DE102018215781A1 - Target placement on a swap body - Google Patents

Abstract

The invention relates to a device for attaching a target (2) to a swap body (10), the device comprising a marking device (40) for marking an end face (24) of a container (20) of the swap body (10) with a target (2). Which is visually detectable for determining a position of the swap body (10), the marking device (40) being able to be arranged on the swap body (10) and aligned on guide rails (30) of the swap body (10) to a marking position (4) Specify target mark (2) on the end face (24) of the container (20) in a defined relative position to the guide rails. The invention also relates to a method for attaching a target (2) to a swap body (10) and a swap body (10) with a target (2).

Description

Technical field

The present invention relates to an apparatus and a method for attaching a target to a swap body. The invention further relates to a swap body with a target.

State of the art

When approaching a swap body with a swap body vehicle, the swap body can be imaged as such with a sensor arranged on the swap body vehicle. In the DE 10 2016 111 618 A1 images of a swap body captured by a swap body vehicle are used when maneuvering the swap body vehicle.

Presentation of the invention

The present invention relates to an apparatus for attaching a target to a swap body. The target mark that can be attached with the device is visually detectable for determining a position of the swap body. The target can also be called a target. Attaching the target to the swap body can include applying, attaching or arranging the target on the swap body.

The swap body has a container and guide rails arranged on the underside of the container for guiding guide rollers arranged on a swap body vehicle. The container can also be called a container. A region below the underside of the container and between the guide rails can form a guide tunnel into which insertion elements of the swap body vehicle, for example the guide rollers or running rails, can be inserted. The swap body can thus be driven under by the swap body vehicle and picked up by it or coupled to it.

The guide tunnel can be used for centering and guiding the insertion elements.

The device comprises a marking device for marking an end face of the container with a target mark. The marking device can be arranged on the swap body and can be aligned on the guide rails in order to specify a marking position of the target mark on the end face of the container in a defined position relative to the guide rails.

The specification of the marking position can include positioning a marking aid for applying the target on the end face of the container. For this purpose, the marking aid can be arranged on the marking device. The marking aid can have a light pointer or a mechanical pointer for indicating the marking position on the end face of the container, a target mark holder for positioning a target mark on the end face of the container and / or a target mark template for spraying a target mark onto the end face of the container. The target can be attached automatically or manually.

In the context of the present invention, a swap body can be marked with a single target mark, the attached target mark already having a predetermined geometric reference to the guide rails of the swap body. Marking a swap body with direct reference to the guide rails in this way is advantageous since a position of the guide rails can be derived directly based on a position of the target mark. Measuring the relative position of the target to the guide rails after attaching the target can advantageously be omitted. This can increase a degree of automation when picking up the swap body by the swap body vehicle.

In one embodiment of the device, the marking device can be arranged on a stop arranged on the container of the swap body. The stop can be arranged on the front side of the container for stopping the underpass of the swap body with the swap body vehicle. The stop can also be called the end stop of the swap body. The marking device can thus be supported on the stop before, during and / or after alignment of the marking device on the guide rails. Such supportability of the marking device on the swap body can advantageously enable the device to be operated by only one person, since manual holding of the device for aligning the marking device and for attaching the target mark can be dispensed with.

In a further embodiment of the device, the marking device has a support with which the marking device can be displaceably arranged on the stop. In order to align the marking device on the guide rails, the marking device can be displaceable parallel to the stop. The support can have a support surface which can be placed on an upper surface or an upper edge of the stop. Alternatively, the pad can roll or Have sliding surfaces with which the support can be moved on the stop. The support can be angled. A profile of the support can be L-shaped or T-shaped. Such an angled support can have a support stop which can touch the stop from above and in the approach direction of the stop. The support can also have a suspension with which the marking device can be suspended from the stop. Alignment of the marking device with contact to the stop, whereby there can be no ground contact of the device, can be done in an efficient manner.

The marking device can also be aligned on the stop. The marking device can thus be aligned in the horizontal direction on the guide rails and in the vertical direction on the stop. A vertical alignment of the marking device can be brought about by the support, which can specify the marking position of the target mark at a defined height above the stop or above the guide rails.

