Method for controlling the assembly of a vehicle from a set of modules, control device, system, vehicle, computer program and computer readable medium
阅读说明：本技术 用于从一组模块控制车辆的组装的方法，控制装置，系统，车辆，计算机程序和计算机可读介质 (Method for controlling the assembly of a vehicle from a set of modules, control device, system, vehicle, computer program and computer readable medium ) 是由 A·克拉松 R·舍丁 L·艾尔利格 M·比德尔 E·洛克安德松 H·亨利克松 S·泰波拉 于 2019-02-26 设计创作，主要内容包括：本发明涉及一种由第一控制装置(100)执行的用于从一组模块(20)控制车辆(1)的组装的方法,该组模块(20)包括：至少一个驱动模块(30)；和至少一个功能模块(40),其中该至少一个驱动模块(30)包括一对车轮(32)并且配置成被自主地操作,并且其中该组模块(20)中的每个模块(30；40)包括可释放地连接至另一个模块上的对应接口(50)的至少一个接口(50),该方法包括：命令(s101)该至少一个驱动模块(30)的第二控制装置(200)将该至少一个驱动模块(30)与该至少一个功能模块(40)物理地连接以组装车辆(1)；从已组装车辆(1)的各模块(30；40)中的至少一个接收(s102)对各模块(30；40)之间的连接的验证。(The invention relates to a method performed by a first control device (100) for controlling the assembly of a vehicle (1) from a set of modules (20), the set of modules (20) comprising: at least one drive module (30); and at least one functional module (40), wherein the at least one drive module (30) comprises a pair of wheels (32) and is configured to be operated autonomously, and wherein each module (30; 40) of the set of modules (20) comprises at least one interface (50) that is releasably connectable to a corresponding interface (50) on the other module, the method comprising: commanding (s101) a second control device (200) of the at least one drive module (30) to physically connect the at least one drive module (30) with the at least one functional module (40) to assemble the vehicle (1); a verification of a connection between modules (30; 40) of an assembled vehicle (1) is received (s102) from at least one of the modules (30; 40).)
1. A method performed by a first control device (100) for controlling an assembly of a vehicle (1) from a set of modules (20), the set of modules (20) comprising:
at least one drive module (30); and
at least one functional module (40),
wherein the at least one drive module (30) comprises a pair of wheels (32) and is configured to be operated autonomously, and wherein each module (30; 40) of the set of modules (20) comprises at least one interface (50) releasably connectable to a corresponding interface (50) on the other module, the method comprising:
commanding (s101) a second control device (200) of said at least one drive module (30) to physically connect said at least one drive module (30) with said at least one functional module (40) to assemble the vehicle (1); and
a verification of a connection between modules (30; 40) of an assembled vehicle (1) is received (s102) from at least one of the modules (30; 40).
2. The method of claim 1, further comprising:
selecting (s100) the at least one functional module (40) connected with the at least one drive module (30) based on a function to be performed by the assembled vehicle (1).
3. The method according to any one of the preceding claims, wherein commanding (s101) a second control device (200) of the at least one drive module (30) to be physically connected with the at least one functional module (40) further comprises commanding (s101) a second control device (200) of the at least one drive module (30) to be electrically connected with the at least one functional module (40).
4. The method of any of the preceding claims, further comprising:
a unique identification for the assembled vehicle (1) is generated (s 103).
5. The method of any of the preceding claims, further comprising:
determining (s104a) a configuration for the at least one drive module (30) based on a function to be performed by the assembled vehicle (1), and
the determined configuration is sent (s104b) to the second control device (200).
6. The method of claim 5, wherein the configuration is defined by configuration parameters associated with features of the drive module, the features including at least one of: suspension, steering, braking and power take off.
7. A computer program (P) comprising instructions which, when the program is executed by a computer (100; 500), cause the computer (100; 500) to carry out the method according to any one of the preceding claims.
8. A computer-readable medium comprising instructions that, when executed by a computer (100; 500), cause the computer (100; 500) to perform the method according to any one of claims 1-6.
9. A first control device (100) for controlling the assembly of a vehicle (1) from a set of modules (20), the set of modules (20) comprising:
at least one drive module (30); and
at least one functional module (40),
wherein the at least one drive module (30) comprises a pair of wheels (32) and is configured to be operated autonomously, and wherein each module (30; 40) of the set of modules (20) comprises at least one interface (50) releasably connectable to a corresponding interface (50) on the other module,
the first control device (100) is configured to:
commanding a second control device (200) of said at least one drive module (30) to physically connect said at least one drive module (30) with said at least one functional module (40) to assemble the vehicle (1); and
verification of connections between modules (30; 40) of an assembled vehicle (1) is received from at least one of the modules (30; 40).
10. The first control device (100) according to claim 9, wherein the first control device (100) is configured to determine the configuration of the at least one drive module (30) based on a function to be performed by the assembled vehicle (1) and to send the determined configuration to the second control device (200).
11. A method performed by a second control device (200) for controlling assembly of a vehicle (1) from a set of modules (20), the set of modules (20) comprising:
at least one drive module (30); and
at least one functional module (40),
wherein the at least one drive module (30) comprises a pair of wheels (32) and is configured to be operated autonomously, and wherein each module (30; 40) of the set of modules (20) comprises at least one interface (50) releasably connectable to a corresponding interface (50) on the other module, wherein a second control device (200) is comprised in the at least one drive module (30), the method comprising:
receiving (s201), from a first control device (100), a command to physically connect the at least one drive module (30) with the at least one functional module (40);
controlling (s202) the at least one driver module (30) to be physically connected with the at least one functional module (40); and
the connection between the modules (30; 40) is verified (s 203).
12. The method of claim 11, further comprising:
controlling (s202) the at least one driver module (30) to be electrically connected with the at least one functional module (40).
