WO2017207978A1 - Véhicule de transport autonome destiné à un conteneur - Google Patents

Véhicule de transport autonome destiné à un conteneur Download PDF

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Publication number
WO2017207978A1
WO2017207978A1 PCT/GB2017/051537 GB2017051537W WO2017207978A1 WO 2017207978 A1 WO2017207978 A1 WO 2017207978A1 GB 2017051537 W GB2017051537 W GB 2017051537W WO 2017207978 A1 WO2017207978 A1 WO 2017207978A1
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WO
WIPO (PCT)
Prior art keywords
container
vehicle
autonomous
container transportation
transportation
Prior art date
Application number
PCT/GB2017/051537
Other languages
English (en)
Inventor
Denis SVERDLOV
Glenn SAINT
Original Assignee
Arrival Limited
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 Arrival Limited filed Critical Arrival Limited
Priority to EP17727680.5A priority Critical patent/EP3464159A1/fr
Publication of WO2017207978A1 publication Critical patent/WO2017207978A1/fr

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Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
    • B62D53/08—Fifth wheel traction couplings
    • B62D53/0857—Auxiliary semi-trailer handling or loading equipment, e.g. ramps, rigs, coupling supports
    • B62D53/0864—Dollies for fifth wheel coupling
    • 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
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/46—Combinations of several jacks with means for interrelating lifting or lowering movements
    • 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
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/07559—Stabilizing means
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/186—Container lifting frames
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser

Definitions

  • the present invention relates to apparatuses and methods for autonomous container transportation systems.
  • Containers are typically moved by overhead cranes, which pick up containers one at a time from a stack or a transport vessel, and deposit the container onto a different stack or another transport vessel.
  • any given facility will usually only have a relatively small number of cranes due to their physical size and high cost. Accordingly, there is a limit to the number of containers that can be moved at any given time. There is therefore a need for a more efficient container management and transportation system.
  • an autonomous container transportation vehicle comprising: a chassis configured to receive a container to be transported; a pair of wheels coupled to the chassis and arranged to rotate about a common axis; at least one electric motor configured to drive at least one of said pair of wheels; a balance control unit (804) configured to maintain the chassis in an upright position while the pair of wheels are being driven; and a vehicle controller for receiving vehicle control commands from an external apparatus, the vehicle controller being configured to drive the container transportation vehicle in accordance with one or more received vehicle control commands.
  • the container transportation vehicle is configured to transport an intermodal container, commonly referred to as a shipping container.
  • the vehicle controller is capable of driving the container transportation vehicle without human intervention.
  • the vehicle controller may be configured to apply pathfinding algorithms to automatically determine a route to take in order to reach a destination, and/or may include a collision-avoidance system to determine the proximity of obstacles to the vehicle and take necessary action to avoid a collision, such as braking, accelerating or steering the vehicle.
  • the vehicle controller can be configured to determine a route to reach a destination defined by the one or more received vehicle control commands. In other embodiments, the vehicle controller is configured to follow a route defined by the one or more received vehicle control commands.
  • the autonomous container transportation vehicle further comprises a lifting mechanism for lifting the container to be transported.
  • the lifting mechanism may comprise a levering member connected to the chassis by a pivot, the levering member being configured to engage with a lifting point on the container, wherein the levering member and the pivot are arranged such that when the autonomous container transportation vehicle is driven towards the container with the levering member engaged with the lifting point, the levering member is caused to rotate about the pivot and thereby lift the container.
  • the autonomous container transportation vehicle further comprises a container coupling mechanism configured to engage with a coupling point on the container.
  • the container coupling mechanism can be disposed so as to align with the coupling point after the container has been lifted by the levering member.
  • the container coupling mechanism comprises an ISO 1161:1984 twistlock connector for coupling to a corner casting on an intermodal container.
  • the autonomous container transportation vehicle further comprises a positioning system for aligning the container coupling mechanism with the coupling point.
  • the positioning system may include a ranging mechanism for determining a distance between the autonomous container transportation vehicle and the coupling point.
  • the chassis of the autonomous container transportation vehicle comprises a fifth-wheel coupling mechanism for coupling the container transportation vehicle to a trailer to be transported by the container transportation vehicle.
