DE102019207560A1 - Load securing system for a vehicle and method for loading a cargo space of a vehicle - Google Patents

Abstract

A load securing system (10) for an at least partially autonomous vehicle (12) has a sensor unit (14), at least one load securing means (16) and a control device (18) which is in communication with the sensor unit (14). The sensor unit (14) comprises at least one sensor (20) which is set up to detect the state of the at least one load securing means (16). The control device (18) is set up to control the vehicle (12) semi-autonomously or autonomously. A method for transporting a load in a loading space (22) of an at least partially autonomous vehicle (12) is also specified.

Description

The invention relates to a load securing system for an at least partially autonomous vehicle and a method for transporting a load in a cargo space of an at least partially autonomous vehicle.

Nowadays, more and more purchases are made online, which leads to an increased number of parcels sent, which are transported as cargo in transport vehicles, among other things.

If cargo, for example cargo in containers, packages or goods, is transported in a vehicle, the cargo can move or start to slide due to the acceleration and braking processes of the vehicle. In order to prevent the load from slipping or overturning during transport, the load must therefore be adequately secured. This is usually ensured by manual controls, which are carried out in particular at the beginning of a transport trip. However, the driver can also check the load during transport, in particular acoustically, provided the driver has the appropriate experience.

Since a large number of people are involved in the transport of cargo, it must be ensured that the cargo is not inadequately secured at any point in the transport process, despite multiple handovers.

However, in (partially) autonomous vehicles that will be used in the future to deliver parcels, for example, the problem arises that automatic loading of the vehicle can also be considered, with (partially) autonomous driving maneuvers then being carried out when the load is transported. A manual check of the load securing is therefore no longer possible at any time. However, the cargo should of course still be transported safely in order to avoid damage to the cargo.

The object of the invention is therefore to ensure a more reliable load securing when transporting loads, which can also be carried out without manual control if necessary.

The object is achieved according to the invention by a load securing system for an at least partially autonomous vehicle, with a sensor unit, at least one load securing means and a control device which is in communication with the sensor unit. The sensor unit comprises at least one sensor which is set up to detect the state of the at least one load securing means. Furthermore, the control device is set up to control the vehicle partially or autonomously.

The basic idea of the invention is to provide the information about the existing load, i.e. the load, as well as the securing of the load to a control unit of the vehicle, which at the same time serves for at least partially autonomous control of the vehicle. This ensures that the operation of the (partially) autonomous vehicle can be coordinated with the load.

A vehicle is generally meant to be a (partially) autonomously operated vehicle. These can be vehicles for private transport as well as vehicles for public and commercial transport. In particular, internal vehicles, for example industrial trucks, driverless transport systems (AGVs) or so-called “Automated Guided Vehicles” (AGV) are also meant.

The control unit can be an engine control unit (ECU) of the vehicle. The control device can also take on further functions and tasks during the (partially) autonomous driving operation, for example monitoring the surroundings of the vehicle and / or observing the vehicle interior or loading space.

The control device can also monitor the components of the load securing system, in particular on the basis of the data received from the sensor unit, as well as evaluate the resulting data. In this respect, the control device can be integrated in a control and evaluation unit.

The load securing equipment present in the load securing system as well as their correct position and locking of the load with the load securing equipment can be known to the sensor unit. This information can already be stored in the sensor unit by the manufacturer and can also be independently recognized by the at least one sensor of the sensor unit.

In principle, the load can be arranged in a container which is provided for the safe transport of the load. The container can therefore be part of the load securing system, which is designed separately from the vehicle. In addition, the container can interact with the load securing means, in particular in such a way that the container is securely held in the cargo space via the load securing means.

In one variant, the at least one sensor can be selected from the group formed from an optical sensor, in particular one Camera, a photonic mixer (PMD), an RGB-D camera, a stereo camera and / or a LIDAR system, an ultrasonic sensor, a radar sensor, a mechanical sensor, an optical switch, for example light barriers, and / or combinations thereof.

Advantageously, existing sensors of the vehicle, which are used, for example, for interior monitoring, can also be used in the load securing system. In this way, no additional sensors have to be installed, so that the costs for the load securing system remain low.

The at least one sensor of the sensor unit can also be designed as part of the load securing means.

