Method for distributing navigation map data to a plurality of working machines

Abstract

A method for distributing navigation map data (8, 9) to a plurality of work machines (10, 11), which are part of a network of work machines (10, 11) and perform work tasks (1, 2, 3) in the network, wherein the navigation map data (8, 9) is required for performing the work tasks (1, 2, 3) in the work machines (10, 11) and the work tasks (1, 2, 3) are planned based on the navigation map data (8, 9), the method comprising the steps of: a) identifying work tasks (1, 2) that exist in the network and that have been planned for the work machines (10, 11) based on old navigation map data (8), b) performing a check on the work tasks (1, 2) that exist in the network: whether these work tasks (1, 2) can be performed using new navigation map data (9), c) terminating work tasks (2) that cannot be performed using the new navigation map data (9), and d) importing the new navigation map data (9).

Description

Background Art

[0001] In the vision of the "factory of the future" or Industry 4.0, intelligent robots should work more and more independently and flexibly. These robots are no longer restricted to a fixed position like, for example, a "robot arm", but can "go" to the place of use on their own after receiving a command and perform work there.

[0002] The basis of such a system and method of operation is that the robot is always equipped with precise map data for carrying out its tasks at the respective place of use, which map data enable the robot to navigate. Since local conditions in a factory change regularly in practice, it is helpful to provide a function for updating the map data during operation. For example, local conditions that can influence changes in the map data may occur in the following ways: materials that become obstacles are brought in in the workshop hall described by the map data, finished products are stored, or there is a reorganization or rearrangement of workstations. Many other possible reasons for adapting the map data are also conceivable. Summary of the invention

[0003] Based on this, a particularly advantageous method for distributing map data to a plurality of working machines (robots) is to be described.

[0004] For so-called mobile robots, localization plays an important role. In this context, different sub-problems arise. These are:

[0005] -Where the robot is located This problem can also be called: determine the starting position,

[0006] -Where the robot should go (target location)

[0007] -How the robot goes to the target location This means that a position path is determined for reaching the target position without collision.

[0008] Here, the guiding of a robot from a starting position to the target position or the position path is considered in particular. In particular, a method for guiding a robot is to be described.

[0009] In particular, a particularly advantageous method for distributing navigation map data to a plurality of mobile robots is to be described. Advantageous developments are described in the dependent patent claims. The description explains the invention in particular in conjunction with the drawings and describes further advantageous embodiments. The features mentioned individually in the patent claims can be combined with one another as desired and / or can be more precisely described / exchanged with features of the description.

[0010] A method for distributing navigation map data to a plurality of work machines which are part of a work machine network and which perform work tasks in the network, wherein the navigation map data are required in the work machines for performing the work tasks and the work tasks are planned based on the navigation map data, is described, comprising the following steps:

[0011] a) identifying work tasks for the work machine that are present in the network and that have been planned based on old navigation map data,

[0012] b) performing a check on the tasks existing in the network to see whether these tasks can be performed using the new navigation map data,

[0013] c) ending work tasks that cannot be performed using the new navigation map data, and

[0014] d) Import (input) new navigation map data.

[0015] The method described is a sub-aspect of a method for guiding a robot in a production facility. In principle, there are various possibilities for guiding a robot in a production facility. One of the possible (classical) guidance methods for a robot is electromagnetic guidance, in which a wire is embedded in the position path and a guidance frequency is applied to the wire. By recognizing a specific guidance frequency, the robot is guided along a specific wire (position path) to the target position.

[0016] In addition, there are magnetic and optical guidance. All of these require physical markings in the form of colored strips or magnetic tracks (magnetic tracks) or metal wires, which must be glued to the ground or embedded in the ground. Therefore, this guidance method is not very flexible. The method for distributing map data described here can achieve a significantly more flexible guidance method.

[0017] Instead of the physical markings, the robot can also be guided by a virtual position path based on laser data, for example, wherein the robot's real-time position and direction of travel can be determined based on the laser data transmitted or detected by the robot. As a result, no expensive auxiliary devices (e.g. magnetic tracks) are required on the ground. The virtual position path can thus be flexibly edited without great expenditure, depending on requirements and motivations. However, this method for guidance requires very expensive laser technology.