In a further embodiment of the device, the marking device has a fixing means with which the marking device can be fixedly arranged on the stop. A magnet or a clamp, for example, can be provided as the fixing means. The marking device can thus be temporarily attached to the stop before or after aligning or moving the same. An unintentional slipping of the marking device from the stop can thus be avoided, whereby a safer operation of the device can be achieved.

The marking device can be arranged and aligned with the support, the support stop and / or with the fixing means in such a way that the marking device can be roughly aligned with the guide rails. A rough alignment of the marking device to the guide rails can be an approximately central alignment between the guide rails, which in the simplest case can be based on a sense of proportion.

The defined relative position of the marking position of the target mark on the front side of the container can in principle have an arbitrarily defined lateral offset to the guide rails and an arbitrarily defined height offset to the guide rails, which specifies the marking position on the front side of the container. In one embodiment, the device has a centering device which is designed to align the marking device on the guide rails in order to specify the marking position of the target mark on the front side of the container above the guide rails and centrally between the guide rails. Specifying the marking position can thus always be carried out centrally between the guide rails, regardless of an actual lateral distance. Specifying the marking position in the middle in this way can also define a reference to a central axis of the guide tunnel, with which a position for starting and a direction for driving under the guide rails can be specified.

The centering device can be designed, starting from the marking device, to specify equal lateral or horizontal distances from each of the guide rails. For this purpose, the centering device can comprise two lateral spacers of the same length, which can be formed and arranged on the marking device in order to specify the same lateral distances between the marking device and each of the guide rails. The spacers can touch the guide rails for this. For this purpose, the spacers can be designed to be pivotable and / or telescopic. As an alternative to the spacers, the same lateral distances between the marking device and each of the guide rails can also be predetermined in a measuring and contactless manner. Instead of the spacers, two lateral distance meters can therefore also be arranged on the marking device, the marking device being able to be aligned centrally between the guide rails on the basis of measurable lateral distances.

The centering device can have a feeler gauge for centering the marking device between the guide rails, wherein two feelers of the gauge can contact the two inner sides of the guide rails.

The marking device can be operatively connected to the centering device or articulated on the centering device in such a way that arranging the centering device between or on the guide rails automatically effects a central alignment of the marking device with the guide rails.

In a further embodiment of the device, the centering device has arms which are connected to one another in an articulated manner, free arm ends of two arms being able to be placed against the inside of the guide rails. In addition, the free arm ends can also be placed on the underside of the container. Round discs or sensors can be formed on the arm ends. The arm ends can be vertically and horizontally adjustable or adjustable for such application or contact. The poor can be arranged symmetrically to the guide rails in the guide tunnel. Furthermore, a joint which pivotally connects the arm ends can be arranged at the same distance from the inside of the guide rails between the guide rails. The marking device can be arranged on the arms or on the joint, as a result of which it can also be aligned centrally between the guide rails. Such a circular arrangement of the centering device on the guide rails according to this embodiment thus enables the marking position of the target on the front side of the container to be specified in an efficient and precise manner centrally between the guide rails. Moving the marking device on the stop and centering on the guide rails can thus be effected with the two arms which can be pivoted in a circle.

In a further embodiment of the device, the articulated arms can be spread apart in the manner of a parallelogram. For this purpose, the centering device can have four arms, it being possible for two of the four arms to be able to be placed against the inner sides of the guide rails, as described. The two further arms can be pivotally connected to a further joint and can be pivoted at their free arm ends with connecting joints to central regions of the arms which can be placed on the guide rails. The marking device can be arranged on the joint which pivotally connects the two further arms. By symmetrically articulating the two further arms on the arms that can be placed on the guide rails, a central alignment of the marking device on the guide rails can be achieved in a self-aligning manner by touching the inner sides of the guide rails.

The marking device with the spacers, the distance meters and / or the arms of the centering device can be arranged on the stop and aligned on the guide rails in such a way that the marking device can be aligned in a precisely central or centered manner on the guide rails. Such fine alignment of the marking device on the guide rails can be more precise than a previous rough alignment.

