瑞典专利SE0802533A1 Procedure and systems for providing docking assistance

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专利摘要:

公开号:SE0802533A1
申请号:SE0802533
申请日:2008-12-05
公开日:2010-06-06
发明作者:Werner Hilliges；Lars Birging
申请人:Datachassi Dc Ab；
IPC主号:

专利说明:

The first and second measurement signals together define a guidance zone associated with the load house which transmits the measurement signals, and the first and second measurement signals comprise a signal identity associated with the load house which transmits the measurement signals. The method further comprises receiving the first and second measurement signals at the truck, and provided that the signal identity of the received measurement signals corresponds to the predetermined load housing, using the measurement signals to determine the truck position and the truck orientation relative to the predetermined truck housing, and the truck repositioning at least part of the docking.
Since the measurement signals include a signal identity associated with the load house and the position and orientation of the truck is determined only using the measurement signals corresponding to the predetermined load house, it can be ensured that the position and orientation of the truck is determined in relation to the predetermined load house. Signals transmitted from signal sources other than the predetermined load house and received at the truck will not interfere with the position and orientation determination at the truck. Thus, it is ensured that the truck is guided to the predetermined, i.e. the assigned warehouse.
By repeatedly determining the position and orientation of the truck in relation to the predetermined load house, the number of error maneuvers can be reduced and the truck can safely reverse towards the load house at a higher speed. The time required for docking can thus advantageously be reduced compared with the prior art.
In addition, since the position and orientation of the truck are determined by transmitting measurement signals from the load house and receiving the measurement signals at the truck, the accuracy and reliability are increased compared to conventional eco-based measurements. Eco-based measurements have an inherent uncertainty because there is no sure way to know from which part of a reflective object the echo originates. Neither trucks nor trucks have a well-defined "eco-surface". Since the method according to the invention does not rely on echoes, this uncertainty is eliminated.
Thus, according to the docking aid method according to the invention, the measurement signals have a first function in identifying a predetermined load house and a second function in enabling determination of truck position and truck orientation. In other words, the measurement signals have a dual function. 10 15 20 25 30 35 3 Unless otherwise expressly stated, the term "truck" will be used interchangeably to refer to a separate truck or a lorry or towing vehicle towing a trailer.
The signal identity may be any or a group of a specific frequency of the measurement signals, a specific pulse length and / or a specific pulse train, a specific frequency in combination with a specific pulse length and / or a specific pulse train, or any other modulation method known in the art.
The signal identity can also be a time identity, i.e. a specific set of time slots during which the warehouse sends signals.
According to one embodiment, the first and second measurement signals are ultrasonic signals. When ultrasonic signals propagate away from the load house, they diverge and thus create a guiding zone. The truck can thus receive the measurement signals when it is within the guidance zone. Consequently, docking assistance can be provided even if the truck is not in direct line with the load house, e.g. if the truck is outside the docking lane of the predetermined warehouse.
According to one embodiment, the method further comprises providing time information to the truck, which time information indicates the time of transmission of the first ultrasonic measurement signal and the time of transmission of the second ultrasonic measurement signal. In response to receiving the ultrasonic measurement signals at the truck, the time of receiving the first signal and the time of receiving the second signal are determined.
The truck position and truck orientation can then be determined based on the time information and reception times. In particular, the truck position and truck orientation can be determined based on the differences between the time of transmission of the first and second signals and the time of reception of the first and second signals. Time information can be provided to the truck in a radio frequency scheduling signal. Alternatively, the time information can be included in the measurement signals. I.e. the first measurement signal includes information indicating the time of transmission of the first measurement signal and the second measurement signal includes information indicating the time of transmission of the second measurement signal.
According to one embodiment, there is an overlap between guiding zones associated with nearby cargo houses among said plurality of cargo houses. Since the measurement signals include a signal identity associated with each respective load house, the guidance zones can overlap without disturbing other trucks in docking maneuvers with other load houses. In other words, the signal identity enables not only identification of the assigned load house but also docking assistance during simultaneous docking of a plurality of trucks. Thus, several trucks can receive simultaneous and individual assistance during docking in a reliable way.
According to one embodiment, the method further comprises assigning the predetermined load housing to the truck by providing information to the truck associated with the signal identity relating to the predetermined load housing. The information enables the receiving truck to distinguish the guidance zone associated with the predetermined load house from the guidance zones associated with other loads. This information can, for example, be provided to the truck in connection with the truck entering the cargo area.
According to one embodiment, the transmission of the first and second measurement signals is performed at a repetition rate which is varied according to at least one of the determined truck position and the determined truck orientation. A higher repetition rate means that the measurement signals are transmitted more often. This enables a more frequent determination of the truck's position and orientation. The speed can e.g. be high during critical parts of the docking, for example during the initial reversal of the truck into the docking lane of the predetermined warehouse and during the last part when the truck approaches the docking house. During less critical parts of the docking, the speed can be reduced. Another case when a high speed can be used is if the orientation of the truck indicates that the truck is not backing towards the predetermined load housing.
By limiting the high-speed periods, the risk of disturbing other trucks during docking or other receivers in the cargo area can be further reduced.
According to one embodiment, the method further comprises creating truck guidance data based on the determined truck position and the determined truck orientation. These guidance data can e.g. be used to visualize the specific position and orientation of the truck in relation to the load compartment on a display in the cab or to indicate suitable maneuvers for reversing the truck towards the predetermined load compartment. For example. a visible or audible indicator can be used which instructs the driver to make a left turn, a right turn or slow down etc. The visible indicator may comprise two optical indicators, a left indicator and a right indicator, and the western or right indicator may be activated based on the 20 25 30 35 5 guidance data. The sight indicator can e.g. be arranged in the cab or on the outside of the truck, e.g. at the rearview mirrors.
Said guiding data can also be used to automatically steer the truck during docking, completely or partially, by controlling the truck's steering servo and braking system.
According to one embodiment, the first and second measurement signals further comprise sequence information, said sequence information distinguishing a measurement signal pair formed by the first and second measurement signals from a subsequent measurement signal pair associated with the same guidance zone. It can thus be ensured that measurement signals transmitted in succession are received in the correct order at the truck. If e.g. a signal is blocked during transmission from the truck to the truck and a subsequent one is not blocked, the received subsequent signal does not cause incorrect measurements. Furthermore, the use of sequence information makes it possible to filter out measurement signals reflected by other trucks and objects at the terminal area.
According to one embodiment, the first and second measurement signals are received at a first receiving point and a second receiving point on the truck.
In addition, the first and second measurement signals can be transmitted from a first transmission point and a second transmission point, respectively, at the load house. In particular, the truck position and the truck orientation can be determined by measuring a first distance (L1) between the first transmission point and the first reception point, a second distance (L2) between the second transmission point and the second reception point, a third distance (L3) between the first transmission point and the second receiving point, and a fourth distance (L4) between the second transmission point and the first receiving point.
