Patent Description:
The invention can be applied in transporting vehicles, such as trucks, and in loading equipment such as a construction equipment, loading machine/equipment e.g., a wheel loader. Although the invention will be described with respect to transporting vehicles and/or loading equipment interacting with trailers, the invention is not restricted to these particular vehicles.

In port areas material handling is taken care of by tractor-trailers and wheel loaders manually guided by ground operators. Materials are often offloaded to a location closer to the ship through cranes. Wheel loaders create smaller heaps before loading the material on a trailer. The operation to create heap and load the material takes around <NUM> minutes or more per trailer. The tractor on which the trailer is attached remains mostly idle during this operation. The operations by the tractor during this time is to be aligned with the wheel loader and power the trailer for any rare operations may be needed when loading the trailer. This is illustrated in <FIG> wherein a loading equipment <NUM> loads trailers of trucks standing in a loading queue <NUM>, each waiting idle for its turn to be loaded and/or for the loading of the current trailer to be completed. A similar scenario occurs for unloading the trailer, which takes a corresponding long time. Thus for both loading and unloading operations, there is a lot of idle time for all entities. Even when the queue <NUM> is empty, a driver and a tractor waiting for a loading/unloading operation to complete are mostly spending their time being idle. Hence, there is a need to improve efficiency for loading and/or unloading operations. As examples of the prior art can be cited the following documents: <CIT>, <CIT>, <CIT>.

The invention is set forth in the independent claim <NUM> and in the dependent claims <NUM> to <NUM>.

An object of the invention is to improve efficiency for loading and/or unloading operations at a work site.

The object is achieved by a method according to claim <NUM>. Hence, there is provided a method for handling at least one trailer at a work site. The at least one trailer is at least partly autonomous and/or remotely controllable. A first trailer is attached to a first transporting vehicle. The method comprises:.

Since control of the first trailer is handed over, the first loading and/or unloading operation can be performed without needing the first transporting vehicle to stay present. This allows the first transporting vehicle to be used more efficiently as it does not need to stay present with the first trailer just being idle and thereby improved productivity at the work site. In particular, when detecting that the candidate trailer is available to be transported, attaching the candidate trailer to the first transporting vehicle allows the first transporting vehicle to instead of waiting mostly idle for the first trailer to be loaded/unloaded with the first loading and/or unloading operation, the first transporting vehicle continues to be productive and is enabled perform transporting operations for the candidate trailer. Idle as used herein may mean that the first transporting vehicle is not performing any useful operation which improves productivity such as transporting a trailer.

Optionally, performing the handover of control of the first trailer comprises decoupling the first trailer from the first transporting vehicle, and any one out of:.

In this way, the first trailer may either be remotely controlled by the first loading equipment or be controlled autonomously. This allows the first trailer to, without support of the first transporting vehicle to perform any suitable assisting operation for the first loading and/or unloading operation which thereby improves productivity at the work site as the first transporting vehicle is enabled to perform other productive actions such as transporting other trailers.

Optionally, performing the handover of control of the first trailer is performed in response to any one or both out of:.

In this way it is possible to know when to most efficiently handover the control of the first trailer and thereby improve productivity in the work site.

Optionally, attaching the candidate trailer to the first transporting vehicle comprises any one or more out of:.

Attaching the candidate trailer thus allows the transporting vehicle to transport the first trailer to a location for continuing its operation and thereby improve productivity at the work site. For example the first trailer may be transported to another location where it may be made available for a further loading and/or unloading operation.

Optionally, detecting whether or not the candidate trailer is available to be transported by the first transporting vehicle, comprises receiving an indication, the indication indicating any one or more out of:.

The indication may thus allow to more efficiently detect that the candidate trailer is available, and thus the transporting vehicle can attach to the candidate trailer and transport the candidate trailer to a suitable location and thereby improve productivity in the work site.

According to a second aspect, there is provided a method for handling at least one trailer in a work site. The at least one trailer is at least partly autonomous and/or remotely controllable. The method comprises:.

As the first loading equipment is triggered to perform the first loading and/or unloading operation of the first trailer when detecting the initiation of the first loading and/or unloading operation, the first trailer is enables to be dynamically loaded when needed which thereby improves productivity. Furthermore, as the handover of the control of the first trailer is performed when finishing the first loading and/or unloading operation, the first trailer can be moved away from the first loading equipment and thereby enable the first loading equipment to be available to perform further loading and/or unloading operations to other trailers. In this way the first loading equipment improves productivity of the work site by either performing or being ready to for performing loading and/or unloading operations.

Optionally, triggering the handover of the control of the first trailer comprises triggering any one out of:.

In this way, the first trailer may either be remotely controlled by the candidate transporting vehicle or be controlled autonomously. This allows the first trailer to, without support of the first loading equipment to perform any operation for handling the complete loading and/or unloading operation such as attaching to the candidate transporting vehicle.

Optionally, the method further comprises triggering an operation to be performed by the first trailer for assisting the first loading equipment in performing the first loading and/or unloading operation.

In this way, the first loading and/or unloading operation can be performed more efficiently without the use of a transporting vehicle to assist in performing the first loading and/or unloading operation.

Optionally, the method further comprises assessing whether or not a second loading and/or unloading operation can be performed on the first trailer. In these embodiments the method comprises triggering the handover of the control of the first trailer based on the assessment.

In this way, productivity at the work site is increased as the second loading and/or unloading operation will be performed when assessed possible. This further allows the intermediate handling of the first trailer without the use of a transporting vehicle which thereby allows more efficient use of transporting vehicles.

