US 12,411,492 B2
Vehicle, logistics system and method for transferring a load unit
Jan Behling, Dortmund (DE); Mathias Rotgeri, Dortmund (DE); Jan Soren Emmerich, Herdecke (DE); Dirk Honing, Bochum (DE); Patrick Klokowski, Castrop-Rauxel (DE); Christian Hammermeister, Dortmund (DE); and Michael Ten Hompel, Dortmund (DE)
Assigned to FRAUNHOFER-GESELLSCHAFT ZUR FORDERUNG DER ANGEWANDTENFORSCHUNG E.V, Munich (DE)
Appl. No. 18/277,427
Filed by FRAUNHOFER-GESELLSCHAFT ZUR FORDERUNG DER ANGEWANDTENFORSCHUNG E.V., Munich (DE)
PCT Filed Dec. 14, 2021, PCT No. PCT/EP2021/085744
§ 371(c)(1), (2) Date Aug. 16, 2023,
PCT Pub. No. WO2022/174956, PCT Pub. Date Aug. 25, 2022.
Claims priority of application No. 102021103623.2 (DE), filed on Feb. 16, 2021.
Prior Publication US 2024/0045431 A1, Feb. 8, 2024
Int. Cl. G05D 1/00 (2024.01); B60P 1/64 (2006.01)
CPC G05D 1/0212 (2013.01) [B60P 1/6418 (2013.01); G05D 1/0225 (2013.01)] 26 Claims
OG exemplary drawing
 
1. A vehicle for transferring a unit load to a unit load receiving device in an operation area, the vehicle comprising: a running gear, a drive device which is connected to the running gear and drives the running gear on the basis of control commands for adjusting a velocity vector of the vehicle, and a vehicle frame arranged on the running gear and comprising a receiving component for receiving the unit load, wherein the vehicle comprises a vehicle system with a vehicle control function,
wherein the vehicle control function uses or determines target trajectory follow-up commands as control target specifications with which the vehicle is moved on a vehicle movement path along a target trajectory, wherein the target trajectory runs between an initial point (201, 301) and an end point and comprises a transfer region with a target transfer point associated with the unit load receiving device,
wherein the vehicle control function uses or determines, at least for the transfer region of the target trajectory, a target speed profile as control target specification,
wherein the vehicle control function comprises a drive control function which converts the control target specifications into control commands which define a respective current target velocity vector with respect to the respective actual vehicle state,
wherein the drive device, on the basis of the control commands, realizes a transfer acceleration of the vehicle at least in a section comprising the target transfer point in which the unit load located on the receiving component of the vehicle is moved by its mass inertia onto the unit load receiving device.
 
16. A logistics system comprising:
a logistics central device which is arranged in a stationary manner in an operation area and comprises a logistics communication device,
a unit load receiving device arranged in the operation area,
a vehicle for transferring a unit load to the unit load receiving device, the vehicle which comprising: a running gear, a drive device, which is in communication with the running gear (5) and which adjusts a velocity vector of the vehicle on an operation surface of the operation area, and a vehicle frame which is arranged on the running gear and comprises a receiving component for receiving the unit load, wherein the vehicle comprises a vehicle system which comprises:
a vehicle control function which is functionally connected to the drive device and which determines control commands on the basis of control target specifications and transmits said commands to the drive device for adjusting a respective current velocity vector of the vehicle,
a vehicle communication device which is in data or signal connection with the logistics communication device via radio and is functionally connected to the vehicle control function,
wherein the vehicle control function uses or determines target trajectory follow-up commands as control target specifications with which the vehicle is moved along a target trajectory on a vehicle movement path, wherein the target trajectory runs between an initial point and an end point and comprises a transfer region with a target transfer point assigned to the unit load receiving device,
wherein the vehicle control function uses or determines a target speed profile as control target specification at least for the transfer region of the target trajectory,
wherein the vehicle control function comprises a drive control function which converts the control target specifications into control commands which define a respective current target velocity vector with respect to the respective current vehicle state,
wherein the drive device, on the basis of the control commands, realizes a transfer acceleration of the vehicle at least in a section comprising the target transfer point in which transfer acceleration the unit load located on the receiving component of the vehicle is moved by its mass inertia onto the unit load receiving device.