  • a transportation apparatus comprising: a container for carrying goods to be transported; and at least two autonomous container transportation vehicles, the at least two autonomous container transportation vehicles being disposed so as to support the container during transportation.
  • the at least two autonomous container transportation vehicles are physically separate and laterally spaced apart from one another, such that a wheelbase of the transportation apparatus is determined by the spacing between the at least two autonomous container transportation vehicles.
  • a transportation apparatus comprising: an autonomous container transportation vehicle comprising a fifth-wheel coupling mechanism; and a trailer coupled to the fifth-wheel coupling mechanism of the autonomous container transportation vehicle.
  • apparatus for managing a plurality of autonomous container transportation vehicles comprising: a vehicle communication unit configured to communicate with the plurality of autonomous container transportation vehicles; and a vehicle management unit configured to determine a number of autonomous container transportation vehicles to be assigned to a container based on one or more physical properties of the container, in response to a requirement for said container to be transported to a desired location, assign one or more of the plurality of autonomous container transportation vehicles to the container, and control the vehicle
  • the physical properties of the container can include one or more of: a physical dimension of the container, such as the length or width of the container; a loaded weight of the container; and an unloaded weight of the container.
  • the apparatus further comprises a vehicle location monitoring unit configured to receive and store information identifying current locations of the plurality of autonomous container transportation vehicles, wherein the vehicle management unit is configured to take into account the current locations of the plurality of autonomous container transportation vehicles when assigning a container transportation vehicle to the container, by assigning an autonomous container transportation vehicle that is closer to a current location of the container in preference to an autonomous container transportation vehicle that is further from the current location of the container.
  • a vehicle location monitoring unit configured to receive and store information identifying current locations of the plurality of autonomous container transportation vehicles
  • the vehicle management unit is configured to take into account the current locations of the plurality of autonomous container transportation vehicles when assigning a container transportation vehicle to the container, by assigning an autonomous container transportation vehicle that is closer to a current location of the container in preference to an autonomous container transportation vehicle that is further from the current location of the container.
  • a system for transporting containers can comprise one or more autonomous container transportation vehicles according to the first aspect, and a vehicle management unit comprising the apparatus according to the fourth aspect.
  • a method of managing a plurality of autonomous container transportation vehicles comprising: in response to a requirement for a container to be transported to a desired location, determining a number of autonomous container transportation vehicles to be assigned to the container based on one or more physical properties of the container; assigning one or more of the plurality of autonomous container transportation vehicles to the container in accordance with the determined number; and transmitting vehicle control commands which cause the assigned one or more autonomous container transportation vehicles to drive to the container and transport the container to the desired location.
  • a computer- readable storage medium arranged to store computer program instructions which, when executed, perform a method according to the fifth aspect.
  • Figure l illustrates an autonomous container transportation vehicle, according to an embodiment of the present invention
  • Figure 2 illustrates a transportation apparatus comprising two of the autonomous container transportation vehicles of Fig. l, according to an embodiment of the present invention
  • Figure 3 illustrates an autonomous container transportation vehicle, according to an embodiment of the present invention
  • Figure 4 illustrates a transportation apparatus comprising two of the autonomous container transportation vehicles of Fig. 3, according to an embodiment of the present invention
  • Figure 5 illustrates an autonomous container transportation vehicle, according to an embodiment of the present invention
  • Figure 6 illustrates a process of lifting a container using two of the autonomous container transportation vehicles of Fig. 5, according to an embodiment of the present invention
  • Figure 7 illustrates a transportation apparatus comprising two of the autonomous container transportation vehicles of Fig. 5, after a container has been lifted and coupled to the autonomous container transportation vehicles;
  • Figure 8 illustrates a container transportation vehicle and vehicle management apparatus, according to an embodiment of the present invention
  • Figure 9 illustrates a system comprising a plurality of container transportation vehicles and a vehicle management apparatus, according to an embodiment of the present invention
  • Figure 10 is a flowchart showing steps in a method of managing a plurality of container transportation vehicles, according to an embodiment of the present invention.
  • Figure 11 illustrates an autonomous container transportation vehicle for moving a trailer, according to an embodiment of the present invention.
  • Figures 12A and 12B illustrate a transportation apparatus comprising the autonomous container transportation vehicle of Fig. 11 coupled to a trailer, according to an embodiment of the present invention.
