WO2020001884A1

WO2020001884A1 - System and method for the autonomous receiving of a target object by a vehicle

Info

Publication number: WO2020001884A1
Application number: PCT/EP2019/063572
Authority: WO
Inventors: Patrick KNIESS; Alexander Banerjee; Alexander Häfele; Christoph Schall; Maximilian FREIDL; Sebastian BIEHL; Thomas JÄGER
Original assignee: Zf Friedrichshafen Ag
Priority date: 2018-06-26
Filing date: 2019-05-27
Publication date: 2020-01-02
Also published as: CN112313592B; CN112313592A; DE102018210341B4; DE102018210341A1

Abstract

A system for the autonomous receiving of a target object by a vehicle (1) has position-determining means (3a), which are configured for determining the position of the vehicle (1) based on a positionally fixed coordinate system, and orientation-determining means (4a, 4b, 4c, 4d, 4e), which are configured for determining an orientation of the vehicle (1) in relation to the target object. Furthermore, a control device (5) is provided, which is configured for receiving position information from the position-determining means (3a) and orientation information from the orientation-determining means (4a, 4b, 4c, 4d, 4e) and for autonomously operating the vehicle (1). The control device (5) controls the autonomous operation of the vehicle (1) on the basis of the position-determining information in a section between a starting position and an intermediate position of the vehicle (1) and in addition or alternatively thereto on the basis of the orientation information in a section between the intermediate position and a receiving position.

Description

System and method for autonomous recording

of a target object by a vehicle

Technical field

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

State of the art

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

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

Presentation of the invention

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

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

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

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

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

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

In the system, the laser-based sensor system can interact with elements of the target object and generate an alignment signal that indicates an alignment between the target object and the vehicle with respect to a relative rotation, in particular about a vertical axis of the vehicle and / or a relative lateral offset. For this purpose, several laser sensors can be provided, each of which generates a distance signal. Based on the knowledge of the geometry of the target object, an alignment between the target object and the vehicle can be assessed from the plurality of distance signals. In the system, the alignment determining means can have a camera system. The camera system can be directed rearward with respect to the direction of travel of the vehicle. Furthermore, by imaging the field of view, the camera system can generate at least one distance signal that indicates the distance of the target object and the vehicle in the longitudinal direction. The camera system can generate an alignment signal that indicates an alignment between the target object and the vehicle with respect to a relative rotation, in particular about a vertical axis of the vehicle and / or a relative lateral offset. For this purpose, the image information of the camera system can be evaluated and information relating to the alignment between the target object and the vehicle can be generated from the image information using a predetermined algorithm.

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

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

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

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

A vehicle for accommodating a target object designed as a swap body can be provided with single-track elements which are set up for the single-track tunnel provided on the exchangeable load carrier. Furthermore, the vehicle can have a control device, which can be set up to receive position information from the position determination means of the vehicle and alignment information from the orientation determination means of the vehicle and for autonomous operation of the vehicle. The vehicle may also be equipped with a system having one or more of the features described above. In the vehicle, the single-track elements can be provided in such a way that the single-track tunnel of the interchangeable load carrier can be engaged by reversing the vehicle under the interchangeable load carrier. In this case, the drive in is essentially a straight drive. The vehicle can also be equipped with a system for setting a level with which the distance of the engagement elements in relation to the ground can be adjusted. In particular, a level control system can be provided on the vehicle for this purpose.

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

Determining position information at a starting position of the vehicle;

Determining a trajectory for approaching an intermediate position at which the vehicle is positioned with a predetermined orientation on the target object based on the determined position information and controlling an autonomous operation of the vehicle for moving the vehicle to the intermediate position;

Determining alignment information after the vehicle has reached the intermediate position;

Establishing a shooting state of the vehicle based on the orientation information;

Controlling autonomous operation of the vehicle to move the vehicle from the intermediate position to the shooting position in which the target object can be picked up by the vehicle.

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

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

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

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

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

A laser-based distance detection device for detecting a longitudinal and / or transverse orientation of the vehicle relative to the exchangeable load carrier,

a camera system for acquiring image information for determining alignment information;

a laser-based level detection device for detecting a distance of the single-track elements relative to the ground.