The load securing means can comprise at least two profiles arranged in parallel and at least one securing element, the at least one securing element being arranged in and / or on the profiles.

The profiles ensure that the at least one securing element is reliably and securely attached to the intended location, so that the at least one securing element can fix the load in the intended position.

The profiles are preferably provided on or in the floor of the vehicle. Additionally or alternatively, profiles can also be provided on or in a wall and / or the ceiling of the cargo space of the vehicle.

The profiles can be oriented both in the longitudinal direction of the vehicle and in the transverse direction. The distance between the at least two parallel profiles is matched to the size of the load and / or of the at least one container which is provided for transporting the load.

So-called airline rails can be used. Airline rails have a low dead weight with high load capacity at the same time.

Alternatively, anchor combination rails, lashing rails and rod rails can also be used. These systems are particularly suitable in the event that lashing straps are to be used to (additionally) secure the containers. The lashing straps can accordingly be a load securing device.

The profiles can also be connected to a power supply and in this way supply the at least one container with power in which the load is provided. This is particularly recommended if containers are to be used for the transport of food that require cooling and / or air conditioning. The power supply can be provided by means of a low voltage. This means that there is no need to apply protection against accidental contact.

Locking bars, rods, clamping bars, fittings and clamps can be used as securing elements. Clamp fasteners or clamping elements are preferably used, in particular so-called clamping claws, which are also referred to as clamping irons.

It is also possible that eyelets and / or rings are used as securing elements in the profiles, to which straps and / or nets can be attached, which serve to secure the load. Such a configuration is particularly advantageous when standardized containers cannot be used and therefore flexible adaptation of the load securing system to the load to be transported is necessary.

In one embodiment, the at least one load securing means can additionally comprise a second securing element, which is arranged between the at least two parallel profiles. For example, so-called cargo locks are used as second securing elements. The second securing elements serve in particular to additionally secure the edges of the at least one container which run transversely to the profiles. In particular, the second securing elements are not fastened in and / or on the profiles, but rather are provided separately from this, but are arranged in the loading space.

The second securing elements can also be set manually at any position in the cargo space. The load securing system can recognize the position of the manually set securing element.

The at least one securing element and / or the second securing element can also have a sensor of the sensor unit, via which the status of the securing element can be detected. In this way it can be determined whether the securing elements are currently attached in and / or on the profiles. It can also be determined in this way whether the load and / or the at least one container are correctly fixed by the securing elements.

The securing elements can be connected to an actuator of the load securing system, via which the position of the securing elements within the profiles can be changed.

As already explained, the load securing system can comprise at least one container which can be secured by means of the at least one load securing means. Standardized containers with known properties are preferably used as the container, that is to say containers which, for example, are standardized with regard to their dimensions. In this way, for example, the size, weight and weight distribution of the containers used are known and can be optimally matched to the existing load securing equipment.

Depending on the area of application, various standardized containers come into consideration, for example unit load devices (ULD), small load carriers (KLT) and containers standardized according to Euro pallets or ISO pallets. The at least one container can also be a food container which can have temperature control or air conditioning for cooling or keeping food warm.

The at least one container can have passive labels, for example a barcode, a QR code and / or a data matrix code (DMC), and / or active labels, for example RFID tags and Bluetooth Low Energy (BLE) tags. So-called NFC tags, which are either passive or active, can also be used as labels. This basically facilitates the identification of the at least one container during loading.

The labels can preferably be automatically recognized by the sensors of the sensor unit. The sensor unit can be set up accordingly for communication with the labels.

The load securing system can also have a reading device by means of which the labels of the at least one container can be read. This makes it possible to check the containers actually loaded in a simple and automated manner.

The load securing system can also have an operating element via which information on the attached and / or available profiles as well as the at least one securing element and the second securing element can be stored in the load securing system (manually). This makes it possible to flexibly adjust the load securing system to different applications at a later date, while at the same time loading can continue to take place (partially) autonomously.

If necessary, the loading process can also be confirmed and / or acknowledged via the control element. The confirmation and / or acknowledgment can take place automatically or manually. In this way, data can be obtained to prove that the supply chain has taken place, as may be prescribed by (operational) specifications. The accumulated data can be automatically deleted after delivery or stored if necessary, for example if an accident occurs during the transport process.

