EP3698226A1 - Steuergerät zum autonomen betrieb eines leichtkraftfahrzeugs - Google Patents
Steuergerät zum autonomen betrieb eines leichtkraftfahrzeugsInfo
- Publication number
- EP3698226A1 EP3698226A1 EP18766197.0A EP18766197A EP3698226A1 EP 3698226 A1 EP3698226 A1 EP 3698226A1 EP 18766197 A EP18766197 A EP 18766197A EP 3698226 A1 EP3698226 A1 EP 3698226A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- motor vehicle
- light motor
- control
- light
- data
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
Links
- 238000004891 communication Methods 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 11
- 230000006870 function Effects 0.000 claims 3
- 238000004590 computer program Methods 0.000 claims 2
- 238000011161 development Methods 0.000 description 5
- 230000018109 developmental process Effects 0.000 description 5
- 230000032258 transport Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 241000531116 Blitum bonus-henricus Species 0.000 description 1
- 235000008645 Chenopodium bonus henricus Nutrition 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Definitions
- Control unit for the autonomous operation of a light motor vehicle
- the present invention relates to a control device for the autonomous operation of a light motor vehicle and a method for the autonomous operation of a light motor vehicle.
- Control units are electronic modules for controlling or regulating machines, systems or other technical processes.
- Autonomous operation is the operation of devices, e.g. Vehicles or mobile robots, without human intervention.
- autonomous operation means that in addition to establishing a start or finish, no human intervention is required.
- Under light motor vehicles are understood in this application vehicles whose unladen mass is not more than 350 kg, in electric vehicles without mass of batteries whose maximum speed is not more than 45 km / h, with an electric motor whose maximum rated power is not more than 4 kW, or with an internal combustion engine whose displacement is not more than 50 cm 3 .
- US2015 / 0229906 A1 shows an autonomously moving shopping cart which recognizes a user by means of face recognition and follows the user through a shop.
- the invention has the object to provide a user-friendly control for a light motor vehicle.
- control device for the autonomous operation of a light motor vehicle with a receptacle for goods, wherein the control device is set up to control a travel movement of a light vehicle in such a way that the light vehicle travels autonomously from a starting point within an area to a destination area and is set up, thus providing an unloading device control that in the receptacle of the light vehicle goods are unloaded by the unloading autonomously on a loading area;
- a method for autonomous operation of a light motor vehicle wherein the light motor vehicle is controlled by a control device along to a target area and wherein it is provided that goods in the light motor vehicle are unloaded from the light motor vehicle by means of a discharge device on a loading area when the light motor vehicle in the Target area is located.
- control unit may be formed in a light motor vehicle.
- control unit as a central control unit, which is configured to remotely control a variety of light vehicles, trained.
- the unloading device may be formed as part of a light motor vehicle.
- the unloading device may be formed in a target area in which the light motor vehicle is controlled.
- the unloading device is attached to a building, e.g. a parking garage, is mounted.
- the unloading device may also be configured to load a receptacle of a light motor vehicle.
- the unloading device can be designed, for example, as a robot arm with a plurality of lever arms, which are articulated.
- the unloading device may be formed as an opening mechanism that opens the receptacle downward so that goods from the receptacle fall onto the loading surface when the receptacle is over a loading surface.
- the invention relates primarily to control units for shopping trolleys, it is also applicable to the control of other light vehicles, such as luggage trolleys, strollers, wheelchairs and other trolleys.
- control device is set up to load goods from the receptacle of the light motor vehicle onto a loading area of a motor vehicle.
- Motor vehicles in the sense of this patent application are motor-driven land vehicles. This includes rail vehicles. Thus, a user does not have to manually load goods from a light vehicle into a motor vehicle.
- the invention is advantageous in connection with autonomously driving motor vehicles.
- a user no longer has to accompany a light motor vehicle to a motor vehicle, but can, after the motor vehicle has been loaded by the unloading device, can be picked up by the autonomous vehicle by means of the control unit.
- control unit has an interface to a data memory and is configured to receive an electronic access means to a housing of the loading area of a communication unit, to store the access means on the data memory, and to open the housing by means of the access means.
- Electronic access devices unlock locks or latches without actively actuating a mechanical key.
- Electronic access means can be designed, for example, as RFI D transponders.
- coded or uncoded signals are often sent between an antenna of a locking system, for example a lock, and the electronic access means.
- the housing may be formed, for example, as the body of a motor vehicle. Alternatively, the housing may be formed as a closable locker.
- the access means for example a code
- the access means is deleted from the data memory after goods have been unloaded by the unloading device.
- the access means for example a code
- control unit has an interface to a data memory and is set up, an electronic closing means a housing of the loading surface of a communication unit to receive, to store the closing means on the data memory and to lock the housing by means of the closing means.
- an electronic closing means a housing of the loading surface of a communication unit to receive, to store the closing means on the data memory and to lock the housing by means of the closing means.