In a further embodiment, the device has a locking mechanism which is designed to lock the marking device aligned on the guide rails and / or the centering device. Such locking can prevent the predetermined marking position of the target from changing before the target is attached. A target can thus be applied precisely to the front of the container. The locking mechanism can have a locking device which locks the centering device or one of its components. The locking mechanism can fix one of the joints which pivotally connects the arms of the centering device. Alternatively or additionally, the locking mechanism can have the fixing means for fastening the marking device to the stop.

In a further embodiment of the device, the locking mechanism is operatively connected to the marking device and to the centering device in such a way that by actuating the locking mechanism the device can be clamped to the swap body by means of the marking device and the centering device. The locking mechanism can be operatively connected to the marking device in such a way that it presses or pulls the support of the marking device vertically downward against the stop. The locking mechanism can be operatively connected to the centering device such that it presses the free arm ends of the centering device vertically upwards against the underside of the container and / or horizontally outwards against the inner sides of the guide rails. Due to the vertically downward force against the stop and the vertically upward force against the underside of the container and / or the horizontally outward force against the inside of the guide rails, the device can be clamped to the swap body. For this purpose, the locking mechanism can move the marking device and the centering device towards one another or pull them towards one another. By tightening the device in this way, after aligning the marking device, the marking position can be reliably held in order to apply the target mark exactly on the front side of the container.

In a further embodiment of the device, the marking device can be arranged on the swap body without tools, and can be aligned and / or locked on the guide rails. The marking device can be arranged manually on the stop of the swap body and / or displaceable on it. For this purpose, the marking device can have a handle for manual arrangement and / or displacement. The marking device can be manually aligned on the guide rails, wherein the centering device can be operated manually. In this case, the spacers, the spacers or the arms of the centering device can be actuated manually or applied to the guide rails. The locking mechanism can be operated manually. For this purpose, a mechanical actuator can be provided with which a locking can be ascertainable. The actuator can on a connecting member of the marking device and the centering device, For example, be provided on a joint that can connect the centering device to the marking device. Such a tool-free actuation can advantageously be supported in that the device is made in a lightweight construction, for example made of aluminum.

In a further embodiment, at least one distance meter is arranged on the device, with which a height of the guide rails of the swap body above the floor can be determined. The distance meter can be arranged on the marking device or on the centering device. The position of the distance meter can be known relative to the support, which can be arranged on the stop, or relative to the arm ends, which can be arranged on the guide rails, and thus relative to the underside of the container, so that the height of the underside of the container or Guide rails to the floor can be determined from the arrangement of the distance meter and a measured distance to the floor. One of the distance meters can also function as a distance meter, which can be pivotable from a horizontal orientation to a vertical orientation. The height measurement can provide additional information for an automatic start-up or under-run of the swap body.

The invention further relates to a method for attaching a target to a swap body. The method can be carried out with a device according to one of its described embodiments. The process can be carried out when manufacturing a swap body. The method can also be carried out for attaching to swap bodies already used or for retrofitting a swap body with a target mark. A swap body on which a target is attached has a container and guide rails arranged on the underside of the container for guiding guide rollers arranged on a swap body vehicle.

As a method step, the method comprises arranging a marking device on the swap body. The marking device can be arranged as described for its arrangement with the device. As a further method step, the method comprises aligning the marking device on the guide rails of the swap body in order to specify a marking position of the target mark on an end face of the container in a defined relative position to the guide rails. The marking device can be aligned as described for its alignability on the guide rails. For this purpose, the centering device can be used as described. The target mark can thus be attached to the face of the swap body with reference to the guide rails. In a further method step of locking, the marking device aligned on the guide rails and / or the centering device can be locked as described for locking the device.

As a further method step, the method comprises marking the end face of the container with the target mark at the predetermined marking position, the target mark being able to be visually detected in order to determine a position of the swap body. The marking can include applying or spraying on the target mark. The application can have an adhesive application or a magnetic application.

After the swap body vehicle has approached, driven under or coupled the swap body, the attached target can be removed again. The target can be reusable. The device or the marking device and the centering device can be removed from the swap body after attaching the target and can be used for marking another swap body with a target. The marking device and the centering device can also be dismantled.