According to a third aspect, there is provided a first control unit configured to perform the method according to the first aspect. The first control unit may be an electronic control unit. Advantages and effects of the first control unit are largely analogous to the advantages and effects of the method according to the first aspect. Further, all embodiments of the control unit are applicable to and combinable with all embodiments of the method according to the first aspect, and vice versa.

According to a fourth aspect, there is provided a second control unit configured to perform the method according to the second aspect. The second control unit may be an electronic control unit. Advantages and effects of the second control unit are largely analogous to the advantages and effects of the method according to the second aspect. Further, all embodiments of the control unit are applicable to and combinable with all embodiments of the method according to the second aspect, and vice versa.

According to a fifth aspect, there is provided a transporting vehicle comprising the first control unit according to the third aspect. Advantages and effects of the transporting vehicle are largely analogous to the advantages and effects of the method according to the first aspect and/or the first control unit. Further, all embodiments of the vehicle are applicable to and combinable with all embodiments of the method according to the first aspect, and vice versa.

According to a sixth aspect, there is provided a loading equipment comprising the second control unit according to the fourth aspect. Advantages and effects of the loading equipment are largely analogous to the advantages and effects of the method according to the second aspect and/or the second control unit. Further, all embodiments of the vehicle are applicable to and combinable with all embodiments of the method according to the second aspect, and vice versa.

According to a seventh aspect, there is provided a computer program comprising program code means for performing the steps of the method(s) according to the first and/or second aspect, when said program is run on a computer. Advantages and effects of the computer program are largely analogous to the advantages and effects of the corresponding method(s). Further, all embodiments of the computer program medium are applicable to and combinable with all embodiments of the corresponding method(s), and vice versa.

According to an eight aspect, there is provided a computer program medium carrying a computer program comprising program code means for performing the steps of the method(s) according to the first and/or second aspect, when said program is run on a computer. Advantages and effects of the computer program medium are largely analogous to the advantages and effects of the corresponding method(s). Further, all embodiments of the computer program medium are applicable to and combinable with all embodiments of the corresponding method(s), and vice versa.

<FIG> illustrates a work site <NUM>. The work site <NUM> comprises at least one transporting vehicle <NUM>, <NUM>, <NUM>. The at least one transporting vehicle comprises a first transporting vehicle <NUM> and any one or both of a second transporting vehicle <NUM> and a third transporting vehicle <NUM>. <FIG> illustrates three transporting vehicles, however, the work site <NUM> may comprise any suitable number of transporting vehicles. Each of the at least one transporting vehicle <NUM>, <NUM>, <NUM> may be any suitable vehicle capable of transporting a respective trailer, e.g., by using a fifth wheel coupling providing a respective link between the respective trailer and the at least one transporting vehicle <NUM>, <NUM>, <NUM>. Transporting a trailer as used herein may mean towing the trailer. For example, each of the at least one transporting vehicle <NUM>, <NUM>, <NUM> may respectively be a tractor, truck, etc..

Each of the at least one transporting vehicle <NUM>, <NUM>, <NUM> may respectively be at least partly autonomous and/or may be arranged to comprise a user such as a driver. Each of the at least one transporting vehicle <NUM>, <NUM>, <NUM> may comprise a cabin for the respective users. The cabin may comprise a swivel seat used for turning around the user, e.g., when needing to couple the respective transporting vehicle with a trailer using a fifth wheel coupling. Each of the at least one transporting vehicle <NUM>, <NUM>, <NUM> may respectively comprise a wireless device 10w, 11w, 12w used for transmitting and/or receiving wireless signals. e.g., for sending control commands to trailers and/or negotiating handover of control of trailers.

The work site <NUM> comprises at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. The at least one trailer comprises a first trailer <NUM> and any one or more of a second trailer <NUM>, a third trailer <NUM>, a fourth trailer <NUM>, and a fifth trailer <NUM>. <FIG> illustrates five trailers, however, the work site <NUM> may comprise any suitable number of trailers. Each of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may respectively comprise a wireless device 20w, 21w, 22w, 23w, 24w used for transmitting and/or receiving wireless signals, e.g., for receiving control commands from another entity, e.g., the first transporting vehicle <NUM>. Each of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may respectively be at least partly autonomous and/or remote controllable. At least partly autonomous as used herein may mean that the respective trailer has autonomous capabilities e.g., the respective trailer may be capable of operating such as driving to a location and/or adjusting its position without being controlled by a user and/or other controlling entity. Each of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may be arranged to first be towed by a respective transporting vehicle, and when suitable, detached and triggered autonomously and/or by remote control of the respective transporting vehicle, to assist in performing operations which will be explained by embodiments herein. Each of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may respectively be an electric trailer, e.g., a Battery Electric Vehicle (BEV). In these embodiments, each of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may respectively comprise a battery charged by a respective transporting vehicle which is coupled with the respective trailer, e.g., when transporting the respective trailer.

The work site <NUM> comprises at least one loading equipment <NUM>, <NUM>, the at least one loading equipment <NUM>, <NUM>, comprises a first loading equipment <NUM> and may comprise a second loading equipment <NUM> and/or a third loading equipment <NUM>. Each of the at least one loading equipment may respectively be a wheel loader or any other suitable vehicle for performing loading and/or unloading operations on the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. <FIG> illustrates two loading equipment, however the work site <NUM> may comprise any suitable number of work equipment. Each of the at least one loading equipment <NUM>, <NUM>, <NUM> may respectively comprise a wireless device 30w, 31w, 32w used for transmitting and/or receiving wireless signals, e.g., for sending control commands to the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and/or negotiating handover of control of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> with other wireless devices.

