Ground transportation vehicle for driverless autonomous operation

Abstract

The invention relates to a ground vehicle (1) which is designed for driverless, autonomous operation and has a loading side (1.2) for loads (2) to be transported, comprising at least: a control system (3) which controls and steers the ground vehicle (1); an evaluation unit (4) which generates a signal for stopping the ground vehicle (1), wherein a detection device (5) is provided for checking a loading area (26) adjoining the loading side (1.2) and for detecting an object in the loading area (26), wherein the evaluation unit (4) is designed to compare the expected reference position of the object and the evaluation unit (4) generates the signal for stopping the ground vehicle (1) if there is a deviation from the expected reference position of the object.

Description

TECHNICAL FIELD

[0001] The invention relates to a ground vehicle (automatically guided vehicle, AGV) for loads to be transported, which is designed for driverless, autonomous operation. The invention is applied in particular to robot vehicles for transporting loads. Also included are lift ground vehicles and non-stacking lifts and corresponding combinations. BACKGROUND

[0002] With the progress of automation technology, the handling of loads is becoming increasingly important.

[0003] When an autonomous ground vehicle is to pass under a loading goods for the purpose of loading a load, a distinction must be made between a person in the path and a specific load. Known sensor designs do not allow a reliable distinction. If necessary, monitoring of the load transfer area is even completely abandoned and personnel protection is achieved by means of contact triggering with a reduced force (less than 400 Newton). SUMMARY

[0004] Starting from this, it is the task of the invention to provide a ground vehicle which is designed for driverless, autonomous operation, which reduces or even avoids the stated disadvantages. In particular, a distinction between a person and a loading goods should be made in a structurally simple manner. Furthermore, for the purpose of preventing a collision, the movement of the ground vehicle should be reliably stopped.

[0005] The stated task is solved with a ground vehicle according to the invention. Further design options of the invention are given in other parts of the present disclosure. It should be noted that further details and refinements of the invention are implemented in particular in connection with the description of the drawings, which can be combined with the features of the claims.

[0006] To this end, a ground vehicle is proposed, which is designed for driverless, autonomous operation and has a loading edge (Ladekante) for a load to be transported, the ground vehicle comprising at least:

[0007] a control system, which controls and steers (lenken) the ground vehicle,

[0008] a detection unit, which generates a signal for stopping the ground vehicle, wherein a detection device is designed for checking a processing area adjoining the loading edge and for detecting an object in the processing area, wherein the detection unit is designed for comparing with an expected reference position of the object and for generating a signal for stopping the ground vehicle when a deviation of the expected reference position of the object is detected.

[0009] The ground vehicle presented here has the advantage of increased safety, since the protection of persons during the approach to the load is not achieved by a limited contact force, but rather touch-free recognition of persons in the travel path.

[0010] A particular advantage is that the persons are distinguished from the load by means of the defined geometry of the load. Before passing under the load, the geometry of the recognized object can be verified by means of sensor means. This is done (according to the geometry) for example by means of a combination of two (rearwardly directed) side warning zones and one (rearwardly directed) middle protection zone of a laser scanner. If both outer warning zones are triggered simultaneously or within a short time window and the middle protection zone remains free of object recognition, a specific load is involved. In all other cases, the control unit decides "person recognized" and stops the movement. In the case of more complex geometries, the recognition can be carried out for example by means of raw data of a laser scanner.

[0011] The driverless ground vehicle can mean a power-driven vehicle determined for active travel, if necessary including any trailer. For this purpose, the ground vehicle cooperates with a guidance system of a predefined travel route in the ground or the surrounding environment.

[0012] "Load" means an object to be handled, including its mass, size, state and / or arrangement. The load can consist (only) of the load. The load can also include the load and a conveying device for the load, such as a conveying vehicle, a pallet, a trolley (Bodenroller), etc. The "load handling" that can be carried out by the ground vehicle is understood in particular as lifting, lowering, load transfer and / or load handling.