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

Use of the camera system when the vehicle is reversing from the intermediate position at least until the engagement of the engagement elements in the engagement tunnel; Use of the laser-based distance detection device to detect the longitudinal orientation of the vehicle relative to the interchangeable load carrier from the intermediate position to the pick-up position;

Use of the laser-based level detection device before the engagement of the engagement elements in the engagement tunnel;

Use of the laser-based distance detection device to detect the transverse alignment of the vehicle relative to the interchangeable load carrier during the engagement of the engagement elements in the engagement tunnel. The individual detection devices can thus be used in the method if it is technically possible and expedient. In the method, the position information determined by the position determination means can also be used for the determination of the alignment information. It should be noted here that the position information relates to the position of the vehicle in relation to a fixed coordinate system, while the orientation information relates to the relative orientation between the vehicle and the interchangeable load carrier. Due to the different characteristics of the position information and the alignment information, this procedure results in an extremely precise determination of the alignment between the vehicle and the exchangeable load carrier. It can be taken into account here that the position information is only used in this method if there is sufficient accuracy, for example of a GPS-based system used.

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

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

Figure 1 shows a vehicle and a swap body applicable to embodiments of the invention;

2 shows a schematic plan view of an arrangement of sensors on a vehicle to which embodiments of the invention can be applied;

Fig. 3 shows a lower portion of a swap body that can be picked up by the vehicle;

FIG. 4 shows a schematic illustration of various relative positions of a vehicle with respect to the swap body to explain the concept of the invention;

5 shows a schematic representation of the arrangement of sensors on a vehicle according to a further embodiment;

FIG. 6 shows the vehicle and the swap body in a schematic view from the rear according to the embodiment shown in FIG. 5;

7 shows a schematic flow diagram for explaining the method according to an embodiment of the invention;

Description of the embodiments

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

1 shows a vehicle 1 which is suitable for receiving a target object. Furthermore, FIG. 1 shows a swap body 2, which is designed as an interchangeable load carrier and is defined as a target object in the present description. The swap body 2 shown in FIG. 1 can be picked up by the vehicle 1. The swap body 2 is designed to take charge. For this purpose, an optional case 10 is provided on the swap body 2 for receiving the load. The vehicle 1 has a driver's cab at the front section and a frame 8 at the rear section. In the illustration, the vehicle 1 is shown with a front axle and two rear axles, but different arrangements with more or fewer axles are conceivable.

1, the swap body 2 is placed on support elements 9 in the longitudinal direction behind the vehicle 1. In the configuration shown in FIG. 1, the vehicle 1 is prepared for receiving the swap body 2. After the vehicle 1 has entered the swap body 2, the swap body 2 is picked up by lifting the vehicle 1. The process of picking up the swap body is discussed below.

2 shows a schematic top view of the arrangement of single-track elements 6a, 6b, 6c, 6d on the frame 8 of the vehicle 1. In particular, one-track elements 6a, 6b are attached to a rear section of the frame 8 of the vehicle 1 and are spaced apart from one another in the transverse direction of the vehicle 1. On the front area of the frame 8 of the vehicle 1, single-track elements 6c, 6d are shown, which are also spaced apart in the transverse direction of the vehicle 1. The engagement elements 6a, 6b, which are mounted on the rear region of the frame 8, form a first pair of guide elements. The single-track elements 6c, 6d, which are attached to the front area of the frame 8, form a second pair of single-track elements. The first pair of single-track elements 6a, 6b are spaced in the longitudinal direction from the second pair of single-track elements 6c, 6d. In the present exemplary embodiment, four single-track elements 6a, 6b, 6c, 6d are thus provided on the frame 8, which are each mounted at four corners of an imaginary rectangle.

3 shows the design of the swap body 2. In particular, the area of the lower surface of the swap body 2 can be seen in the view of FIG. 3. In the present embodiment, the swap body 2 has the optional case 10, which is provided for receiving cargo. A single-track tunnel 7 is provided on the lower surface of the swap body 2. The single-track tunnel 7 goes up limited by the lower surface of swap body 2. To the left and to the right, the single-track tunnel 7 is formed by a right guide element 7a and a left guide element 7b. The right guide element 7a and the left guide element 7b are each designed as guide rails which are provided continuously on the underside of the swap body 2. The distance between the left guide rail 7a and the right guide rail 7b is set up in such a way that the engagement elements 6a, 6b, 6c, 6d can engage in the engagement tunnel 7 thus formed.

The swap body also has support elements 9, four support elements 9 being provided in the present embodiment. The support elements 9 support the swap body on the ground, so that the swap body 2 is held at a predetermined distance from the ground. The support elements 9 are locked in the state shown in FIG. 3 and, after the swap body 2 has been picked up by the vehicle 1, in particular after the swap body 2 has been lifted off the ground, can be folded in and locked in the folded position.