  • Container transportation vehicles are configured to drive autonomously in response to vehicle control commands received from an external controller.
  • the vehicle control commands may define a destination, for example using an address or coordinates in a global navigation satellite system (GNSS) such as the GPS, GLONASS or Galileo systems.
  • GNSS global navigation satellite system
  • the vehicle control commands may define a route to be followed by the autonomous container transport vehicle.
  • the vehicle may be capable of determining the route itself, for example using a suitable pathfinding algorithm and a stored map of the local area.
  • the container transportation vehicle is capable of steering and driving itself without manual intervention.
  • the autonomous container transportation vehicle includes a collision avoidance system for detecting objects in the vicinity of the vehicle and automatically steering, accelerating and/ or braking the vehicle to avoid a collision with the detected objects.
  • the objects may include stationary obstacles and mobile objects, such as other autonomous container transportation vehicles.
  • the autonomous container transportation vehicle may be configured to locally deviate from the route so as to avoid collisions, or may select a more efficient route if one is available.
  • the autonomous container transportation vehicle may be configured to follow a predefined route determined by markings or tracks laid out in the area in which the vehicle is operating. For example, different coloured markings on a road surface or floor in a warehouse can be used to define preset routes to different locations.
  • the autonomous container transportation vehicle can include an optical system configured to detect the different coloured markings, and can follow the route corresponding to a destination identified by a received vehicle control command.
  • an autonomous container transportation vehicle is illustrated according to an embodiment of the present invention.
  • the autonomous container vehicle of the present embodiment is configured to transport intermodal containers, which are commonly referred to as shipping containers.
  • Intermodal containers come in various types and sizes. Common dimensions for intermodal containers are 6 metres (m) or 12 m in length, and 2.6 m or 2.9 m in height, although other dimensions are possible.
  • a fully-loaded intermodal container may weigh several metric tonnes, for example up to or above 5,000 kilograms (kg).
  • an autonomous container transportation vehicle may be configured to transport a different type of container.
  • an autonomous container transportation vehicle may be configured to transport packaging boxes of varying sizes in a warehouse environment.
  • the autonomous container transportation vehicle 100 of the present embodiment comprises a chassis 101, a pair of wheels 102 coupled to the chassis 101, one or more electric motors 103 configured to drive the wheels 102, and a power supply 104 configured to supply electrical power to the one or more electric motors 103.
  • the power supply 104 may comprise a battery, a fuel cell, a photovoltaic panel, or a petrol or diesel generator.
  • the power supply 104 may be removable, and an autonomous container transportation vehicle may be supplied without a power supply installed.
  • the chassis 101 is configured to receive the container to be transported.
  • the chassis 101 may comprise a platform on which the container can rest, as in the present embodiment.
  • the chassis may be shaped so as to receive a specific part of the container.
  • the autonomous container transportation vehicle of the present embodiment further comprises a balance control unit and a vehicle controller, which are not shown in Fig. 1.
  • the balance control unit and vehicle controller are schematically illustrated in Fig. 8, which is described in more detail later in this document.
  • the balance control unit is configured to maintain the chassis in an upright position while the pair of wheels are being driven.
  • the balance control unit enables the autonomous container
  • the balance control unit may, for example, be configured to detect changes in orientation of the vehicle 100 and controlling the torque of the one or more electric motors 103 so as to drive the wheels 102 in a direction which counteracts the change in orientation. By continuously monitoring the orientation and controlling the motor torque in this way, the vehicle loo can be made self-balancing.
  • the balance control unit may be a gyroscope. Self-balancing two-wheeled vehicles which can be ridden by a human operator are known, and a detailed description of the self-balancing aspect will not be provided here so as to avoid obscuring the present inventive concept.
  • the vehicle controller is capable of receiving the vehicle control commands from an external apparatus, and is configured to drive the autonomous container transportation vehicle 100 in accordance with the received vehicle control commands.
  • the vehicle control commands may be received wirelessly or via a wired connection.
  • the vehicle controller can include a suitable wireless interface unit such as a WiFi network interface or a mobile telecommunications interface.
