EP2944601B1 - Autonomous driverless transport vehicle and transport system - Google Patents

Description

The invention relates to an autonomous driverless transport vehicle and an autonomous driverless transport system, for example for in-house material transport.

For in-house material handling, for example, in a production plant such as in the automotive industry, towing vehicles with pulled sequence cars are often used. The sequence cars can, for example, transport molded skylights or center consoles. With a high number of sequence cars, a high number of required towing vehicles is required. This means that the volume of traffic within the assembly is steadily increasing. This results in production-related waiting times of the tractor due to the delivery processes, in which the vehicle additionally requires floor space or waiting areas in the workshop.

DE 29 30 569 A1 and DE 10 2008 029 421 A1 reveal rail-mounted pallet trucks.

EP 0 290 634 A1 shows a method of guiding a driverless vehicle, wherein optical sensors mounted on the vehicle receive a broken mark along the road to guide the vehicle.

EP 0 477 154 discloses an autonomous driverless transport vehicle having an electric drive system and an energy storage for the drive system, wherein a lifting fork is provided for the transport and wherein the drive system is arranged outside of the lifting fork.

The invention is based on the object to improve the material transport. This object is achieved with an autonomous driverless transport vehicle according to claim 1 or an autonomous driverless transport system according to claim 8. The inventive autonomous driverless transport vehicle with an electric drive system and an energy storage for the drive system provides that a lifting fork is provided for transport that Drive system is arranged outside the lifting fork and that a vertical height of the lifting fork is greater than vertical heights of the energy storage and the drive system.

The transport vehicle according to the invention has the advantage that due to the low height of the transport vehicle this under container or transport systems can drive and then lift it. The height of the transport vehicle is between 10 and 30 cm, preferably 15 cm. This allows a considerable space saving in production, since the transport vehicle no longer drags the trolley, but drives directly under a trolley.

In a preferred embodiment of the invention it is provided that the energy storage is arranged between the forks of the lifting fork. Thus, the energy storage, such as a battery or one or more capacitors, in a safe position. In addition, the center of gravity is favorable in this central arrangement.

In a further preferred embodiment of the invention, it is provided that a navigation system is provided with at least one sensor. The navigation system recognizes objects and / or route or route markings and thus enables a position determination and a route navigation. This allows the vehicle to navigate autonomously. As navigation systems come, for example, laser, mirror or star navigation, navigation by reference, such as camera systems or magnetic point navigation in question. A master computer of the vehicle has one or more interfaces for the navigation system, so that it can be selected and used modularly as required.

It can be provided that at least one sensor is arranged in a tower arranged behind the lifting fork and the lifting fork protruding in height. The tower provides a better overview, which is especially important for laser navigation.

Preferably, a host computer is provided. The host computer supports a completely autonomous movement of the vehicle. The master computer can execute programs, process sensor data and calculate routes and respond to user input. In addition, the master computer can control the drive and the lifting fork as well as monitor and regulate the energy storage.

It is particularly advantageous that a lifting system of the lifting fork is designed mechanically. This can be raised even at very low height and with little energy required a large mass. It is conceivable, for example, a spindle drive with toggle. Preferably, an identical drive is provided for each fork tine. Alternatively, hydraulic or pneumatic lifting systems can be used.

In a preferred embodiment of the invention, it is provided that the drive system has four, arranged at the corner regions of the transport vehicle wheel elements, of which at least one is a driven drive element. This modular drive system can be adapted depending on the application. Thus, the transport vehicle can turn from two drive elements on the spot, resulting in a very small turning radius. A wheel element which is not driven, for example, has a rotatable roller.

The drive element may have a propulsion motor and a rotary motor. This also allows in cooperation with one or two transmissions a compact drive element which drives one or more drive wheels and can change the angular position for steering.

The autonomous driverless transport system according to the invention comprises at least one transport vehicle as described above. The same advantages and modifications apply as described above.