The vehicle 1 shown in FIG. 2 also has a number of sensors and measuring devices. The sensors and measuring devices that are mounted on the vehicle 1 of the present embodiment will be described below.

A distance detection device 4a is provided on a front region of the frame 8. The distance detection device 4a has a laser-based sensor system. The distance detection device 4a directs a laser beam rearward with respect to the direction of travel of the vehicle. The laser beam directed backwards by the distance detection device 4a can strike an element of the swap body 2. The element that the rear-facing laser beam can hit is, in the present embodiment, a cross member of the swap body 2 on the front area of the swap body 2. The distance detection device 4a has a measuring device with which the distance between the distance detection device 4a and the element of the swap body 2 that the laser beam strikes can be determined. Thus, the distance detection device 4a can determine the relative position between vehicle 1 and swap body 2 in the longitudinal direction. The distance detection device 4a emits a corresponding signal for further processing.

A camera system is also provided on the vehicle shown in FIG. 2, which comprises two cameras 4c, 4d oriented rearward with respect to the direction of travel of the vehicle. A front camera 4c is arranged on the front section of the frame 8, whereas a rear camera 4d is arranged on the rear section of the frame 8. Both cameras are set up in such a way that they capture an area in the corresponding field of view and pass on the captured information for processing. In particular, the information recorded by the cameras 4c, 4d in the present embodiment is converted into a signal that indicates the alignment of the swap body 2 located behind the vehicle 1.

In the present embodiment, a GPS-based position detection system 3a is provided on the vehicle shown in FIG. 2 as position determination means 3. The GPS-based position detection system 3a is set up to determine the position and orientation of the vehicle 1 with respect to a fixed coordinate system. The GPS-based position determination system 3a emits corresponding signals for further processing.

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

The vehicle shown in FIG. 2 also has a laser-based single-track sensor system 4b, which is set up for laser-assisted detection of the orientation of the vehicle 1 relative to the swap body 2. For this purpose, the laser-based single-track sensor system 4b has four laser-based sensors 4b1, 4b2, 4b3, 4b4, which are each arranged in pairs on the frame 8 of the vehicle 1. A first pair of laser-based sensors 4b1, 4b2 is arranged on the rear section of the vehicle 8. In particular, the first pair of laser-based sensors 4b1, 4b2 is behind the first pair of injection elements 6a, 6b are provided. Furthermore, the laser-based single-track sensor system 4b has a second pair of laser-based sensors 4b3, 4b4, which are arranged in the central region of the frame 8 of the vehicle 1 in relation to the longitudinal direction. In particular, the second pair of laser-based sensors 4b3, 4b4 is arranged between the first pair of single-track elements 6a, 6b and the second pair of single-track elements 6c, 6d. The laser-based sensors 4b1, 4b2, 4b3, 4b4 are set up to detect the alignment and position of the swap body 2 relative to the vehicle 1.

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

By detecting the distances between the laser-based sensor 4b1 on the right side of the vehicle and an element of the swap body 2 on the left side or between the laser-based sensor 4b2 on the left side of the vehicle 1 and an element of the swap body 2 on the right side the orientation of the vehicle 1 relative to the swap body 2 is detected even before the first pair of single-track elements 6a, 6b are engaged. After the vehicle 1 has moved further under the swap body 2, the laser-based sensors 4b3, 4b4, which are arranged in the central region of the frame 8, can detect the distance to elements of the swap body 2, in particular to the left guide rail 7b and the right guide rail 7a. The alignment between the vehicle 1 and the swap body 2 can also be carried out by this detection. By combining the measurement results from the four laser-based sensors 4b1, 4b2, 4b3, 4b4 provided in the present embodiment while the vehicle 1 is being driven under the swap body 2, a lateral displacement of the vehicle 1 relative to the swap body 2 and an angular displacement of the vehicle 1 relative to the Swap body 2 are detected. Corresponding signals are generated by the laser-based single-track sensor system 4b for further processing.

4 schematically shows the sequence for engaging and receiving the swap body 2 by the vehicle 1. 4, the vehicle 1 is located in the longitudinal direction in front of the swap body 2 in the view labeled A. The vehicle 1 is still spaced in the longitudinal direction from the swap body 2. This position can be defined as an intermediate position, which is discussed below.