13. The method according to any one of claims 11-12, further comprising:
receiving (s204) a unique identification for the assembled vehicle (1) from the first control device (100).
14. The method according to any one of claims 11-13, further comprising:
receiving (s205), from a first control device (100), a configuration for the at least one drive module (30), wherein the configuration is determined based on a function to be performed by the assembled vehicle (1); and
configuring (s206) the at least one drive module (30) according to the received configuration.
15. The method according to any one of claims 11-13, further comprising:
configuring (s209) the at least one drive module (30) according to at least one stored configuration, wherein the at least one stored configuration is based on a function to be performed by the assembled vehicle (1).
16. A computer program (P) comprising instructions which, when the program is executed by a computer (200; 500), cause the computer (200; 500) to carry out the method according to any one of claims 11 to 15.
17. A computer-readable medium comprising instructions that, when executed by a computer (200; 500), cause the computer (200; 500) to perform the method according to any one of claims 11 to 15.
18. A second control device (200) for controlling the assembly of a vehicle (1) from a set of modules (20), the set of modules (20) comprising:
at least one drive module (30); and
at least one functional module (40),
wherein the at least one drive module (30) comprises a pair of wheels (32) and is configured to be operated autonomously, and wherein each module (30; 40) comprises at least one interface (50) releasably connectable to a corresponding interface (50) on the other module, wherein a second control device (200) is comprised in the at least one drive module (30), the second control device (200) being configured to:
receiving a command from a first control device (100) to physically connect the at least one drive module (30) with the at least one functional module (40);
controlling the at least one driver module (30) to be physically connected with the at least one function module (40); and
the connection between the modules (30; 40) is verified.
19. Second control device (200) according to claim 18, wherein the second control device (200) is configured to receive a configuration for the at least one drive module (30) from the first control device (100), wherein the configuration is determined based on a function to be performed by the assembled vehicle (1), and the second control device is configured to configure the at least one drive module (30) according to the received configuration.
20. Second control arrangement (200) according to claim 18, wherein the second control arrangement (200) is configured to configure the at least one drive module (30) according to a stored configuration, wherein the stored configuration is based on functions to be performed by the assembled vehicle (1).
21. Second control device (200) according to any of claims 19 and 20, wherein the configuration is defined by parameters associated with characteristics of the drive module (30) including at least one of: suspension, steering, braking and power take off.
22. A system (10) for controlling the assembly of a vehicle (1) from a set of modules (20), the set of modules (20) comprising
At least one drive module (30); and
at least one functional module (40),
wherein the at least one drive module (30) comprises a pair of wheels (32) and is configured to be operated autonomously, and wherein each module (30; 40) of the set of modules (20) comprises at least one interface (50) releasably connectable to a corresponding interface (50) on the other module, the system (10) comprising:
a first control device (100) configured to command the at least one drive module (30) to physically connect with the at least one functional module (40) to assemble the vehicle (1) and to receive, from at least one of the modules (30; 40) of the assembled vehicle (1), a verification of the connection between the modules (30; 40); and
a second control device (200) configured to receive a command to physically connect the at least one driver module (30) with the at least one functional module (40) from the first control device (100), control the at least one driver module (30) to physically connect with the at least one functional module (40), and verify the connection between the modules (30; 40).
23. The system (10) according to claim 22, wherein the first control device (100) is configured to determine a configuration for the at least one drive module (30) based on a function to be performed by the assembled vehicle (1) and to send the determined configuration to the second control device (200), and wherein the second control device (200) is configured to receive the configuration for the at least one drive module (30) from the first control device (100), wherein the configuration is determined based on the function to be performed by the assembled vehicle (1), and the second control device is configured to configure the at least one drive module (30) according to the received configuration.
24. A vehicle (1) comprising at least one drive module (30) and at least one functional module (40), wherein the at least one drive module (30) comprises a pair of wheels (32) and is configured to be operated autonomously, wherein the vehicle (1) is assembled by means of a method according to any one of claims 1-6 and 11-15.
Technical Field
The invention relates to a method for controlling the assembly of a vehicle from a set of modules. The invention also relates to a first control device for controlling the assembly of a vehicle, a second control device for controlling the assembly of a vehicle, a system for controlling the assembly of a vehicle, a vehicle assembled by means of the method, a computer program and a computer readable medium.
Background
Today's vehicles are often manufactured for specific purposes, e.g. buses are manufactured to transport people and trucks are manufactured to transport goods. Such vehicles are typically manufactured and fully assembled in a factory, or they may be partially assembled in a factory and completed at the body manufacturer. Once the vehicle is assembled, the vehicle can only be used for a specific purpose. Thus, the bus will only be used as a bus, and the garbage truck will only be used as a garbage truck. Different vehicles are therefore required for different purposes, which may require a large fleet of vehicles and may be very expensive. Thus, a more flexible vehicle that can be customized may be desirable.
For example, there are known solutions in which a truck can be rebuilt by changing the concrete mixer to a loading platform. This increases the flexibility and two different functions can be achieved by means of a single vehicle. In addition, document US2018/0129958A discloses a modular electric vehicle using interchangeable vehicle component modules. The user may thus disassemble and reassemble the vehicle for different applications. However, disassembling and reassembling such a vehicle can be very cumbersome and time consuming.
Disclosure of Invention
Despite the solutions known in the art, it is still desirable to obtain a flexible vehicle which solves or at least mitigates at least some of the disadvantages of the prior art. It is therefore an object of the present invention to achieve a novel and advantageous method for controlling the assembly of a vehicle from a set of modules, which is easier and less time consuming than prior art solutions. Another object of the present invention is to obtain a novel and advantageous control device, system, computer program and computer readable medium for controlling the assembly of a vehicle from a set of modules in an easier and more time-saving manner.