According to a second aspect, there is provided a system for providing docking assistance at a loading terminal comprising a plurality of cargo housings, the system comprising a transmitter pair arranged at each of the cargo housings, each transmitter pair comprising a first transmitter and a second transmitter arranged to transmit a first and a second measurement signal, the first and second measurement signals together defining a guidance zone in front of the associated load house and comprising a signal identity associated with the load house. The system further comprises a receiver pair arranged on a truck, the receiver pair comprising a first and a second receiver arranged to receive measurement signals from the load house, the system being arranged to determine the truck position and the truck orientation using first and second received 6 measurement signals which have a signal identity associated with a predetermined load house among said plurality of load houses.
The details and advantages discussed in connection with the first aspect apply correspondingly to the second aspect, with which a reference is made to the above discussion.
According to a third aspect, a method of providing docking assistance is provided by guiding a truck to a truck house among a plurality of truck houses at a cargo terminal, the method comprising assigning a truck house to the truck by providing identification information to the truck, storing identification information at the truck, shipping , repeatedly, of a first and a second measurement signal from the assigned load house, the first and second measurement signals together defining a guidance zone associated with the load house which transmits the signals, and said first and second measurement signals comprising a signal identity associated with the assigned load house, and receiving of the first and second measurement signals at the truck, and, provided that the signal identity of the received measurement signals corresponds to the stored identification information, use of the measurement signals for determining the truck position and the truck orientation in relation t ill the assigned cargo hold during docking.
By arranging a guiding zone associated with the assigned cargo house, the assigned cargo house can be conveniently located. Entry into the guidance zone can be detected by receiving the first and second measurement signals. The position of the load house can then be conveniently determined using the first and second measurement signals.
By comparing the signal identity of the received measurement signals with stored identification information, the measurement signals from the assigned load house can be distinguished from any measurement signals transmitted from other load houses at a load area. This ensures that the truck is guided to the assigned cargo hold.
According to one embodiment, the method further comprises providing a reversing initiation position. and a reversing initiation orientation to the truck, which initiation position and initiation orientation is suitable for initiating reversal against the assigned load housing. The position and orientation can e.g. be the optimal position determined from a number of actual docking maneuvers. In particular, the initial position can be presented to a driver on a display together with the position and orientation of the truck. The driver can then conveniently maneuver the truck to the initial position, stop the truck, load the hill and start reversing towards the load house. Alternatively, a central unit belonging to the truck may create guidance data and use this guidance data to automatically steer the truck to the initial position and initial orientation, in whole or in part, by controlling the truck's power steering, brakes and throttle control.
Brief Description of the Drawings Fig. 1 illustrates an embodiment of the invention in a terminal area comprising a cargo terminal with a plurality of cargo housings.
Fig. 2 illustrates an embodiment of the invention and shows a truck docking against a load house.
Fig. 3 schematically illustrates embodiments of transmitter and receiver units for use in the present invention.
Fig. 4a and b illustrate examples of measurement signals.
Fig. 5 illustrates an example of a measurement signal structure.
Figs. 6a to 6c illustrate an embodiment of the invention and show how guiding zones are used for safe docking of trucks at load houses.
Fig. 7 illustrates an embodiment of the invention and shows how a truck can be guided to an assigned load house and stopped at a position suitable for starting to reverse.
Detailed Description of Preferred Embodiments In the following sections, a detailed description of embodiments and applications of the inventive concept will be given with reference to the drawings.
A first embodiment of a docking aid system at a loading area will now be described. Fig. 1 illustrates a terminal area 100 comprising a cargo terminal 102. The cargo terminal 102 comprises a plurality of cargo housings 104, 105, 106, etc., which in this embodiment are located along one side of the cargo terminal 102. A plurality of trucks 110, 112, 114, are located in the terminal area 100. The truck 110 is illustrated in a docking maneuver backing towards an assigned load house 108, while the trucks 112 and 114 are docked with a respective load house. Each cargo housing is separated from the cargo terminal 102 by a port that can be opened for transferring cargo from / to the cargo terminal 102, to / from the cargo space of a docked truck.
Each load house can be equipped with an adjustable load bridge (for simplicity omitted in Fig. 1) which allows bridging of height differences between the load space of a truck and a load house. Furthermore, docking bumpers or docking buffers may be provided at the cargo holds 10 to prevent damage to a truck or cargo terminal 102 due to that trucks intervene with the cargo terminal during docking.
The terminal area 100 may comprise a plurality of docking files on the ground, each docking file leading to its own load house. For the sake of clarity, only the docking file 120 is shown, which leads to the load house 109. In Fig. 1, a truck 116 which is about to enter the terminal area 100 through a terminal gate 118 is also illustrated.
Fig. 2 is a schematic plan view of the area at a load house, e.g. cargo house 108, belonging to the cargo terminal 102 and the truck 110 which backs towards the cargo terminal. Although a load house will be described with reference to load house 108, the following is also applicable to further load houses 104, 105, 106 of the load terminal 102. As illustrated in Fig. 2, a pair of transmitters 200 comprising a first and a second ultrasonic transmitter unit 201, 202 are arranged at the load house. 108. The first and second ultrasonic transmitter units 201, 202 are spatially separated.
More specifically, the transmitter pair 200 may be located on the load housing 108, under the load housing 108 on or at the docking bumpers at the load housing 108.
As schematically indicated in Fig. 3, the first ultrasonic transmitter unit 201 comprises an ultrasonic transmitter 300 and a control circuit 302 for controlling the transmitter 300 and encoding information in the measurement signals.
The second transmitter unit 202 comprises corresponding components. The first and second transmitter units 201 and 202 are controlled by a cargo control unit 306. The control unit 306 comprises a power source 304 for supplying power to the first and second transmitter units 201, 202. The control unit 306 further comprises a radio transceiver 308 comprising a timing circuit.
Referring to Fig. 2, truck 110 includes a plurality of ultrasonic receiver units, collectively designated 210. In this embodiment, a first and a second receiver unit 211 and 212 are arranged at the rear of the truck and a number of receiver units 213 to 216 are arranged on opposite right and left sides. of the truck. As an option, receiving units can also be arranged on the front of the truck. The truck 110 may be provided with any number of receiving units, but at least two receiving units. If a truck is provided with only two receiving units, they are preferably arranged as rear receiving units 211, 212 at the rear of the truck. The truck further comprises a central unit 220 comprising a radio transceiver. As schematically indicated in Fig. 3, the first receiver unit 211 comprises a receiver 310 for receiving ultrasonic signals, and a control circuit 312 for controlling the receiver 310 and processing received measurement signals.
The first receiver unit 211 further includes a power source 314 for supplying power to the components of the first receiver unit 211.
The power source 314 can e.g. be a rechargeable battery. The power source 314 can also supply the first receiver unit 211 with power from the existing infrastructure of the truck 110. The first receiver unit 211 further comprises a radio transceiver 316 comprising a timing circuit. The receiver unit 211 further comprises a corresponding receiver unit identity, for example in the form of a MAC address, an IP address or some other identification code.
The receiver unit identity can be included in radio frequency signals transmitted from the receiver unit 211 by the radio transceiver 316, thereby allowing a receiver to identify from which receiver unit a received radio frequency signal was transmitted. The details of the receiver unit 211 apply correspondingly to the other receiver units of the truck 110.