In embodiments herein, each of the at least one transporting vehicle <NUM>, <NUM>, <NUM> may respectively be configured to transport a respective trailer out of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. When deemed that a first loading and/or unloading operation shall be performed on a respective trailer, the respective at least one transporting vehicle <NUM>, <NUM>, <NUM> hands over control of the respective trailer using its respective wireless device, e.g., to be autonomously controlled and/or remotely controlled by a respective loading equipment out of the at least one loading equipment <NUM>, <NUM>, <NUM>. Each of the at least one loading equipment <NUM>, <NUM>, <NUM> may respectively be configured to perform loading and/or unloading operation to the respective trailer. When the trailer is fully loaded, a transporting vehicle out of the at least one transporting vehicle <NUM>, <NUM>, <NUM> may be arranged to couple the respective trailer and transport the respective trailer to an end location <NUM>, e.g. a ship or warehouse for unloading and exporting/storing the goods loaded on the respective trailer.

The work site <NUM> may comprise a temporary parking location <NUM> where one or more trailers out of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may be parked when not being used, e.g., when idle. When the at least one transporting vehicle <NUM>, <NUM>, <NUM> has handed over control of a respective trailer, the at least one transporting vehicle <NUM>, <NUM>, <NUM> may be arranged to drive to the temporary parking location <NUM> and attach a new trailer.

The work site <NUM> may comprise at least one rescue vehicle <NUM>, e.g., a low-profile pushback tractor. The at least one rescue vehicle <NUM> may comprise a wireless device 40w used for transmitting and/or receiving wireless signals, e.g., for sending control commands to the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and/or negotiating handover of control of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> with other wireless devices. The at least one rescue vehicle <NUM> may, when detected that a vehicle in the work site <NUM> is stuck and/or damaged in the work site <NUM>, tow the vehicle to suitable location. The at least one rescue vehicle <NUM> may further move obstacles in the way for vehicles in the work site <NUM>.

The work site <NUM> may comprise a control center <NUM>. Alternatively, the control center <NUM> may be remote from the work site <NUM>. The control center <NUM> may comprise a wireless device 90w. The control center <NUM> may be arranged to coordinate at least one virtual queue structure of how trailers out of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> shall be transported by the at least one transporting vehicle <NUM>, <NUM>, <NUM> and handed over to be loaded/unloaded by the at least one loading equipment <NUM>, <NUM>, <NUM>. The control center <NUM> may keep track of available trailers out of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to be transported by available transporting vehicles out of at least one transporting vehicle <NUM>, <NUM>, <NUM>. To keep track of the at least one virtual queue structure, the control center <NUM> may communicate queuing and/or dequeuing operations with the wireless devices in the work site <NUM>, e.g., in response and/or in prior to perform any control operations with regards to the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, e.g., handing over control, attaching, etc..

Embodiments herein may be performed at least partially by a first control unit <NUM> and/or a second control unit. The first control unit <NUM> and/or the second control unit <NUM> may be comprised in any suitable location, e.g. in the control center <NUM> or in any suitable remote location. The first control unit <NUM> may also be comprised in the first transporting vehicle <NUM>, <NUM>, <NUM>, e.g., in the first transporting vehicle. The second control unit <NUM> may also be comprised in the at least one loading equipment <NUM>, <NUM>, <NUM>, e.g., in the first loading equipment <NUM>.

In the example scenario of <FIG>, the first transporting vehicle <NUM> has handed over control of the first trailer <NUM> such that the first trailer <NUM> is remotely controlled by the first loading equipment <NUM> such that the first trailer <NUM> can be loaded and/or unloaded. The first transporting vehicle <NUM> is thus enabled to perform other operations, e.g., transport other trailers, instead of waiting idle with the first trailer <NUM>.

<FIG> illustrates a method for handling the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> in the work site <NUM>. The at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is at least partly autonomous and/or remotely controllable. The first trailer <NUM> is attached to the first transporting vehicle <NUM>. The actions may be taken in any suitable order and may be combined with any other embodiments and/or examples herein. The method may be performed by the first control unit <NUM>, e.g. as part of the first transporting vehicle <NUM> or as part of the control center <NUM>.

The method comprises performing a handover of control of the first trailer <NUM> from the first transporting vehicle <NUM>, e.g., to the first trailer <NUM> or to the first loading equipment <NUM>. In this way, the first transporting vehicle <NUM> is no longer responsible for the first trailer <NUM> and can thereby be productive in performing other operations, e.g., transporting other trailers and thereby increasing a number of transported trailers over a time period.

In some embodiments, performing the handover of control of the first trailer <NUM> comprises transferring remote control of the first trailer <NUM> to the first loading equipment <NUM>, or transferring autonomous control to the first trailer <NUM>.

Transferring the remote control of the first trailer <NUM> to the first loading equipment <NUM> may comprise using the wireless device 10w to send and/or receive a first signal to the wireless device 30w of the first loading equipment <NUM> to indicate that the first trailer <NUM> is to be handed over. A negotiation process such as a handshake may first be performed with the wireless device 30w of the first loading equipment <NUM>.