The object described herein is achieved by a method for controlling the assembly of a vehicle from a set of modules, a first control device, a second control device, a system, a vehicle, a computer program and a computer readable medium according to the independent claims.
Thus, according to an aspect of the invention, a method performed by a first control device for controlling assembly of a vehicle from a set of modules is provided. The set of modules includes: at least one drive module; and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, and wherein each module of the set of modules comprises at least one interface releasably connectable to a corresponding interface on another module. The method comprises the following steps: commanding a second control device of the at least one drive module to physically connect the at least one drive module with the at least one functional module to assemble the vehicle; and receiving verification of connections between the modules from at least one of the modules of the assembled vehicle. According to another aspect of the present invention, there is provided a first control device for controlling assembly of a vehicle from a set of modules, the set of modules comprising: at least one drive module; and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, and wherein each module of the set of modules comprises at least one interface releasably connectable to a corresponding interface on another module. The first control device is configured to: commanding a second control device of the at least one drive module to physically connect the at least one drive module with the at least one functional module to assemble the vehicle; and receiving verification of connections between the modules from at least one of the modules of the assembled vehicle.
According to another aspect of the invention, there is provided a method performed by a second control apparatus for controlling assembly of a vehicle from a set of modules comprising: at least one drive module; and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, and wherein each module of the set of modules comprises at least one interface releasably connectable to a corresponding interface on the other module, wherein a second control device is comprised in the at least one drive module, the method comprising: receiving a command from the first control device to physically connect the at least one driver module with the at least one function module; controlling the at least one driver module to be physically connected with the at least one function module; and verifying the connections between the modules.
According to another aspect of the present invention, there is provided a second control apparatus for controlling assembly of a vehicle from a set of modules, the set of modules comprising: at least one drive module; and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, and wherein each module comprises at least one interface releasably connectable to a corresponding interface on the other module, wherein a second control device is comprised in the at least one drive module, the second control device being configured to: receiving a command from the first control device to physically connect the at least one driver module with the at least one function module; the control driving module is physically connected with the at least one functional module; and verifying the connections between the modules.
According to another aspect of the invention, there is provided a system for controlling the assembly of a vehicle from a set of modules, the set of modules comprising: at least one drive module; and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, and wherein each module of the set of modules comprises at least one interface releasably connectable to a corresponding interface on another module, the system comprising: a first control device configured to command the at least one drive module to physically connect with the at least one functional module to assemble the vehicle, and to receive verification of connections between the modules from at least one of the modules of the assembled vehicle; a second control device configured to receive a command to physically connect the driving module with the at least one functional module from the first control module, control the at least one driving module to physically connect with the at least one functional module, and verify a connection between the modules.
According to another aspect of the present invention, a vehicle is provided. The vehicle comprises at least one drive module and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, wherein the vehicle is assembled by means of the method disclosed herein.
Assembling a vehicle from a set of modules allows the vehicle to be dynamically assembled according to the task or function currently to be performed. In this way, it is possible to assemble, for example, a truck, a garbage truck, a bus or a snow remover from the same set of modules. This not only results in increased flexibility, but also greatly reduces the cost of the vehicle owner, as compared to having multiple different vehicles for different applications. The autonomously operated drive module receives a command from the first control device to physically connect with the at least one functional module. The second control device of the drive module then controls the drive module to execute the command. This means that the driver module receives the command and autonomously/automatically performs a physical connection with the at least one functional module. In this way, no manual work is required, and assembly of the vehicle becomes less cumbersome and more time-saving. Since the assembly is performed autonomously, it is easier and faster to assemble and disassemble the vehicle more frequently. In this way, a plurality of different vehicle types may be assembled from the set of modules during a day. For example, during the day at least one drive module may be connected with a functional module to assemble a vehicle acting as a bus, whereas at night when a bus is not needed, the same drive module may be used to assemble a vehicle acting as a garbage truck. Since one and the same module can be used for different types of vehicles, the utilization of the modules can be optimized. Furthermore, in the event of an error, damage or breakage, the malfunctioning module can be easily removed from the vehicle and repaired/repaired. A malfunctioning module can be quickly replaced by a properly functioning module and the assembled vehicle can thus continue its operation. As a result, vehicle off-going (VOR) time will be reduced and vehicle utilization will be improved. By verifying the connection, the first control means is informed that the command has been executed and that the modules are correctly connected. The verification may also trigger the first control device to issue a command to the assembled vehicle to perform a particular task/function.
Further objects, advantages and novel features of the invention will become apparent to those skilled in the art from the following details, and by putting the invention into practice. Although embodiments of the invention are described below, it should be noted that the invention is not limited to the specific details described. Experts enabled with the teachings herein will recognize further applications, modifications and combinations within other fields, which are within the scope of the present invention.
Drawings
For a more complete understanding of the present invention, and for further objects and advantages thereof, reference is made to the following detailed description, which should be read in conjunction with the accompanying drawings, wherein like reference numerals represent like items in the various figures, and wherein:
fig. 1 schematically shows a first control device for controlling the assembly of a vehicle according to an embodiment;
fig. 2 schematically shows a second control device for controlling the assembly of a vehicle according to an embodiment.
Fig. 3 schematically shows a system for controlling assembly of a vehicle according to an embodiment.
FIG. 4 schematically shows an application of a system for controlling assembly of a vehicle according to an embodiment;
5a-c show a flow chart of a method performed by a first control device for controlling assembly of a vehicle, according to an embodiment;
6a-c show a flow chart of a method for controlling assembly of a vehicle performed by a second control device, according to an embodiment; and
fig. 7 schematically shows a control device or computer according to an embodiment.
