DK3628569T3 - Fremgangsmåde til køre et førerløst transportkøretøj på et hældende transportspor - Google Patents

Fremgangsmåde til køre et førerløst transportkøretøj på et hældende transportspor Download PDF

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Publication number
DK3628569T3
DK3628569T3 DK18196890.0T DK18196890T DK3628569T3 DK 3628569 T3 DK3628569 T3 DK 3628569T3 DK 18196890 T DK18196890 T DK 18196890T DK 3628569 T3 DK3628569 T3 DK 3628569T3
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DK
Denmark
Prior art keywords
driving
sloping
driverless
transport
track
Prior art date
Application number
DK18196890.0T
Other languages
English (en)
Inventor
Carsten Aschpurwis
Original Assignee
Siemens Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Ag filed Critical Siemens Ag
Application granted granted Critical
Publication of DK3628569T3 publication Critical patent/DK3628569T3/da

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B60W60/00256—Delivery operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Business, Economics & Management (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Economics (AREA)
  • Human Resources & Organizations (AREA)
  • Strategic Management (AREA)
  • General Physics & Mathematics (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Tourism & Hospitality (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Development Economics (AREA)
  • General Business, Economics & Management (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Structural Engineering (AREA)
  • Game Theory and Decision Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Educational Administration (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
DK18196890.0T 2018-09-26 2018-09-26 Fremgangsmåde til køre et førerløst transportkøretøj på et hældende transportspor DK3628569T3 (da)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18196890.0A EP3628569B1 (de) 2018-09-26 2018-09-26 Verfahren zum anfahren eines fahrerlosen transportfahrzeuges auf einer geneigten transportfahrbahn

Publications (1)

Publication Number Publication Date
DK3628569T3 true DK3628569T3 (da) 2021-10-04

Family

ID=63685730

Family Applications (1)

Application Number Title Priority Date Filing Date
DK18196890.0T DK3628569T3 (da) 2018-09-26 2018-09-26 Fremgangsmåde til køre et førerløst transportkøretøj på et hældende transportspor

Country Status (7)

Country Link
US (1) US11740640B2 (da)
EP (1) EP3628569B1 (da)
CN (1) CN112752699B (da)
DK (1) DK3628569T3 (da)
ES (1) ES2897348T3 (da)
PT (1) PT3628569T (da)
WO (1) WO2020064305A1 (da)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023035210A1 (zh) * 2021-09-10 2023-03-16 威刚科技股份有限公司 自主移动装置的动力调整系统及其方法
TWI789899B (zh) * 2021-09-10 2023-01-11 威剛科技股份有限公司 自主移動裝置的動力調整系統及其方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0724442B2 (ja) 1984-03-06 1995-03-15 富士通株式会社 リニアモータカーの速度制御装置
KR100534247B1 (ko) * 2003-08-11 2005-12-08 기아자동차주식회사 정속주행 자동차의 등반길 제어방법
DE102009046341B4 (de) * 2009-11-03 2021-08-26 Zf Friedrichshafen Ag Verfahren zur Steuerung einer Roll- oder Segelfunktion eines Fahrzeugs und Getriebesteuergerät
CN104155975A (zh) 2014-06-23 2014-11-19 浙江亚特电器有限公司 一种机器人的控制系统及其控制方法
JP6467888B2 (ja) * 2014-11-27 2019-02-13 いすゞ自動車株式会社 車両の自動走行制御装置及び車両の自動走行方法
CN204369132U (zh) * 2014-11-27 2015-06-03 青岛宝佳自动化设备有限公司 一种多功能机器人码垛系统
DE102015002603B4 (de) 2015-02-28 2017-08-17 Audi Ag Verfahren zum Kompensieren einer Neigung
CN105905550B (zh) * 2016-06-29 2018-10-09 杭州康奋威科技股份有限公司 快递包件的自动分拣输送机
CN106120673B (zh) 2016-06-30 2018-06-22 四川大学 适用于高弗劳德数下的转弯溢洪道
CN106476805A (zh) 2016-10-14 2017-03-08 深圳市元征科技股份有限公司 一种车辆安全驾驶的控制方法及终端
WO2018138780A1 (ja) * 2017-01-24 2018-08-02 日産自動車株式会社 電動車両の制御方法、及び、制御装置
KR102097929B1 (ko) * 2017-01-24 2020-04-06 닛산 지도우샤 가부시키가이샤 전동 차량의 제어 방법, 및 제어 장치
JP6780580B2 (ja) * 2017-05-12 2020-11-04 トヨタ自動車株式会社 車両の制御装置
CN207046296U (zh) * 2017-07-27 2018-02-27 武汉九州通物流有限公司 一种跟随式agv小车

Also Published As

Publication number Publication date
WO2020064305A1 (de) 2020-04-02
CN112752699B (zh) 2022-12-16
EP3628569A1 (de) 2020-04-01
PT3628569T (pt) 2021-09-22
EP3628569B1 (de) 2021-07-28
CN112752699A (zh) 2021-05-04
US20210397200A1 (en) 2021-12-23
ES2897348T3 (es) 2022-02-28
US11740640B2 (en) 2023-08-29

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