 - 3 , characterized in that the orientation determination means (4) have a laser-based sensor system which can be mounted on the vehicle (1) and is set up to detect the orientation of the vehicle (1) relative to the target object (2). System according to Claim 4 , characterized in that the laser-based sensor system has a single-track sensor system (4b) which interacts with elements of the target object (2) and generates a distance signal which indicates the distance of the target object (2) and the vehicle (1) in the longitudinal direction. System according to Claim 4 or 5 , characterized in that the laser-based sensor system has a distance detection device (4a) which interacts with several elements of the target object (2) and generates an alignment signal which provides an alignment between the target object (2) and the vehicle (1) with respect to a relative rotation and / or indicates a relative lateral offset. System according to one of the Claims 1 - 6 , characterized in that the orientation determining means (4) have a camera system (4c, 4d) which is directed rearwards with respect to the direction of travel of the vehicle (1) and generates a distance signal by imaging scanning of the field of view, which signals the distance of the target object (2) and the vehicle (1) in the longitudinal direction, and generates an alignment signal indicating an alignment between the target object (2) and the vehicle (1) with respect to a relative rotation and / or a relative lateral offset. System according to one of the Claims 1 - 6 , characterized in that the system has a level detection device (4e) which generates a level signal indicating a distance of a reference element of the vehicle (1) relative to the ground on which the vehicle (1) is located. System according to one of the preceding claims, characterized in that the reaching of the intermediate position of the vehicle (1) during autonomous operation of the vehicle (1) is detected by the orientation determining means (4), wherein the orientation determining means (4) the reaching of the intermediate position of the vehicle ( 1) then when the orientation determining means (4) detects elements of the target object (2). System according to one of the preceding claims, characterized in that the control device (5) is set up to merge available alignment information and / or position information with one another and to generate an overall alignment signal. Vehicle (1) for receiving a target object (2) designed as a swap body, the vehicle (1) being provided with single-track elements (6a, 6b, 6c, 6d) which are used for meshing into a single-track tunnel (7) provided on the swap body (2) ) are also set up, with a control device (5) which is used to receive position information from the position determination means (3) of the vehicle (1) and alignment information from the orientation determination means (4) of the vehicle (1) and for autonomous operation of the vehicle (1 ) is set up, further with a system according to one of the preceding claims. Method for autonomously recording a target object (2) by a vehicle (1) Claim 11 The method comprises the following steps: (S1) determining position information at a starting position of the vehicle (1); (S2) Determining a trajectory (T) for moving to an intermediate position at which the vehicle (1) is with a predetermined orientation is positioned on the target object (2) based on the determined position information and controlling autonomous operation of the vehicle (1) to move the vehicle (1) to the intermediate position; (S3) determining orientation information after the vehicle (1) reaches the intermediate position; (S4) establishing a recording state of the vehicle (1) based on the orientation information; (S5) controlling an autonomous operation of the vehicle (1) for moving the vehicle (1) from the intermediate position to the pick-up position in which the target object (2) can be picked up by the vehicle (1). Procedure according to Claim 12 , characterized in that the method for receiving a swap body as a target object (2) is applied by a vehicle (1) provided with single-track elements (6a, 6b, 6c, 6d), the single-track elements (6a, 6b, 6c, 6d) for Lanes are set up in a single-track tunnel (7) provided on the swap body (2). Procedure according to one of the Claims 12 or 13 , characterized in that the position information is determined by determining the position and orientation of the vehicle (1) in a fixed coordinate system and is used to control the autonomous operation of the vehicle (1) to move the vehicle (1) to the intermediate position. Procedure according to Claim 13 , characterized in that the intermediate position is reached when the vehicle (1) is positioned with an approximate longitudinal alignment to the swap body (2) and alignment information is provided by alignment determining means (4) provided on the vehicle (1) by interactions between the alignment determining means (4) and elements the swap body (2) can be determined. Procedure according to one of the Claims 13 - 15 , characterized in that the recording state is reached when the single-track elements (6a, 6b, 6c, 6d) of the vehicle (1) are fully meshed into the single-track tunnel (7) of the swap body (2). Procedure according to one of the Claims 13 - 16 , characterized in that one or more of the following alignment detection devices provided on the vehicle (1) are used in determining the alignment information: - a single-track sensor system (4b) for detecting a distance of the vehicle (1) relative to the swap body (2) in the longitudinal direction; - a distance detection device (4a) for detecting a longitudinal and / or transverse orientation of the vehicle (1) relative to the swap body (2); - a camera system (4c, 4d) for acquiring image information for determining alignment information; - A level detection device (4e) for detecting a level of the single-track elements (6a, 6b, 6c, 6d) relative to the ground. Procedure according to one of the Claims 13 - 17 , characterized in that the alignment information is determined by fusing signals of the detection devices provided on the vehicle (1), starting from the intermediate position when the engagement elements (6a, 6b, 6c, 6d) are inserted into the engagement tunnel (7) until the acquisition position is reached, The alignment devices are used as follows: - Use of the camera system (4c, 4d) when the vehicle (1) drives backwards from the intermediate position at least until the engagement elements (6a, 6b, 6c, 6d) are engaged in the engagement tunnel (7); - Use of the single-track sensor system (4b) for detecting the longitudinal orientation of the vehicle (1) relative to the swap body (2) from the intermediate position to the receiving position; - Use of the level detection device (4e) before the engagement of the engagement elements (6a, 6b, 6c, 6d) in the engagement tunnel (7); - Use of the distance detection device (4a) for detecting the longitudinal and / or transverse orientation of the vehicle (1) relative to the swap body (2). Procedure according to Claim 18 , characterized in that the position information determined by the position determination means (3) is also used to determine the alignment information. Procedure according to one of the Claims 18 - 19 , characterized in that when the signals of the alignment detection devices provided on the vehicle (1) are merged, a plausibility check of the signals of the alignment detection devices provided on the vehicle (1) and, if appropriate, a corresponding correction of the signals when determining the alignment information is carried out. Procedure according to Claim 20 , characterized in that the position information of the position determination means (3) is used in the plausibility check of the signals.

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