- Electronic locking devices lock locks or latches without the active operation of a mechanical key.
- Electronic locking means may be formed, for example, as an RFID transponder.
- coded or uncoded signals are often sent between an antenna of a locking system, for example a lock, and the electronic access means.
- the control unit is set up to receive location-related data of a destination area from a communication unit and to control the light-vehicle such that it autonomously travels to the destination area by means of the location-related data.
- the target area may for example lie in a parking area for motor vehicles.
- the target area may include a locker, a shelf or a cabinet. In this case, goods are unloaded into the locker, shelf or cabinet from which a user can pick up the goods.
- control unit has an interface to a sensor unit, which is designed in particular as an image sensor, radar sensor, Lidarsensor and / or the like on.
- control device is set up to receive data from the sensor unit.
- the sensor unit may be part of a light motor vehicle.
- the sensor unit may also be mounted in the target area, for example in the field of view of a parking space.
- an image is taken of the loading area on which the goods have been unloaded. In this way, it can be checked whether all goods in the receptacle have been unloaded.
- the light vehicle may approach a target, such as a motor vehicle, according to the image data.
- control device is set up to control the unloading device by means of the data received from the sensor unit.
- Figure 1 is a schematic side view of a light motor vehicle according to an embodiment of the invention.
- Figure 2 is a schematic side view of a light motor vehicle according to an embodiment of the invention.
- FIG. 3 is a block diagram of a method according to an embodiment of the invention.
- Figure 4 is a block diagram of a controller according to an embodiment of the invention.
- FIG. 1 shows a schematic side view of a light motor vehicle 10, which is designed as a shopping cart.
- the shopping cart comprises a chassis 46, on which four wheels 50, an unloading device 11, an alternative unloading device, a receptacle 44, which is designed as a basket, and a handle 48, on which the shopping cart can be pushed by a user, are attached.
- the shopping cart has a plate 52 which is fixed in a lower region of the chassis 46. On the plate 52, a controller 16, a data memory 12 and a communication unit 26 are attached.
- the shopping cart is located in a target area with a locker 18.
- the locker 18 has a housing 15 which delimits the loading area 13 to which goods are to be unloaded from the unloading device 11.
- the controller 16 is configured to control autonomous travel of the shopping cart through a store.
- the communication unit 26 is equipped tet to receive data regarding goods to be collected and to transmit to the data memory 12. Furthermore, the control unit 16 is set up to control the unloading device 11.
- the unloading device 1 1 has a plurality of lever arms, which are connected by means of joints, and a gripper for gripping goods.
- the unloading device 1 1 is in this embodiment at the same time usable as a loading device, i. that goods are transported by means of the unloading both in the shopping cart as well as removed from the shopping cart.
- the control unit 16 controls the unloading device 11 such that it removes selected goods autonomously from a shelf and transports them into the basket of the shopping cart.
- the communication unit 26 determines a locker 18, which is to be loaded with the goods.
- the control unit 16 controls the shopping cart to the target area with the locker 18. As soon as the shopping cart has reached the target area with the locker 18, the control unit 16 controls the unloading device 11 for unloading the goods from the basket to the loading area 13 of the opened locker 18.
- FIG. 14 An alternative unloading device 14 is shown in FIG. It is understood that a shopping cart, the unloading device 1 1, the unloading device 14 or the unloading 1 1 and 14 may have.
- the unloading device 14 includes a vertical wall defining the shopping cart 10 which is rotatably supported at a hinge between a closed position and an open position.
- the hinge is shown at an upper edge of the wall. However, it is understood that the hinge can also be arranged on a lower edge or on a side edge.
- a loading area for example a pallet 102, which is inserted into the shopping cart, can be loaded onto a loading area 13 by means of the unloading device 14.
- the data memory 12 is configured to store an electronic access means and an electronic closing means for opening and closing the locker 18. It can be provided that an access means and / or closing means changes regularly.
- the communication unit 26 is configured to receive data relating to a location of a locker 18 to be loaded and data regarding an access means or a closing means and to transmit them to the data memory. Furthermore, the communication unit 26 is set up to exchange data relating to the access means or closing means with an electronic lock of the locker 18 via a radio link 20. The communication unit 26 is connected to the control unit 16 via an electrical line 54.
- the chassis 46 also has a sensor unit 32 which is set up to sen persons and / or objects in the vicinity of the shopping cart.
- the sensor unit 32 is designed as a radar sensor.
- FIG. 2 shows a shopping trolley according to FIG. 1.
- the shopping trolley is located in a destination area in which a motor vehicle 21 is parked.
- the motor vehicle 21 has a loading surface, which is designed as a trunk.
- the target area is designed as a numbered parking area of a parking garage.
- the controller 16 is arranged to autonomously control the shopping cart to a pick-up area in which the shopping cart is to be picked up by a user for use in a store. Thus, a user may use the shopping cart during a shopping to transport selected goods.
- the communication unit 26 is set up to exchange data with a data carrier of the user.
