DE102021206428B4 - Self-propelled transport vehicle, fleet of vehicles and method for operating a plurality of such transport vehicles - Google Patents

Abstract

Self-propelled transport vehicle (3) with
- a first loading area (7.1),
- a control device (5) which
- a navigation module (13) configured to navigate the transport vehicle (3) to a predetermined location, and
- a positioning module (15) which is configured to position the transport vehicle (3) at the predetermined location relative to at least one further transport vehicle (3) having a second loading area (7.2) such that the first loading area (7.1) and the second loading area (7.2) form a total loading area (11),
- a bridging device (21) which is designed to bridge or reduce at least partially a distance to the second loading area (7.2) of the further transport vehicle (3) arranged adjacent to the transport vehicle (3), wherein
- the bridging device (21) is designed as a tipping device (33) which is set up to tip the first loading area (7.1) and thus at least reduce the distance to the loading area (7) of the further transport vehicle (3).

Description

The invention relates to a self-driving transport vehicle, a fleet of vehicles comprising a plurality of such transport vehicles, and a method for operating a plurality of such transport vehicles.

In sectors with high transport volumes, particularly of materials, high costs are typically generated by two factors: personnel required to operate transport vehicles and the energy required to run them. This is especially true in the extraction of raw materials, particularly in mining. Mines are often located in remote regions, resulting in additional costs for transporting personnel to these areas. Due to their remote location, there is often no connection to a national power grid, meaning the necessary energy must be generated on-site. This incurs transport costs for bringing fuel to these remote regions. To save on personnel and the associated costs, increasingly larger transport vehicles have been designed that can carry significant quantities of material in a single trip. One example is a large dump truck with a maximum operating weight of 600 tons. However, such large transport vehicles require specialized components, such as custom-made tires, engines, braking systems, and the like, which again entails high costs. The availability of such large units also proves problematic when one requires maintenance or even breaks down. Due to the high acquisition costs, maintaining high levels of redundancy is not economical. Another trend is the use of very large machines for extracting raw materials, especially large excavators, which, in order to operate efficiently, require correspondingly large transport vehicles to scoop up and quickly transport the necessary volume of material.

Out of DE 10 2017 009 447 A1 A self-propelled transport vehicle is described, comprising a first loading area and a control device. The control device includes a navigation module configured to navigate the transport vehicle to a predetermined location and a positioning module configured to position the transport vehicle at the predetermined location relative to at least one other transport vehicle having a second loading area. The transport vehicle also includes a bridging device configured to bridge or reduce the distance to the second loading area of the other transport vehicle located adjacent to the transport vehicle, at least partially. The transport vehicle is configured to transfer or receive cargo while in motion. However, the transport vehicle is not suitable for creating a single loading area with minimal gaps or spaces to minimize cargo loss during loading.

Self-driving transport vehicles also emerge from US 2019 / 0 250 634 A1 , DE 10 2016 013 645 A1 and DE 10 2018 130 221 A1 stand out.

The invention is therefore based on the objective of creating a self-propelled transport vehicle, a fleet of vehicles with a plurality of such transport vehicles, and a method for operating a plurality of such transport vehicles, wherein the aforementioned disadvantages are at least reduced, preferably do not occur, and wherein the self-propelled transport vehicle is in particular equipped to form a total loading area with at least one other transport vehicle, in which the loss of cargo during the loading of the transport vehicles is reduced, in particular minimized.

The problem is solved by providing a self-driving transport vehicle with the features of claim 1, a fleet of vehicles with the features of claim 13, and a method with the features of claim 14. Advantageous embodiments are described in the dependent claims.

The self-propelled transport vehicle comprises a first loading area, a bridging device configured to bridge or reduce the distance to a second loading area of at least one other transport vehicle located adjacent to the first, and a control device. The control device includes a navigation module configured to navigate the transport vehicle—in particular automatically—to a predetermined location. The control device also includes a positioning module configured to position the transport vehicle—in particular automatically—at the predetermined location relative to the at least one other transport vehicle comprising the second loading area. The bridging device is designed as a tilting device configured to tilt the first loading area and thus reduce the distance. to at least reduce the distance to the loading area of the other transport vehicle. With the help of the control device, it is advantageously possible to use several self-propelled transport vehicles that can be positioned relative to each other at a predetermined location. This saves personnel for operating the transport vehicles, thus eliminating associated costs; it also makes it possible to use several smaller transport vehicles instead of one large one. This, in turn, advantageously allows the use of standard components in the transport vehicles, such as truck components as mass-produced items, which reduces their costs. Due to the lower costs of the smaller transport vehicles, it is also possible to provide greater redundancy and thus better availability. Because the individual self-propelled transport vehicles can be smaller than conventional, large transport vehicles such as large dump trucks, alternative energy sources can be used for their operation, which again reduces costs, particularly those associated with fuel transport. By positioning a transport vehicle equipped with the control device relative to another transport vehicle at the predetermined location, the transport vehicles can be grouped effectively for deployment.

In the context of this technical teaching, a self-driving transport vehicle is understood to be, in particular, a transport vehicle that is equipped to drive autonomously, i.e., driverless – meaning, in particular, independently and not remotely controlled – and especially to navigate driverless. In particular, the self-driving transport vehicle is preferably equipped to navigate independently of external guidance devices or signals, such as real or virtual markings, especially floor markings, or external control commands.

Preferably, the control device is operatively connected to a steering system and/or a drive system of the transport vehicle in order to translate navigation commands from the control device, in particular from the navigation module, into steering movements of the transport vehicle. In particular, the control device preferably has an interface to the steering system and/or the drive system. The control device is configured – in particular by means of the interface – to steer the transport vehicle to the predetermined location. The navigation module is specifically configured to steer the transport vehicle to the predetermined location.