Similarly, transferring autonomous control to the first trailer <NUM> may comprise using the wireless device 10w to send and/or receive a second signal to the wireless device 20w of the first trailer <NUM> to indicate that the first trailer <NUM> is now under autonomous control. In other words, transferring autonomous control to the first trailer <NUM> may comprise handing over control of the first trailer <NUM> from the first transporting vehicle <NUM> to the first trailer <NUM>.

In other words, performing the handover of the control of the first trailer <NUM> may comprise requesting the handover of control or receiving a request to handover the control, e.g., from the first loading equipment and/or the control center <NUM>.

In some embodiments, performing the handover of control of the first trailer <NUM> comprises decoupling the first trailer <NUM> from the first transporting vehicle <NUM>. In other words, the first trailer <NUM> may initially be coupled with the first transporting vehicle <NUM>, e.g., using a fifth wheel coupling which needs to be uncoupled / released. When decoupling the first trailer <NUM>, the first trailer <NUM> may be configured to be operated by a battery comprised in the first trailer.

The handover of control of the first trailer triggers an initiation of a first loading and/or unloading operation to be performed by the first loading equipment <NUM> on the first trailer <NUM>. For example, when transferring the remote control of the first trailer <NUM> to the first loading equipment <NUM>, the first signal may indicate that the first loading equipment shall remotely control the first trailer <NUM> such that the first loading equipment <NUM> may perform the first loading and/or unloading operation on the first trailer <NUM>. This may comprise remotely operating the first trailer <NUM> to drive to a suitable location and/or to dynamically adjust its position when needed during the first loading and/or unloading operation.

As another example when transferring autonomous control to the first trailer <NUM>, the second signal may indicate that the first trailer <NUM> shall autonomously operate such that the first loading equipment <NUM> may perform the first loading and/or unloading operation on the first trailer <NUM>. This may comprise operating the first trailer <NUM> to drive to a suitable location and/or to dynamically adjust its position when needed during the first loading and/or unloading operation.

In some embodiments, performing the handover of control of the first trailer <NUM> is performed in response to receiving an indication indicating to handover the control of the first trailer <NUM>. This may be when the control center <NUM> and/or the first loading equipment <NUM> indicates that the first loading equipment is available for the first loading and/or unloading operation. Additionally or alternatively, performing the handover of control of the first trailer <NUM> is performed in response to determining that the first loading equipment <NUM> is available to perform the first loading and/or unloading operation on the first trailer <NUM>. For example, this may be performed by using cameras, sensors, and/or wireless communication with the first loading equipment <NUM>, to detect that the first loading equipment <NUM> is idle and/or is available perform the first loading and/or unloading operation.

The method comprises detecting whether or not a candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is available to be transported by the first transporting vehicle <NUM>. This may further mean that it is detected whether the first transporting vehicle <NUM> can perform more productive work in the work site <NUM>, e.g., by transporting the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and thereby transporting an increased number of trailers over a time period. In some embodiments, detecting whether or not the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is available to be transported by the first transporting vehicle <NUM>, comprises receiving an indication. There may be one or more candidate trailers <NUM>, <NUM>, <NUM>, <NUM>, <NUM> that are detected to be available.

The indication may indicate any one or more out of:.

The indication may be received from any suitable wireless device associated with any one or more out of the control center <NUM>, the candidate trailer <NUM>, <NUM>, <NUM>, any of the at least one transporting vehicle <NUM>, <NUM>, and any of the at least one loading equipment <NUM>, <NUM>, <NUM>. As an example, the indication may be sent from a wireless device 30w, 31w, of the at least one loading equipment <NUM>, <NUM>, <NUM> when a respective loading operation has been completed and the candidate trailer <NUM>, <NUM>, <NUM>, e.g., the second trailer <NUM>, is ready to be transported to the end location <NUM>.

When multiple candidate trailers are available amongst the candidate trailers <NUM>, <NUM>, <NUM>, <NUM>, <NUM> a trailer is selected by means of randomness, pseudo-randomness, priority or selected by a queuing or dequeuing operation of the at least one virtual queue handled by the control center <NUM>.

When detecting that the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is available to be transported by the first transporting vehicle <NUM>, the method comprises attaching the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to the first transporting vehicle <NUM>. Attaching as used herein may mean attaining a physical coupling between the first transporting vehicle <NUM> and the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and/or may mean obtaining a remote control of the candidate trailer <NUM>, <NUM>, <NUM>. As the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is attached to the first transporting vehicle <NUM>, the first transporting vehicle <NUM> may transport the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and the first transporting vehicle <NUM> may therefore be more productive than if staying idle coupled with the first trailer <NUM>. This is since the first transporting vehicle <NUM> may first transport the first trailer <NUM>, handover control of the first trailer <NUM>, attach to the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> different from the first trailer <NUM>, and transport the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, all while the first trailer <NUM> is still being loaded and/or unloaded. The first transporting vehicle <NUM> may at a later time attach to the first trailer <NUM> when the first loading and/or unloading operation is complete, and may at that later time have transported multiple candidate trailers <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and thus have increased a number of trailer transportations made by the first transporting vehicle <NUM> during a time period.

Attaching the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to the first transporting vehicle <NUM> may comprise coupling the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to the first transporting vehicle <NUM>. However, this may not always be a simple process to do automatically and some assistance from the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may be necessary, e.g., driving to the first transporting vehicle <NUM> and/or carefully positioning for a coupling operation. Hence attaching the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to the first transporting vehicle <NUM> may comprise sending an instruction to initiate attaching the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to the first transporting vehicle <NUM>, the instruction may be sent to any one or both of the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and the first transporting vehicle <NUM>. When the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is remotely controlled by any other entity, e.g. the at least one loading equipment <NUM>, <NUM>, <NUM> or other transporting vehicle such as the second transporting vehicle <NUM>, the instruction may be sent to the controlling entity and/or as a broadcast, e.g., which may trigger a handover of control of the candidate trailer to the first transporting vehicle <NUM>.