Furthermore, the load securing system can comprise a display element on which information about the current operating status of the load securing system can be displayed, for example the current positioning of the profiles and / or the securing elements, the content of the load or the at least one container and / or any error messages.

The load securing system can also only determine a recommendation for the optimal positioning of the load, that is to say the load, and show this on the display element.

In addition, the load securing system can have a data recorder that tracks all processes in the load securing system. This ensures that (partially) autonomous loading and transport processes can also be tracked if necessary, for example in the event of damage to the load or accidents.

In a further variant, the load securing system can have a manipulator unit, for example a robot arm, which can move the at least one container within the cargo space of the vehicle. In this way, storage space can be created for further containers or cargo, if this is required.

Such a manipulator unit can also be used to position, fix and / or unlock the securing elements. It is also conceivable that there is a supply of security elements within the loading space, from which the manipulator unit removes the required security elements and puts them down again when the transport process is completed.

In this respect, the security elements can be set freely. The released safety elements can be set manually or even automatically by the manipulator unit setting the safety elements accordingly.

• - Bereitstellen eines Ladungssicherungssystems, insbesondere der vorher beschriebenen Art;
• - Erkennen oder Ermitteln einer zu transportierenden Ladung;
• - Beladen des Laderaums mit der Ladung;
• - Überprüfen der Position der Ladung; und
• - zumindest teilautonomes Transportieren der Ladung mittels des Fahrzeugs.

Furthermore, the object is achieved according to the invention by a method for transporting a load in a cargo space of an at least partially autonomous vehicle, comprising the following steps:

• - Provision of a load securing system, in particular of the type described above;
• - Recognition or determination of a cargo to be transported;
• - loading the cargo space with the cargo;
• - checking the position of the load; and
• - At least partially autonomous transport of the load by means of the vehicle.

The load to be transported can be entered manually, for example via the control element. However, it can also be automatically recorded by the load securing system, in particular in an optical manner or by means of identification means or labels. It is also possible that the cargo is recognized only by reading out a cargo list that is stored, for example, in the control unit of the cargo securing system. The sensors can also be used to check whether the information in the loading list is correct.

The load can be placed in the hold manually or (partially) automatically. For example, the load securing system specifies a target position for the load where the load is to be placed. This can take place as a function of the previously recognized or determined charge, since it can be used to infer properties of the charge.

Since the position of the load within the loading space is checked, the driving maneuvers of the (partially) autonomously driving vehicle can be adjusted according to the position.

The load securing system can determine a target position for the load where the load is to be positioned in the hold. The load securing system can then check whether the load has actually been positioned at the target position.

The cargo can be positioned in at least one container within the hold. The at least one container can be recognized by the load securing system using the at least one sensor of the sensor unit.

The target position of the at least one container can be determined on the basis of driving maneuvers planned with the vehicle and / or a property, in particular the weight, the coefficient of friction and / or the center of gravity, of the load. Alternatively, especially in the case that standardized containers are used, standard or maximum values of the at least one container can be assumed and these can be used to determine the target position.

In particular, if the path that the vehicle is to cover after loading is already known, the driving maneuvers required to cover the path can be determined in advance and then carried out in particular partially autonomously or autonomously. In this case, the expected resulting forces that will act on the container or the load can be calculated in advance, since both the physically possible driving maneuvers of the vehicle and the driving behavior in (partially) autonomous operation are known.

It is also possible to include a safety reserve in the calculation so that unexpected influences during the transport are taken into account without endangering the load safety.

If, when determining the target position of the load or the at least one container, it is determined that there is no sufficiently stable arrangement of the load or the at least one container for the intended driving maneuver, the speed of the driving maneuver can be reduced by the amount of the load or the at least one container. To reduce the forces acting on the at least one container and in this way to enable safe transport.

The loading space with the load or the at least one container can be loaded both manually and automatically. In particular if the cargo space is loaded manually, the determined target positions can also be displayed within the cargo space by means of the sensor unit, for example by means of light beams. When calculating the target position, the planned driving maneuvers can be taken into account accordingly. This is possible in a simple manner, since the control device is in communication with the sensor unit and also provides the control commands for the (partially) autonomous driving mode.