The transport vehicle is preferably equipped for use in the field of raw material extraction, in particular designed as a mining vehicle.

In the context of this technical teaching, a predetermined location is understood to mean, in particular, a geographical location, specifically a meeting point for multiple transport vehicles or a single position for a transport vehicle. A meeting point is understood to be a geographical area with such dimensions that multiple transport vehicles, in particular at least two transport vehicles, can be arranged within that area. A single position, on the other hand, is understood to be a geographical area with dimensions sufficient for exactly one transport vehicle. The transport vehicle is, in particular, first moved to the predetermined location and then positioned at that location relative to the other transport vehicle, that is, specifically arranged in a particular stationary position.

In a preferred embodiment, the predetermined location or specific position can be specified absolutely, particularly in absolute coordinates. Alternatively or additionally, the predetermined location or specific position can be specified relative to another vehicle, in particular to another transport vehicle or to a mining device or the like. In a preferred embodiment, a freely selectable orientation to a reference object, for example another vehicle or mining device, can be specified.

In the context of this technical teaching, the positioning of the transport vehicle relative to at least one other transport vehicle is understood to mean, in particular, that the transport vehicle is arranged relative to the other transport vehicle with a predetermined orientation and/or at a predetermined distance, especially with the predetermined orientation and distance. The stationary position of the transport vehicle is thus determined, in particular, by its orientation and/or distance, especially by its orientation and distance, relative to the other transport vehicle. It is possible that the stationary position for the transport vehicle is specified—especially externally to the positioning module—and, in particular, received by the positioning module, or that the stationary position at the predetermined location is determined ad hoc by the positioning module itself. In particular, the positioning module is configured to receive the stationary position or to determine the stationary position.

A module can be implemented in the control device preferably in hardware or in software. In particular, the functionality of a module can be implemented in the control device preferably in hardware and/or in software. The module does not necessarily have to be a separate, physically or conceptually separable device or structure. A module can, in particular, comprise a plurality of sub-modules.

In a preferred embodiment, the navigation module is configured for satellite-based navigation. In particular, it is possible that the navigation module is configured to use a global navigation satellite system (GNSS).

Preferred examples of a global navigation satellite system (GNSS) are NAVSTAR GPS, GLONASS, Galileo, and Beidou.

Alternatively or additionally, in particular additionally, the navigation module is preferably configured to navigate at least locally independently of satellites, in particular with reference to a local coordinate system, preferably by means of a gyrocompass.

In a preferred embodiment, the positioning module is configured to use at least one positioning signal suitable for determining the position of the transport vehicle, wherein the at least one positioning signal is selected from a group consisting of: a signal from a satellite-based navigation system, in particular a global navigation satellite system (GNSS), and a signal from at least one environmental sensor. The at least one environmental sensor preferably comprises at least one distance sensor or is configured as a distance sensor. Additionally or alternatively, in a preferred embodiment, the at least one environmental sensor comprises a lidar sensor or is configured as a lidar sensor. Additionally or alternatively, in a preferred embodiment, the at least one environmental sensor comprises an imaging sensor or is configured as an imaging sensor. In particular, the at least one environmental sensor can comprise a camera or be configured as a camera. Additionally or alternatively, in a preferred embodiment, the at least one environmental sensor comprises a radar sensor or is configured as a radar sensor. Additionally or alternatively, in a preferred embodiment, the at least one environmental sensor comprises an ultrasonic sensor or is configured as an ultrasonic sensor. Additionally or alternatively, the at least one environmental sensor in a preferred embodiment includes a laser sensor or is configured as a laser sensor. Preferably, the positioning module is configured to evaluate data from the at least one environmental sensor using at least one imaging method.

Particularly when the position of the other transport vehicle is known, the transport vehicle can be positioned relative to it – especially using satellite-based navigation. In a preferred embodiment, information about the position of the other transport vehicle, preferably information about the second loading area, can be transmitted to the control device; alternatively or additionally, information about the route to be traveled to the other transport vehicle can be transmitted to the control device. In a preferred embodiment, information about the second loading area includes information about its position, size, orientation, and/or at least one other piece of information about the second loading area.

An environmental sensor enables the immediate positioning of the transport vehicle relative to another transport vehicle, even without prior knowledge of the latter's position. In particular, the positioning module is preferably configured to use at least two of the aforementioned positioning signals for positioning the transport vehicle, specifically a first positioning signal for coarse positioning with a lower initial positioning accuracy and a second positioning signal for fine positioning with a higher initial positioning accuracy. It is particularly preferred that the positioning module is configured to use a signal from a satellite-based navigation system for coarse positioning and a signal from at least one environmental sensor for fine positioning.

The control device is preferably configured to obtain the predetermined location, that is to say in particular information about the predetermined location, from a higher-level computing device, in particular a higher-level control device.

The control device is specifically configured and set up as a slave device or secondary device to interact with a master device or primary device, in particular to obtain the predetermined location from the master device or primary device.

Preferably, the positioning module is set up to position the transport vehicle at the predetermined location. The control unit is positioned at a specific location relative to at least one other transport vehicle in such a way that the first loading area of the transport vehicle containing the control device and the second loading area form a single combined loading area. This allows, to a particularly advantageous extent, the use of several smaller transport vehicles instead of one large transport vehicle, such as a large dump truck, in combination with a large mining machine, such as an excavator. In particular, the bucket volume of such an excavator can be distributed across several transport vehicles, namely across the combined loading area formed by the various loading areas of the transport vehicles. Thus, the corresponding mining machines, especially excavators, can maintain a consistently high breaking capacity for soil and load the immediately extracted, initially unprocessed material onto the transport vehicles. The transport vehicles can be loaded with the extracted material quickly and efficiently. By having the transport vehicles position themselves independently with the control device proposed here in such a way as to form the entire loading area, the work process from the point of view of the mining equipment can proceed unchanged, just as if one large transport vehicle were used instead of several smaller transport vehicles.