The central unit 220 of the truck 110 comprises a database comprising records for all the receiving units of the truck 110. The database includes each receiver unit identity along with the position of each receiver unit on the truck 110.
In use, the first and second transmitter units 201 and 202 at the load housing 108 are arranged to transmit a first ultrasonic measurement signal and a second ultrasonic measurement signal, respectively, in a substantially horizontal direction from the load housing 108. The measurement signals are preferably transmitted as pulses or bursts.
As the ultrasonic measurement signals propagate away from the load housing 108, the measurement signals diverge, thereby defining a zone in which receiver equipment on trucks can detect / receive the measurement signals. This zone will be referred to as a "guiding zone". The guiding zone associated with the load house 108 has reference numeral 128, as indicated in Fig. 2. In accordance with the first embodiment, a transmitter pair is arranged at each load house 104, 105, 106. Each transmitter pair is arranged to transmit a first and a second measurement signal comprising a signal identity , each guidance zone being associated with a respective signal identity.
The signal identity may be a specific frequency of the measurement signals, a specific pulse length and / or a specific pulse train, a specific frequency in combination with a specific pulse length and / or a specific pulse train, or other modulation techniques. The signal identities thus associate a guidance zone 10 with a load house. If unique signal identities are used, there is a one-to-one relationship between the signal identities and the load houses at the terminal area 100.
For cargo houses further away from each other, however, signal identities can be reused.
The measurement registers may, as an option, further include sequence information.
The sequence information may be encoded by a specific frequency, a specific pulse length and / or a specific pulse train, or other modulation techniques.
The sequence information distinguishes measurement signals transmitted in sequence from a given pair of transmitter units. The sequence information can be increased by one for each measurement signal transmitted from the given transmitter unit pair. The sequence information can be reused after any suitable number of signal transmissions. By including sequence information in the measurement signals, it can be ensured that measurement signals transmitted in succession are received in the correct order at the truck. If e.g. a signal is blocked during transmission from the truck to the truck and a subsequent signal is not blocked, then the received subsequent signal does not cause incorrect measurements. Furthermore, the use of sequence information makes it possible to filter out measurement signals reflected by other trucks and objects at the terminal area. If e.g. two measurement signals having non-sequential sequence information are received in succession, the received measurement signals can be discarded. Optionally, a measurement signal pair comprising a first and a second measurement signal may include the same sequence information. If a received second measurement signal comprises sequence information that differs from the sequence information of a previously received first measurement signal, it is determined that the first and second measurement signals do not constitute a pair of measurement signals. In response to such a determination, the first and second measurement signals may be discarded.
Figs. 4a and b illustrate some typical measurement signals including a signal identity and sequence information. By transmitting measurement signals in the form of ultrasonic pulse trains of a certain length, signal identity and sequence information can be coded as bit patterns, the presence of a signal pulse in a pulse train denoting "1" and the absence of a signal pulse denoting Fig. 4a illustrating a pulse train of a first measuring signal. signal identity 1D1 and a pulse train of a second measurement signal comprising a second signal identity 1D2. The pulse train can consist of up to eight pulses. lD1 is thus "11101111" and ID2 is "11101101".
A simpler example of signal identities is a specific number of pulses in a pulse train. For example. For example, a first signal identity may consist of three consecutive pulses and a second signal identity may consist of four consecutive pulses. Of course, any other number of pulses can be used. Fig. 4b illustrates pulse trains of four subsequent measurement signals transmitted from a pair of transmitters. In this case, the first four pulses are used to identify the signal (i.e. the identity Iasthuset) and the last four pulses are used to encode sequence information. Since the four pulse trains originate from the same transmitter pair, the first four pulses are identical, i.e. "1110". However, the last four pulses in the pulse trains are different: Sec. 1 ”1110”, Sec. 2 ”1101”, Sec. 3 "1011" and Sec. 4 ”0111”.
It should be noted that this coding scheme is provided by way of example only. Pulse train lengths other than 8 and other means of including identity information and / or sequence information in the measurement signals can also be used. For example. For example, a signal identity may be a specific frequency and sequence information may be encoded by pulse trains. To further distinguish the signal identities, each load house can send measurement signals that have a specific frequency and a specific pulse train or a specific pulse length.
In a more general case, the measurement signals may have a structure illustrated in Fig. 5 comprising a signal identity block and a sequence information block. The measurement signal may further comprise a data block for providing information other than identity information and sequence information.
As illustrated in Fig. 1, in use, the measurement signals transmitted from the transmitter pairs at the load houses 107, 108, 109 define guidance zones 127, 128 and 129, respectively. Thus, each guidance zone is associated with a load house.
P.g.a. due to the divergent nature of the ultrasonic measurement signals, the adjacent guidance zones 127, 128, 129 partially overlap. However, since the measurement signals defining the guiding zones 127, 128, 129 comprise different signal identities, the receiving equipment arranged on the trucks can distinguish between the different guiding zones 127, 128, 129. In the following, cargo houses having guiding zones which overlap will be referred to as adjacent cargo houses. For example. load houses 127, 128 and 129 are nearby.
To reduce the risk of interference at a receiver caused by simultaneous reception of measurement signals transmitted from different load houses, each load house can be assigned a specific time slot. In this time slot, only the assigned warehouse may send measurement signals. All other load houses must remain silent, ie do not send measurement signals. A time slot thus associates a measurement signal with a specific load house. A load house can send any number of measurement signals in each time slot. The use of time slots is particularly advantageous when trucks dock at the same time as nearby cargo houses, i.e. when there are overlapping guidance zones. The use of time slots minimizes the risk of measurement signals transmitted from one truck disturbing trucks that dock with other trucks.
In greater detail, the time can be divided into frame units of any given length.
Each frame can then be divided into a plurality of time slots. The time slots may be predetermined and fixedly assigned to the cargo terminal 102 of the cargo terminal 102. Alternatively, the time slots can be assigned dynamically on demand. For example. if docking is only performed at a load house, e.g. load house 107, the transmitter pair at load house 107 is free to transmit measurement signals at any time during each frame, i.e. each frame includes only one time slot. If a second docking is performed simultaneously at e.g. load house 108, the frames can be divided into two time slots, the first time slot being assigned load house 107 and the second time slot being assigned load house 108. If a third docking is performed simultaneously at e.g. load house 109, the frames can be further divided into three time slots, whereby load house 107 can be assigned the first time slot, load house 108 the second time slot and load house 109 the third time slot, etc.
The time required for a measurement signal to travel, i.e. propagate, from a transmitter unit to a truck's receiver unit depends on the distance between the corresponding load house and the truck. For this reason, it is advantageous to arrange protection periods between the time slots. During the time slots, no measurement signals may be sent from any of the cargo houses. This is to ensure that measurement signals transmitted from a first load house at the end of a first time slot have propagated past any trucks in docking maneuvers before a second load house starts transmitting measurement signals in the subsequent second time slot.
There may be a one-to-one relationship between the time slots and the load houses at the terminal area 100. For cargo houses further apart, however, time slots can be reused because cargo houses that do not have overlapping guidance zones will not interfere with each other.
The scheduling and allocation of frames and time slots can be performed by a central control device arranged at the load area 100. Eg. a truck control unit 306 at one of the trucks may act as a central control device.
Scheduling and allocation can e.g. communicated in a radio frequency beacon signal transmitted from the central control unit. The beacon may also include synchronization information which allows the transmitters of the transmitter pair to use the same reference time.