Detailed Description
In order to be able to meet the different vehicle requirements of the customers in a flexible and cost-effective manner, a method for realizing a modular vehicle has been developed. The modular vehicle according to the present disclosure is typically assembled at the customer's premises, and the customer may therefore purchase a set of modules from the manufacturer. The present disclosure is applicable to a variety of road vehicles. However, the present disclosure may relate to heavy vehicles, such as buses, trucks, and the like. In particular, the present disclosure may relate to vehicles for use on public roads.
According to an aspect of the present disclosure, there is provided a method performed by a first control device for controlling assembly of a vehicle from a set of modules comprising: at least one drive module; and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, and wherein each module of the set of modules comprises at least one interface releasably connectable to a corresponding interface on another module, the method comprising: commanding a second control device of the at least one drive module to physically connect the at least one drive module with the at least one functional module to assemble the vehicle; and receiving verification of connections between the modules from at least one of the modules. By indicating that the autonomously operating drive module is physically connected with the at least one functional module, manual work is avoided and assembly of the vehicle is easier and more time-saving. This verification informs the first control device that the vehicle has been assembled correctly, whereby the vehicle is ready to receive instructions relating to the function/task to be performed. It should be understood that the at least one driver module is physically connected with the at least one functional module by their corresponding interfaces.
The first control device can command the two drive modules to be connected to the at least one functional module. Alternatively, the first control device may command the at least one drive module to connect with another drive module.
The method may further comprise: an acceptance of a command to connect the at least one driver module with the at least one function module is received from a second control device of the at least one driver module. In case the received command cannot be executed, it may be rejected by the second control means. The first control device may thus receive a rejection of the command from the second control device. In this case, the method ends for the drive module associated with the second control device. The first control device may then select another drive module and start the process over.
The set of modules may include a plurality of driver modules and a plurality of functional modules. The different drive modules may be identical, or the drive modules may for example have different types/sizes of wheels. In one embodiment, the drive module includes a body configured with a pair of wheels disposed on opposite sides of the drive module. In one embodiment, the drive module includes only one pair of wheels. The drive module includes at least one propulsion unit connected to the pair of wheels. The propulsion unit may be an electric motor connected to each wheel. The pair of wheels of the drive module may thus be referred to as drive wheels. In one embodiment, the drive module includes two motors, one motor connected to each wheel. The motor may be arranged in the rim of each wheel. The wheels of the drive module can thus be driven independently of one another. The electric machine can also function as a generator and generate electric energy when braking each wheel. The drive module may further include a steering system connected to each wheel. In this way, the drive module is steerable. The drive module may further comprise a braking system for braking the respective wheel. Suitably, the braking system comprises a wheel brake for each wheel of the drive module. This makes it possible to achieve redundancy in that, in the event of a failure of the steering system, the drive module can be actuated by means of the electric motor and/or the wheel brake. In an embodiment, the drive module further comprises at least one energy storage unit for providing energy to the propulsion unit. The energy storage unit may be a battery. The battery may be rechargeable. The drive module being configured to operate autonomously means that the drive module comprises a plurality of sensors and systems for automatically steering and driving the drive module as a stand-alone unit according to conventional methods. According to an embodiment, the drive module comprises a navigation system and a sensor for detecting objects around the drive module. The drive module may be referred to as an autonomously operating vehicle in the sense that it allows operation on public roads.
Each functional module is configured to perform a predetermined function when belonging to an assembled vehicle. In one embodiment, the functional module is configured to receive or support a load. The at least one functional module may be configured for accommodating passengers and may thus be used as a bus when assembled with the at least one drive module. The at least one functional module may alternatively be configured for transporting cargo and may thus be used as a truck when assembled with the at least one drive module. The at least one functional module may be any one of a garbage truck body, a loading platform, a fork arrangement for a forklift and a snow remover. The functional module may include a non-drivable or non-steerable tug. The functional module cannot move by itself but needs to be connected to at least one drive module to move, thereby functioning as a vehicle. The functional module may comprise an energy storage unit. The functional module may further comprise control means adapted to communicate with the first control means, hereinafter referred to as third control means. The third control means may also be adapted to communicate with the second control means when the drive module and the functional module are electrically connected. The third control means may be adapted to receive the same commands as the drive modules in order to prepare the functional module for connection with at least one of the drive modules. The first control device can thus command the third control device to physically connect the at least one functional module with the at least one driver module. Alternatively, the functional module does not comprise any control device or electrical system for connection with the drive module.
In order to physically connect the modules, the driver module and the functional module each suitably comprise at least one physical interface. Such physical interfaces may be configured in different ways and may for example comprise coupling units adapted for engagement, quick couplings, hooks, cooperating protrusions and recesses, etc. It should be understood that the configuration of the physical interface itself is not within the invention. The drive module may comprise a physical interface for connecting with the functional module on at least two different sides of the drive module. In this way, the driver module can be connected to the functional module in various ways and flexibility is increased. According to an embodiment, the drive module comprises a physical interface on a front side of the drive module and on a rear side of the drive module. In this way, one and the same drive module can be connected to the front section of the functional module and the rear section of the functional module without having to turn the drive module. Additionally or alternatively, the drive module may include a physical interface on a top side of the drive module. The different physical interfaces for connecting with the functional module may be the same on all sides of the driver module. The physical interface of the driver module is adapted to be connected with the functional module and/or another driver module. By using a standard interface which is available for connection with another drive module as well as with the functional module, the flexibility of the drive module is increased and the assembly of the vehicle becomes easy.