Preferably, the positioning module is configured to position the transport vehicle at the predetermined location relative to at least one other transport vehicle such that the first loading area and the second loading area are adjacent to each other, or that the first loading area and the second loading area overlap. It is preferably possible for the first loading area to be directly adjacent to the second loading area; however, at least a small gap is also possible, in particular such that at most negligible losses of the material to be transported, i.e., cargo, occur during loading of the loading areas, wherein, in a preferred embodiment, the losses amount to at most 1% of the cargo placed in the total loading area.

In the context of this technical teaching, a total loading area is understood to be, in particular, a larger loading area formed from a plurality of loading areas of individual transport vehicles by suitable positioning of the transport vehicles relative to one another, especially by grouping the transport vehicles together. The total loading area can be loaded, in particular by a dismantling device, as if a large transport vehicle with a larger loading area were used instead of the plurality of smaller transport vehicles. The total loading area is formed, in particular, from a plurality of loading areas of individual transport vehicles arranged adjacent to one another. The total loading area is formed from the plurality of loading areas of the individual – smaller – transport vehicles, in particular, such that no losses or at most negligible losses of the material to be transported, i.e., cargo, occur during the loading of the loading areas, wherein, in a preferred embodiment, the losses amount to at most 1% of the cargo brought into the total loading area. It is preferably possible for the individual loading areas to form the overall loading area to be directly adjacent to each other; however, at least a slight distance between at least two loading areas is also possible.

In particular, the positioning module is preferably designed to place the transport vehicle next to or behind another transport vehicle. This specifically allows the usable area of a larger transport vehicle to be utilized.

According to a further development of the invention, the control device includes a communication module configured to receive the predetermined location, i.e., in particular, information about the predetermined location. Specifically, the communication module is configured to receive the predetermined location, i.e., in particular, information about the predetermined location, from the master device or primary device. Preferably, the navigation module is operatively connected to the communication module to receive the predetermined location, i.e., in particular, information about the predetermined location, from the communication module.

According to a further development of the invention, the positioning module is configured to check the relative height between the transport vehicle carrying the control device and at least one other transport vehicle. In particular, the positioning module is preferably configured to check the relative height between the loading areas of the transport vehicles. Preferably, the positioning module is configured to use the at least one positioning signal to check the relative height. Checking the relative height between the transport vehicles advantageously allows for precise positioning and This is intended to prevent collisions, particularly when the transport vehicle is positioned below the upper edge of another transport vehicle with an area that is designed to overlap or extend over it. In a preferred embodiment, the positioning module is configured to abort the positioning process if the relative height is detected as impermissible, especially if it deviates from a predetermined relative height and/or exceeds a predetermined height limit. Preferably, the positioning module is operatively connected to the communication module and configured to output an error message to the communication module when the relative height is detected as impermissible. The communication module is preferably configured to request a new predetermined location for the transport vehicle in response to the error message.

According to a further development of the invention, the control device includes a location determination module configured to determine, and in particular to define, a predetermined location. The location determination module is operatively connected to the communication module to transmit the predetermined location, and in particular information about the predetermined location, to the communication module. The communication module is also configured to send the predetermined location, and in particular information about the predetermined location, to at least one other transport vehicle. In this case, the control device is preferably configured as a master device or primary device, or at least designed to perform a master or primary function, or it has master or primary functionality.

The control device is preferably configured for operating a plurality of self-propelled transport vehicles. The control device includes a location determination module configured to determine, and in particular define, at least one location as a predetermined location for the plurality of self-propelled transport vehicles. The control device also includes a communication module. The location determination module is operatively connected to the communication module to transmit the predetermined location, and in particular information about the predetermined location, to the communication module. The communication module is configured to send the predetermined location, and in particular information about the predetermined location, to at least one other self-propelled transport vehicle of the plurality. With the aid of the control device, it is advantageously possible to gather a plurality of self-propelled transport vehicles at one location, which in particular opens up the possibility of using the plurality of transport vehicles instead of one large transport vehicle.

The control device can in particular also be configured and set up as a master device or primary device to interact with a slave device or secondary device, in particular to send the predetermined location, that is to say in particular information about the predetermined location, to at least one slave device or secondary device.

If the predetermined location is a meeting point for multiple self-driving transport vehicles, each transport vehicle within the majority of self-driving transport vehicles is preferably assigned the same location as the predetermined location. Conversely, if the predetermined location is a single position for a single self-driving transport vehicle, each transport vehicle within the majority of self-driving transport vehicles is preferably assigned a separate location as the predetermined location.

In particular, it is possible for the control device to additionally have the functionality of a slave device or secondary device. Specifically, it is possible for the higher-level control of a plurality of transport vehicles, especially a fleet of vehicles, to be handled by the control device of a specific transport vehicle. In a preferred embodiment, the control devices of a plurality of transport vehicles, especially a fleet of vehicles, are identical or the same, with the individual control devices optionally being assigned either the slave or secondary functionality or the master or primary functionality.

In an embodiment not belonging to the invention, it is possible that the control device is designed as a central control device arranged outside a transport vehicle for controlling a fleet of transport vehicles.

In a preferred embodiment, the self-driving transport vehicle is designed as a self-driving truck.