In the view labeled B, the rear section of the vehicle 1 has already moved under the swap body 2. The first pair of single-track elements 6a, 6b have already been meshed into the single-track tunnel 7 between the right guide element 7a and the left guide element 7b.

In the view labeled C, the vehicle 1 has moved completely under the swap body 2. Both the first pair of engagement elements 6a, 6b and the second pair of engagement elements 6c, 6d are engaged in the engagement tunnel between the right guide element 7a and the left guide element 7b. In this situation, the vehicle 1 is in a receiving position, which will be discussed further below.

Thus, the position determination means 3 generates and provides information with regard to the position and orientation of the vehicle 1 with respect to a stationary coordinate system. Furthermore, the orientation determination means 4 provides information on the orientation of the vehicle 1 in relation to the swap body 2 as soon as the detection is possible by the corresponding detection means. In the present embodiment, the orientation determination means 4 have the distance detection device 4a, the laser-based single-track sensor system 4b with the laser-based sensors 4b1, 4b2, 4b3, 4b4, the camera system 4c, 4d with the front camera 4c and the rear camera 4d and the level detection device 4e. The detection means thus combined in the alignment determination means 4 generate signals which are made available for further processing. The vehicle of the present embodiment is equipped with a control device 5, which is set up, inter alia, to carry out autonomous operation of the vehicle 1. For this purpose, the control device 5 has corresponding means which are provided for receiving sensor signals, for emitting control signals and the like. Furthermore, the control device has a processing unit in which a predetermined program can be executed. The control device 5 receives, in particular, the position information from the position determination means 3 and the orientation information from the orientation determination means 4. Furthermore, the control device 5 is supplied with further signals which are required for autonomous operation.

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

The method for autonomously picking up the target object by the vehicle according to one embodiment is explained below. In the present embodiment, the method for receiving the swap body 2 by the vehicle is performed. The construction and functions of the vehicle 1 and the swap body 2 as described above are assumed.

In an initial situation, vehicle 1 is at an initial position. Furthermore, the swap body 2 to be accommodated is located at an accommodating position. Both the starting position and the recording position are defined by information that includes the position and orientation of the vehicle 1 or the change bridge 2.

While the pick-up position of the swap body 2 can be known from a previous parking process of the swap body 2, the starting position of the vehicle 1 is determined and made available by the GPS-based position determination system 3a. Based on this situation and the need to pick up the swap body 2 by the vehicle 1 through autonomous operation, the flowchart shown schematically in FIG. 7 is started at START.

After carrying out initial processes, the position information at the starting position of the vehicle 1 is determined in step S1. For this purpose, as described above, the GPS-based position determination system 3a is used in the present embodiment.

A trajectory T is determined in step S2. The trajectory T is determined for moving to an intermediate position. The intermediate position is defined in such a way that the vehicle 1 is positioned at this position with a predetermined orientation on the swap body 2. According to the present embodiment, the intermediate position is located in the vicinity of the swap body 2 at the receiving position, the vehicle 1 and the swap body 2 in the intermediate position already being approximately aligned in the longitudinal direction.

Based on the determined trajectory T, the vehicle 1 is moved from the starting position to the intermediate position by the autonomous operation in the present embodiment, taking into account the position information. In the present embodiment, the continuously available position information is used by the GPS-based position determination system for the autonomous operation of the vehicle 1.

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

In step S4, a recording state of the vehicle 1 is established based on the alignment information. In the present embodiment, on the basis of the signal of the level detection device 4e and using the level control system provided on the vehicle 1, the level of the frame 8 and in particular the engagement elements 6a, 6b, 6c, 6d is set relative to the ground so that the engagement elements 6a, 6b , 6c, 6d can mesh into the single-track tunnel 7 of the swap body 2. The existence of the recording state is confirmed by the camera system 4c, 4d. In addition, in the present embodiment, information created in advance regarding the geometry of the swap body 2 and the vehicle 1 is also used.

At step S5, the autonomous operation of the vehicle 1 for moving the vehicle 1 from the intermediate position to the shooting position is performed. The swap body 2 can be picked up by the vehicle 1 in the pick-up position. In particular, the vehicle 1 has moved completely under the swap body 2 in the pick-up position and all the single-track elements 6a, 6b, 6c, 6d have been engaged in the single-track tunnel 7. In this situation, the method shown in FIG. 7 has ended in principle.