[0018] In principle, guidance based on laser data and virtual position paths is already possible: the virtual position paths are edited on a graphical interface with the aid of a computer program. However, it has been recognized that in the case of this type of guidance, the following difficulties arise: during editing, the robot may be on the position path to be edited while performing its work task, so that conflicts may arise between editing and task execution, which may lead to confusing or undefined states. This is particularly the case when the number of robots and work tasks is large.

[0019] The method described here makes it possible to implement novel guidance methods which are based on the fact that each robot works according to independent map data, which are stored in the robot or in a control device assigned to the robot. The method described makes it possible for each work task to have a separate copy of the position path valid at the time of creation in a separate copy of the map data. Different work tasks can thus be executed with different map data.

[0020] In the case of cyclically executed tasks, i.e., if it is provided that the task is to be restarted immediately after completion, the old task is terminated at the right time depending on the user. The newly created task, which is valid on the new position path, is then assigned to the mobile robot. However, in the case of a large number of tasks to be expected, this manual method results in too much effort. It would therefore be helpful to find a new and efficient solution in order to at least partially overcome the above-mentioned limitations.

[0021] Compared to the described solutions based on physical markings or laser markings, the advantage of the new method for guiding a robot implemented with the present method for assigning map data is that the change from the old navigation map to the new navigation map is largely automated. Only the algorithmically related tasks of the change need to be manually adapted, and the change from the old system behavior to the new system behavior is automated, thereby ensuring that no systematic errors can occur. In addition, the new method significantly reduces the user's effort, which will lead to better acceptance of the entire system on the market.

[0022] The method is implemented in particular in an overall system, the working method of which is to be explained in detail here. The overall system consists of a plurality of working machines which have to perform work tasks in a coordinated manner in a shared environment. These working machines can localize themselves by means of suitable technical systems, for example hardware based on laser navigation.

[0023] For self-localization, at least one "navigation map" is required, which describes the virtual position path like a physical map plan. The at least one navigation map can be converted into binary code in an algorithmic manner and transmitted in the form of data transmission. The at least one navigation map converted into binary code is thus called "navigation map data", which is included in each work task.

[0024] After receiving the work task, first determine which work machine is most suitable for performing the work task, and then assign the work task including the navigation map data to the determined work machine. After receiving the work task, the work machine goes to the use location by itself according to the navigation map data and performs the work there. Therefore, the navigation map data is required in the work machine for performing the work task, and the work task is planned based on the navigation map data.

[0025] The navigation map data can be edited according to need and motivation with the aid of a user interface on a graphical interface. However, during the editing and distribution of new navigation maps, especially in the case of a large number of working machines, it must be unconditionally ensured that the execution of work tasks already in progress is not disturbed and that generally no algorithmic problems arise when executing work tasks. In particular, it must never be allowed to lose work tasks that have already been dispatched.

[0026] For the controlled and synchronous distribution of the new navigation map data, in step a) existing work tasks that were planned for the work machine based on old navigation map data are identified.

[0027] For this purpose, the time at which the new navigation map data becomes effective plays a decisive role. Of course, the tasks planned before this time were based on the old navigation map data and are referred to here as old navigation map data. Therefore, all tasks planned after this time are new tasks based on the new navigation map data. The new tasks are referred to here as active tasks.

[0028] After the old work task has been identified, a step b) is then performed in which the old work task is checked for feasibility based on the new navigation map data.

[0029] Of course, the new task can be performed using the new navigation map. However, the old task is critical and must be checked additionally. The reason lies in the structure of the navigation map data.

[0030] As with physical map planning, navigation map data represent a road network (Wegenetz) that includes not only various location paths, but also free areas outside the location paths. Editing mostly involves only specific locations, that is, only some specific location paths should be edited. In addition, the corresponding work machine only reaches the place of use along the optimal location path. If the location path is not suitable for navigation map data changes (editing), even if the associated work task is based on old navigation map data, the work task is not affected by the editing. That is to say, such old work tasks can be performed using new navigation map data and checked in step b). Old work tasks that can be performed using new navigation map data are also referred to as activated work tasks here.