When the position of the load or of the at least one container is checked, the state of the load securing means, in particular of the at least one securing element and / or the second securing element, can also be checked.

If it is determined that no securing elements are set and / or used by the load or the container, a check is made to determine whether the frictional force of the at least one container alone is sufficient to secure the load from slipping in the planned driving maneuver.

Checking the position of the at least one container can also enable the Vehicle as well as the display of a warning message.

The load securing system therefore determines whether the load needs to be secured using a load securing device, the load being transported autonomously only if the load has been secured using the load securing device that was previously determined to be necessary or if the load is secured using the load securing device is not necessary, for example due to the frictional force of the load or the container. In any case, this ensures that the load is transported safely.

• - 1 eine schematische Darstellung eines Fahrzeugs mit einem erfindungsgemäßen Ladungssicherungssystem;
• - 2 eine Darstellung des Laderaums des Fahrzeugs aus 1;
• - 3 eine Schnittansicht entlang der Ebene A-A aus 2;
• - 4 eine Detailansicht eines Profils aus 2;
• - 5 eine um 90° gedrehte Darstellung des Sicherungselements aus 3; und
• - 6 einen schematischen Verlauf des erfindungsgemäßen Verfahrens.

Further advantages and properties of the invention emerge from the following description of exemplary embodiments and from the figures. In these show:

• - 1 a schematic representation of a vehicle with a load securing system according to the invention;
• - 2 a representation of the cargo space of the vehicle 1 ;
• - 3 a sectional view along the plane AA 2 ;
• - 4th a detailed view of a profile 2 ;
• - 5 a representation of the fuse element rotated by 90 ° 3 ; and
• - 6th a schematic course of the method according to the invention.

The same reference symbols are used for the same components in the figures and the associated description. Advantages and properties result accordingly in an analogous manner.

In 1 is a load securing system according to the invention 10 in an at least partially autonomous vehicle 12 shown, which is for example a parcel delivery vehicle.

The load securing system 10 comprises a sensor unit 14th , a load securing device 16 and a control unit 18th that with the sensor unit 14th communicates, i.e. a data connection to the sensor unit 14th Has.

Basically it can be with the control unit 18th act to the control unit, which also the control commands of the at least partially autonomous vehicle 12 generates or outputs, i.e. the vehicle 12 controls.

In this respect, the control unit 18th a so-called engine control unit (ECU) of the vehicle 12 his. The control unit can also 18th Take on additional functions and tasks during (partially) autonomous driving, for example monitoring the vehicle's surroundings 12 and / or the observation of the vehicle interior or cargo space 22nd .

The sensor unit 14th includes a sensor 20th , which in the embodiment shown is an optical sensor in the form of a camera. In principle, a large number of sensors 20th Part of the sensor unit 14th be, for example further cameras, ultrasound, radar sensors, but also mechanical sensors, for example force measuring devices, and / or light barriers.

The sensor unit 14th is, as already explained, with the control unit 14th of the vehicle 12 connected for data exchange, so that the control unit 12 those from the sensors 20th received data. The connection can be made either by cable or wirelessly.

Inside the hold 22nd of the vehicle 12 is a container in the embodiment shown 24 placed, which is at least partially on the load securing equipment 16 is located.

In the container 24 a charge is received by the vehicle 12 is to be transported. As an alternative to the embodiment shown with a separate container 24 can also load the load directly with the load securing equipment 16 be coupled.

The container 24 is by means of a securing element 26th in its position in the hold 22nd fixed. The security element 26th is in a profile 28 of the load securing equipment 16 attached, like in particular from 2 becomes clear.

As a container 24 a standardized container is preferred 24 used, for example a small load carrier (KLT) or a unit load device (ULD). In principle, however, a large number of different types of containers can be used 24 can be used, including those that are not standardized. Different containers can also be used 24 can be used, for example several containers 24 different size.

In addition, the load securing means 16 can have additional profiles 28 and / or securing elements 26th exhibit. There could be several profiles 28 on or in the floor of the hold 22nd be provided and / or in or on the side walls and / or the ceiling of the cargo space 22nd . In this respect, the cargo to be transported can be particularly well placed in the hold 22nd secured.