Typically, a vehicle operator, such as a fleet manager or vehicle owner, has a list of functions/tasks requested to be performed. These functions/tasks may be transportation personnel, cargo, trash, etc. To perform a particular function/task, the operator needs a particular vehicle, and the operator typically plans which vehicle to use, when, and for which task. According to an embodiment of the present disclosure, a first control device receives information related to at least one function/task requested to be performed. The first control device may receive information relating to a plurality of functions/tasks requested to be performed. The first control device may also receive information about when to request execution of the at least one function/task. Such information may include a certain day and a certain time of day, etc. In the case where the first control device receives a plurality of functions/tasks requested to be performed, the first control device may determine a priority order of the requested functions/tasks and control assembly of the vehicle based on the priority. The order of priority may be determined based on information related to a schedule, time for loading/unloading, traffic accidents, and the like. In one embodiment, the first control device receives information from an operator regarding the at least one function/task to be performed. Information relating to the function/task to be performed may be input into the first control means via a user interface (such as a touch screen, keyboard, etc.) connected to the first control means. In another embodiment, the information about the function/task is automatically input into the first control means on the basis of the function/task requested to be performed by means of e.g. artificial intelligence. When the first control device has information about the function/task to be performed, the first control device may determine which type of vehicle is required to perform the function/task.
The method may further include selecting the at least one functional module and/or the at least one drive module to assemble the vehicle. The at least one function module to be connected with the at least one drive module may be selected based on a function to be performed by the assembled vehicle. As previously described, a particular vehicle is required to perform a particular function/task, and the first control device, having knowledge about the requested function/task, may thereby select which function module to use to implement such a required vehicle based on the determined type of vehicle required for the function/task. The first control module then sends a signal to the at least one drive module in a command to physically connect with the selected functional module. By using the first control means to select a suitable functional module based on the function to be performed, a dynamic vehicle assembly is achieved and manual effort is reduced. The at least one drive module may be selected based on a function to be performed by the assembled vehicle. Further, the at least one driver module may be selected based on geographic area, weather, road conditions, and the like. For example, the function to be performed may require the vehicle to operate in a particular environment where a drive module having larger, more durable wheels should be used. By selecting the at least one function module and/or the at least one drive module based on the function to be performed, a customized vehicle may be assembled, which is adapted to the function to be performed. Furthermore, an assembled vehicle may be achieved, which is adapted to the environment and operating conditions of the vehicle. The first control means may be able to communicate with all modules in the set of modules and may thus be aware of the status of each module. The state of a module may be referred to as the functional/operational state of the module. For example, the first control means may continuously receive and store information relating to the charge state of the energy storage unit of each module. The at least one driver module and/or the at least one function module may be selected based on a state of each module. When the vehicle is assembled, the first control device may command the assembled vehicle to perform a task/function. The tasks/functions may be communicated to a second control device of the at least one drive module that automatically controls the assembled vehicle to perform the functions/tasks. According to an embodiment, there is a handshake between the assembled vehicle and the first control device when the assembled vehicle has received the function/task to be performed. The handshake may be between the second control device and the first control device. When the assembled vehicle has performed its task, the vehicle may be disassembled, and the modules may be used to assemble a new vehicle for a new function or task. Similar to assembly, disassembly of the vehicle is suitably performed by sending commands to the drive module, which autonomously/automatically executes the commands.
The sensor device may be arranged at the drive module and/or the functional module. The sensor device may be configured to sense when the drive module and the functional module have been properly physically connected. The second control means of the drive module may be arranged to communicate with the sensor means and may thereby receive a signal from the sensor means indicating that the connection was successfully performed. Once the second control device has received the signal from the sensor device, a verification of the performed connection may be sent to the first control device. Alternatively, the sensor device is arranged to communicate directly with the first control device, wherein the verification received by the first control device is a signal from the sensor device. In this way, the first control apparatus can receive verification of connection between the modules from at least one of the modules of the assembled vehicle. The sensor device may be arranged to communicate directly with the first control device and the second control device.
The step of commanding the at least one driver module to physically connect with the at least one functional module may further comprise commanding the at least one driver module to electrically connect with the at least one functional module. The at least one driver module and the at least one functional module may each comprise at least one electrical interface for electrically connecting the modules. Such an electrical interface may be configured to transmit electrical energy and/or send and/or receive electrical signals. The electrical interface may be a wireless interface or a conductive interface. By electrically connecting the driver module and the functional module, the modules can transfer electrical energy between each other and also share information. When the driver module and the functional module have been electrically connected, there may be handshaking between the modules. Verifying that a physically connected sensor device as described above may also be configured to sense when an electrical connection is performed. Alternatively, the drive module comprises another sensor for sensing when an electrical connection is performed. The received verification of the connection between the modules may thus comprise verification of a physical and/or electrical connection.
The modules of the assembled vehicle may communicate with each other and/or with the first control device via 4G, 5G, V2I (vehicle-to-infrastructure), Wi-Fi, or any other wireless communication means.
The method may further include generating a unique identification for the assembled vehicle. The unique identifier may be transmitted to the second control device of the at least one drive module. The unique identification may be a number, a combination of letters and/or numbers or a specific word. Suitably, the first control means generates the unique identification after verification of the connection has been received. Thus, when the different modules are connected, the vehicle is already assembled and a unique identification can be generated. Thus, the unique identification remains unchanged whether or not the module is replaced due to a failure. The unique identification thus remains unchanged until the vehicle is disassembled. The unique identification may be used in communication between the first control device and any module of the assembled vehicle.
The method may further include determining a configuration for the at least one drive module based on a function to be performed by the assembled vehicle; and sending the determined configuration to the second control device. The first control means may thus instruct the second control means of the at least one drive module to configure the at least one drive module based on the function to be performed by the assembled vehicle. The first control means may for example determine that a specific suspension characteristic, a specific brake setting and/or a specific steering ratio is required for the function to be performed by the assembled vehicle. The first control device can thus instruct the second control device, which is sent to the drive module, to configure the drive module accordingly. The configuration instructions from the first control device may also be based on selected functional modules connected to the drive module.