  • the autonomous container transportation vehicle ⁇ may be connected to the external apparatus via a wired connection, such as an umbilical tether, an overhead grid of conductive wires to which the autonomous container transportation vehicle is connected via a sliding electrical pickup, or a system of conductive tracks set into a surface on which the autonomous container transportation vehicle is being driven.
  • the vehicle controller may control the one or more electric motors 103 to drive both wheels 102 simultaneously, or may control the one or more electric motors 103 to drive the wheels 102 independently in order to steer the vehicle. Some embodiments may comprise a separate motor for each wheel, configured to drive the wheels
  • the autonomous container transportation vehicle 100 may further comprise a steering mechanism capable of adjusting an angle of one or both wheels 102 in order to steer the vehicle in a particular direction.
  • the autonomous container transportation vehicle may only comprise a single electric motor but may still be capable of driving each wheel independently.
  • the electric motor may be configured to turn a driveshaft, and each wheel may be connected to the driveshaft via a separate gearbox in order to transfer power from the shared driveshaft to individual wheels as and when required.
  • the autonomous container transportation vehicle 100 of the present embodiment further comprises a container coupling mechanism 105 configured to engage with a coupling point on the container. Since the autonomous container transportation vehicle 100 of the present embodiment is configured to transport intermodal containers, the container coupling mechanism of the present embodiment comprises an ISO 1161:1984 twistlock connector for coupling to a corner casting on an intermodal container. Other suitable coupling mechanisms may be provided in other embodiments, depending on the type of container that is to be transported by the autonomous container transportation vehicle.
  • the container coupling mechanism 105 can be configured to be engaged automatically by the autonomous container transportation vehicle 100, for example by using solenoids or servo motors to actuate the container coupling mechanism 105, or may be manually engaged by a human operator once the container is in position.
  • a container coupling mechanism may not be provided.
  • a container coupling mechanism may be omitted if a frictional force between the chassis and the container is sufficient to keep the container in position during transportation.
  • a container coupling mechanism may not be required if the container transportation vehicle will only be driven at relatively slow speeds.
  • the autonomous container transportation vehicle 100 of the present embodiment may be capable of transporting containers up to a certain size, depending on the mass of the container and the strength of the electric motors 103.
  • the autonomous container transportation vehicle can form the basis of a modular system in which multiple such vehicles can cooperate to transport larger containers.
  • Figure 2 illustrates an example of a transportation apparatus comprising two of the autonomous container transportation vehicles of Fig. 1, according to an embodiment of the present invention.
  • the transportation apparatus 110 comprises two of the autonomous container transportation vehicles 100 shown in Fig. 1, coupled to an intermodal container 111 for carrying goods to be transported.
  • the two autonomous container transportation vehicles 100 are disposed at opposite ends of the container 111 so as to support the container 111 during transportation.
  • a transportation apparatus may be formed from more than two autonomous container transportation vehicles loo.
  • one or more additional container transportation vehicles may be coupled to either of the
  • autonomous container transportation vehicles loo shown in Fig. 2 if more power is required to move the container in than is available from just two autonomous container transportation vehicles.
  • additional autonomous container transportation vehicles may be configured to sit beneath the container in and support the base of the container in. This may be particularly useful when transporting a long container, to prevent the container from sagging or buckling.
  • two or more autonomous container transportation vehicles may be physically coupled together to form a large vehicle, before receiving the container to be transported.
  • the individual autonomous container transportation vehicles may remain physically separate, as in the embodiment shown in Fig. 2.
  • an arbitrary wheelbase can be provided by appropriately spacing the autonomous container transportation vehicles. This enables a container of any length to be transported.
  • the autonomous container transportation vehicle 300 of the present embodiment comprises a chassis 301, a pair of wheels 302 coupled to the chassis 301, one or more electric motors 303 configured to drive the wheels 302, a power supply 304 configured to supply electrical power to the one or more electric motors 303, and a container coupling mechanism 305.
  • the autonomous container transportation vehicle 300 of the present embodiment further comprises a balance control unit and vehicle controller as described above with reference to the embodiment of Fig. 1. For the sake of brevity, a detailed description of similar aspects of both embodiments will not be repeated here.
  • the autonomous container transportation vehicle of Fig. 3 differs from the
  • the chassis 301 comprises a bracket that is shaped to receive an end of the intermodal container 311, as shown in Fig. 4.