In a preferred embodiment of the invention, it is provided that an inductive charging system is provided for the energy storage of the transport vehicle. The inductive charging system operates without contact and can be integrated in the infrastructure or in certain areas of the infrastructure such as unloading, loading and / or waiting positions. Thus, a continuous operation of the vehicle can be done because the energy storage is charged in normal driving.

The various embodiments of the invention mentioned in this application are, unless otherwise stated in the individual case, advantageously combinable with each other.

Figur 1

eine schematische Darstellung eines autonomen fahrerlosen Transportfahrzeugs;

Figur 2

eine Hubgabel des Transportfahrzeugs;

Figur 3

eine untere Ansicht eines Antriebssystems des Transportfahrzeugs;

Figur 4

eine obere Ansicht eines Antriebssystems des Transportfahrzeugs;

Figur 5

eine schematische Darstellung eines Transportfahrzeugs mit Navigationsturm;

Figur 6

eine schematische Darstellung eines Transportfahrzeugs mit zu transportierendem Behälter; und

Figur 7

eine Seitenansicht des Transportfahrzeugs mit zu transportierendem Behälter.

The invention will be explained below in embodiments with reference to the accompanying drawings. Show it:

FIG. 1

a schematic representation of an autonomous driverless transport vehicle;

FIG. 2

a lifting fork of the transport vehicle;

FIG. 3

a bottom view of a drive system of the transport vehicle;

FIG. 4

an upper view of a drive system of the transport vehicle;

FIG. 5

a schematic representation of a transport vehicle with navigation tower;

FIG. 6

a schematic representation of a transport vehicle with container to be transported; and

FIG. 7

a side view of the transport vehicle with container to be transported.

FIG. 1 shows an autonomous driverless transport vehicle 10 as it is used for in-house goods or material transport. The transport vehicle 10 is floor bound, that is, that it can move freely in the plane of the ground, that is, in particular, is independent of a rail system.

The transport system 10 has a frame-shaped chassis 12 which receives the individual components of the transport vehicle 10 and surrounds these components for protection. Central part of the transport vehicle 10 is the lifting fork 14. The lifting fork 14 has two identical forks 16. The lifting fork 14 corresponds in its dimensions, in particular the distance between the two forks 16 of conventional lifting forks, such as those used with forklifts. This guarantees extensive compatibility of the transport vehicle 10 with existing transport systems. In contrast to a forklift, however, the two forks 16 of the lifting fork 14 are not attached to a common fork carriage.

The transport vehicle 10 is equipped with a modular drive system 18. The drive system 18 is located in corner regions of the rectangular chassis 12 and thus outside the lifting fork 14 or outside of the fork tines 16. In a central region of the chassis 12, that is between the lifting fork 14 and between the two forks 16, is an energy storage 20, here arranged in the form of a battery, for example a lithium-ion battery. The energy store 20 can also be constructed, for example, from supercapacitors. In the middle between the lifting fork 14 of the partially sensitive energy storage 20 is optimally protected.

The transport vehicle 10 includes environmental monitoring sensors 22, with the aid of which collisions are avoided and / or a travel route of the transport vehicle 10 is found. A master computer 26 controls the transport vehicle 10 and monitors and controls the individual subsystems of the transport vehicle 10, in particular the drive system 18 and the forks 14. The control system 24 also processes the sensor data Energy storage 20, the sensors 22 and the navigation system 24 can be monitored and / or controlled by the host computer 26. The navigation system 24 may be part of the master computer 26.

The modular drive system 18 allows adaptation of the transport vehicle 10 to different purposes, such as maneuverability, speed or acceleration. For this purpose, the drive system 18 comprises one or more drive elements 28 and not one or more wheel elements 30. The drive elements 28 are driven and allow both the propulsion of the transport vehicle 10 and a rotation of the transport vehicle 10. The wheel member 30 has a freely movable role, which followed by the or the drive elements 28 predetermined movement. Im in FIG. 1 example shown, two drive elements 28 and correspondingly two wheel members 30 are provided. For example, it is also possible to provide four drive elements 28.