According to an embodiment, the determined configuration is defined by configuration parameters associated with characteristics of the drive module, the characteristics including at least one of suspension, braking, steering and power take off. Configuration parameters related to the suspension of the drive module may include suspension travel and/or suspension stiffness. The steering related configuration parameters may include a maximum steering angle, etc. The configuration parameters related to braking may include maximum braking force, etc. Configuration parameters related to power output may include allowing different levels of power output depending on the task/function to be performed by the assembled vehicle. The at least one driver module may be associated with a registration number.
Thereby, the at least one drive module may be regarded as an independent vehicle. In the case where the assembled vehicle includes two drive modules, each drive module is associated with a different registration number. The first control means may determine which driver module should display its registration number. In the case where the assembled vehicle includes two drive modules, the first control device may designate one drive module as a master drive module and the other as a slave drive module. Typically, the master drive module will be commanded to show its registration number, while the slave drive module will not. The first control device can thus send instructions relating to the registration number to the second control device of the at least one drive module.
The present disclosure also relates to a first control device for controlling the assembly of a vehicle from a set of modules comprising: at least one drive module; and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, and wherein each module of the set of modules comprises at least one interface releasably connectable to a corresponding interface on the other module, the first control device being configured to: commanding a second control device of the at least one drive module to physically connect the at least one drive module with the at least one functional module to assemble the vehicle; and receiving verification of connections between the modules from at least one of the modules.
The first control device may be configured to determine a configuration for the at least one drive module based on a function to be performed by the assembled vehicle and to send the determined configuration to the second control device. The first control device may thus be configured to send configuration instructions to the second control device.
It will be appreciated that all embodiments described in relation to the method aspect of the invention, as performed by the first control apparatus, are also applicable to the first control apparatus aspect of the invention. That is, the first control means may be configured to perform any one of the steps of the method according to the various embodiments described above.
The first control device may be referred to as a control center or an off-board system. The first control device may be geographically distanced from the module. The first control device may be adapted to receive information relating to a task or function to be performed and to initiate assembly of the vehicle based on the task/function. The first control means may be adapted to receive this information from the operator via the user interface. The first control means may be implemented as a separate entity or distributed among two or more physical entities. The first control means may comprise one or more computers. The first control device may thus be implemented or realized by a first control device comprising a processor and a memory, the memory comprising instructions which, when executed by the processor, cause the first control device to perform the method disclosed herein.
The disclosure also relates to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the above-mentioned method. The invention also relates to a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to perform the above-mentioned method.
The disclosure further relates to a method performed by a second control device for controlling assembly of a vehicle from a set of modules comprising: at least one drive module; and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, and wherein each module of the set of modules comprises at least one interface releasably connectable to a corresponding interface on the other module, wherein a second control device is comprised in the at least one drive module, the method comprising: receiving a command from the first control device to physically connect the at least one driver module with the at least one function module; controlling the at least one driver module to be physically connected with the at least one function module; and verifies the connections between the modules. The second control means and thus the driver module are commanded to be physically connected with the at least one functional module, and the second control means subsequently executes the command by controlling the at least one driver module to be physically connected with the at least one functional module. The at least one driver module is physically connected with the at least one functional module by their corresponding interfaces. By the method according to this embodiment, the drive module autonomously/automatically performs the connection with the at least one functional module and thus the assembly of the vehicle. Thereby a fast and easy assembly of the vehicle is achieved. When the second control device has received the command, the second control device may accept the command and prepare for the connection. The acceptance of the command is sent to the first control device. The second control device may then control the drive module to be physically connected with the functional module. In case the received command cannot be executed, it may be rejected by the second control means. The second control device may thus send a rejection of the command to the first control device. In this case, the method ends for the drive module associated with the second control device. The first control means may then select another drive module and then start the process over. The second control means may reject the command based on, for example, internal data relating to the operating state of the drive module. The functional module may also receive commands and prepare for a physical connection. As previously mentioned, the sensor means may be arranged at the drive module and/or the functional module for determining when the drive module and the functional module have been physically connected. The second control means of the drive module may be arranged to communicate with the sensor means. The method may thus comprise receiving a signal from the sensor device indicating that the connection has been successfully performed, and verifying the performed connection with the first control device.
Controlling the at least one drive module to physically connect with the at least one functional module may include controlling propulsion and steering of the drive module such that the drive module is moved to the functional module to be connected. Controlling the at least one driver module to be physically connected with the at least one function module may further include identifying a location of the function module to be connected. Controlling the at least one driver module to be physically connected with the at least one function module may further comprise controlling a physical interface of the driver module such that it is connected with a corresponding physical interface of the function module.
The step of receiving a command from the first control device to physically connect the at least one drive module with the at least one functional module may further comprise receiving a command from the first control device to electrically connect the at least one drive module with the at least one functional module. The step of controlling the at least one driver module to be physically connected with the at least one functional module may thus further comprise controlling the driver module to be electrically connected with the at least one functional module. As mentioned above in relation to the method performed by the first control device, the at least one driver module and the at least one functional module may each comprise at least one electrical interface for electrically connecting the respective modules. The manner in which the electrical interface is configured is not per se within the present invention. The drive module is suitably physically connected to the functional module before the control drive module is electrically connected. The control drive module electrically connected to the at least one functional module may comprise a control switch, contacts, etc. The control drive module being electrically connected with the at least one functional module may additionally or alternatively comprise plugging a plug into a socket. Once the electrical connection has been performed, energy transfer and/or communication between the modules may take place. Electrically connecting the driver module with the functional module may be similar to plug and play. That is, as long as the modules are connected, they can be used without reconfiguring the modules. When the driver module and the functional module have been electrically connected, there is thus a handshake between the modules. The sensor device sensing the physical connection may also be configured to determine when the electrical connection has been properly performed. The step of verifying the connection between the driver module and the at least one functional module may thus comprise verifying the physical and/or electrical connection.