[0031] On the contrary, the old work task involved in the change is ended in step c) because it cannot be executed with the new navigation map data. Of course, the old work task can be edited under certain conditions to adapt to the new navigation map data and then also allowed to be activated.

[0032] In step d), the new navigation map can then be imported in that the new navigation map data are contained in each active work order and are also assigned to the corresponding work machine.

[0033] In a preferred embodiment, the working machine is a transport machine and the working task is a transport task.

[0034] The working machine may be a mobile robot, in particular a transport machine for handling a continuous flow of goods. Thus, the working task is a transport task, according to which the goods are transported from one location to another. Furthermore, the transport machines are organized into a fleet that must share a physical environment in order to jointly achieve the transport of goods as efficiently and economically as possible.

[0035] In a further preferred specific embodiment, the navigation map data each have an identifier, and the work tasks each have a list of identifiers of the navigation map data.

[0036] In order to clearly identify the navigation maps, all navigation map data each have a system-wide, clear identifier, which is encoded, for example, in the form of a predefined binary code. In addition, each work task includes a list of identifiers of navigation map data having at least one identifier. That is, each work task includes at least one navigation map. Given that all navigation maps whose own identifiers are contained in the list are executable in a guaranteed manner, this is automatically ensured by the described method.

[0037] Here, when creating a work task or when editing an old work task that cannot be performed using the new navigation map data, for example, an identifier of the new navigation map data can be automatically entered in the list of the corresponding work task. In the case of an old work task that can be performed using the new navigation map data, the identifier of the new navigation map data can also be added to the corresponding list.

[0038] In a further preferred specific embodiment, a defined time for executing the new navigation map data is entered before step d).

[0039] In principle, the time point can be freely defined according to needs and motivations after the successful completion of the editing of the navigation map data. Once the user has finished the editing, the system will ask the user to enter the time point from which the modified navigation map data should be valid, for example from now on. From this time point on, the work tasks are planned based on the new navigation map data. Therefore, the work tasks planned before this time point are the old work tasks described above.

[0040] In a further preferred specific embodiment, in step a) work tasks planned based on old navigation map data are marked.

[0041] Furthermore, in step b), the work tasks identified in step a) are checked to determine whether they can be performed using the new navigation map data. If not, the work tasks are edited if necessary to adapt them or to be processed in a different way. For better identification, the work tasks are therefore preferably visually and logically marked for further processing.

[0042] In a further preferred specific embodiment, in step c) work tasks that are incompatible with the new navigation map data are interrupted.

[0043] A work task that is incompatible with the new navigation map data is a work task that was created based on an old navigation map and cannot be performed using the new navigation map data. If the work task has not been edited in the meantime to adapt to the new navigation map data, the work task is terminated (deactivated) taking into account the state of the assignment to the work machine.

[0044] According to the allocation status, the work tasks are further divided into allocated work tasks and unallocated work tasks. Allocated work tasks are work tasks that have been allocated to work machines and may be in work execution. On the contrary, unallocated work tasks, as the name implies, have only been created but not yet allocated to work machines.

[0045] Here, work tasks that are incompatible with the new navigation map and have not yet been assigned to the work machine can be automatically deactivated. Work tasks that have already been assigned to the work machine, in particular work tasks that are still in the process of being executed, must be deactivated at least after the work has been completed. The work tasks that were interrupted in step c) are referred to here as deactivated work tasks (compared to activated work tasks).

[0046] In another preferred embodiment, all work tasks are stopped before step d), and work tasks that have not yet been completed are continued after step d).

[0047] Here, not only the deactivated tasks but also the activated tasks must be stopped before step d). After step d), the activated tasks are continued to be executed.

[0048] In addition, the work tasks are further divided into non-periodic work tasks and periodic work tasks according to the execution mode. The periodic work tasks are those work tasks that automatically initiate at least one more execution of the same work task immediately after the work task is completed. Here, the periodic work tasks and the non-periodic work tasks are both stopped before step d), and the periodic work tasks continue to be executed after step d).

[0049] In a further preferred embodiment, the working machine is deactivated before step d).

[0050] In order to ensure that all working machines are no longer performing work tasks before step d), all working machines that are not performing work tasks at this point in time are immediately deactivated. These working machines can, for example, be deactivated before step d). For this purpose, they are dispatched to charging stations or parking locations so that the road network is not blocked.