The invention also relates to a swap body which can be coupled to a swap body vehicle, the swap body having a container which can be supported with support legs. In principle, the swap body can have any design, the container being essentially cuboid. The container can also have any surface structure and any appearance or optics.

A target mark is attached to an end face of the container and can be visually detected to determine a position of the swap body. The swap body can have a single target. One or the only target mark can be attached to the center of and above guide rails on the front side of the container. In other words, the target mark can be attached at the same lateral distance to the guide rails or horizontally equally spaced from these. In one embodiment of the swap body, the target mark is attached in a defined relative position to guide rails of the swap body with a device according to one of its embodiments on an end face of the container of the swap body.

Within the scope of the invention, a swap body can thus be uniquely marked with a marking for determining the position of the swap body, the marking being able to be provided on the swap body regardless of a shape, a color, a condition or damage to the container. In other words, regardless of their external appearance and actual container shape, each swap body can always be marked with the same target mark with reference to its guide rails. The target mark itself can have a uniform pattern defined for position determination.

In one embodiment of the swap body, a stop for stopping driving under the swap body with the swap body vehicle is arranged on the front side of the container. The target mark can be arranged above the stop on the end face of the container. The one or the only target can be attached to the center of and above the stop on the front of the container. The stop can protrude further from the front of the container than the attached target. Such an attachment can be advantageous since the target mark cannot come into contact with the swap body vehicle when it contacts the stop and thus cannot be damaged.

In a further embodiment of the swap body, the target has a diffusely reflecting target surface. In other words, the target mark cannot be designed to be reflective or non-retroreflective. In this way, the target can be visualized efficiently and easily. In the simplest forms, the target can be a sticker or can be printed on paper. The target can also have a magnetic element with which the target can be attached to a metallic container. The target can also be made of plastic or metal and coated with a target. The target surface can also be at least partially the surface of the front side of the container itself, it being possible for at least part of the target surface to be applied to the front side of the container.

In a further embodiment of the swap body, the target has a cross-like target pattern or a ring-like target pattern. With such a pattern, the target mark can be reliably and precisely visually ascertained, wherein a target point on the target mark can be clearly defined. The target mark can have, for example, a checkerboard-like black and white pattern. The cross-like pattern can be aligned horizontally and vertically or obliquely. Such a pattern of the target mark can be sprayed onto the front side of the container using a template, which can be arranged on the marking device as a marking aid. For example, only the black fields of the checkerboard-like target pattern can be sprayed on. A target mark defined in this way can be reliably detected visually by methods of image processing with a camera-based system.

Figure list

• 1 shows a flowchart for performing a method for attaching a target to a swap body in one embodiment.
• 2nd shows a swap body and a device for attaching a target to a swap body in a respective embodiment.
• 3rd shows the device for attaching a target to a swap body from 2nd in detail.

Detailed description of the embodiments

In 1 are procedural steps S1 , S2 , S3 shown for a method for attaching a target to a swap body in a chronological order. In a first step S1 a marking device is arranged on the swap body. In a second step S2 the marking device is aligned on the guide rails of the swap body with a centering device. A marking position of the target is indicated by the steps S1 , S2 predetermined with the marking device on one end of the container in a defined position relative to the guide rails. In a third step S3 the front of the container is marked with a target at the specified marking position. The target is then visually detectable for determining a position of the swap body or its guide rails.

In 2nd is a swap body 10th with a target 2nd shown. The target 2nd is according to the steps S1 , S2 , S3 on one end 24th the swap body 10th appropriate. The swap body 10th assigns a container 20th on, the front of it 24th is shown in a plan view. The container 20th has a bottom 22 on which to the front 24th on one side edge 23 adjacent. The swap body 10th also points to the container 20th arranged support legs (not shown) with which the swap body 10th can be supported on the floor in the manner of a stand.