As an option, the time slots can be used as signal identities. For example. For example, a truck may be provided with identification information which indicates in which time slot the truck is to listen for measurement signals. For example. the receivers of the receiver units on a truck can be gated to detect only measurement signals during the associated time slots and possibly the subsequent protection period. The identification information may be provided in a radio frequency scheduling signal transmitted by the radio transmitter 308 of the load unit 306 or some other radio transmitter at the load area 100.
The "time slot signal identity" can be combined with other signal identities, i.e. a signal identity can be a combination of a specific time slot and a specific frequency, pulse train or pulse length, etc.
It should be noted that the signal identities do not necessarily have to be unique among all signal identities used at the terminal area 100. If two load houses are separated to such an extent that their respective guidance zones do not overlap, they can share the same signal identity without causing a receiver problem. Returning to Fig. 2, in use, the receiver units 210 of the truck 110 are arranged to receive ultrasonic measurement signals during the docking operation. For example. the receiver 310 of the first receiver unit 211 converts a received ultrasonic measurement signal into a corresponding electrical signal. According to the first embodiment, the control circuit 312 is arranged to respond only to measurement signals having a specific signal identity. The control residue 312 compares the signal identity of the electrical signal with stored identification information. Depending on the type of signal identity used, the control circuit 312 may, for example, compare the bit pattern of the received signal with a stored bit pattern, compare the frequency of the received signal with a stored frequency value, or determine whether the measurement signal was received in an assigned time slot. If there is a match, further processing can be performed by means of the measuring signal and the measuring signal can be used to determine the position and orientation of the truck. If there is no match, the received measurement signal is ignored.
The distance between a transmitter and a receiver can be measured by transmitting a measurement signal from the transmitter and determining the time it takes for the measurement signal to reach the receiver, as well as multiplying the time by the propagation speed of the measurement signal.
More specifically, and as an example, the distance can be determined as follows. A radio frequency communication channel is established between the radio transceiver 308 of the load unit 306 and the truck 110 and a radio frequency time signal is transmitted from the radio transceiver 308 of the load unit 306. The time signal is received by the two radio frequency transceivers belonging to the first and second load receivers 21. The time signal informs the receiver units 211, 212 that a first measurement signal will be transmitted from the first transmitter unit 201 at a time T1 and that a second measurement signal will be transmitted from the second transmitter unit 202 at a later time T2. The time signal may further include a reference time which enables the timing circuits of the receiver units 211 and 212 to synchronize with the timing circuit of the radio transmitter 306 of the load unit 306. This procedure can be performed repeatedly.
At T1, the first transmitter unit 201 transmits a first measurement signal comprising a signal identity corresponding to the load house and the time circuits belonging to the receiver units 211 and 212 are started. When the first measurement signal is received by the first receiver unit 211, the signal identity of the first measurement signal is matched against the stored identification information. If the signal identity and the stored identification information do not match, the received measurement signal is ignored. If there is a match, the reception time is registered. The time it took for the first measurement signal to propagate between the first transmitter unit 201 and the first receiver unit 211 is then given by the difference between the reception time of the measurement signal and T1. Similarly, the time it took for the first measurement signal to propagate between the first transmitter unit 201 and the second receiver unit 212 can be determined.
At time T2, this procedure is repeated, determining the time it took for the second measurement signal to propagate between the second transmitter unit 202 and the first and second receiver units 211 and 212.
Since the radio frequency time signal propagates at the speed of light, it will reach the truck almost instantaneously compared to the ultrasonic measurement signals. Thus, the value of T1 can be zero with only a small loss of accuracy. In order to prevent the first and second measurement signals from interfering with the receiver units, they should preferably be transmitted at some time interval. In the case that the first and second measurement signals are pulse trains, T1 and T2 may, for example, indicate the time of transmission of the first pulse in each pulse train. In that case, the propagation time between a transmitter and a receiver is determined as the difference between T1 and the time at which the first pulse of a pulse train is received. Alternatively, T1 and T2 may, for example, indicate the time of the last pulse of each pulse train. In that case, the propagation time between a transmitter and a receiver is determined as the difference between T1 and the time at which the last pulse of a pulse train is received.
A radio frequency scheduling signal can be transmitted for each measurement occasion. Alternatively, the scheduling signal may schedule transmission of a plurality of measurement pulses in advance.
The transmission speed of the first and second measurement signals can be varied according to any of the truck position and truck orientation.
The speed can be varied during different stages of the docking. For example, the transmission of the first and second transmissions during high speed periods may be repeated at a rate of 40 Hz. During low speed periods, the speed can be reduced. The determined propagation times are transmitted from the receiver units 211 and 212 via their respective radio transceivers to the central unit 220 of the truck 110. The propagation times of the first and second measurement signals are transmitted from each receiver units 211 and 212 together with the respective receiver unit identities enabling the central unit 220 to associate who received the measurement signals. As an option, said data from each receiver unit can be relayed to the central unit 220 via other, intermediate receiver units, the receiver units acting as radio frequency network nodes. Thus, according to this selection, said data jumps from one node to the next node until it reaches the central unit 220. This enables reliable transmission of data from all receiver units at reduced radio frequency signal strengths.
When the propagation times are received by the central unit 220, the central unit 220 determines four distances L1 to L4 by multiplying the received propagation times by the propagation speeds of the measuring signals, where L1 is the distance between the first transmitter unit 201 and the first receiver unit 211, L2 is the distance between the second transmitter unit 202 the second receiver unit 212, L3 is the distance between the first transmitter unit 201 and the second receiver unit 212, and L4 is the distance between the second transmitter unit and the first receiver unit 211.
As illustrated in Fig. 2, the four distances L1, L2, L3 and L4 together with the positions of the transmitter units at the load house and the positions of the two receiver units on the truck unambiguously determine both the position and orientation of the truck 110 relative to the transmitter pair 200, i.e. in relation to the load house 108. In case a truck comprises a towing vehicle and a trailer and the two receiving units are arranged on the rear part of the trailer, the particular orientation refers to the orientation of the trailer.
In the present context, the term "truck position" is to be interpreted as a two-dimensional determination of the truck's position in relation to the load house, while the term "truck orientation" is to be interpreted as a determination of the actual direction / angle of the truck, for example in relation to a geometric line the cargo hold.
In some cases, objects can protrude from a cargo hold, e.g. the loading dock may extend a small distance into the area in front of the load house, or the load house may extend in front of the transmitter pair. In particular, objects can protrude beyond a vertical plane in which the transmitter pair is arranged. Consequently, if the position of a reversing truck is determined in relation to the pair of transmitters, there is a risk of a collision between the reversing truck and the projecting objects. This problem can be eliminated by providing a horizontal displacement distance to the truck, which displacement corresponds to the horizontal distance between the vertical plane of the transmitting pair and the outermost point of the projecting object.