In some embodiments, attaching the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to the first transporting vehicle <NUM> comprises any one or more out of:.

As an example, the first transporting vehicle <NUM> may swivel a seat of the first transporting vehicle <NUM> such that a user of the transporting vehicle <NUM> may carefully observe while remotely controlling the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and/or controlling the first transporting vehicle <NUM> for coupling the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to the first transporting vehicle <NUM>, e.g., using a fifth wheel coupling.

In some embodiments, no physical coupling is necessary to be attained. This is since the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may be able to be remotely controlled to the end location and/or handed over to another entity, e.g., another transporting vehicle before necessary to couple with the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>.

<FIG> illustrates a method for handling the one or more trailers <NUM>, <NUM>, <NUM>, <NUM>, <NUM> at the work site <NUM>. The at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is at least partly autonomous and/or remotely controllable. At least one of the following actions <NUM>-<NUM> may be taken in any suitable order and may be combined with any other embodiments and/or examples herein. Dashed boxes in <FIG> may indicate optional actions. The method may be performed by the second control unit <NUM>, e.g. as part of the first loading equipment <NUM> or as part of the control center <NUM>.

The method comprises detecting an initiation of a first loading and/or unloading operation on a first trailer <NUM> to be performed by a first loading equipment <NUM>. The detection of the initiation of the first loading and/or unloading operation of the first trailer <NUM> may for example be detected when remote control of the first trailer <NUM> is handed over from the first transporting vehicle <NUM> to the first loading equipment <NUM>, e.g., as in action <NUM>. The detection of the initiation of the first loading and/or unloading operation of the first trailer <NUM> may also be detected when the first trailer <NUM> obtains autonomous control, e.g., by indication from a third signal sent from the wireless device 20w of the first trailer <NUM> and/or from a fourth signal sent from the wireless device 10w of the first transporting vehicle <NUM>, and/or from a control signal received from the control center <NUM> by the wireless device 90w.

In some embodiments, the method comprises triggering an operation to be performed by the first trailer <NUM> for assisting the first loading equipment <NUM> in performing the first loading and/or unloading operation. The operation to be performed may be indicated by a received signal, e.g., the third and/or fourth signal above, and/or by a control signal received from the control center <NUM> by the wireless device 90w. The operation to be performed may for example comprise any one or more out of:.

The method comprises triggering the first loading equipment <NUM> to perform the first loading and/or unloading operation on the first trailer <NUM>.

The operation to be performed may be indicated by a received signal, e.g., the third and/or fourth signal above, and/or by a control signal received from the control center <NUM> by the wireless device 90w. Triggering the first loading equipment <NUM> to perform the first loading and/or unloading operation, may comprise determining that the first trailer <NUM> is suitably positioned for the first loading and/or unloading operation, e.g., the first trailer <NUM> is positioned within a maximum operating distance of the first loading equipment <NUM>.

The method comprises determining that the first loading and/or unloading operation is complete. Determining that the first loading and/or unloading operation is complete may for example comprise the first loading equipment <NUM> and/or the first trailer <NUM> using respective sensors to determine that the first trailer <NUM> is fully loaded, empty, and/or that there are no more goods to load. The first loading equipment <NUM> and/or the first trailer <NUM> may signal their respective determination using a corresponding wireless device 20w, 30w, e.g., to the second control unit <NUM> and/or to the control center <NUM>.

In some embodiments, the method comprises assessing whether or not a second loading and/or unloading operation can be performed on the first trailer <NUM>. Action <NUM> may be performed together with or alternatively to action <NUM>. Assessing whether or not the second loading and/or unloading operation can be performed on the first trailer <NUM> may for example comprise the first loading equipment <NUM> and/or the first trailer <NUM> using respective sensors to assess whether the first trailer <NUM> is fully loaded, empty, there is space available, and/or there are goods to unload. The first loading equipment <NUM> and/or the first trailer <NUM> may signal their respective assessments using a corresponding wireless device 20w, 30w, e.g., to the second control unit <NUM> and/or to the control center <NUM>.

In response to determining that the first loading and/or unloading operation is complete, e.g. as in action <NUM> above, the method comprises triggering a handover of control of the first trailer <NUM>.

In some embodiments, triggering the handover of the control of the first trailer <NUM> comprises triggering any one out of:.

In this way, the first trailer <NUM> may be transported away such that the first loading equipment is available to perform further loading and/or unloading operations for more trailers out of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>.

In some embodiments, triggering the handover of the control of the first trailer <NUM> is based on the assessment in action <NUM>. For example, when assessed that the second loading and/or unloading operation can be performed on the first trailer <NUM>, triggering the handover of the control of the first trailer <NUM> may comprise transferring the remote control to the candidate loading equipment <NUM>, <NUM> for performing the second loading and/or unloading operation, e.g., by sending a suitable signal to the wireless device 31w, 32w of the respective candidate loading equipment <NUM>, <NUM>. Alternatively, triggering the handover of the control of the first trailer <NUM> may comprise transferring the autonomous control to the first trailer <NUM> such that the first trailer <NUM> is also triggered to assist the candidate loading equipment to perform the second loading and/or unloading operation on the second trailer <NUM>, e.g., by triggering the second trailer <NUM> to position itself properly in relation to the candidate loading equipment <NUM>, <NUM>.