  • the container 311 sits lower down in comparison to the embodiment of Fig. 2.
  • This arrangement can provide a more stable transportation apparatus 310, by lowering the centre of gravity.
  • the embodiment of Fig. 2 offers higher ground clearance between the autonomous container transportation vehicles 100 and may be better suited for uneven terrain.
  • the autonomous container transportation vehicle 500 of the present embodiment comprises a chassis 501, a pair of wheels 502 coupled to the chassis 501, one or more electric motors 503 configured to drive the wheels 502, a power supply 504 configured to supply electrical power to the one or more electric motors 503, a container coupling mechanism 505, a balance control unit and a vehicle controller.
  • a chassis 501 a chassis 501
  • a pair of wheels 502 coupled to the chassis 501
  • one or more electric motors 503 configured to drive the wheels 502
  • a power supply 504 configured to supply electrical power to the one or more electric motors 503, a container coupling mechanism 505, a balance control unit and a vehicle controller.
  • a container can be lowered into place on the autonomous container transportation vehicle 100, 300 by a suitable mechanism such as a crane or forklift.
  • the autonomous container transportation vehicle 500 of the present embodiment further comprises a lifting mechanism for lifting the container to be transported, removing the need for separate apparatus to lift the container.
  • the lifting mechanism of the present embodiment comprises a levering member connected to the chassis by a pivot.
  • the levering member comprises two arms 506a, 506b each connected to the chassis by a pivot, and a crosspiece 507 joining the ends of the two arms 506a, 506b.
  • a different arrangement may be provided, for example, the levering member could comprise a single arm without a crosspiece.
  • a different lifting mechanism altogether may be used, without any levering members.
  • a pneumatic, hydraulic or electric forklift lifting mechanism can be used, instead of a levering member.
  • Figures 6 and 7 illustrate a process of lifting a container using two of the autonomous container transportation vehicles of Fig. 5.
  • the levering member of each autonomous container transportation vehicle 500 is configured to engage with a lifting point near the top of the container 511.
  • the levering member and the pivot are arranged such that when one of the container transportation vehicles 500 is driven towards the container 511 with the crosspiece 507 engaged with the lifting point, the levering member is caused to rotate about the pivot and thereby lift the container 511.
  • the container coupling mechanisms 505 are disposed so as to align with corner castings on the intermodal container 511, allowing the container 511 to be coupled to the autonomous container transportation vehicles 500.
  • a transportation apparatus 510 similar to the ones shown in Figs. 2 and 4 can be assembled without the need for separate lifting equipment.
  • Any of the autonomous container transportation vehicles described above may include any of the features of the autonomous container transportation vehicle 800 shown in Fig. 8.
  • the autonomous container transportation vehicle 800 comprises a vehicle controller 801, a positioning system 802 for aligning the container coupling mechanism with the coupling point, one or more electric motors 803, and a balance control unit 804.
  • vehicle controller 801, electric motors 803 and balance control unit 804 have been described above, and a detailed explanation will not be repeated here.
  • the positioning system 802 includes a ranging mechanism, for example a light detection and ranging (LIDAR) system, for determining a distance between the container transportation vehicle and a corresponding coupling point on the container.
  • the positioning system 802 may further comprise an image capture device, for example a digital camera, arranged so as to capture an image in the vicinity of the container coupling mechanism as the container and the vehicle are being moved into position.
  • a shape recognition algorithm can be used to detect the relative positions of the container coupling mechanism and the coupling point in the captured image.
  • Information about the relative positions can be fed back to the vehicle controller, which can control the electric motors 803 to drive and/or steer the vehicle as required in order to bring the container coupling mechanism and the coupling point into alignment.
  • a positioning system may include a different type of sensor, for example an ultrasound sensor to measure the distance between the container and the vehicle.
  • a positioning system may not determine the actual distance between the container transportation vehicle and a corresponding coupling point.
  • image analysis software can be used to automatically align the container coupling mechanism and the coupling point whilst the vehicle and the container are separated, and the vehicle controller 801 can then slowly drive the vehicle towards the container until the container coupling mechanism engages with the coupling point.