The truck can then determine the position in relation to (eg the distance to) the projecting object, whereby the truck can safely back towards the load house without any risk of collision during docking. Fig. 2 illustrates at reference numerals 201 'and 202' a pair 200 'of such offset transmitters, as an alternative to the transmitters 201 and 202 in Fig. 2, the load housing extending in front of the transmitter pair 200'. This arrangement prevents a docking truck from colliding with the transmitter pair 200 "and thus reduces the risk of damage being caused to the transmitter pair 200". An offset value can e.g. sent to the truck in the radio frequency synchronization signal, together with the identification information, coded in the measurement signals (eg in the "Other data" block illustrated in Fig. 5), or entered manually by the driver in the truck's central unit based on information received at the terminal gate.
In some cases, the receiver units of a truck and a pair of truck housings may be arranged different distances above the ground, i.e. at different levels. In that case, each section L1, L2, L3 and L4 will correspond to a hypotenuse in a triangle whose base is the horizontal distance between a transmitter unit and a receiver unit and whose height is the difference between the transmitter unit level and the receiver unit level. By providing the level of the transmitter pair to the truck, different levels can be compensated for computationally. The level of a transmitter pair can e.g. sent to the truck in the radio frequency synchronizing signal, together with the identification information, encoded in the measurement signals (eg in the “Other data” block illustrated in Fig. 5), or entered manually by the driver in the central unit of the truck based on information received at terminal gate 118.
The central unit can then determine the distances L1, L2, L3 and L4 as previously described. The central unit can then calculate the corresponding horizontal distance by means of the difference between the transmitter height and the receiver height. The horizontal distance can e.g. calculated using the Pythagorean theorem.
The propagation speed of the measuring signal is temperature dependent. To increase the accuracy of the measurements, the truck may include a thermometer to monitor the ambient temperature and compensate for the measured values in accordance with the measured temperature. In the illustrated embodiment, the truck 110 comprises more than two receiver units 210. Thereby, as an optional function, the same measurement signals can be received by more than two receiver units. In that case, the position and orientation of the truck can be determined using the measurement signals received at any pair of receiver units that have received the same measurement signals. More specifically, propagation times can be transmitted to the central unit 220 from all receiving units that have received measurement signals.
The central unit 220 can then determine the position and orientation of the truck 110 using the propagation times from any of the receiving units. The central unit can select the two receiver units based on a criterion such as signal strength, which of the truck 110 sides the receiver units are arranged on, the spatial separation between the receiver units, etc. As an option, the central unit 220 can determine the truck position and truck orientation based on propagation times received from more than two receiver units. , whereby redundancy is achieved. The redundant results can be averaged so that During a docking operation, the truck's 110 different receiver units can be used over time to determine the truck position and truck orientation. Thus, the use of the receiver units can be changed dynamically during the docking operation.
To enable radio frequency communication between the load house 108 and the truck 110, a radio frequency communication channel may be established between the truck 110 and the radio transceiver belonging to the load house unit at the load house 108. The radio frequency communication channel may be established between the radio transceiver at the load house radio terminal 108 and the central end unit unit 108.
The central unit 220 can then forward received information to the receiving units of the truck 110 via the radio transceivers of the receiving units.
Alternatively, or in addition, the radio frequency communication channel may be established between the radio transceiver at the load house 108 and the radio frequency transceiver of the receiver 110 of the truck 110.
Information can be communicated over the radio frequency communication channel in the form of data packets comprising e.g. a main portion with a source and target identifier (for example in the form of a MAC address, IP address) and a data portion for carrying the information.
The radio frequency communication channel can be used to transmit radio frequency synchronizing signals for synchronizing the time circuits of the receiver 110 of the truck 110 with the load unit of the truck unit.
The radio frequency communication channel can also be used to transmit time information for the first and second measurement signals.
A unique radio frequency communication channel can be established between each truck and assigned cargo hold. Alternatively, all trucks and cargo houses can transmit / listen to a common radio frequency channel, all signals directed to a specific target including a target identifier which enables a receiver to determine if the transmission is directed towards itself.
Referring to Figs. 6a-c, a docking procedure in accordance with the first embodiment will be described. In Fig. 6a, the truck 110 has entered the terminal area 100 through terminal gate 118. Upon entering the terminal area 100, the truck 110 has been assigned e.g. load house 108. As an option, such an assignment can also be performed at another time. The load house 110 can be assigned by providing identification information to the truck 110, which identification information enables the receiving equipment of the truck 110 to identify measurement signals transmitted from the assigned load house 108. In this embodiment, in connection with the assignment of the load house 108, the associated transmitter pair 200 is assigned to the assigned load house 108 and repeatedly begin transmitting their measurement signals from the transmitters 201 and 202, which define the guidance zone 128 associated with the assigned load house 208. The measurement signals include the signal identity associated with the assigned load house 108.
In the embodiment shown in Fig. 6a, the receiver units of the truck 110 will receive the measurement signals from the load housing 208 while the truck 110 travels forward in the guidance zone 128. The receiver equipment on the truck 10 verifies that the signal identity of the received measurement signals corresponds to the identification information provided to the load.
The signal information is passed to the central unit 220 of the truck and is used to determine the position and orientation of the truck 110 relative to the load house 108. The truck position and truck orientation relative to the load house 108 can be presented continuously to the driver on a display throughout the docking procedure. Using the information displayed, the driver can determine that the truck position and truck orientation are suitable for initiating reversal against the load house 108.
The driver then stops the truck 110 and places it on the ground to initiate the docking procedure.
As seen in Fig. 6a, the guiding zone 128 diverges and extends outside and beyond the relatively narrow docking lane of the loading bay 108 and into parallel docking lanes belonging to adjacent loading bays. The divergent nature of the guidance zone advantageously allows initiation of the docking procedure at a truck position well outside the narrow docking lane shown in Fig. 1. In Fig. 6b, the truck 110 backs toward its assigned load house 108.
The transmitter pair 200 at the assigned load house 108 repeatedly transmits measurement signals and the position and orientation of the truck 110 is determined and presented to the driver. In Fig. 6b, another truck 116 has entered terminal area 100 and been assigned to the adjacent load house 109. Thus, the transmitter pair disposed at the load house 109 sends measurement signals to assist the truck 116 in reversing to the load house 109. The measurement signals transmitted from the load house 109 define a nearby guidance zone. 129 which partially overlaps the guiding zone 128 of the load house 108. In the situation shown in Fig. 6b, the first truck 110 is located in the overlapping area of the guiding zones 128 and 129 adjacent. As a result of providing the different signal identities in the measurement signals forming the guidance zones, the truck 110 will be able to determine its position and orientation based only on received measurement signals having a signal identity corresponding to its assigned load house 108. Thus, the truck 110 is not affected by the presence of the measurement signals forming the adjacent guiding zone 129. Similarly, for the second truck 116 which in the situation of Fig. 6b is also located in the two activated, partially overlapping guiding zones, the second truck 116 will determine its position and orientation relative to its assigned load house 109 based only on the measurement signals forming the corresponding guiding zone 129. During reversing of the truck, the central unit 220 can monitor the speed of the truck 110. If the speed exceeds a threshold speed, a warning can be provided to the driver indicating that the truck 110 is reversing against the load house 108 too fast. Alternatively or in addition, the central unit 220 may automatically apply the brakes if the threshold speed is exceeded.
The speed can be determined from the truck's 110 speedometer or based on how fast the truck position changes.