When multiple candidate transporting vehicles and/or multiple loading equipment are respectively available in or in association with the candidate transporting vehicle <NUM>, <NUM>, <NUM> and/or in the candidate loading equipment <NUM>, <NUM>, a candidate loading equipment and/or transporting vehicle is selected by means of randomness, priority or selected by a queuing or dequeuing operation of the at least one virtual queue handled by the control center <NUM>.

<FIG>-b illustrates example scenarios of handing over control of the first trailer <NUM>. In <FIG>, the first transporting vehicle <NUM> is transporting the first trailer <NUM>. The first transporting vehicle <NUM> hands over control of the first trailer <NUM> to the first loading equipment <NUM> for performing the first loading and/or unloading operation on the first trailer <NUM>, e.g. as in action <NUM>. By remote control of the first loading equipment <NUM>, the first trailer <NUM> is driven to the first loading equipment <NUM> and positioned in a suitable location for the first loading and/or unloading operation. This allows the first transporting vehicle <NUM> to be free to drive to the second trailer <NUM> and couple the second trailer <NUM> to the first transporting vehicle <NUM>, e.g., by use of a fifth wheel coupling, e.g., as in action <NUM>. The first transporting vehicle <NUM> may then proceed to transport the second trailer <NUM> to the second loading equipment <NUM>, and hand over the control of the second trailer <NUM> to the second loading equipment <NUM> for loading and/or unloading operation on the second trailer <NUM>. The first transporting vehicle <NUM> may proceed in a similar manner and be productive in transporting trailers while trailers are idle being loaded and/or unloaded by the respective loading equipment.

In <FIG>, the first trailer <NUM> is being loaded by the first loading equipment <NUM> using a first loading operation, e.g. as triggered in action <NUM>. When determined that the first loading operation is complete, e.g. as in action <NUM>, it is assessed whether the first trailer <NUM> is fully loaded or not, e.g. as in action <NUM>. When the first trailer <NUM> is fully loaded, e.g., loaded above a threshold, the loading equipment <NUM> will hand over the control of the first trailer <NUM> to a candidate transporting vehicle <NUM>, <NUM>, <NUM>, e.g., the second transporting vehicle <NUM>, to be transported away to the end location <NUM>. When the first trailer <NUM> is not fully loaded, the loading equipment <NUM> will hand over the control of the first trailer <NUM> to a candidate loading equipment <NUM>, <NUM>, e.g., the second loading equipment <NUM>, such that the second loading equipment can fill up the first trailer <NUM> before being transported away to the end location <NUM>. In both scenarios, the first loading equipment is freed up to ensure that it is available to perform further loading and/or unloading operations for other trailers.

In some embodiments herein, the wireless devices communicate at least partly using a short range, low power, and high bandwidth communication mechanism, e.g., using Ultra-wideband (UWB). Communication may be used to indicate operations, handing over control of trailers, e.g., as in action <NUM>, <NUM>, <NUM>, but may further be used to share data about location, surrounding environment of the work site <NUM> etc..

Trailers out of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, may be battery-driven between the time when they are decoupled from a respective transporting vehicle, until coupled back to a transporting vehicle. The respective batteries are charged while coupled to a respective transporting vehicle. Capacity of the respective batteries may be arranged to enable at least a short distance movement of the respective trailer to perform at least one loading and/or unloading operation and to drive to and couple to a transporting vehicle. The respective battery capacity may also allow for conducting few operations such as adjust positions while loading, tipping, wireless communication, etc..

Embodiments herein may be performed in a cloud environment, e.g. the control center <NUM> may be part of a cloud environment in a remote server. Accordingly, sensors and wireless devices in the at least one transporting vehicle <NUM>, <NUM>, <NUM>, the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and/or the at least one loading equipment <NUM>, <NUM>, <NUM>, may be operated remotely from a cloud environment.

The control center <NUM> may coordinate a queuing mechanism for selecting candidate trailers <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, loading equipment <NUM>, <NUM>, <NUM> and/or transporting vehicles <NUM>, <NUM>, <NUM>. The control center <NUM> may comprise and/or have access to a local area map, e.g., based on sensor readings of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, the at least one transporting vehicle <NUM>, <NUM>, <NUM>, and/or the at least one loading equipment <NUM>, <NUM>, <NUM>. The local area map may be obtainable by any device to position itself in the work site <NUM>. The control center <NUM> may further be able to provide, to any suitable device, location and other suitable data regarding transporting vehicles, trailers and/or loading equipment in the work site <NUM>, e.g., occupancy, availability, power capacity, failures etc..

Control mechanism of trailers out of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, e.g., when remotely controlled, may comprise short distance movement and/or tipping operations. Control sharing mechanism between the at least one transporting vehicle <NUM>, <NUM>, <NUM>, and the at least one loading equipment <NUM>, <NUM>, <NUM> is referred to as hand over of control of the respective trailer.

The control center <NUM> may provide fleet management, trailer queueing, path planning, complete resource planning, scheduling and route planning mechanisms. The actions herein may be in response to any of the operations by the control center <NUM>, e.g., communicated by the wireless device 90w to any of the work site <NUM>.