- the data carrier transmits location-related data of the motor vehicle 21, for example in the form of a parking space number, as well as data concerning an electronic access and closure means to the communication unit 26.
- the data carrier can be embodied, for example, as a motor vehicle key.
- the controller 16 is configured to control the shopping cart to the user's vehicle 21.
- the trunk can be opened by the communication unit 26 by exchanging these data relating to the access means with the motor vehicle 21.
- a further or alternative unloading device which is attached to a ceiling or pillar of a parking garage, may be provided.
- the communication unit 26 transmits data regarding the closing means to the motor vehicle 21 so that it is locked.
- FIG. 3 shows a method 200 according to an embodiment of the invention with steps S1 to S8.
- step S1 After the motor vehicle 21 has been parked on a parking area and location-related data of the motor vehicle 21 has been transmitted to a motor vehicle key of a user, in step S1 the location-related data of the motor vehicle 21 are transmitted from the motor vehicle key to the communication unit 26 of a shopping cart. Furthermore, an electronic access means and an electronic closing means for opening or
- the location-related data, the access means and the closing means are stored on a data memory 12 connected to the communication unit 26 for later use.
- step S2 the shopping cart accompanies the user during shopping by setting up the control unit to control the shopping cart to follow the user.
- the shopping cart is loaded with goods.
- step S3 the control unit controls the shopping cart such that the shopping cart travels autonomously to the parked motor vehicle 21 in that the data memory 12 transmits the location-related data of the motor vehicle 21 to the control unit 16 and the control unit 16 determines a travel path to the motor vehicle 21. If the motor vehicle 21 is suitable for autonomous operation, it is not necessary for the user to follow the shopping cart to the motor vehicle.
- step S4 an image of the surroundings of the shopping cart in the target area is taken by means of the sensor unit 32, which is designed as a camera, in order to determine a final position for unloading the shopping cart.
- step S5 the electronic access means is transmitted to the motor vehicle 21, whereby the trunk of the motor vehicle 21 opens.
- step S6 goods are unloaded from the trolley into the trunk by carrying the goods from a gripper arm into the trunk.
- step S7 an image of the load of the goods loaded with the trunk is created by means of the camera, stored on the data memory 12 and transmitted to the user.
- step S8 the electronic locking means is transmitted to the motor vehicle 21, whereby the motor vehicle 21 is locked.
- the motor vehicle 21 can drive autonomously from the parking area to a pick-up area in which the user is to be picked up.
- FIG. 4 shows a control unit 16, which is connected via an interface to a data memory 12, a communication unit 26 and a sensor unit 32.
- REFERENCE CHARACTERS REFERENCE CHARACTERS
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102017218498.1A DE102017218498A1 (de) | 2017-10-17 | 2017-10-17 | Steuergerät zum autonomen Betrieb eines Leichtkraftfahrzeugs |
PCT/EP2018/073865 WO2019076528A1 (de) | 2017-10-17 | 2018-09-05 | Steuergerät zum autonomen betrieb eines leichtkraftfahrzeugs |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3698226A1 true EP3698226A1 (de) | 2020-08-26 |
Family
ID=63528756
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18766197.0A Withdrawn EP3698226A1 (de) | 2017-10-17 | 2018-09-05 | Steuergerät zum autonomen betrieb eines leichtkraftfahrzeugs |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3698226A1 (de) |
DE (1) | DE102017218498A1 (de) |
WO (1) | WO2019076528A1 (de) |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA2885630C (en) | 2012-09-19 | 2020-09-29 | Follow Inspiration Unipessoal, Lda. | Self tracking system and its operation method |
CN103640612A (zh) * | 2013-12-05 | 2014-03-19 | 陆欣叶 | 可自动卸货的购物车 |
US9104205B1 (en) * | 2014-01-22 | 2015-08-11 | Fred Caver | Automated return shopping cart |
KR20160052132A (ko) * | 2014-11-04 | 2016-05-12 | 현대자동차주식회사 | 차량 내장형 스마트 카트 |
DE102015111888A1 (de) * | 2015-07-22 | 2017-01-26 | Deutsche Post Ag | Verfahren, Verteilerfahrzeug und System zum autonomen Abliefern und/oder Abholen wenigstens einer Sendung |
CN109313711A (zh) * | 2016-04-08 | 2019-02-05 | 沃尔玛阿波罗有限责任公司 | 用于无人机调度和操作的系统和方法 |
-
2017
- 2017-10-17 DE DE102017218498.1A patent/DE102017218498A1/de active Pending
-
2018
- 2018-09-05 EP EP18766197.0A patent/EP3698226A1/de not_active Withdrawn
- 2018-09-05 WO PCT/EP2018/073865 patent/WO2019076528A1/de unknown
Also Published As
Publication number | Publication date |
---|---|
WO2019076528A1 (de) | 2019-04-25 |
DE102017218498A1 (de) | 2019-04-18 |
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