[0051] In a preferred embodiment, the non-periodic work task being executed is executed to completion. For this reason, the working machine involved is correspondingly deactivated at the end of the work execution.

[0052] In another preferred embodiment, the periodic work task in execution is executed until the corresponding current instance is completed, and then stopped. That is, for all work machines with periodic work tasks, only the current work task instance in execution is executed to completion, and the re-execution of a new instance is prevented.

[0053] In another preferred embodiment, in step d), the work tasks that are incompatible with the new navigation map data are still completed based on the old navigation map data.

[0054] Tasks that are incompatible with the new navigation map data are deactivated tasks (compare to activated tasks) that were created based on the old navigation map and cannot be executed using the new navigation map data. If these tasks are not edited to adapt to the new navigation map data before step d) during this period, they are eventually manually deleted in step d).

[0055] In a further preferred specific embodiment, the navigation map data are transmitted wirelessly in step d).

[0056] The navigation map data of each work machine are transmitted via radio to a central server and combined there in the control console software to form an overall picture of the fleet situation. From the central server, the navigation map data contained in the work order can also be transmitted via radio to the work machine.

[0057] In a further preferred embodiment, the central control device is designed to control a plurality of working machines which are part of a working machine network.

[0058] The entire system can be controlled by the central control device, which includes a control console software, which controls the working machine based on a road network (also known as a navigation map) specified by the user, on which semantic elements important for the use case are annotated (e.g. charging station, parking station, source, sink). In particular, when a transport task is received, the control console software determines which working machine is best suited to perform the task and instructs the working machine to perform the task on a priority route, wherein the priority route has been calculated based on the navigation map.

[0059] In a graphical user interface as part of the control console software, the user can check the execution of the work task at any time, since the navigation map is displayed together with the current positions of all working machines.

[0060] In the same graphical user interface, the user can switch to the "configuration view". The user uses this configuration view to edit the navigation map with load and store functions. In addition, all planned and ongoing work tasks and their corresponding routes (location paths) are displayed in the configuration view. As a result, conflicts arising from the editing of the navigation map are identified in step b) and are visually (and logically) marked. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The method for distributing navigation map data to a plurality of working machines is explained in more detail below based on the drawings. It should be pointed out that the drawings only show preferred embodiments, but the disclosure is not limited here to said preferred embodiments.

[0062] Figure 1 Schematic diagram showing the described method

[0063] Figure 2 A schematic diagram of the method steps is shown. DETAILED DESCRIPTION

[0064] Figure 1 The schematic diagram of the described method shows that in the time window (i) 13 there are work tasks (i) 1 and (ii) 2 which have been planned based on old navigation map data 8. The control console software 6 sends work task (i) 1 to the working machine (i) 10 and work task (ii) 2 to the working machine (ii) 11 via radio 7. The graphical user interface has switched to the live view 4, whereby the user can check the execution of the work tasks (1, 2) at any time, since the navigation map is displayed together with the current position of the working machines (10, 11).

[0065] In time window (ii) 14 , the graphical user interface switches from the real-time view 4 to the configuration view 5 , which the user can use to edit the navigation map using the load and store functions. For this purpose, new navigation map data 9 are created.

[0066] After the creation of new navigation map data 9, new work tasks are planned in the time window (iii) 15 only based on the new navigation map data 9. Here, the graphical user interface switches again to the real-time view 4. All planned and in-progress transport tasks and their corresponding location paths (routes) are displayed on the real-time view. As a result, the user can recognize conflicts that arise due to the creation of new navigation map data 9. If the work task (ii) 2 planned in the time window (i) 13 is incompatible with the new navigation map data 9, for example, this work task is deactivated. If the work task (i) 1 planned in the time window (i) 13 is compatible with the new navigation map data 9, for example, this work task remains activated. The work task (iii) 3 created in the time window (iii) 15 is based on the new navigation map data 9 and is therefore also activated. The activated work tasks (1, 3) are assigned to the work machines (10, 11) together with the navigation map (ii) 2 via the radio 7. The execution of the work tasks (1, 3) can be managed in the real-time view 4.