According to the invention, the self-propelled transport vehicle has a bridging device designed to create a distance to a - in particular a second - loading area of another - in particular The second transport vehicle, located adjacent to the main transport vehicle, is to bridge or reduce, or preferably close, at least partially. In this way, loss of cargo during loading of the transport vehicles can be advantageously minimized, and particularly preferably avoided altogether. In particular, the total loading area can be seamlessly formed from the individual loading areas of the transport vehicles.

The fact that the gap is bridged or reduced, at least in some areas, preferably means that the gap in the direction of the spacing is bridged at least partially by the bridging device. If the gap is completely bridged, the gap is closed. Alternatively or additionally, the gap is bridged at least partially, preferably completely, by the bridging device in a direction perpendicular to the spacing, in particular along an edge of the loading area.

According to a further development of the invention, the bridging device is additionally designed as an overhang device arranged at the first loading area, which is configured to bridge or reduce, preferably close, the gap to the second loading area of the further transport vehicle, at least in some areas. Thus, cargo unloaded in the area of the gap between the loading areas advantageously encounters the overhang device and is guided by it into at least one of the adjacent loading areas.

According to the invention, the bridging device is designed as a tilting device, which is configured to tilt the first loading area and thus bridge or at least reduce, preferably close, the gap to the loading area of the subsequent transport vehicle. In particular, it is preferably provided that the edges of the tilted loading areas touch, so that the overall loading area is formed without gaps or with only very small gaps. The loading areas are preferably designed as troughs, which can be tilted by means of the tilting device in such a way that the upper edges of the troughs are moved towards each other.

According to a further development of the invention, the overhang device has a roof-shaped angled overhang plate. This represents a design of the overhang device that is as simple as it is functional and stable. The overhang plate is angled in such a way that any cargo impacting the overhang plate is directed from both sides of the overhang plate into the two adjacent loading areas.

The overhang plate is preferably arranged laterally or at the front of the loading area. This allows the transport vehicles to be advantageously arranged side-by-side or end-to-end, one behind the other. Preferably, the overhang plate is positioned at the upper edge of the loading area, which is particularly well-designed as a trough. The arrangements of the transport vehicles side-by-side and end-to-end can also be combined.

Alternatively or additionally, it is preferably provided that the overhang device has an overhang plate pivotally attached to the loading area. With the pivotable overhang plate, the entire loading area can advantageously be made seamless by pivoting the overhang plate outwards – as described above – and it is also possible to reduce a dimension, in particular a width or length, of the transport vehicle, especially while driving, by pivoting the overhang plate inwards. In particular, this reduces the risk of collision for the transport vehicle while driving, and advantageously reduces the passage width or maneuvering length of the transport vehicle. The pivotable overhang plate is preferably pivotally attached to an upper edge of the loading area – which is particularly designed as a trough – about its upper edge. The pivotable overhang plate is preferably attached laterally or at the front of the loading area.

The bridging device preferably includes a controllable actuator configured to pivot the pivotally mounted overhang plate. Thus, the overhang plate can advantageously be actively pivoted by controlling the actuator.

Preferably, the transport vehicle has an overhang plate on exactly one side, allowing it to extend over the loading area of another transport vehicle on the side of the latter where the latter itself does not have an overhang plate. The second transport vehicle can then, in turn, extend its overhang plate over the loading area of a third transport vehicle on the side that does not have an overhang plate. In this way, the overall loading area can be formed without gaps.

Alternatively, the transport vehicle preferably has an overhang plate on each of two sides. on, in particular on two sides opposite each other in the longitudinal or lateral direction of the transport vehicle.

According to a further development of the invention, it is provided that the self-driving transport vehicle has at least one environmental sensor which is operatively connected to the control device - in particular to the positioning module.

The at least one environmental sensor is preferably selected from a group consisting of: an ultrasonic sensor, a radar sensor, a lidar sensor, a laser sensor, and an imaging sensor, in particular a camera.

According to a further development of the invention, at least one environmental sensor is arranged longitudinally of the transport vehicle at a distance from the loading area—or preferably from the overhang device. In particular, the at least one environmental sensor is preferably arranged at a distance in the direction of travel of the transport vehicle from the loading area, especially the overhang device, and particularly in front of or behind the loading area, especially in front of or behind the overhang device. This enables a particularly efficient prevention of collisions of the transport vehicle, especially with other transport vehicles. In particular, the transport vehicle is preferably wider in the loading area, measured perpendicular to the direction of travel, than in other areas outside the loading area.

According to a further development of the invention, the at least one environmental sensor is arranged in the vertical direction of the transport vehicle at the level of the loading area, in particular at the level of the upper edge of the loading area, preferably at the level of the overhang device. In this way, collisions of the transport vehicle, especially with other transport vehicles, can be efficiently prevented. In particular, the transport vehicle is typically wider at the level of the loading area, measured perpendicular to the direction of travel, than in other areas, especially below the loading area. This applies particularly to the height of the overhang device, and optionally to an upper edge of the loading area, especially if the walls of the loading area are inclined, so that the loading area widens upwards. However, an embodiment is also possible in which the walls of the loading area are vertically oriented. This allows for particularly simple distance measurement between the transport vehicles. Here, "vertical direction" refers in particular to the direction along the vertical or plumb line, that is, in particular the direction of the geodetic height – or, by general convention, the z-direction of the transport vehicle.

The problem is also solved by creating a fleet of vehicles comprising a plurality of transport vehicles according to the invention, each having a loading area, or transport vehicles according to one or more of the embodiments described above, wherein at least one control device, selected from a group consisting of a control device of the vehicle fleet and a control device of a transport vehicle of the vehicle fleet, is arranged to navigate the transport vehicles of the vehicle fleet – in particular automatically or automatically – to a common meeting point, in particular to steer them, and to position them relative to each other at the common meeting point – in particular automatically or automatically – that is, in particular to arrange and/or align them, in particular to arrange and align them, in particular such that the loading areas of the transport vehicles together form a total loading area. In connection with the vehicle fleet, the advantages are particularly those already described in connection with the transport vehicle.