The method may further include receiving a unique vehicle identification from the first control device. As described above with respect to the method performed by the first control device, the unique vehicle identification may be generated by the first control device when the vehicle has been assembled. The second control device may store the unique vehicle identification in a memory and may use it for any further communication with the first control device when belonging to an assembled vehicle.
The method may also include receiving an instruction from the first control device relating to the registration number. Each drive module may include a registration number, and in the case where two or more drive modules are used in an assembled vehicle, only one registration number should be shown. The at least one driver module may thus receive instructions to show or not show the registration number. The registration number may be presented on a digital screen on the drive module. In the event that the drive module displaying the registration number fails, the registration number may be presented by another drive module of the assembled vehicle, or the registration number may be presented by a new drive module that replaces the failed drive module. Alternatively, the registration number may be displayed on a display of the function module.
The method may further comprise: receiving a configuration for the at least one drive module from the first control device, wherein the configuration is determined based on a function to be performed by the assembled vehicle; and configuring the at least one driver module according to the received configuration. The second control device may receive commands to configure the drive module with respect to suspension characteristics, brake settings, steering ratio, etc. When the drive module is connected with the functional module and the vehicle is assembled and ready to receive a task or function for execution, the configuration instructions are received appropriately. When the drive module forms part of a vehicle performing the functions of transporting persons, transporting goods, shoveling snow, etc., a different configuration of the drive module may be required. The drive module may also be dynamically configured based on the surrounding environment in which the vehicle is to perform its functions. Thus, if the vehicle is to be operated in rough terrain, different suspension characteristics may be required than if the vehicle is to be operated on a highway, for example. The first control device can therefore send instructions to the second control device of the drive module, so that the second control device configures the drive module accordingly. The configuration instructions may also be based on a functional module connected to the driver module. By dynamically configuring the drive module depending on the function to be performed, the drive module, and thus the assembled vehicle, is easily adapted to the upcoming task, thereby ensuring the functionality and comfort/safety of the vehicle. As described above, adjusting and optimizing vehicle characteristics for a particular vehicle function or task by dynamically reconfiguring modules also results in reduced component wear, reduced down-time (VOR) and increased maintenance time for the respective modules.
Alternatively, the method further comprises configuring the at least one drive module according to at least one stored configuration, wherein the at least one stored configuration is based on the function to be performed by the assembled vehicle. The driver module may have some configurations that are more common than others. Such a configuration may be stored in the second control means or in a separate memory connected to the second control means. Thus, the second control device may be configured to store a plurality of different configurations for the at least one drive module, wherein each configuration is associated with a specific type of assembled vehicle and/or a specific function to be performed by the assembled vehicle. In this way, when the second control means knows which type of assembled vehicle the drive module will belong to, and/or when the second control means knows which function the assembled vehicle should perform, the stored configuration of the drive module associated with such an assembled vehicle and/or such a function to be performed is used to configure the at least one drive module. For example, if the at least one drive module belongs to a garbage truck, the stored configuration associated with the garbage truck may be easily retrieved from the second control device or a memory connected to the second control device, and the at least one drive module will perform the corresponding configuration. According to an embodiment, the at least one configuration for the at least one driver module is stored in a third control means of the functional module. Thus, when the at least one driver module and the functional module are connected, the second control means of the at least one driver module receives the stored configuration from the third control means of the functional module, and the at least one driver module is subsequently configured according to the received configuration.
The method may thus comprise configuring the at least one drive module according to a stored configuration or a received configuration for the at least one drive module, wherein the configuration is based on the function to be performed by the assembled vehicle.
The present disclosure also relates to a second control device for controlling the assembly of a vehicle from a set of modules comprising: at least one drive module; and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, and wherein each module comprises at least one interface releasably connectable to a corresponding interface on the other module, wherein a second control device is comprised in the at least one drive module, the second control device being configured to: receiving a command from the first control device to physically connect the at least one driver module with the at least one function module; the control driving module is physically connected with the at least one functional module; and verifying the connections between the modules.
According to an embodiment, the second control device is configured to receive from the first control device a configuration for the at least one drive module, wherein the configuration is determined based on the function to be performed by the assembled vehicle, and the second control device is configured to configure the at least one drive module according to the received instruction. According to an embodiment, the second control device is configured to configure the at least one drive module according to at least one stored configuration, wherein the at least one stored configuration is based on the function to be performed by the assembled vehicle. The second control device may thus be configured to store at least one configuration for the at least one drive module, wherein the at least one configuration is based on the function to be performed by the assembled vehicle. According to an embodiment, the second control means is configured to receive a stored configuration for the at least one drive module from the third control means of the function module, wherein the at least one stored configuration is based on the function to be performed by the assembled vehicle. The second control device may thus be configured to configure the at least one drive module according to a stored configuration or a received configuration for the at least one drive module, wherein the configuration is based on the functions to be performed by the assembled vehicle.
It should be understood that all embodiments described for this method aspect of the invention also apply for the second control apparatus aspect of the invention. That is, the second control device may be configured to perform any one of the steps of the method performed by the second control device according to the various embodiments described above.