[0067] Figure 2A schematic diagram of the method steps is shown. In step a), work tasks that have been planned based on old navigation map data are identified. For this purpose, the work tasks are divided into new work tasks and old work tasks. The new work tasks are defined based on the new navigation map and are referred to as activated work tasks here. In contrast, the old work tasks are defined based on the old navigation map data, and in step b), it is also checked: which old work tasks can be performed using the new navigation map data. The old work tasks that can be performed using the new navigation map data are also called activated work tasks. Moreover, if the old work tasks that cannot be performed using the new navigation map data have not been edited to adapt the new navigation map data before step d), these old work tasks are deactivated in step c). Then, in step d), the new navigation map is imported, the identifier of the new navigation map data is entered or inserted into the list of the corresponding activated work tasks in the new navigation map, and the work tasks with the new navigation map data are then further assigned to the corresponding working machines. Here, the deactivated work tasks can be manually deleted or edited.

[0068] Reference numerals list

[0069] 1 Work tasks (i)

[0070] 2 Work tasks (ii)

[0071] 3 Work tasks (iii)

[0072] 4 Live View

[0073] 5 Configuration View

[0074] 6 Console Software

[0075] 7 Radio

[0076] 8 Old navigation map data

[0077] 9 New navigation map data

[0078] 10 Working machinery (i)

[0079] 11 Working machinery (ii)

[0080] 12 Timeline

[0081] 13 Time window (i)

[0082] 14 Time window (ii)

[0083] 15 Time window (iii)

Claims

1. A method for distributing navigation map data (8, 9) to a plurality of working machines (10, 11), the plurality of working machines being part of a network of working machines (10, 11) and performing working tasks (1, 2, 3) in the network, wherein the navigation map data (8, 9) are required in the working machines (10, 11) for performing the working tasks (1, 2, 3), and the working tasks (1, 2, 3) are planned based on the navigation map data (8, 9), the method comprising the following steps: a) identifying work tasks (1, 2) existing in the network for work machines (10, 11) that have been planned based on old navigation map data (8), b) performing a check on the work tasks (1, 2) existing in the network: whether the work tasks can be performed using the new navigation map data (9), c) terminating the work task (2) which cannot be performed using the new navigation map data (9), and d) Import new navigation map data (9).

2. The method according to claim 1, wherein: The working machines (10, 11) are transport machines and the working tasks (1, 2, 3) are transport tasks.

3. The method according to claim 1 or 2, wherein: The navigation map data (8, 9) each have an identifier, and the work tasks (1, 2, 3) each have a list of identifiers of the navigation map data (8, 9).

4. The method according to claim 1 or 2, wherein: Prior to step d), a defined time point for executing the new navigation map data (9) is entered.

5. The method according to claim 1 or 2, wherein: In step a), the identified work tasks (1, 2) are marked.

6. The method according to claim 5, wherein: In step c), the work tasks ( 2 ) that are incompatible with the new navigation map data ( 9 ) are terminated.

7. The method according to claim 1 or 2, wherein: Before step d), all work tasks (1, 2, 3) are stopped, and after step d), the work tasks (1, 3) that have not been completed are continued.

8. The method according to claim 1 or 2, wherein: Prior to step d), the working machine (10, 11) is deactivated.

9. The method according to claim 8, wherein: Execute the non-periodic work tasks in progress to completion.

10. The method according to claim 8, wherein: The executing periodic work tasks are executed until the corresponding current instance ends and then stopped.

11. The method according to claim 1 or 2, wherein: In step d), the work tasks (2) which are incompatible with the new navigation map data (9) are still completed based on the old navigation map data (8).

12. The method according to claim 1 or 2, wherein: In step d), the navigation map data (8, 9) are transmitted wirelessly.

13. A central control device, the central control device being used to control a large number of working machines (10, 11), wherein the large number of working machines (10, 11) are part of a working machine (10, 11) network and perform working tasks (1, 2, 3) in the network, wherein the navigation map data (8, 9) are required for performing the working tasks (1, 2, 3) in the working machines (10, 11), and the working tasks (1, 2, 3) are planned based on the navigation map data (8, 9), wherein: The central control device is set up to carry out the method according to any one of claims 1 to 12 .

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