At the front 24th is essentially flush with the side edge 23 an attack 26 arranged. The attack 26 is essentially in the middle Long sides 28 of the container on the front 24th arranged. On the bottom 22 are two guide rails 30th arranged. The guide rails 30th are essentially parallel to the long sides 28 on the bottom 22 arranged. Ends of the guide rails 30th are essentially flush with the stop 26 on the side edge 23 arranged. The attack 26 is essentially in the middle of the guide rails 30th on the front 24th arranged.

The target 2nd is above the stop 26 and the guide rails 30th at the front 24th according to the steps S1 , S2 , S3 appropriate. The target 2nd is equally spaced laterally to the guide rails 30th at the front 24th appropriate. The target 2nd is spaced above and in height from the guide rails 30th and the attack 26 on the front 24th appropriate.

At the swap body 10th is a device 100 to attach the target 2nd arranged. With the device 100 are the procedural steps S1 , S2 , S3 executable. The device 100 is at the stop 26 and on the guide rails 30th arranged and has a marking device 40 , a centering device 50 and a locking mechanism 60 on. The device 100 itself, its components and their arrangement or alignment on the swap body 10th are related to 3rd described in more detail, which is a section of 2nd shows in detail.

In 3rd is from the swap body 10th their stop 26 and the two guide rails 30th shown, each on the side edge 23 to lock. The marking device 40 is at the stop 26 arranged and over the centering device 50 on the guide rails 30th aligned.

The marking device 40 is on the attack 26 hung up. An edition 42 the marking device 40 lies on an upper side of the stop 26 moving on. The marking device 40 is so parallel to the stop 26 slidable. The marking device 40 is according to the process step S1 at the stop 26 slidably arranged.

At the marking facility 40 is the centering device 50 height adjustable. The centering device 50 has four arms 52 , 54 , 56 , 58 which are connected to one another in an articulated and parallelogram-like manner. Two arms 56 , 58 are with a holding joint 57 connected, which at the marking device 50 is arranged movably. The hinge 57 interferes with an elongated hole 44 the marking device 40 associated with this. The marking device 40 is to the centering device 50 swiveling. At the free ends of the two holding arms 56 , 58 are two contact arms 52 , 54 articulated, which can be spread outwards. The two contact arms 52 , 54 are with a joint 51 connected. On the free contact arm ends 53 , 55 of the two contact arms 52 , 54 are contact disks 53a , 55a arranged.

The contact arms 52 , 54 are spread out in a parallelogram-like manner such that the contact disks 53a , 55a with the inside 31 of the guide rails 30th are brought into contact and so on the guide rails 30th issue. By such a circular spreading of the contact arms 52 , 54 and contacting the guide rails 30th becomes the marker 40 parallel to the stop 26 shifted and centered on the guide rails 30th according to process step S2 automatically aligned. Due to the symmetrical arrangement of the holding arms 56 , 58 on the contact arms 52 , 54 becomes the retaining joint 57 in the middle between the guide rails 30th aligned. The contact arms 52 , 54 and the holding arms 56 , 58 are each the same length, creating the elongated hole 44 and one vertically above the slot 44 Existing marking aid (not shown) for holding and attaching the target 2nd also in the middle between the guide rails 30th is aligned. The target 2nd is so after aligning the marker 40 through the centering device 50 according to process step S2 in the middle between the guide rails 30th and above the stop 26 at the front 24th of the container 20th attachable.

The device also has a locking mechanism 60 with which the device 100 can be locked. For this is on the holding joint 57 a locking lever 62 provided with which the spread position of the arms 52 , 52 , 56 58 is fixable. Also the pivotability of the marking device 40 and centering device 50 is noticeable so that the on the edition 42 Marking aid provided (not shown), a fixed marking position 4th the target 2nd pretends.

On every contact disc 53a , 55a the centering device 50 is also a distance meter 70 arranged with which the heights of the guide rails 30th can be measured to the ground.

The according to procedural step S3 at the swap body 10th attached target 2nd has a checkered target pattern 5 from black and white areas. A target surface 3rd the target 2nd So has a square design with two white and two black areas, which cross-like a target center at the marking position 4th define.