  • the vehicle management apparatus 820 comprises a vehicle communication unit 821 configured to communicate with the plurality of container transportation vehicles, a vehicle management unit 822 configured to assign one or more of the plurality of container transportation vehicles to a container, and a vehicle location monitoring unit 823 configured to receive and store information identifying current locations of the plurality of container transportation vehicles.
  • FIG. 9 An example of an environment in which the vehicle management apparatus may operate is shown in Fig. 9, which illustrates a system comprising a plurality of container transportation vehicles and a vehicle management apparatus.
  • the system is installed in a container yard, for example at a commercial port or freight depot.
  • the system comprises the vehicle management apparatus 920, a plurality of autonomous container transportation vehicles 900 configured to communicate remotely with the vehicle management apparatus 920 through the vehicle
  • the vehicle management apparatus 920 can assign one or more of the plurality of container transportation vehicles 900 to a particular container 911.
  • the vehicle management apparatus 920 may transmit vehicle control commands to cause a plurality of the autonomous container transportation vehicles to cooperatively transport a container, forming a transportation apparatus 910 similarly to the embodiments described above with reference to Figs. 2, 4 and 7.
  • a method performed by the vehicle management apparatus 920 is shown in Fig. 10, according to an embodiment of the present invention.
  • the method may be implemented by computer program instructions stored on computer- readable memory in the vehicle management unit 822.
  • a request to move a container to a new location is received.
  • the request may be generated automatically according to a pre-programmed schedule, or may be manually input or received from another source.
  • the request may include information for identifying the container (e.g. a serial number or other suitable ID), and/or a current location of the container, and/or the destination to which the container is to be transported.
  • the vehicle management unit 920 is configured to check the physical properties of the container in step S1002, such as the physical dimensions of the container, a loaded weight of the container, and/ or an unloaded weight of the container.
  • the vehicle management unit 920 may query a database which stores information about physical properties of different containers and an associated serial number or other ID of each container.
  • the request itself may specify the physical properties.
  • step S1002 can be omitted, for example, when all containers in the system have the same physical properties.
  • the vehicle management unit 920 is configured to determine the number of autonomous container transportation vehicles to assign to the container.
  • the number may depend on factors such as the size and/ or mass of the container, and may take into account the route on which the container is to be transported. For example, if the container is to be transported at high speed or up a steep incline, more vehicles may be assigned so that more power is available.
  • step S1004 the vehicle management unit 920 identifies the individual autonomous container transportation vehicles to be assigned to the container.
  • the vehicle management unit 920 takes into account the location information stored in the vehicle location monitoring unit 823, and preferentially assigns vehicles that are closer to the container.
  • the vehicle management unit 920 may flag that vehicle as 'unavailable' until the container has been transported to the desired location. Any vehicles that were assigned to the container can then be flagged as 'available' and may subsequently be assigned to a new container.
  • the vehicle management unit 920 is configured to control the vehicle communication unit 821 to transmit vehicle control commands which cause the assigned one or more autonomous container transportation vehicles 900 to drive to the container 911 and transport the container 911 to the desired location.
  • the autonomous container transportation vehicle 1100 of the present embodiment comprises a chassis 1101, a pair of wheels 1102 coupled to the chassis 1101, one or more electric motors 1103 configured to drive the wheels 1102, a power supply 1104 configured to supply electrical power to the one or more electric motors 1103, a balance control unit and a vehicle controller.
  • the autonomous container transportation vehicle 1100 further comprises a fifth-wheel coupling mechanism 1105 for coupling the container transportation vehicle 1100 to a trailer 1111 to be transported by the container transportation vehicle 1100.
  • the fifth-wheel coupling mechanism 1105 may include a lifting mechanism for lifting the front end of the trailer 1111 once the container transportation vehicle 1100 has been coupled to the trailer 1111.
  • the lifting mechanism comprises a moveable frame 1106 which supports the fifth-wheel coupling mechanism 1105.
  • the height of the frame 1106 within the chassis 1101 can be adjusted by means of a suitable driving mechanism, such as a hydraulic ram or a rack and pinion mechanism.
  • the lifting mechanism may be automated or may be manually operated.
  • Figures 12A and 12B illustrate an example of a transportation apparatus comprising the autonomous container transportation vehicle of Fig. 11 coupled to a trailer 1111, according to an embodiment of the present invention.