The drive module includes a second control device, and the second control device may be configured to control operation of the drive module. The second control device may thus be configured to send control signals to various systems and components of the drive module, for example for controlling steering and propulsion of the drive module. The second control device may be adapted to autonomously operate the drive module based on received commands (e.g. from the first control device) and based on sensor inputs relating to its surroundings and position. The second control means is thus adapted to receive commands from the remotely located control means, which may be the first control means or another control means, and to convert the commands into control signals for controlling the various systems and components of the drive module. The second control device may be configured to receive data relating to the surroundings from the various sensor devices and to control the drive module based on the data. The second control device may also be adapted to communicate with various types of traffic systems. The second control device is thus able to determine the state of the traffic light, determine whether an accident has occurred, and on the basis thereof determine a new route for the vehicle, or if not connected to a functional module, determine a new route of itself, etc. The second control device may be adapted to communicate directly with such a traffic system, or it may be adapted to communicate with such a traffic system via the first control device. The second control means may be implemented as a separate entity or distributed among two or more physical entities. The second control means may comprise one or more computers. The second control apparatus may thus be implemented or realized by a second control apparatus comprising a processor and a memory, the memory comprising instructions which, when executed by the processor, cause the first control apparatus to perform the method disclosed herein.
The disclosure also relates to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method relating to the second control device. The invention also relates to a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out a method relating to a second control device.
Furthermore, the present disclosure relates to a system for controlling assembly of a vehicle from a set of modules, the set of modules comprising: at least one drive module; and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, and wherein each module of the set of modules comprises at least one interface releasably connectable to a corresponding interface on another module, the system comprising: a first control device configured to command the at least one drive module to physically connect with the at least one functional module to assemble the vehicle, and to receive verification of connections between the modules from at least one of the modules of the assembled vehicle; and a second control device configured to receive a command to physically connect the driving module with the at least one function module from the first control module, control the at least one driving module to be physically connected with the at least one function module; and verifies the connections between the modules. By means of this system, a less cumbersome, time-saving and thus cost-effective vehicle assembly from a set of modules is achieved. Moreover, the utilization of the different modules can be improved and the vehicle can be assembled to better meet customer needs and perform specific functions.
According to an embodiment of the system, the first control device is configured to determine a configuration of the at least one drive module based on functions to be performed by the assembled vehicle and to send the determined configuration to the second control device, and the second control device is configured to receive the configuration for the at least one drive module from the first control device and to configure the at least one drive module according to the received configuration.
The present disclosure also relates to a vehicle. The vehicle comprises at least one drive module and at least one functional module, wherein the at least one drive module comprises a pair of wheels and is configured to be operated autonomously, wherein the vehicle is assembled by means of the method disclosed herein.
The disclosure will now be further explained with reference to the drawings.
The term "link" refers herein to a communication link, which may be a physical connection (such as an optical electrical communication line) or a non-physical connection (such as a wireless connection), for example, a radio link or a microwave link.
Fig. 1 schematically shows a
Fig. 2 schematically shows a
Fig. 3 schematically shows a
Fig. 4 schematically shows an embodiment of an application of the
an embodiment of a sequence for vehicle assembly will be described below. An operator may be tasked with a customer to transport goods from one location to another. The operator inputs information related to the task into the
Fig. 5a shows a flow chart of a method performed by the
Fig. 5b shows a flow chart of a method performed by the
Commanding s101 that the at least one
Receiving s102 verification of the connection between the
Fig. 5c shows a flow chart of a method performed by the
The method according to this embodiment comprises receiving s106 information relating to at least one requested function/task to be performed. Such functions/tasks may be transporting personnel, transporting goods from a to B, shoveling snow, lifting goods, etc. The
The method may further comprise selecting s100 at least one
The method further comprises commanding s101 the
The method according to this embodiment further comprises receiving s108 an acceptance of a command to connect the at least one
Furthermore, the method comprises receiving s102 a verification of the connection between the
The method further comprises generating s103 a unique vehicle identification for the assembled
The method further comprises determining s104a a configuration for the at least one
The method further comprises commanding s109 the assembled
When the assembled
Fig. 6a shows a flow chart of a method performed by the
Controlling s202 the at least one
Fig. 6b shows a flow chart of a method performed by the
The method may further comprise verifying s203 the connection between the
The method may further comprise receiving s204 a unique vehicle identification from the
The method may further comprise receiving s205 a configuration for the at least one
Fig. 6c shows a flow chart of a method performed by the
The method comprises receiving s201 a command to physically connect the at least one
The method according to this embodiment further comprises sending s207 an acceptance of a command to the
The method further comprises controlling s202 the at least one
Controlling s202 the physical connection of the at least one
The method may further comprise verifying s203 the connection between the
The method may further comprise receiving s204 a unique vehicle identification from the
The method may further comprise receiving s205 from the first control device 100 a configuration for the at least one
Alternatively, the method comprises configuring s209 the at least one
The method further comprises receiving s208 a command from the
Fig. 7 is a block diagram of a version of the apparatus 500. The
A computer program P is provided comprising routines for controlling the assembly of a vehicle from a set of modules. The program P may be stored in an executable form or a compressed form in the memory 560 and/or in the read/write memory 550.
In case the data processing unit 510 is described as performing a specific function, this means that the data processing unit 510 affects a specific part of the program stored in the memory 560 or a specific part of the program stored in the read/write memory 550.
The data processing device 510 may communicate with a data port 599 via a data bus 515. The non-volatile memory 520 is intended to communicate with the data-processing unit 510 via a data bus 512. The separate memory 560 is intended to communicate with the data-processing unit 510 via a data bus 511. The read/write memory 550 is adapted for communication with the data-processing unit 510 via a data bus 514.
When data is received on data port 599, they are temporarily stored in second memory element 540. When the received input data has been temporarily stored, the data processing unit 510 prepares to implement code execution as described above.
Part of the methods described herein may be implemented by the apparatus 500 by means of a data processing unit 510 running a program stored in a memory 560 or a read/write memory 550. The methods described herein are performed when the apparatus 500 runs a program.
The foregoing description of the preferred embodiments of the present invention has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise form disclosed. Many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to understand the invention for various embodiments and with various modifications as are suited to the particular use contemplated.