For example, in embodiments herein, any trailer out of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may have autonomous capabilities. When one of the at least one loading equipment <NUM>, <NUM>, <NUM> relinquishes control of a loaded respective trailer, e.g., as in action <NUM>, the control may not always be handed over to the at least one transporting vehicle <NUM>, <NUM>, <NUM>. Instead, control may at least temporarily be handed over to the respective trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> which may then, e.g., by communicating with the control center <NUM> using the wireless device 90w, join a queue of completed trailers to be picked up by the at least one transporting vehicle <NUM>, <NUM>, <NUM>. The control center <NUM> may then coordinate instructions to the respective trailer and/or the at least one transporting vehicle <NUM>, <NUM>, <NUM> of how to operate until they are attached, e.g., as in action <NUM>.

A similar scenario may comprise that the at least one transporting vehicle <NUM>, <NUM>, <NUM>, hands over control to a respective trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, e.g., by communicating with the control center <NUM> using the wireless device 90w, join a queue of empty trailers waiting to be loaded e.g., by the at least one loading equipment <NUM>, <NUM>, <NUM>. The control center <NUM> may then coordinate instructions to the respective trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> and/or the at least one loading equipment <NUM>, <NUM>, <NUM> of how to operate until the respective trailer is in place for a loading operation, e.g., as in action <NUM>.

In some of these embodiments, the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may communicate vital parameters to the control center <NUM>. The control center <NUM> may coordinate the vehicle and/or equipment in the work site <NUM> based on the received trailer parameters. The vital parameters may include any or more of a current load, battery capacity left, estimated time to charge when attached to a transporting vehicle, estimated battery time left.

Embodiments herein, e.g. any of above-mention actions may, when detecting that there may be a problem with a trailer out of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, may trigger the at least one rescue vehicle <NUM> to drive and transport the respective trailer out of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM> , <NUM>. The problem may comprise e.g., no response, difficulty remote controlling the respective trailer, indication of damage and/or poor battery signaled by the respective trailer etc..

Embodiments herein may comprise a simple and efficient coupling and decoupling of trailers out of the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>. This is provided by both being able to remote control the respective trailer and that the at least one loading equipment <NUM>, <NUM>, <NUM> respectively comprises a swivel seat such that a user can be turned around to observe the coupling of the respective trailer. This allows quicker and more efficient coupling operations.

The first control unit <NUM> may be configured to handle the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> in the work site <NUM>. The at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is at least partly autonomous and/or remotely controllable. The first trailer <NUM> is attached to a first transporting vehicle <NUM>.

The first control unit <NUM> may further be configured to perform any one or more of the above actions <NUM>-<NUM> and/or any other suitable example or embodiment herein. The first control unit <NUM> may for example comprise an arrangement depicted in <FIG>.

The first control unit <NUM> may comprise an input and output interface <NUM> configured to communicate with any necessary components and/or entities of embodiments herein, e.g., the exemplified wireless devices in <FIG>. The input and output interface <NUM> may comprise a wireless and/or wired receiver (not shown) and a wireless and/or wired transmitter (not shown). The first control unit <NUM> may be arranged in any suitable location such as e.g., comprised in the at least one transporting vehicle <NUM>, <NUM>, <NUM>, e.g., one first control unit <NUM> per transporting vehicle and/or remotely such as in the control center <NUM>. The first control unit <NUM> may use the input and output interface <NUM> to communicate with and/or control, sensors, actuators, subsystems, and interfaces in the at least one transporting vehicle <NUM>, <NUM>, <NUM>, the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and/or the at least one loading equipment <NUM>, <NUM>, <NUM>, e.g., by using any one or more out of: Controller Area Network (CAN), ethernet cables, Wi-Fi, UWB, Bluetooth, and/or other network interfaces.

The first control unit <NUM> may be configured to, e.g. by means of a performing unit <NUM> comprised in the first control unit <NUM>, perform a handover of control of the first trailer <NUM>, which handover triggers an initiation of a first loading and/or unloading operation to be performed by the first loading equipment <NUM> on the first trailer.

The first control unit <NUM> may be configured to, e.g. by means of a detecting unit <NUM> comprised in the first control unit <NUM>, detect whether or not a candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is available to be transported by the first transporting vehicle <NUM>.

The first control unit <NUM> may be configured to, e.g. by means of an attaching unit <NUM> comprised in the first control unit <NUM>, when detecting that the candidate trailer <NUM>, <NUM>, <NUM>, is available to be transported by the first transporting vehicle <NUM>, attach the candidate trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> to the first transporting vehicle <NUM>.

The embodiments herein may be implemented through a processor or one or more processors, such as the processor <NUM> of a processing circuitry in the first control unit <NUM> depicted in <FIG>, together with computer program code for performing the functions and actions of the embodiments herein. The program code mentioned above may also be provided as a computer program medium, for instance in the form of a data computer readable medium carrying computer program code for performing the embodiments herein when being loaded into the first control unit <NUM>. One such computer readable medium may be in the form of a memory stick. The computer program code may furthermore be provided as pure program code on a server and downloaded to the first control unit <NUM>.

The first control unit <NUM> may further comprise a memory <NUM> comprising one or more memory units. The memory <NUM> comprises instructions executable by the processor in first control unit <NUM>. The memory <NUM> is arranged to be used to store e.g. information, indications, data, configurations, sensor data, measurements, estimations, positioning information, and applications to perform the methods herein when being executed in the first control unit <NUM>.

In some embodiments, a computer program <NUM> comprises instructions, which when executed by a computer, e.g. the at least one processor <NUM>, cause the at least one processor of the first control unit <NUM> to perform the actions <NUM>-<NUM> above.