The container 24 also has a label 30th on, by means of which the container 24 can be identified. The label 30th can therefore also be referred to as identification means. For example, the label is 30th a barcode, QR code code, an NFC tag and / or a data matrix code (DMC) that is generated by means of the sensor 20th can be captured.

As in 2 shown, comprises the load securing equipment 16 two parallel profiles 28 on which the container 24 is placed in which the load is placed.

The profiles 28 are so-called airline rails in the embodiment shown (see 4th ). Airline rails have a low dead weight with high load capacity at the same time. In addition, a large number of standardized airline rails are available so that the containers can be easily accessed 24 coordinated profiles 28 can be selected.

In 3 FIG. 3 is a sectional view of the FIG 2 Shown embodiment shown. The container 24 lies partly on the profiles 28 on. However, one will be on the top of the profile 28 existing longitudinal groove 32 not covered, so one inside the profile 28 arranged fuse element 26th via the profile 28 may protrude to with the container 24 cooperate and the container 24 to secure.

The security element 26th is a clamp in the embodiment shown. In principle, however, a large number of securing elements come into consideration, for example other tensioning elements, locking bars, rods, clamping bars, fittings or other types of clamp fasteners. Eyelets and / or rings can also be placed in the profiles 28 can be used. This can be used to provide belts and / or nets to keep the load in the hold 22nd to secure further.

How out 3 can be seen, the container 24 several recesses 34 have, in which the fuse element 26th engages at least in one fixing position and in this way the container 24 can secure.

In 5 an exemplary clamping claw is shown as it is used as a securing element 26th can be used. The security element 26th has one or more shoes 36 on, by means of which the fuse element 26th in an undercut of the longitudinal groove 32 of the profile 28 can be safely guided.

Once the desired position of the locking element 26th is reached, this can be done using the push button 38 on the profile 28 be fixed.

By operating the lever 40 of the fuse element 26th can then use a locking disc 42 lowering the container 24 on the profile 28 fixed.

The sensor unit 14th can, for example, via a camera as a sensor 20th , the position of the push button 38 as well as the lever 40 of the fuse element 26th check and monitor, i.e. generally the condition of the load securing equipment 16 . In this way it can be checked whether the fuse element 26th the container 24 locked in position as intended.

Additional sensors could also be used 20th the sensor unit 14th directly in the locking element 26th contained or positioned on this, in which way it can be determined whether the securing element 26th is currently unlocked or locked.

In addition, in 3 shown that between the profiles 28 of the load securing equipment 16 a second fuse element 44 is arranged that not on the profiles 28 is attached.

As a second security element 44 a so-called cargo lock is particularly suitable. This is a rotatable bracket that is in the floor of the cargo space 22nd is arranged sunk and when placing the container 24 can rotate so that a wedge surface tensioned by means of a spring opens the container 24 on the floor of the hold 22nd secures. This will make the container 24 also in the transverse direction to the profiles 28 secured.

For loading the cargo area 22nd of the vehicle 12 with at least one container 24 is first a load securing system 10 provided as described above (step S1 in 6th ).

Then the load or the at least one container 24 by means of the load securing system 10 recognized or determined (step S2 in 6th ). The sensor can do this 20th be used. In the embodiment shown, the sensor is 20th a camera to take pictures of the hold 22nd can be included. Using the recorded images, the existing containers 24 or generally the charge can be determined automatically, for example by means of image recognition by the sensor unit 14th . Also could be used for identification on the container 24 or labels attached to the cargo 30th are recorded.

Alternatively, the load securing system 10 there is also only a loading list in which the load or the container 24 are listed that are in the hold 22nd should be loaded.

The load or the at least one container can also 24 can be entered, for example via a user interface or an operating element.

The target position of the load or of the at least one container can then be selected 24 inside the hold 22nd can be determined (step S3 in 6th ). The weight, the coefficient of friction and / or the center of gravity of the load or the container can also be used 24 determined and used. These variables are either already known or they can also be determined using suitable sensors 20th the sensor unit 14th must first be determined and / or checked.

Especially when the vehicle 12 after loading the hold 22nd should cover a driving distance semi-autonomously or autonomously, the target position for the load or the container 24 can also be determined on the basis of the planned driving maneuvers. For this purpose, the expected on the load or the container 24 forces acting during the planned driving maneuvers by the control unit 18th determined.

