Method for Controlling an Automatic Guided Vehicle and Control System Adapted to Execute the Method

A method for automatically controlling a vehicle to transport at least two loads from a load picking-up area to an operating area in which the at least two loads are to be placed in corresponding loading areas, wherein the method comprises the steps of

• picking-up a first load with the vehicle in the load picking-up area,
• guiding the vehicle with the first load by guiding means from the load picking-up area to the operating area,
• moving the vehicle in the operating area to map virtual boundaries in the operating area within which the at least two loads are to be placed in the corresponding loading areas,
• generating a loading pattern for placing the at least two loads in the corresponding loading areas within the vehicle boundaries in the operating area and generating travel trajectories which the vehicle has to travel with each of the at least two loads to place the at least two loads in the corresponding loading areas,
• placing the first load in the corresponding loading area based on the generated loading pattern and the generated travel trajectory for the first load,
• mapping the operating area with the placed first load placed in the corresponding loading area and verifying whether the first load in the corresponding loading area corresponds to the loading pattern in such a manner that the at least one further load is able to be placed according to the loading pattern, and
• if the first load in the corresponding loading area does not correspond to the loading pattern in such a manner that the at least one further load is able to be placed according to the loading pattern, correcting the position and/or orientation of the first load in such a manner that the at least one further load is able to be placed according to the loading pattern, wherein optionally the steps of moving the vehicle in the operating area and generating a loading pattern occur during the placement operation for the first load.

A vehicle which is able to automatically transport at least two loads from a load picking-up area to an operating area in which the at least two loads are to be placed in corresponding loading areas, wherein the vehicle comprises:

• means for obtaining information at least about pick-up locations, about the amount and the dimensions of the loads to be transported, and about the loading areas,
• means for scanning the loading area to identify at least the space dimensions of the loading area,
• means for generating a loading pattern for the transport of the at least two loads from the load picking-up area to the loading areas, wherein the loading pattern includes target positions and target orientations of the vehicle to be sequentially reached, and
• means for executing the loading pattern to automatically transport the at least two loads to the operating area until completion of the loading task.

A vehicle which is able to transport automatically at least two loads from a load picking-up area to an operating area in which the at least two loads are to be placed in corresponding loading areas, wherein the vehicle comprises:

• means for picking-up a first load with the vehicle in the load picking-up area,
• means for guiding the vehicle with the first load by guiding means from the load picking-up area to the operating area,
• means for moving the vehicle, during the placement operation for the first load, in the operating area to map virtual boundaries in the operating area within which the at least two loads are to be placed in the corresponding loading areas,
• means for generating, during the placement operation for the first load, a loading pattern for placing the at least two loads in the corresponding loading areas within the vehicle boundaries in the operating area and generating travel trajectories which the vehicle has to travel with each of the at least two loads to place the at least two loads in the corresponding loading areas,
• means for placing the first load in the corresponding loading area based on the generated loading pattern and the generated travel trajectory for the first load,
• means for mapping the operating area with the placed first load placed in the corresponding loading area and verifying whether the first load in the corresponding loading area corresponds to the loading pattern in such a manner that the at least one further load is able to be placed according to the loading pattern, and
• means for correcting the position and/or orientation of the first load in such a manner that the at least one further load is able to be placed according to the loading pattern in the case, that the first load in the corresponding loading area does not correspond to the loading pattern in such a manner that the at least one further load is able to be placed according to the loading pattern.