Reference list

2nd

Target

3rd

Target surface

4th

Marker position

5

Target pattern

10th

Swap body

20th

container

22

bottom

23

Side edge

24th

Face

26

attack

28

Long side

30th

Guide rails

31

inside

40

Marking device

42

Edition

44

Long hole

50

Centering device

51

joint

52

Contact arm

53

free contact arm end

53a

Contact washer

54

Contact arm

55

free contact arm end

55a

Contact washer

56

Holding arm

57

Holding joint

58

Holding arm

60

Locking mechanism

62

Locking lever

70

Distance meter

100

contraption

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102016111618 A1 [0002]

Claims (15)

Device for attaching a target (2) to a swap body (10), wherein the swap body (10) has a container (20) and guide rails (30) arranged on the underside (22) of the container (20) for guiding guide rollers arranged on a swap body vehicle and the device has a marking device (40) for marking an end face (24) of the container (20) with a target mark (2) which can be visually detected to determine a position of the swap body (10), wherein the marking device (40) can be arranged on the swap body (10) and aligned on the guide rails (30) by a marking position (4) of the target mark (2) on the end face (24) of the container (20) in a defined relative position to specify the guide rails (30). Device after Claim 1 , A stop (26) for stopping under-travel of the swap body (10) with the swap body vehicle is arranged on the end face (24) of the container (20) and the marking device (40) can be arranged on the stop (26). Device after Claim 2 , wherein the marking device (40) has a support (42) with which the marking device (40) can be displaceably arranged on the stop (26). Device according to one of claims 1 to 3, wherein the device comprises a centering device (50) which is designed to align the marking device (40) on the guide rails (30) to the marking position (4) of the target mark (2) on the Specify the front side (24) of the container (20) above the guide rails (30) and centrally between the guide rails (30). Device according to one of claims 1 to 4, wherein the centering device (50) has articulated arms (52, 54, 56, 58) and free arm ends (53, 55) of two arms (52, 54) on the inner sides (31) the guide rails (30) can be put on. Device after Claim 5 , the articulated arms (52, 54, 56, 58) being spreadable in a parallelogram. Device according to one of claims 1 to 6, wherein the device has a locking mechanism (60) which is designed to lock the marking device (40) aligned on the guide rails (30). Device after Claim 7 , wherein the locking mechanism (60) is operatively connected to the marking device (40) and to the centering device (50) such that by actuating the locking mechanism (60) the device (100) by means of the marking device (40) and the centering device (50) can be clamped to the swap body (10). Device according to one of claims 1 to 8, wherein the marking device (100) can be arranged without tools on the swap body (10), can be aligned and / or locked on the guide rails (30). Device according to one of claims 1 to 9, wherein at least one distance meter (70) is arranged on the device, with which a height of the guide rails (30) of the swap body (10) above the floor can be determined. Method for attaching a target (2) to a swap body (10), wherein the swap body (10) has a container (20) and guide rails (30) arranged on the underside (22) of the container (20) for guiding guide rollers arranged on a swap body vehicle, with the procedural steps Arrange (S1) a marking device (40) on the swap body (10), align (S2) the marking device (40) on the guide rails (30) of the swap body (10), around a marking position (4) of the target mark (2) on a Specify end face (24) of the container (20) in a defined relative position to the guide rails (30), and Marking (S3) the end face (24) of the container (20) with the target mark (2) at the predetermined marking position (4), the target mark (2) for determining a position of the swap body (10) being visually detectable. Swap body, which can be coupled to a swap body vehicle, the swap body (10) having a container (20) that can be supported with support legs, characterized in that a target mark (2) is attached to an end face (24) of the container (20), which for Determining a position of the swap body (10) is visually detectable. Swap body after Claim 12 , wherein a stop (26) for stopping driving under the swap body (10) with the swap body vehicle is arranged on the end face (24) of the container (20), characterized in that the target mark (2) is above the stop (26) the end face (24) of the container (20) is arranged. Swap body after Claim 12 or 13 , characterized in that the target mark (2) has a diffusely reflecting target surface (3). Swap body according to one of claims 12 to 14, characterized in that the target mark (2) has a cross-like target pattern (5) or a ring-like target pattern.

Images