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

In the present embodiment, the signals provided by the detection elements of the alignment means 4 are evaluated in a fused manner. It is at Approaching vehicle 1 to the intermediate position first uses camera system 4c, 4d to determine the alignment between vehicle 1 and swap body 2. After further backward travel and during the detection of the alignment between vehicle 1 and swap body 2 by the camera system 4c, 4d, the distance detection device 4a is used to exactly determine the distance between vehicle 1 and swap body 2. The distance of the vehicle frame 8 in relation to the ground is then determined by the level detection device 4e before the engagement of the engagement elements 6a, 6b, 6c, 6d into the engagement tunnel 7. After the vehicle 1 has continued to move backwards in the direction of the swap body 2, the laser-based sensors 4b1, 4b2, which are mounted on the rear end of the frame 8, detect the guide elements 7a, 7b of the swap body 2.

After further backward travel, the laser-based sensors 4b3, 4b4, which are arranged in the central region of the frame 8, detect the guide elements 7a, 7b of the single-track tunnel 7.

Thus, in a logical sequence, the detection elements of the orientation determination means 4 are inserted under the swap body 2 as a function of the running-in state of the vehicle 1 in order to regulate the engagement by the autonomous operation of the vehicle 1.

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

vehicle

Target object (swap body)

Position determination meansb positioning system

c control system

Alignment determining means a distance detection means

b Single track sensor system

b1, 4b2, 4b3, 4b4 laser-based sensors

c, 4d camera system

e Level detection device

Control device a, 6b, 6c, 6d single-track element

single-track

a, 7b guide element

frame

support element

0 suitcases

Trajectory 1 Determining location information 2 Determining a trajectory

3 Determine orientation information. 4 Establish a recording state. 5 Control autonomous operation

Claims

claims

1. System for the autonomous recording of a target object (2) by a vehicle (1), the system having position determining means (3), which are set up to determine the position of the vehicle (1) based on a stationary coordinate system, and orientation determining means (4) which are set up to determine an orientation of the vehicle (1) in relation to the target object (2), further comprising a control device (5) which is used to record position information from the position determination means (3) and orientation information from the orientation determination means (4) and for autonomous operation of the vehicle (1), characterized in that the control device (5) controls the autonomous operation of the vehicle (1) based on the position determination information in a section between an initial position and an intermediate position of the vehicle (1) and in addition or alternatively, based on the alignment information in a section between the intermediate controls position and a recording position.

2. System according to claim 1, characterized in that the position determination means (3) have a GPS-based position determination system (3a).

3. System according to claim 1, characterized in that the position determination means (3) have a sensor system (3b) for detecting reference elements (3c) provided in the region of the travel path.

4. System according to any one of claims 1-3, characterized in that the orientation determination means (4) have a laser-based sensor system which can be mounted on the vehicle (1) and is set up to detect the orientation of the vehicle (1) relative to the target object (2) is.

5. System according to claim 4, characterized in that the laser-based sensor system has a single-track sensor system (4b) which interacts with elements of the target object (2) and generates a distance signal which shows the distance between the target object (2) and the vehicle (1) Longitudinal indicates.

6. System according to claim 4 or 5, characterized in that the laser-based sensor system has a distance detection device (4a) which interacts with a plurality of elements of the target object (2) and generates an alignment signal which provides an alignment between the target object (2) and the vehicle (1) indicates relative rotation and / or relative lateral offset.

7. System according to any one of claims 1-6, characterized in that the orientation determining means (4) have a camera system (4c, 4d), which is directed rearward with respect to the direction of travel of the vehicle (1) and by imaging scanning of the field of view, a distance signal generated, which indicates the distance of the target object (2) and the vehicle (1) in the longitudinal direction, and generates an alignment signal that an alignment between the target object (2) and the vehicle (1) with respect to a relative rotation and / or a relative lateral offset indicates.

8. System according to any one of claims 1-6, characterized in that the system has a level detection device (4e) that generates a level signal that a distance of a reference element of the vehicle (1) relative to the ground on which the vehicle (1 ) indicates.

9. System according to one of the preceding claims, characterized in that the reaching of the intermediate position of the vehicle (1) during autonomous operation of the vehicle (1) is detected by the orientation determining means (4), wherein the orientation determining means (4) the reaching of the intermediate position of the Detect vehicle (1) when the orientation determination means (4) detects elements of the target object (2).

10. System according to one of the preceding claims, characterized in that the control device (5) is set up to merge available alignment information and / or position information with one another and to generate an overall alignment signal.