In some embodiments, a computer-readable storage medium <NUM> comprises the respective computer program <NUM>. The computer-readable storage medium <NUM> may comprise program code for performing the steps of any one of actions <NUM>-<NUM> above when said program product is run on a computer, e.g. the at least one processor <NUM>.

Those skilled in the art will appreciate that the units in the first control unit <NUM> described above may refer to a combination of analogue and digital circuits, and/or one or more processors configured with software and/or firmware, e.g. stored in the first control unit <NUM>, that when executed by the respective one or more processors such as the processors described above. One or more of these processors, as well as the other digital hardware, may be included in a single Application-Specific Integrated Circuitry (ASIC), or several processors and various digital hardware may be distributed among several separate components, whether individually packaged or assembled into a system-on-a-chip (SoC).

The second control unit <NUM> may be configured to handle the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> in the work site <NUM>. The at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM> is at least partly autonomous and/or remotely controllable.

The second control unit <NUM> may further be configured to perform any one or more of the above actions <NUM>-<NUM> and/or any other suitable example or embodiment herein. The second control unit <NUM> may for example comprise an arrangement depicted in <FIG>.

The second control unit <NUM> may comprise an input and output interface <NUM> configured to communicate with any necessary components and/or entities of embodiments herein, e.g., the exemplified wireless devices in <FIG>. The input and output interface <NUM> may comprise a wireless and/or wired receiver (not shown) and a wireless and/or wired transmitter (not shown). The second control unit <NUM> may be arranged in any suitable location such as e.g., comprised in the at least one loading equipment <NUM>, <NUM>, <NUM>, e.g., one second control unit <NUM> per loading equipment and/or remotely, such as in the control center <NUM>. The second control unit <NUM> may use the input and output interface <NUM> to communicate with and/or control, sensors, actuators, subsystems, and interfaces in the at least one transporting vehicle <NUM>, <NUM>, <NUM>, the at least one trailer <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, and/or the at least one loading equipment <NUM>, <NUM>, <NUM>, e.g., by using any one or more out of: Controller Area Network (CAN), ethernet cables, Wi-Fi, UWB, Bluetooth, and/or other network interfaces.

The second control unit <NUM> may be configured to, e.g. by means of a detecting unit <NUM> comprised in the second control unit <NUM>, detect an initiation of a first loading and/or unloading operation on the first trailer <NUM> to be performed by the first loading equipment <NUM>.

The second control unit <NUM> may be configured to, e.g. by means of a triggering unit <NUM> comprised in the second control unit <NUM>, trigger an operation to be performed by the first trailer <NUM> for assisting the first loading equipment <NUM> in performing the first loading and/or unloading operation.

The second control unit <NUM> may be configured to, e.g. by means of the triggering unit <NUM> comprised in the second control unit <NUM>, trigger the first loading equipment <NUM> to perform the first loading and/or unloading operation on the first trailer <NUM>,.

The second control unit <NUM> may be configured to, e.g. by means of a determining unit <NUM> comprised in the second control unit <NUM>, determine that the first loading and/or unloading operation is complete,.

The second control unit <NUM> may be configured to, e.g. by means of an assessing unit <NUM> comprised in the second control unit <NUM>, assess whether or not a second loading and/or unloading operation can be performed on the first trailer <NUM>, and wherein to trigger the handover of the control of the first trailer based on the assessment.

The second control unit <NUM> may be configured to, e.g. by means of the triggering unit <NUM> comprised in the second control unit <NUM>, in response to determining that the first loading and/or unloading operation is complete, trigger a handover of control of the first trailer <NUM>.

The embodiments herein may be implemented through a processor or one or more processors, such as the processor <NUM> of a processing circuitry in the second control unit <NUM> depicted in <FIG>, together with computer program code for performing the functions and actions of the embodiments herein. The program code mentioned above may also be provided as a computer program medium, for instance in the form of a data computer readable medium carrying computer program code for performing the embodiments herein when being loaded into the second control unit <NUM>. One such computer readable medium may be in the form of a memory stick. The computer program code may furthermore be provided as pure program code on a server and downloaded to the second control unit <NUM>.

The second control unit <NUM> may further comprise a memory <NUM> comprising one or more memory units. The memory <NUM> comprises instructions executable by the processor in second control unit <NUM>. The memory <NUM> is arranged to be used to store e.g. information, indications, data, configurations, sensor data, measurements, estimations, positioning information, and applications to perform the methods herein when being executed in the second control unit <NUM>.

In some embodiments, a computer program <NUM> comprises instructions, which when executed by a computer, e.g. the at least one processor <NUM>, cause the at least one processor of the second control unit <NUM> to perform the actions <NUM>-<NUM> above.

Claim 1:
A method for handling at least one trailer (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>) in a work site (<NUM>), the at least one trailer (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>) being at least partly autonomous and/or remotely controllable, a first trailer (<NUM>) being attached to a first transporting vehicle (<NUM>),
characterized in that the method comprises
- performing (<NUM>) a handover of control of the first trailer (<NUM>), which handover triggers an initiation of a first loading and/or unloading operation to be performed by a first loading equipment (<NUM>) on the first trailer (<NUM>),
- detecting (<NUM>) whether or not a candidate trailer (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>) is available to be transported by the first transporting vehicle (<NUM>), and
- when detecting that the candidate trailer (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>) is available to be transported by the first transporting vehicle (<NUM>), attaching (<NUM>) the candidate trailer (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>) to the first transporting vehicle (<NUM>).