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1. WO2020064305 - METHOD FOR MOVING A DRIVERLESS TRANSPORT VEHICLE ON AN INCLINED TRANSPORT ROADWAY

Publication Number WO/2020/064305
Publication Date 02.04.2020
International Application No. PCT/EP2019/073858
International Filing Date 06.09.2019
IPC
B62D 7/15 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
7Steering linkage; Stub axles or their mountings
06for individually-pivoted wheels, e.g. on king-pins
14the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
15characterised by means varying the ratio between the steering angles of the steered wheels
B66F 9/06 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
FHOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
9Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
06movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G05D 1/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G06Q 10/08 2012.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
10Administration; Management
08Logistics, e.g. warehousing, loading, distribution or shipping; Inventory or stock management, e.g. order filling, procurement or balancing against orders
G06Q 10/04 2012.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
10Administration; Management
04Forecasting or optimisation, e.g. linear programming, "travelling salesman problem" or "cutting stock problem"
G06Q 10/06 2012.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
10Administration; Management
06Resources, workflows, human or project management, e.g. organising, planning, scheduling or allocating time, human or machine resources; Enterprise planning; Organisational models
CPC
B62D 7/1509
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
7Steering linkage; Stub axles or their mountings
06for individually-pivoted wheels, e.g. on king-pins
14the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
15characterised by means varying the ratio between the steering angles of the steered wheels
1509with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
B66F 9/063
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
9Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
06movable, with their loads, on wheels or the like, e.g. fork-lift trucks
063Automatically guided
G06Q 10/04
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
10Administration; Management
04Forecasting or optimisation, e.g. linear programming, "travelling salesman problem" or "cutting stock problem"
G06Q 10/06
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
10Administration; Management
06Resources, workflows, human or project management, e.g. organising, planning, scheduling or allocating time, human or machine resources; Enterprise planning; Organisational models
G06Q 10/08
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
10Administration; Management
08Logistics, e.g. warehousing, loading, distribution or shipping; Inventory or stock management, e.g. order filling, procurement or balancing against orders
G06Q 50/28
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
50Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
28Logistics, e.g. warehousing, loading, distribution or shipping
Applicants
  • SIEMENS AKTIENGESELLSCHAFT [DE]/[DE]
Inventors
  • ASCHPURWIS, Carsten
Agents
  • MAIER, Daniel
Priority Data
18196890.026.09.2018EP
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN ZUM ANFAHREN EINES FAHRERLOSEN TRANSPORTFAHRZEUGES AUF EINER GENEIGTEN TRANSPORTFAHRBAHN
(EN) METHOD FOR MOVING A DRIVERLESS TRANSPORT VEHICLE ON AN INCLINED TRANSPORT ROADWAY
(FR) PROCÉDÉ DE DÉMARRAGE D'UN VÉHICULE DE TRANSPORT SANS CONDUCTEUR SUR UNE CHAUSSÉE DE TRANSPORT INCLINÉE
Abstract
(DE)
Für Fahrerlose Transportsysteme mit einer Mehrzahl von fahrerlosen Transportfahrzeuge (10) ist ein hoher Durchsatz ein zunehmend zwingendes Erfordernis. Bei Dispositionen mit geneigten Fahrstrecken ist das Wiederanfahren insoweit problematisch, als dies bisher nur mit Einschränkungen bei der Disposition der Fahrbahnstrecken und/oder mit stärker dimensionierten Antrieben möglich ist. Zur Lösung dieses Problems wird ein Verfahren zum Anfahren eines fahrerlosen Transport-fahrzeugs (10) auf einer geneigten Transport- fahrbahn (1'), bei dem zum Anfahren die Lenkantriebe (12) aufgrund der detektierten Neigungsrichtung (d') so ange- steuertwerden, dass das Transportfahrzeug (10', 10'') quer zur Neigungsrichtung (d') anfährt. Nach Erreichen einer vorgegebenen Minimalgeschwindigkeit des Transportfahrzeuges quer zur Neigungsrichtung (d') werden die Lenkantriebe (12) so gestellt, dass das Transportfahrzeug (10)in der Neigungsrichtung (d') weiterfährt (10''', 10'''').
(EN)
A higher throughput is an increasingly necessary requirement for driverless transport systems with a plurality of driverless transport vehicles (10). In arrangements with inclined roadways, resuming a movement is problematic in that doing so has hitherto only been possible with a limited arrangement of the roadways and/or with highly dimensioned drives. As a solution to this problem, a method is provided for moving a driverless transport vehicle (10) on an inclined transport roadway (1'), wherein the steering drives (12) are actuated on the basis of the detected inclination direction (d') in order to move the vehicle such that the transport vehicle (10', 10'') is moved transversely to the inclination direction (d'). After a specified minimum speed of the transport vehicle transversely to the inclination direction (d') is reached, the steering drives (12) are adjusted (12) such that the transport vehicle (10) continues to move in the inclination direction (d') (10''', 10'''').
(FR)
L'invention concerne un procédé de démarrage d'un véhicule de transport sans conducteur sur une chaussée de transport inclinée. Pour les systèmes de transport sans conducteur présentant une pluralité de véhicules de transport (10) sans conducteur, un débit élevé est une exigence de plus en plus indispensable. Dans le cas de dispositions à parcours inclinés, le redémarrage est problématique dans la mesure où il n'est jusqu'à présent possible qu'avec des limitations pour la disposition des parcours inclinés et/ou qu'avec des entraînements aux dimensions plus importantes. Pour résoudre ce problème, un procédé pour démarrer un véhicule de transport (10) sans conducteur sur une chaussée (1') de transport inclinée est mis au point, selon lequel, pour le démarrage, les entraînements de direction (12) sont commandés en raison du sens d'inclinaison (d') détecté, de sorte que le véhicule de transport (10', 10'') démarre transversalement au sens d'inclinaison (d'). Une fois atteinte une vitesse minimale prédéfinie du véhicule de transport transversalement au sens d'inclinaison (d'), les entraînements de direction (12) sont réglés de sorte que le véhicule de transport (10) poursuit sa route (10''', 10'''') dans le sens d'inclinaison (d').
Also published as
Latest bibliographic data on file with the International Bureau