  • the transportation apparatus 1110 comprises the autonomous container transportation vehicle 1100 shown in Fig. 11, coupled to a trailer 1111 via the fifth-wheel coupling mechanism 1105.
  • the trailer 1111 may, for example, be a flat-bed semi-trailer configured to carry a container to be transported.
  • the container may be integrated with the trailer 1111, for example as in a box trailer or a curtain-side trailer.
  • Figure 12A illustrates the transportation apparatus 1110 with the lifting mechanism 1106 in a lowered position, in which a support foot 1112 of the trailer 1111 is resting on the ground.
  • Figure 12B illustrates the transportation apparatus 1110 with the lifting mechanism 1106 in a raised position, such that the support foot 1112 of the trailer 1111 is lifted off the ground, thereby enabling the trailer 1111 to be moved by the autonomous container

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un véhicule de transport autonome destiné à un conteneur (100), comprenant un châssis (101) conçu de manière à recevoir un conteneur à transporter, une paire de roues (102) accouplée au châssis et conçue de manière à tourner autour d'un axe commun, au moins un moteur électrique (103) de manière à entraîner au moins l'une des roues de ladite paire de roues, une unité de commande d'équilibre (804) conçue de manière à maintenir le châssis dans une position verticale pendant l'entrainement de la paire de roues, et un dispositif de commande de véhicule (104) conçu de manière à recevoir des instructions de commande de véhicule provenant d'un appareil externe et de manière à entraîner le véhicule de transport destiné à conteneur conformément aux instructions de commande de véhicule reçues. Au moins deux des véhicules de transport autonome destiné à un conteneur (100) peuvent être combinés à un conteneur (111) de manière à former un appareil de transport (110), dont l'empattement peut être déterminé par un espacement approprié des véhicules séparés. L'invention porte également sur un appareil et sur des procédés destinés à gérer une pluralité de véhicules de transport autonome destinés à un conteneur.
PCT/GB2017/051537 2016-05-31 2017-05-30 Véhicule de transport autonome destiné à un conteneur WO2017207978A1 (fr)

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GB1609543.2 2016-05-31
GB1609543.2A GB2558518B (en) 2016-05-31 2016-05-31 Autonomous container transportation

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GB2578903A (en) * 2018-11-13 2020-06-03 Tra Robotics Ltd Two wheel automatic guided vehicles
WO2020149774A1 (fr) 2019-01-16 2020-07-23 Scania Cv Ab Procédé et dispositif de commande pour l'assemblage d'un véhicule
CN111439343A (zh) * 2020-04-29 2020-07-24 杭州宇控机电工程有限公司 一种船舱内集装箱转运装置
EP3766748A1 (fr) * 2019-07-16 2021-01-20 Wheel.me AS Agencement de transport d'un objet sur une surface
DE102020008046A1 (de) 2020-04-22 2021-10-28 my-walden-modern.de GmbH Spurgeführtes Fahrzeug
DE102020110910A1 (de) 2020-04-22 2021-10-28 my-walden-modern.de GmbH Spurgeführtes Fahrzeug
EP3782934A4 (fr) * 2018-04-18 2021-12-22 Beijing Geekplus Technology Co., Ltd. Procédé de transport, dispositif de transport et système de transport
EP4137391A1 (fr) 2021-08-18 2023-02-22 ANT Maschinen GmbH Unité de tracteur robot

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AT520628B1 (de) * 2017-11-27 2020-08-15 Amx Automation Tech Gmbh Transportanordnung für den transport von containern
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EP3766748A1 (fr) * 2019-07-16 2021-01-20 Wheel.me AS Agencement de transport d'un objet sur une surface
DE102020110910A1 (de) 2020-04-22 2021-10-28 my-walden-modern.de GmbH Spurgeführtes Fahrzeug
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DE102020008046A1 (de) 2020-04-22 2021-10-28 my-walden-modern.de GmbH Spurgeführtes Fahrzeug
CN111439343A (zh) * 2020-04-29 2020-07-24 杭州宇控机电工程有限公司 一种船舱内集装箱转运装置
EP4137391A1 (fr) 2021-08-18 2023-02-22 ANT Maschinen GmbH Unité de tracteur robot

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EP3464159A1 (fr) 2019-04-10
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GB2558518A (en) 2018-07-18

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