11. Vehicle (1) for receiving a target object (2) designed as a swap body, the vehicle (1) being provided with single-track elements (6a, 6b, 6c, 6d), which are set up for engagement in a single-track tunnel (7) provided on the swap body (2), furthermore with a control device (5) which is used to receive position information from the position determination means (3) of the vehicle (1) and orientation information from the orientation determination means ( 4) of the vehicle (1) and for autonomous operation of the vehicle (1) is furthermore equipped with a system according to one of the preceding claims.

12. Method for autonomously picking up a target object (2) by a vehicle

(1) according to claim 1 1, wherein the method comprises the following steps:

(51) Determining position information at a starting position of the vehicle

(1 );

(52) determining a trajectory (T) for approaching an intermediate position at which the vehicle (1) is positioned with a predetermined orientation on the target object (2) on the basis of the determined position information and controlling an autonomous operation of the vehicle (1) for moving the vehicle (1) to the intermediate position;

(53) determining alignment information after the vehicle (1) reaches the intermediate position;

(54) establishing a shooting state of the vehicle (1) based on the orientation information;

(55) Controlling autonomous operation of the vehicle (1) to move the vehicle (1) from the intermediate position to the shooting position in which the target object

(2) can be picked up by the vehicle (1).

13. The method according to claim 12, characterized in that the method for receiving a swap body as a target object (2) is applied by a vehicle (1) provided with single-track elements (6a, 6b, 6c, 6d), the single-track elements (6a, 6b , 6c, 6d) are set up for engagement in a single-track tunnel (7) provided on the swap body (2).

14. The method according to any one of claims 12 or 13, characterized in that the position information is determined by determining the position and orientation of the vehicle (1) in a fixed coordinate system and for controlling the autonomous operation of the vehicle (1) can be used to move the vehicle (1) to the intermediate position.

15. The method according to claim 13, characterized in that the intermediate position is reached when the vehicle (1) is positioned with an approximately longitudinal alignment to the swap body (2) and alignment information by means of alignment determination means (4) provided on the vehicle (1) by interactions between the Alignment determining means (4) and elements of the swap body (2) can be determined.

16. The method according to any one of claims 13-15, characterized in that the recording state is reached when the single-track elements (6a, 6b, 6c, 6d) of the vehicle (1) fully meshed into the single-track tunnel (7) of the swap body (2) are.

17. The method according to any one of claims 13-16, characterized in that when determining the alignment information, one or more of the following alignment detection devices provided on the vehicle (1) are used:

- A single-track sensor system (4b) for detecting a distance of the vehicle (1) relative to the swap body (2) in the longitudinal direction;

- a distance detection device (4a) for detecting a longitudinal and / or transverse orientation of the vehicle (1) relative to the swap body (2);

- a camera system (4c, 4d) for acquiring image information for determining alignment information;

- A level detection device (4e) for detecting a level of the single-track elements (6a, 6b, 6c, 6d) relative to the ground.

18. The method according to any one of claims 13-17, characterized in that the alignment information by fusing signals from the detection devices provided on the vehicle (1) starting from the intermediate position when the engagement elements (6a, 6b, 6c, 6d) are engaged in the engagement tunnel ( 7) until the acquisition position is reached, the alignment devices being used as follows: - Use of the camera system (4c, 4d) when driving the vehicle (1) backwards from the intermediate position at least until the engagement of the engagement elements (6a, 6b, 6c, 6d) in the engagement tunnel (7);

- Use of the single-track sensor system (4b) for detecting the longitudinal orientation of the vehicle (1) relative to the swap body (2) from the intermediate position to the receiving position;

- Use of the level detection device (4e) before the engagement of the engagement elements (6a, 6b, 6c, 6d) in the engagement tunnel (7);

- Use of the distance detection device (4a) for detecting the longitudinal and / or transverse orientation of the vehicle (1) relative to the swap body (2).

19. The method according to claim 18, characterized in that further the position information determined by the position determination means (3) is used for determining the alignment information.

20. The method according to any one of claims 18-19, characterized in that when the signals of the orientation detection devices provided on the vehicle (1) are merged, a plausibility check of the signals of the orientation detection devices provided on the vehicle (1) and, if appropriate, a corresponding correction of the signals when determining the Targeting information is made.

21. The method according to claim 20, characterized in that the position information of the position determination means (3) is used in the plausibility check of the signals.