In case a measurement signal transmission is scheduled but not received by any of the receiver units 210 of the truck 110, or if one or more measurement signals including sequence information is not received afterwards or at all, this indicates that the measurement signal has been blocked by an object (e.g. a other truck or person) in its transmission path. The receiving units 210 may send a message to the central unit 220 informing the central unit 220 that a scheduled signal has not been received. If the central unit 220 determines that a measurement pulse or a plurality of subsequent measurement pulses have not been received at one or more receiver units, a warning indication (visible or audible) may be provided to the driver warning him of a possible object between the truck 108 and the truck 110. In response to the warning indication the driver can then choose to brake the truck 110 to prevent an accident or collision. The truck 110 may also be arranged to automatically apply the brakes in response to the warning indication.
In Fig. 6c, the first truck 110 has successfully docked with its assigned load house 108, the associated first guidance zone 128 has been deactivated and the second truck 116 docks against its assigned load house 109 using the measurement signals forming the still activated guide zone 129 to determine its position and orientation.
In addition to visually presenting the truck position and truck orientation to the driver, the central unit 220 can create control data and provide driving instructions to the driver based on said control data.
For example. a visible or audible indicator can be used which instructs the driver to make a left turn, a right turn or slow down etc. The visible indicator may include two optical indicators, a left indicator and a right indicator, and the left or right indicator may be activated based on said guidance data.
In response to entry into the guidance zone 108, the central unit 220 may offer the driver to take over the docking. If the driver accepts the offer, the created control data can be used to directly steer the truck 110 by acting on the servo mechanism of the truck 110. The driver would then only need to steer the truck's 110 gas and brakes. By connecting the central unit 220 to a CAN bus of the truck, the central unit 220 can also control the truck's speed and brakes and thus enable a fully automated docking procedure. Although above specific features have been distributed between specific components of the system. However, the invention is not limited to this specific distribution. For example. the matching of signal identity and identification information need not be performed in the receiver units but can instead be performed in the central unit 220 of the truck 110. In that case, the identification information need not be provided to all receiver units but can instead only be stored in the central unit 220. Furthermore, instead of determining propagation times in the receiver units, the receiving units simply transmit the reception times to the central unit whereby the central unit can determine the propagation times. This reduces the requirements on the receiver units whereby they can be less complicated.
Furthermore, part of the functionality of the truck 110's central unit 220 can instead be taken over by the truck control unit 306. Eg. For example, the central unit 220 (or the receiver units) may transmit the reception times of the measurement signals and / or the propagation times of the measurement signals through the radio frequency communication channel between the truck controller 306 and the truck 110. L1, L2, L3, L4 may then be determined in the truck controller 306.
The truck control unit 306 can then return the truck position and truck orientation and / or control data to the truck through the radio frequency communication channel.
A second embodiment of a docking assistance system at a loading area will now be described. The second embodiment is similar to the first embodiment, so the second embodiment will also be described with reference to Figs. 1-6. However, instead of the ultrasonic transmitters of the transmitter units 201, 202 (300 in Fig. 3) and the ultrasonic receivers 310 of the receiver units 210, the transmitter units 201, 202 are provided with transmitters of electromagnetic signals (EM signal transmitters) and the receiver units 210 are provided with EM signal receivers. The transmitter may, for example, be an optical transmitter, e.g. a laser emitting visible or invisible laser light, and the receiver can e.g. be a photodetector or any other optical detector.
Alternatively, the transmitter may be a radar transmitter which transmits signals via a radar antenna and the receiver may be a radar receiver comprising a radar antenna.
In use, the first and second transmitter units 201 and 202 of the transmitter pair 200 transmit first and second EM measurement signals, respectively, in a primarily horizontal direction from the Iasthuset so that together they define a guidance zone 128 associated with the Iasthuset 108. The measurement signals are preferably transmitted as pulses or bursts. For lasers, the guiding zone can be provided by using a lens or a slit for scattering the laser light. Alternatively, the lasers can be directed towards a respective rotating mirror which sweeps the laser beam over a sector, thereby defining the guiding zone. For radar signals, the guidance zone can be provided by using a suitable radar directional antenna (eg in the form of a plurality of patch antennas). In the guidance zone, receiver equipment on the trucks can detect / receive the EM measurement signals.
In accordance with the ultrasonic measurement signals in the first embodiment, the EM measurement signals may also include a signal identity. A transmitter pair is arranged at each load 104, 105, 106, and each transmitter pair is arranged to transmit a first and a second measurement signal comprising a specific signal identity.
The signal identity thus associates a guiding zone with an Iasthus.
The signal identity may be a specific frequency of the measurement signals, a specific polarization, a specific pulse length and / or a specific pulse train, a specific frequency in combination with a specific pulse length and / or a specific pulse train or a specific time slot in a frame as described in connection with the first embodiment, or a combination of a specific frequency and a specific pulse train or a pulse length and / or a specific time slot. Other modulation techniques known in the art are also possible. Optionally, the EM measurement signal may further include sequence information encoded as a specific pulse train, a pulse length, or encoded using other modulation techniques.
In accordance with the first embodiment, a truck is provided with identification information corresponding to the signal identity associated with the truck assigned to the truck. The identification information enables the truck receiving units 210 to distinguish the measurement signals transmitted from the assigned load house from measurement signals transmitted from other loads.
The distances L1, L2, L3 and L4 can be determined by transmitting first and second measurement signals from the transmitter pair and receiving the signals at two receiver units belonging to a truck. In greater detail and with reference to Fig. 2, the timing circuits of the receiver units synchronized and matched with the timing circuit of the load unit 306, the propagation times can be determined in a manner similar to the first embodiment. The time circuits can e.g. synchronize using a synchronization signal from a GPS satellite or any other common and accurate reference. A radio frequency time signal is transmitted from the radio unit 306 radio transceiver 308. The time signal is received by the two radio frequency transceivers belonging to the first and second receiver units 211 and 212 of the truck. The time signal informs the two receiver units 211, 212 that a first EM measurement signal will be transmitted from the first transmitter unit 201 at a time T1 and that a second EM measurement signal will be transmitted from the second transmitter unit 202 at a later time T2.
At T1, the first transmitter unit 201 transmits a first EM measurement signal comprising a signal identity corresponding to the load housing 108 and the time circuits of the receiver units 211 and 212 are started. When the first EM measurement signal is received by the first receiver unit 211, the signal identity of the first EM measurement signal is matched against the stored identification information_ If the signal identity and the stored identification information do not match, the received EM measurement signal is ignored. If there is a matching, the reception time is registered. The time it takes for the first EM measurement signal to propagate between the first transmitter unit 201 and the first receiver unit 211 is then given by the difference between the reception time of the measurement signal and T1. Similarly, the time it takes for the first measurement signal to propagate between the first transmitter unit 201 and the second receiver unit 212 can be determined.
At time T2, this procedure is repeated, determining the times it takes for the second measurement signal to propagate between the second transmitter unit 202 and the first and second receiver units 211 and 212.
The distances L1, L2, L3 and L4 can then be determined by multiplying the signal speed (i.e. the light speed) by the determined propagation times.
To reduce the requirements for precise synchronization between the time circuits of the load unit 306 and the time circuits of the receiver units, the following alternative approaches can be used.