The meeting point is, in particular, the predetermined location.

The problem is ultimately solved by providing a method for operating a plurality of transport vehicles according to the invention, each having a loading area, or transport vehicles according to one or more of the embodiments described above, wherein the method comprises the following steps: A meeting point for the transport vehicles is determined; the transport vehicles are navigated to the meeting point, in particular steered, and the transport vehicles are positioned relative to each other at the meeting point, in particular automatically, in such a way that the loading areas of the transport vehicles together form a single overall loading area. The method offers, in particular, those advantages that have already been described in connection with the transport vehicle and the vehicle fleet.

Within the scope of the procedure, a vehicle fleet according to the invention or a vehicle fleet according to one or more of the previously described embodiments are operated.

According to a further development of the invention, it is provided that an individual position is determined for each transport vehicle at the meeting point, wherein each transport vehicle is navigated, in particular steered, to its respective assigned individual position and positioned at the assigned individual position - locally, in particular relative to immediately adjacent transport vehicles.

According to a further development of the invention, it is provided that a relative altitude of at least two transport vehicles immediately adjacent to each other is checked at the meeting point.

Preferably, the positioning of at least two transport vehicles that are immediately adjacent to each other is aborted if the relative altitude is recognized as impermissible, in particular if it deviates from a predetermined relative altitude and/or exceeds a predetermined altitude limit.

Preferably, the method provides that at least one transport vehicle receives the position of an immediately adjacent transport vehicle, in particular via the communication module from a central control device or directly from the control device of the adjacent transport vehicle, or that the transport vehicle determines the position of the adjacent transport vehicle. Imaging methods can be used for this purpose, in particular, whereby backscattered light from reflectors arranged on the adjacent transport vehicle can be evaluated to determine which side of the immediately adjacent transport vehicle is facing the determining transport vehicle. Different sides of the transport vehicles can be characterized by different reflectors with different backscattering properties. The light reflected by the reflectors can also be advantageously evaluated to determine the relative height. This is particularly advantageous to avoid damage to the bridging devices, especially the overhang devices, when the transport vehicles are assembled.

A preferred embodiment of the method is characterized by at least one method step that has been previously explained explicitly or implicitly in connection with the transport vehicle or the vehicle fleet.

The control device, the transport vehicle and the vehicle fleet is/are preferably configured to carry out the method according to the invention or one or more of the embodiments of the method described above.

• 1 eine schematische Darstellung eines ersten Ausführungsbeispiels einer Fahrzeugflotte mit einer Mehrzahl von Transportfahrzeugen gemäß einem ersten Ausführungsbeispiel und mit einer Steuervorrichtung;
• 2 eine schematische Darstellung eines zweiten Ausführungsbeispiels einer Fahrzeugflotte mit einer Mehrzahl von Transportfahrzeugen gemäß einem zweiten Ausführungsbeispiel und mit einer Steuervorrichtung;
• 3 eine schematische Darstellung eines dritten Ausführungsbeispiels einer Fahrzeugflotte mit einer Mehrzahl von Transportfahrzeugen gemäß einem dritten Ausführungsbeispiel;
• 4 eine schematische Darstellung eines vierten Ausführungsbeispiels einer Fahrzeugflotte mit einer Mehrzahl von Transportfahrzeugen gemäß einem vierten Ausführungsbeispiel;
• 5 eine Darstellung eines fünften Ausführungsbeispiels eines Transportfahrzeugs, und
• 6 eine schematische Darstellung einer Ausführungsform eines Verfahrens zum Betreiben einer Mehrzahl von Transportfahrzeugen in Form eines Flussdiagramms.

The invention will be explained in more detail below with reference to the drawing. The drawing shows:

• 1 a schematic representation of a first embodiment of a vehicle fleet with a plurality of transport vehicles according to a first embodiment and with a control device;
• 2 a schematic representation of a second embodiment of a vehicle fleet with a plurality of transport vehicles according to a second embodiment and with a control device;
• 3 a schematic representation of a third embodiment of a vehicle fleet with a plurality of transport vehicles according to a third embodiment;
• 4 a schematic representation of a fourth embodiment of a vehicle fleet with a plurality of transport vehicles according to a fourth embodiment;
• 5 a representation of a fifth embodiment of a transport vehicle, and
• 6 a schematic representation of an embodiment of a method for operating a plurality of transport vehicles in the form of a flowchart.

1 shows a schematic representation of a first embodiment of a vehicle fleet 1 with a plurality of transport vehicles 3 according to a first embodiment and with a control device 5.

Specifically, a first transport vehicle 3.1 and a second transport vehicle 3.2 of the vehicle fleet 1 are shown here, each having a loading area 7 – in particular designed as a trough – here a first loading area 7.1 and a second loading area 7.2, and the control device 5. The loading areas 7 are each arranged on a chassis 9. The control devices 5 are each configured to navigate the transport vehicles 3 to a predetermined location, in particular to a common meeting point, and in particular to steer them, and at the predetermined location to position them relative to each other in such a way that the loading areas of the transport vehicles 3 together form a total loading area 11. In particular, several transport vehicles 3 of the vehicle fleet 1 can be advantageously used in this way instead of a larger transport vehicle can be used, which in particular reduces, or preferably eliminates, personnel and/or energy costs.

The control devices 5 and the transport vehicles 3 are preferably identical in design, so that in the following only the first transport vehicle 3.1 will be discussed in more detail, whereby what has been said about it also applies to the second transport vehicle 3.2.