Then the container 24 or the cargo to the determined target position within the hold 22nd loaded and by means of the load securing means 16 secured, in particular by means of the securing elements 26th and the second securing element 44 (Step S4 in 6th ).

The loading can be done both manually and automatically. Will the hold 22nd manually loaded, the sensor unit 14th the determined target position of the load or the container 24 inside the hold 22nd display, for example by means of the projection of light beams or on a display element (not shown), in particular a display.

This is followed by the position of the load or of the at least one container 24 checked (step S5 in 6th ). The sensors 20th the sensor unit 14th be used. A camera can be used to check that the load or the container is 24 is actually located at the determined target position. It can also be detected that the securing elements 26th and 44 of the load securing equipment 16 are in a locked position, thus securing the load or the container 24 is ensured.

It is determined that the at least one container 24 is located at the determined target position, a release by means of the control unit 18th take place, for example an autonomous driving maneuver of the vehicle 12 by means of the control unit 18th be performed. In principle, however, a corresponding message could also be sent to a driver of the vehicle 12 respectively.

It can also be determined that the load or the container is secured 24 is not necessary, for example due to sufficient friction during the expected driving maneuvers so that the release is given in any case. This depends on the load or the container 24 , i.e. the corresponding properties, in particular the route taken by the vehicle 12 will travel (partially) autonomously.

Finally, the load is carried by the vehicle 12 transported at least partially autonomously (step S6 in 6th ).

List of reference symbols

10

Load securing system

12

vehicle

14th

Sensor unit

16

Load securing equipment

18th

Control unit

20th

sensor

22nd

Hold

24

container

26th

Fuse element

28

profile

30th

Label

32

Longitudinal groove

34

Recess

36

Shoes

38

Push button

40

lever

42

Fixing washer

44

second securing element

Claims (10)

Load securing system for an at least partially autonomous vehicle (12), with a sensor unit (14), at least one load securing means (16) and a control device (18) which is in communication with the sensor unit (14), wherein the sensor unit (14) comprises at least one sensor (20) which is set up to detect the state of the at least one load securing means (16), and wherein the control device (18) is set up to control the vehicle (12) semi-autonomously or autonomously. Load securing system according to Claim 1 , characterized in that the at least one sensor (20) is selected from the group formed by an optical sensor, in particular a camera, a photo mixer, an RGB-D camera, a stereo camera and / or a LIDAR system, an ultrasonic sensor, a radar sensor, a mechanical sensor, an optical switch and / or combinations thereof. Load securing system according to one of the preceding claims, characterized in that the at least one load securing means (16) comprises at least two parallel profiles (28) and at least one securing element (26), the at least one securing element (26) in and / or on the profiles (28) is arranged. Load securing system according to Claim 3 , characterized in that the securing element (26) comprises a clamping lock and / or a clamping element, in particular a clamping claw. Load securing system according to Claim 3 or 4th , characterized in that the at least one load securing means (16) additionally comprises a second securing element (44) which is arranged between the at least two parallel profiles (28). Load securing system according to one of the Claims 3 to 5 , characterized in that the at least one securing element (26) and / or the second securing element (44) has a sensor (20) of the sensor unit (14). Load securing system according to one of the preceding claims, characterized in that the load securing system (10) comprises a container (24) which can be secured by means of the at least one load securing means (16), in particular wherein the dimensions of the container (24) are standardized, for example is a unit load device (ULD) or a small load carrier (KLT). A method for transporting a load in a loading space (22) of an at least partially autonomous vehicle (12), comprising the following steps: - Provision of a load securing system (10), in particular according to one of the preceding claims; - Recognition or determination of a cargo to be transported; - loading the cargo space (22) with the cargo; - checking the position of the load; and - At least partially autonomous transport of the load by means of the vehicle (12). Procedure according to Claim 8 , characterized in that the target position of the load is determined on the basis of driving maneuvers planned with the vehicle and / or a property, in particular the weight, the coefficient of friction and / or the center of gravity, of the load. Procedure according to Claim 8 or 9 , characterized in that the load securing system (10) determines whether it is necessary to secure the load by means of a load securing means (16), the load being transported autonomously only if the load is secured by means of the load securing means (16) which has been previously determined to be necessary exists or if it is not necessary to secure the load using the load securing device (16).

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