The transport vehicle 10 has a modular structure, that is to say that all components of the transport vehicle 10 located in the chassis 12 can be selected and installed according to the respective application. This applies in particular to the drive system 18, the energy store 20, the sensors 22 and the navigation system 24. But also the master computer 26 or the lifting fork 14 can be changed according to the purposes.

The transport vehicle 10 is characterized by its low construction. It is designed so that the height in the vertical direction of the lifting fork 14, in particular the surfaces of the forks 16, is higher than the other components of the transport vehicle 10, which are located in the region of the lifting fork 14. These components include, in particular, the drive system 18, the energy store 20 and also the sensors 22. This ensures that the transport vehicle 10 can almost completely bypass a good to be conveyed, such as a sequence car. Only a relatively small area of the transport vehicle 10, which is arranged behind the lifting fork 14, then remains outside the sequence carriage.

In FIG. 2 the lifting fork 14 is shown with a fork 16 and a lifting system 32 for lifting the fork 16. This in FIG. 2 shown system is in the transport vehicle 10, as in FIG. 1 shown, available in two versions. So that the two forks 16 are moved synchronously, the two lifting systems 32 of the two forks 16 are either synchronized by means of an electronic control or mechanically. The lifting system 32 comprises a rotating spindle 34, at the two toggle lever 36 are arranged in a known manner. A motor 38 acting on the spindle 38 sets the spindle 34 in motion, whereby the toggle 36 are set up or lowered. About the contact with the toggle levers 36 of the forks 16 is moved upward. Downwardly, the forks 16 moves due to its weight. It may be provided that the toggle lever 36 are in a lower position free from the forks 16, which then rests on a stop at a rear end. This allows the forks 16 and thus the lifting fork 14 in transport containers with transport straps, which surround the forks 16 from all sides, is possible. The lifting system 32 shown here has a high energy efficiency and allows the lifting of large loads.

In the Figures 3 and 4 the drive element 28 of the drive system 18 is shown. The drive element 28 has a propulsion motor 40 and a rotary motor 42. The propulsion motor 40 is connected to a propulsion transmission 44. The propulsion ratio 44 may include gears and / or friction wheels. Similarly, the rotary motor 42 is connected to a rotation ratio 46. The rotary ratio 46 may have gears and / or friction wheels. In order to keep the height low, the propulsion ratio 44 and the rotation ratio 46 are at least partially supported on common axes of rotation, wherein the propulsion ratio 44 can move independently of the rotational ratio 46. In the example presented here, the rotational ratio 46 is arranged above the propulsion transmission 44.

The propulsion ratio 44 leads to a bevel gear 48, which rotates about a vertical axis and with a friction wheel 50 is engaged. The friction wheel 50 is rotatably mounted on an axle 52. The axis 52 is the axis of two wheels 54. Thus, via the propulsion ratio 44, the bevel gear 48, the friction wheel 50 and the axis 52 a forward or backward movement of the propulsion motor 40 is transmitted to the wheels 54 accordingly.

The rotary ratio 46 is connected to a rotating about a vertical axis rotary flange 56. On the rotary flange 56, a housing 58 is rotatably mounted, in which the bevel gear 48, the friction wheel 50 and the axis 52 are arranged. About the rotary motor 42 and the rotation ratio 46, the angular position of the housing 58 and thus the wheels 54 can be adjusted. Accordingly, a movement range 60 for the wheels 54 is enabled. The axes of rotation of the bevel gear 48 and the rotary flange 56 coincide, but the two components can be rotated independently.

In FIG. 5 another example of a transport vehicle 10 is shown. The chassis 12 with the components arranged therein corresponds to the illustration in FIG FIG. 1 , Here, the drive system 18 and the energy storage 20 are covered for protection with covers. Behind the lifting fork 14, a tower 62 is arranged. The tower 62 serves as an elevation for a sensor 22, such as a laser navigation sensor, to provide a better overview. Further, in the tower 62, a control panel 64 is arranged for a user. The master computer 26 and the navigation system 24 are also arranged in the tower 62. Finally 62 emergency stop buttons 66 are arranged at easily reachable points of the tower to be able to stop the transport vehicle 10 in an emergency immediately.