The control device 5 has a navigation module 13, which is configured to navigate, in particular to steer, the first transport vehicle 3.1, which has the control device 5, to the predetermined location. It also has a positioning module 15, which is configured to position the first transport vehicle 3.1, which has the control device 5, at the predetermined location relative to the second transport vehicle 3.2, which has the second loading area 7.2.

The control device 5 preferably also includes a communication module 17 which is configured to receive the predetermined location or - depending on the design or configuration of the control device 5 - to send the predetermined location to another communication module 17.

Preferably, the positioning module 15 is also configured to check a relative height position between the first transport vehicle 3.1 and the second transport vehicle 3.2.

The embodiment of the control device 5 shown here also includes a location determination module 19, which is configured to determine a location as the predetermined location, wherein the location determination module 19 is operatively connected to the communication module 17 in order to transmit the predetermined location to the communication module 17, and wherein the communication module 17 is configured to send the predetermined location received from the location determination module 19 to at least one further transport vehicle 3. As described, the control devices 5 of the first transport vehicle 3.1 and the second transport vehicle 3.2 are preferably identical, but preferably configured differently: The control device 5 of the first transport vehicle 3.1 is configured here as a master device or primary device, which means that the positioning module 19 is activated so that it determines a respective predetermined location as an individual position or a common predetermined location as a meeting point for each transport vehicle 3 – including itself, wherein the predetermined location is then transmitted via the communication module 17 to the other transport vehicles 3, in particular to the second transport vehicle 3.2. The control device 5 of the second transport vehicle 3.2 is configured here as a slave device or secondary device, wherein the positioning module 19 is deactivated. Instead, the predetermined location transmitted by the first transport vehicle 3.1 is received by the communication module 17 of the second transport vehicle 3.2 and used there.

As an alternative to an identical design of the control devices 5, it is also possible that a transport vehicle 3 of the vehicle fleet 1 designed as a primary vehicle has a control device 5 with a location determination module 19, wherein other transport vehicles 3 of the vehicle fleet 1 designed as secondary vehicles have control devices 5 that are not equipped with a location determination module 19.

The first transport vehicle 3.1 has a bridging device 21, which is configured to bridge, at least partially, the gap between the first loading area 7.1 and the second loading area 7.2 of the second transport vehicle 3.2, which is arranged adjacent to the first transport vehicle 3.1, in particular to close it in such a way that the entire loading area 11 is continuous. The bridging device 21 is additionally configured here as an overhang device 23 arranged on the first loading area 7.1, which is configured to bridge, at least partially, the gap to the second loading area 7.2, in particular to close it. In particular, the overhang device 23 has a roof-shaped angled overhang plate 25. In the embodiment shown here, the overhang plate 25 is arranged laterally on the first loading area 7.1, in particular on an upper edge 27 of the first loading area 7.1. Alternatively, in another embodiment, the overhang plate 25 can be arranged at the front of the loading area 7.1. Depending on the arrangement of the overhang plate 25, the transport vehicles 3 can be arranged side by side or one behind the other in the direction of travel.

2 shows a schematic representation of a second embodiment of a vehicle fleet 1 with a plurality of transport vehicles 3 according to a second embodiment and with a control device 5.

Identical and functionally equivalent elements are provided with the same reference symbols in all figures, so that reference is made to the preceding description in each case.

The vehicle fleet 1 here includes, as a second embodiment of the control device 5, a first control device 5.1, which is designed as the central control device of the vehicle fleet 1. This first control device comprises the location determination module 19 and a communication module 17 operatively connected to the location determination module 19, in order to transmit the predetermined location determined by the location determination module 19 – i.e., fixed, predetermined location – as a meeting point or, if applicable, as a plurality of predetermined individual positions – to the transport vehicles 3. The first control device 5.1 is thus designed as a master device or primary device.

In contrast, the transport vehicles 3 feature a third embodiment of the control device 5, here a second control device 5.2, which is not equipped with a location determination module 19. However, the second control device 5.2 is equipped with a communication module 17 to receive the predetermined location transmitted by the first control device 5.1. As a modification of the embodiment shown here, it is also possible for the transport vehicles 3 to use the first embodiment of the control device 5 according to 1 exhibiting, whereby the location determination module 19 is deactivated in each of the transport vehicles 3. Thus, the control devices 5 of the transport vehicles 3 are in the 2 All of the illustrated embodiments are designed or configured as slave devices or secondary devices.

The bridging device 21 is also present in the second embodiment according to 2 designed as an overhang device 23, but as a simple, straight, i.e., not angled, overhang plate 29. The straight overhang plate 29 can also be arranged at the front or on the side.

In a preferred embodiment, the overhang plate 29 can be rigidly arranged, and in particular attached, to the loading area 7, in particular to the upper edge 27.

In another preferred embodiment, the overhang plate 29 can also be pivotally hinged to the loading area 7, preferably being pivotally hinged at the upper edge 27 about the upper edge 27. Preferably, the bridging device 21 has a controllable actuator 31, which is configured to pivot the pivotally hinged overhang plate 29. Of course, the angled overhang plate 25 can also be pivotally hinged to the loading area 7, in particular pivotally about the upper edge 27.

In the embodiment shown here, the transport vehicles 3 have an overhang plate 29 on only one side. However, particularly if the overhang plate 29 is pivotable, the transport vehicles 3 can also have an overhang plate 29 on both sides – laterally or at the front – which can then be pivoted towards each other, especially towards each other, to bridge the gap between the transport vehicles 3. During travel, they are preferably pivoted towards the respective loading area 7 in order to reduce the dimensions of the respective transport vehicle 3 – in the direction of travel or in the width direction.