The first transmitter unit 201 transmits a first EM measurement signal. As already described, the first EM measurement signal comprises a signal identity corresponding to the load house. The 21 receiver EM of the first receiver unit 211 receives the first measurement signal. In response, the timing circuit of the first receiver unit 211 is started and the receiver of the first receiver unit creates an electrical signal corresponding to the first measuring signal which is transmitted to the control circuit of the first receiver unit. The control circuit 312 performs signal processing on the electrical signal as previously described by matching stored identification information with the signal identity of the received signal.
After determining that there is a match, the control circuit 312 waits until the time circuit indicates that a time delay D has elapsed since the reception of the first EM measurement signal, and then sends a representation of the electrical signal in the form of a radio signal to the radio transceiver 308 belonging to the load house unit 306 at the load house 108 via the radio transceiver 316.
The delay D is a predetermined time delay that is greater than the time required for the processing in the receiving unit, which can be determined during testing. Thus, D is so large that the control circuit 312 is always ready to transmit the radio signal before the timing circuit reaches D.
In response to receiving the radio signal, the control circuit 304 of the load unit 306 determines the time difference between the transmission of the first measurement signal and the reception of the radio signal. The difference will be AT = 2 * L1 / c + D, where L1 is the distance between the first transmitter unit 201 and the first receiver unit 211. D is known in advance may have been provided to the load house unit 306 in a previously transmitted radio frequency signal from the truck.
Alternatively, it can be attached after the EM measurement signal representation in the radio signal. The control circuit 304 can thus subtract D from AT and determine L1. This approach reduces the sensitivity to small shifts between the time circuits of the receiver unit 211 and the load unit 306.
This procedure is then repeated to determine the distance L3 between the first transmitter unit 201 and the second receiver unit 212.
The distance L2 between the second transmitter unit 202 and the second receiver unit 212, and the distance L4 between the second transmitter unit 202 and the first receiver unit 211 can be determined correspondingly. In accordance with a further aspect, a "truck capture" function is provided for guiding a truck to an assigned warehouse among a plurality of warehouses. The capture function can be provided using the transmitter and receiver equipment described above. A load housing (eg 108) is assigned to the truck 110 by providing identification information to the truck. Identification information is stored at the truck. The transmitter pair at the assigned load house 108 is activated and repeatedly transmits a first and a second measurement signal which together define a guidance zone associated with the load house 108. The truck 110 drives forward and listens for the guide zone of the assigned load house. When the truck 110 enters the guide zone 128 of the truck 108, the receiving equipment on the truck 110 receives the first and second measurement signals, and, provided that the signal identity of the received measurement signals corresponds to the stored identification information, the truck 110 determines its position and orientation relative to the assigned truck. the measurement signals. Thus, the assigned truck 108 has captured the truck 110. The truck position and truck orientation can be presented to the driver on a display along with the assigned truck position. The actual docking with the load house 108 can then be performed as described above.
Alternatively, the capture function can be provided by transmitting a dedicated capture beam. Referring to Fig. 7, a radar transmitter is provided at each load house of the load terminal 702. Each radar transmitter can transmit radar signals having a relatively small divergence (eg 3 °), the radar signals thus defining a radar beam. The radar beams are transmitted away from their respective cargo houses. The radar signals transmitted from each load house include a signal identity associated with the respective load house. The truck 710 has been assigned a load house 708 by receiving and storing identification information corresponding to the signal identity associated with the assigned load house. Thus, the truck 710 can distinguish radar signals transmitted from the assigned load house 708 from radar signals transmitted from other load houses by comparing the signal identity of the received radar signals and the stored identification information as described in connection with the first and second embodiments.
In Fig. 7, the truck 710 drives forward and listens for a radar beam 709 'transmitted by radar transmitter 709 arranged at the assigned load house 708. The truck 710 is provided with receiver units 711, 712, 713 etc. (collectively designated 720) including radar receivers as previously described.
The receiving units 720 are arranged at least on the left and right sides of the truck 710. The truck 710 further comprises a central unit 722 corresponding to the central unit 220 in the first and second embodiments. In response to a receiver unit belonging to the truck 710 detecting the beam 709 ', the truck can be stopped. The truck is thus in line with the assigned load house 708 and can start reversing towards the load house 708.
In addition, a gradual capture function can be provided, with the receiver units on one side of the truck 710 detecting the radar beam 709 'in sequence. In response to each sequential detection, the speed of the truck 710 can be reduced. The truck 710 can be stopped when the last receiver unit detects the radar beam 7092 I.e. the rearmost receiving unit 713 on the left (or right) side of the truck 710.
The central unit 722 may provide an indication to the truck driver that the radar beam 709 'has been detected. The driver can then manually stop the truck 710. Alternatively, the central unit 722 may automatically slow down and stop the truck in response to the receiver units detecting the radar beam 7092. to start reversing from a good position. This additional distance can be determined by the central unit 722, which stores the positions of the receiving units on the truck, by indicating to the driver that he should drive the truck a further distance corresponding to the distance between the rear receiving unit and the end on the truck side. Alternatively, if the central unit 722 controls the truck 710, the central unit 722 can automatically stop the truck when the extra distance has been traveled after the detection of the radar beam 709 '.
By capturing a truck by means of a narrow radar beam, the truck 710 can be stopped at an accurate position. The radar beam thus enables both the capture of a truck and the stopping of the truck at a good position for initiating reversal towards an assigned load house.
The radar signals can be transmitted in a perpendicular direction from the cargo houses.
Alternatively (as indicated in Fig. 7), the radar signals can be transmitted at a different angle corresponding to a better position for initiating reversal towards the assigned load house. An appropriate beam angle can be determined from a number of real reverse tests.
As a choice, the distance between the truck and the assigned truck can be determined. If the truck is too close to the assigned load shed for a successful reversal towards the load shed to be possible, a warning can be provided to the truck driver. The driver can then repeat the approach of the cargo hold at a greater distance. In addition, the orientation of the truck in relation to the assigned load house can be determined. If the truck orientation in combination with the section is such that a successful reversal towards Iasthuset is difficult or impossible, a warning can be provided to the truck driver. The driver can then repeat the approach of Iasthuset at a greater distance and with a different direction. The distance and orientation can be determined by the radar beam or the first and second measurement signals as previously described.
As an option, the radar transmitters at the cargo houses and the receiver units' radar receivers can be replaced with lasers and optical receivers, e.g. photodetectors or other optical detectors.
As an option, all or some of the receiver units in the embodiments described above can be incorporated into lighting units on the truck, whereby the receiver units can be supplied with power and controlled by using existing infrastructure on the truck. More specifically, the receiver units at the rear of the truck can be incorporated into the rear light units and the receiver units at the sides can be incorporated into side light units.
Such side light units are described in previously filed application WO 2008/121041, hereby incorporated by reference. As described therein, a truck may be provided with multifunction side light units including radio frequency transmission and radio frequency receiving means, the side light units forming a wireless communication network on the truck. The communication network provides relay of sensor data or other data between the side light units. In particular, by incorporating the receiver units of the truck 110 or 710 into such multifunction side light units, the propagation times determined by the receiver units can be relayed to the central unit 220 or 722 for processing via intermediate light units.