In FIG. 6 another example of a transport vehicle 10 is shown with a transport carriage 68 to be transported. At a bottom of the trolley 68 tabs 70 are arranged, which serve to receive the forks 16. The sensors 22 of the transport vehicle 10 are attached to laterally outboard and rear-mounted carriers 72. In the rear area, the control panel 64 and the emergency stop buttons 66 are arranged. There is a housing 74 for receiving the navigation system and the control computer disposed between the lift forks 16.

In FIG. 7 the transport vehicle 10 is shown, which is now under the trolley 68. It can be clearly seen that the transport vehicle 10 drive due to its very low height directly under the trolley 68 and then lift it. It can also be clearly seen that the drive system 18 and the energy store 20 are lower or in other words have a lower height than the lifting fork 14.

One or preferably several transport vehicles 10 may form an autonomous driverless transport system, with each transport vehicle 10 carrying a trolley 68 or similar load. The transport vehicles 10 bring material or semi-finished products to a processing unit and can optionally bring semi-finished or intermediate products from one processing unit to another processing unit or to a storage position. The transport vehicles 10 navigate autonomously and can move along free or fixed rods. About an inductive contactless charging system, the energy storage 20 of the transport vehicle 10 is charged. In order to maximize the operating times of the transport vehicle 10, the inductive charging system is located in a travel path of the transport vehicle 10. Preferably, the charging system is arranged in areas in which the transport vehicle 10 is. These can be loading positions, unloading positions or waiting positions.

LIST OF REFERENCE NUMBERS

10

transport vehicle

12

chassis

14

lifting fork

16

forks

18

drive system

20

energy storage

22

sensor

24

navigation system

26

master computer

28

driving element

30

wheel element

32

Lifting system

34

spindle

36

toggle

38

engine

40

propulsion engine

42

rotary engine

44

tunneling translation

46

rotation translation

48

bevel gear

50

friction wheel

52

axis

54

Wheel

56

rotary flange

58

casing

60

range of motion

62

tower

64

Control panel

66

Emergency stop button

68

Dolly

70

flap

72

carrier

74

casing

Claims (10)

1. Autonomous driverless transport vehicle (10) having an electric drive system (18) and an energy accumulator (20) for the drive system (18), wherein a lifting fork (14) is provided for transport, and wherein the drive system (18) is arranged outside the lifting fork (14), characterized in that a vertical height of the lifting fork (14) is greater than vertical heights of the energy accumulator (20) and of the drive system (18).
2. Transport vehicle according to Claim 1, characterized in that the energy accumulator (20) is arranged between fork prongs (16) of the lifting fork (14).
3. Transport vehicle according to Claim 1 or 2, characterized in that a navigation system (24) having at least one sensor (22) is provided.
4. Transport vehicle according to Claim 3, characterized in that at least one sensor (22) is arranged in a tower (62) which is arranged behind the lifting fork (14) and projects beyond the lifting fork (14) in terms of height.
5. Transport vehicle according to one of Claims 1 to 4, characterized in that a master computer (26) is provided.
6. Transport vehicle according to one of Claims 1 to 5, characterized in that a lifting system (32) of the lifting fork (14) is mechanical.
7. Transport vehicle according to one of Claims 1 to 6, characterized in that the drive system (18) has four wheel elements (30) which are arranged at corner regions of the transport vehicle (10), and at least one of which is a driven drive element (28).
8. Transport vehicle according to Claim 7, characterized in that the drive element (28) has a propulsion motor (40) and a rotation motor (42).
9. Autonomous driverless transport system, characterized in that at least one transport vehicle (10) according to one of Claims 1 to 8 is provided.
10. Transport system according to Claim 9, characterized in that an inductive charging system is provided for the energy accumulator (20) of the transport vehicle (10).

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