3 Figure 1 shows a schematic representation of a third embodiment of a vehicle fleet 1 with a plurality of transport vehicles 3 according to a third embodiment. According to the invention, the bridging device 21 is optionally additionally designed as a tilting device 33, which is configured to tilt the respective loading area 7 and thus at least reduce, preferably close, the distance to the adjacent loading area 7, in particular such that the entire loading area 11 is continuous. During the journey of the transport vehicles 3, the loading areas 7 are preferably horizontally oriented by means of the tilting device 33.

4 Figure 1 shows a schematic representation of a fourth embodiment of a vehicle fleet 1 with a plurality of transport vehicles 3 according to a fourth embodiment. Here, the transport vehicles 3 each have environmental sensors 35 which are operatively connected to the control device 5, in particular to the respective positioning module 15. The environmental sensors 35 are preferably selected from a group consisting of: an ultrasonic sensor, a radar sensor, a lidar sensor, a laser sensor, and an imaging sensor, in particular a camera. First environmental sensors 35.1 are arranged vertically along the transport vehicle at the level of the loading area 7, in particular at the loading area 7, which is advantageously designed here as a trough with vertical walls 37, in order to measure a first distance to the respective adjacent transport vehicle 3. At least one second environmental sensor 35.2 is arranged vertically along the transport vehicle at the level of the overhang device 23 and in particular above the upper edge 27, in order to measure a second distance.

The first distance measured by at least one of the first environmental sensors 35.2 is preferably used to determine the horizontal position to determine, in particular the distance, to the adjacent transport vehicle 3. The second distance measured by the at least one second environmental sensor 35.2 is preferably used – especially in combination with the first distance – to check the relative height between the transport vehicles 3. Since this sensor is arranged above the upper edge 27, it detects, at the intended relative height, the distance to the nearest overhang device 23, i.e., the measured second distance is equal to the first distance plus the known width of the loading area 7. If a smaller value is measured for the second distance, in particular the same value as for the first distance, an impermissible height of the transport vehicles 3 relative to each other results, whereby a collision of the overhang device 23 with the loading area 7 of the adjacent transport vehicle 3 is imminent. The positioning is then preferably aborted, and a new predetermined location, in particular a new predetermined individual position for the affected transport vehicle 3, is requested.

5 Figure 3 shows a representation of a fifth embodiment of a transport vehicle. 5 It is evident that the environmental sensors 35, in particular the second environmental sensors 35.2, are preferably arranged in the upward direction of the transport vehicle 3 at the level of the overhang device 23. Furthermore, preferably at least one of the environmental sensors 35, here two environmental sensors 35, is arranged longitudinally, in particular in the direction of travel of the transport vehicle 3, spaced apart from the loading area 7 and in particular from the overhang device 23.

The transport vehicle 3 also has at least one energy module 39, preferably a fuel cell, here two energy modules 39, and preferably an electrical energy storage device 41, in particular a battery or accumulator, especially for supplying energy to a drive 40. Several different energy modules 39, for example an internal combustion engine and a fuel cell, can also be combined in the transport vehicle 3.

6 Figure 3 shows a schematic representation of an embodiment of a method for operating a plurality of transport vehicles 3 in the form of a flowchart.

In the process, a meeting point S1 for a plurality of transport vehicles 3 is determined in a first step. Preferably, in a second step S2, an individual position at the meeting point is determined for each of the transport vehicles 3.

It is possible that the first step S1 and the second step S2 are both performed in a control device 5 configured as a master or primary device, whereby the individual positions determined for each transport vehicle 3 – as predetermined locations – are then transmitted to the transport vehicles 3. Alternatively, it is possible that only the common meeting point – as a predetermined location – is determined in the first step S1 by the control device 5 configured as a master or primary device, whereby this common meeting point is then transmitted to all transport vehicles 3. The individual transport vehicles 3 can then approach the common meeting point and position themselves there ad hoc relative to each other, or the second step S2 is performed in the individual transport vehicles 3 by the individual control devices 5 configured as slave or secondary devices, so that each of the transport vehicles 2 determines its own individual position.

In a third step S3, the predetermined location is preferably received by the control devices 5 assigned to each of the transport vehicles 3. In a fourth step S4, the transport vehicles 3 are navigated, in particular steered, to the meeting point. In a fifth step S5, the positioning of the transport vehicles 3 relative to each other at the meeting point is initiated, preferably by navigating, in particular steering, the transport vehicles 3 to their respective individual positions and positioning them at these positions – in their respective stationary positions. The positioning of the transport vehicles 3 is preferably carried out such that the loading areas 7 of the transport vehicles 3 together form the total loading area 11.

In a sixth step S6, the relative altitude of at least two immediately adjacent transport vehicles 3 at the meeting point is checked. Preferably, at least one positioning signal from at least one environmental sensor 35 is used to check the relative altitude. If, in the sixth step S6, it is determined that the relative altitude is permissible, in particular that it corresponds to a predetermined relative altitude, the positioning of the transport vehicles 3 is continued and preferably completed in a seventh step S7. The process is then preferably terminated.

If, on the other hand, an impermissible relative altitude is detected in the sixth step S6, whereby In particular, if the relative altitude deviates from the predetermined relative altitude, the positioning of the transport vehicles 3 is preferably aborted in an eighth step S8. Then, preferably in a ninth step S9, a new meeting point is requested, and the procedure is continued in the first step S1. This is preferably iterated until the procedure is terminated in the seventh step S7.

After the transport vehicles 3 have been loaded at the meeting point, the formed group, in particular the overall loading area 11, is dissolved again, and the individual transport vehicles 3 can - in particular independently of each other - drive to at least one unloading point in order to unload the cargo.