权利要求:
Claims (16)
[1]
A method of providing docking assistance during reversing of a truck towards a predetermined load house at a load area, comprising: transmitting a first and a second measurement signal from a load house among a plurality of load houses, said first and second measurement signals together defining a guidance zone associated with the load house transmitting said measurement signals, and said first and second measurement signals comprising a signal identity associated with the load house transmitting said measurement signals, receiving said first and second measurement signals at the truck, and provided the received measurement signal signal identity corresponds to said predetermined load signals, use of said predetermined load signals. for determining the truck position and the truck orientation in relation to the predetermined load house, the truck position and the truck orientation being determined repeatedly during at least a part of said docking.
[2]
The method of claim 1, wherein there is an overlap between guidance zones associated with adjacent load houses among said plurality of load houses.
[3]
The method of any preceding claim, further comprising assigning said predetermined load house to the truck by providing information to the truck associated with the signal identity associated with the predetermined load house.
[4]
A method according to any one of the preceding claims, wherein said transmission of the first and second measurement signals is performed at a repetition rate which is varied according to at least one of the determined truck position and the determined truck orientation.
[5]
The method of claim 1, further comprising creating truck guidance data based on the determined truck position and the determined truck orientation.
[6]
The method of any of the preceding claims, wherein said first and second measurement signals further comprise sequence information, said sequence information distinguishing a measurement signal pair formed by said first and second measurement signals from a subsequent measurement signal pair associated with the same guidance zone.
[7]
A method according to any one of the preceding claims, wherein said first and second measurement signals are received at a first receiving point and a second receiving point on said truck.
[8]
A method according to claim 7, wherein the first and second measurement signals are transmitted from a first transmission point and a second transmission point, respectively, at the load house.
[9]
A method according to claim 8, wherein the truck position and the truck orientation are determined by measuring a first distance, L1, between the first transmission point and the first reception point, a second distance, L2, between the second transmission point and the second reception point, a third distance, L3 , between the first transmission point and the second reception point, and a fourth distance, L4, between the second transmission point and the first reception point.
[10]
A system for providing docking assistance at a load terminal comprising a plurality of load housings, said system comprising: a transmitter pair arranged at each of said load housings, each transmitter pair comprising a first transmitter and a second transmitter arranged to transmit a first and a second measurement signal, respectively. , said first and second measurement signals together defining a guidance zone in front of the associated load house and comprising a signal identity associated with said load house, and a receiver pair arranged on a truck, said receiver pair comprising a first and a second receiver arranged to receive measurement signals from said load house , the system being arranged to determine the truck position and the truck orientation using received first and second measurement signals which have a signal identity associated with a predetermined load house among said plurality of load houses. 10 15 20 25 30 35 30
[11]
The system of claim 10, wherein there is an overlap between adjacent cargo guidance zones.
[12]
A system according to any one of claims 10 to 11, wherein the truck comprises stored information relating to the signal identity, which information is provided to the truck during assignment of a load housing to the truck.
[13]
A system according to any one of claims 10 to 12, further comprising a central unit which is arranged on the truck and which is arranged to create truck guidance data based on the determined truck position and the determined truck orientation.
[14]
A system according to any one of claims 10 to 13, wherein the truck position and the truck orientation are determined based on a distance L1 between the first transmitter and the first receiver, a distance L2 between the second transmitter and the second receiver a distance L3 between the first transmitter and the the second receiver, and a distance L4 between the second transmitter and the first receiver, and.
[15]
A method of providing docking assistance by guiding a truck to a truck among a plurality of trucks at a loading terminal, the method comprising: assigning a truck to the truck by providing identification information to the truck, storing the identification information at the truck, sending, repeatedly , of a first and a second measurement signal from the assigned load house, said first and second measurement signals together defining a guidance zone associated with the load house transmitting said signals, and said first and second measurement signals comprising a signal identity associated with the assigned load house, and receiving said load house first and second measurement signals at the truck, and, provided that the signal identity of received measurement signals corresponds to the stored identification information, use of said measurement signals for determining the truck position and the truck orientation in relation to the assigned load house t during docking. 31
[16]
The method of claim 15, further comprising providing a reversing initiation position and a reversing initiation orientation to the truck, which initiation position and initiation orientation is suitable for initiating reversal toward the assigned load housing.

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同族专利:

公开号 | 公开日

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EP2373558A1|2011-10-12|

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法律状态:
2015-08-04| NUG| Patent has lapsed|

优先权:

申请号 | 申请日 | 专利标题

SE0802533A|SE534240C2|2008-12-05|2008-12-05|Procedure and systems for providing docking assistance|SE0802533A| SE534240C2|2008-12-05|2008-12-05|Procedure and systems for providing docking assistance|

PCT/SE2009/051374| WO2010064989A1|2008-12-05|2009-12-04|Method and system for providing dock-assist|

EP09830671.5A| EP2373558B1|2008-12-05|2009-12-04|Method and system for providing dock-assist|

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