REFERENCE MARK LIST

1

Vehicle fleet

3

Transport vehicle

3.1

first transport vehicle

3.2

second transport vehicle

5

Control device

5.1

first control device

5.2

second control device

7

Loading area

7.1

first loading area

7.2

second loading area

9

chassis

11

Total loading area

13

Navigation module

15

Positioning module

17

Communication module

19

Location tracking module

21

Bridging device

23

Overhang device

25

angled overhang plate

27

top edge

29

straight overhang sheet metal

31

actuator

33

Tilting device

35

environmental sensor

35.1

first environmental sensor

35.2

second environmental sensor

37

wall

39

Energy module

41

Energy storage

S1 - S9

Steps

Claims (16)

Self-propelled transport vehicle (3) with - a first loading area (7.1), - a control device (5) comprising - a navigation module (13) configured to navigate the transport vehicle (3) to a predetermined location, and - a positioning module (15) configured to position the transport vehicle (3) at the predetermined location relative to at least one further transport vehicle (3) having a second loading area (7.2) such that the first loading area (7.1) and the second loading area (7.2) form a combined loading area (11), - a bridging device (21) configured to bridge or reduce a distance to the second loading area (7.2) of the further transport vehicle (3) arranged adjacent to the transport vehicle (3), at least partially, wherein - the bridging device (21) is configured as a tilting device (33) configured to tilt the first loading area (7.1) to tip over and thus at least reduce the distance to the loading area (7) of the further transport vehicle (3). Self-propelled transport vehicle (3) according to Claim 1 , wherein the control device (5) has a communication module (17) which is configured to receive the predetermined location. Self-propelled transport vehicle (3) according to one of the preceding claims, wherein the positioning module (15) is configured to check a relative height position between the transport vehicle (3) having the control device (5) and the at least one further transport vehicle (3). Self-propelled transport vehicle (3) according to one of the preceding claims, wherein the control device (5) has a location determination module (19) configured to determine the predetermined location, wherein the location determination module (19) is operatively connected to the communication module (17) to transmit the predetermined location to the communication module (17), and wherein the communication module (17) is configured to send the predetermined location to the at least one further transport vehicle (3). Self-propelled transport vehicle (3) according to one of the Claims 1 and 3 , wherein the control device (5) is configured to operate a plurality of self-propelled transport vehicles (3), comprising - a location determination module (19) configured to determine at least one location as a predetermined location for the plurality of self-propelled transport vehicles (3), and - a communication module (17), wherein - the location determination module (19) is operatively connected to the communication module (17) to transmit the predetermined location to the communication module (17), and wherein - the communication module (17) is configured to send the predetermined location to at least one further self-propelled transport vehicle (3) of the plurality of self-propelled transport vehicles (3). Self-propelled transport vehicle (3) according to one of the preceding claims, wherein the bridging device (21) is configured to close the distance to the second loading area (7.2) of the further transport vehicle (3) arranged adjacent to the transport vehicle (3). Self-propelled transport vehicle (3) according to one of the preceding claims, wherein the bridging device (21) is additionally designed as an overhang device (23) arranged on the first loading area (7.1), which is configured to bridge or reduce the distance to the second loading area (7.2) of the further transport vehicle (3), at least in some areas. Self-propelled transport vehicle (3) according to Claim 7 , wherein the overhang device (23) has a roof-shaped angled overhang plate (25), and/or has an overhang plate (29) pivotally hinged to the first loading area (7.1). Self-propelled transport vehicle (3) according to Claim 8 , wherein the bridging device (21) has a controllable actuator (31) which is configured to pivot the pivotably articulated overhang plate (29). Self-driving transport vehicle (3) according to one of the preceding claims, with at least one environmental sensor (35) operatively connected to the control device (5), wherein the environmental sensor (35) is selected from a group consisting of: an ultrasonic sensor, a radar sensor, a lidar sensor, a laser sensor, and an imaging sensor. Self-propelled transport vehicle (3) according to Claim 10 , wherein at least one environmental sensor (35) of the at least one environmental sensor (35) is arranged at a distance in the longitudinal direction of the transport vehicle (3) from the loading area (7). Self-propelled transport vehicle (3) according to one of the Claims 10 or 11 , wherein the at least one environmental sensor (35) is arranged in the upward direction of the transport vehicle (3) at the level of the loading area (7). A fleet of vehicles (1) comprising a plurality of transport vehicles (3) each having a loading area (7) according to one of the preceding claims, wherein a control device (5) of the fleet of vehicles (1) and/or at least one control device (5) of a transport vehicle (3) of the fleet of vehicles (1) is provided to navigate the transport vehicles (3) of the fleet of vehicles (1) to a common meeting point and to position them relative to each other at the common meeting point such that the loading areas (7) of the transport vehicles (3) together form a total loading area (11). Method for operating a plurality of transport vehicles (3) each having a loading area (7) according to one of the Claims 1 until 12 , or to operate a fleet of vehicles (1) according to Claim 13 , with the following steps: - Determining a meeting point for the transport vehicles (3); - Navigating the transport vehicles (3) to the meeting point, and - Positioning the transport vehicles (3) relative to each other at the meeting point such that the loading areas (7) of the transport vehicles (3) together form a total loading area (11). Procedure according to Claim 14 , wherein a single position is determined for each transport vehicle (3) at the meeting point, and wherein each transport vehicle (3) is navigated to its assigned single position and positioned at the assigned single position. Procedure according to one of the Claims 14 or 15 , wherein a relative altitude of at least two transport vehicles (3) immediately adjacent to each other is checked at the meeting point.