[0013] The control system has as content an automation that controls (for example activates / deactivates) and manipulates (if necessary monitored in a sensorized manner) the ground vehicle and its belonging devices. The system of the driverless ground vehicle includes a control system that can be part of the ground vehicle and / or separate therefrom. The control system can include a computing unit that is provided in or on the ground vehicle.

[0014] The evaluation unit can be connected to the sensor system, for example the detection device, preferably electrically conductively and data-conductively and is provided for processing the signals thereof. The evaluation unit is in particular provided for analyzing the data of the detection device, so that a person, object, item can be detected or determined unambiguously in terms of the position of the person, object, item in the processing area (in the area behind the floor transport vehicle). The position determined in the evaluation unit can be adjusted or influenced with predefined, for example stored and / or set, parameters, wherein control signals are then also transmitted to the control device and can influence the operation of the floor transport vehicle here by the evaluation unit. The evaluation unit can be a separate (electronic) device, but the evaluation unit can also be part of the control system for operating the floor transport vehicle itself. The (at least one) data-conductive connection between the evaluation unit and the controller and the sensor system can be realized wired or wirelessly.

[0015] The detection device is provided for generating a signal which represents the processing area, in particular the (rearward) surrounding area of the loading edge of the floor transport vehicle adjoining. This signal can be interpreted by the evaluation unit and lead to an instruction to the control system, by which the floor transport vehicle can be brought to a standstill by means of the brake system under predefined operating conditions, in particular before a predefined safety distance from an (identified, predefined) object is undershot. The detection device for identifying persons and / or objects located in the (rearward) travel path is connected to the evaluation unit and / or the control device.

[0016] The detection device is in particular provided for monitoring a protection zone and / or an alarm zone, i.e. for detecting persons, objects, etc. entering during the (rearward) travel of the floor transport vehicle there. Different predefined zones can be monitored depending on the travel direction, speed and / or steering deflection. Each predefined zone can consist of one alarm zone and one protection zone, wherein a plurality of alarm zones and / or protection zones can also be predefined if necessary. If an alarm zone is interrupted, the evaluation unit can cause the floor transport vehicle to reduce the speed (only) (without directly bringing it to a standstill). If a protection zone is interrupted, the evaluation unit triggers a brake function (automatically, i.e. in particular without active action of a person and / or directly based on an instruction of the evaluation unit), wherein for example the drive device is separated from the voltage supply (reliable torque-off, STO). If the protection zone is no longer interrupted, the drive device of the floor transport vehicle can be activated again and thus continue to travel automatically after for example 2 seconds.

[0017] The detection device is provided for checking the processing area and for detecting objects in the processing area. For this purpose, the evaluation unit can compare the data obtained by the detection device with the expected reference position of the object and generate a signal for stopping the floor transport vehicle when a deviation from the expected reference position of the object is to be derived from the data.

[0018] The reference position of the object can be predefined and stored in the evaluation unit and / or in the control system. Here, the usual wheel distance and / or the usual width of a load, a loaded goods, a transport vehicle, a warehouse rack, etc. are exemplarily listed. If the data determined by the detection device correspond to such a reference position of the object, the floor transport vehicle continues its travel according to the predefined travel route. However, if a data set is to be evaluated which cannot be assigned to a predefined and / or expected reference position of the object, for example because the environment has changed and / or additional obstacles or persons are present there, the evaluation unit (without delay and / or automatically) generates a signal for stopping the floor transport vehicle.

[0019] Preferably, the control system comprises a control unit for the desired travel direction and speed, a control unit for the movement and a control unit for the safety of the floor transport vehicle. The first control unit (Robot Control Unit, RCU), the second control unit (Motion Control Unit, MCU) and the third control unit (Safety Control Unit, SCU) are components of the control system.

[0020] Advantageously, the detection device comprises a laser scanner. The laser scanner scans the predefined surrounding area with laser light. Here, a laser beam is emitted by the scanner, which is then reflected again by the surroundings, an object or an obstacle and received again by a receiving optics. Here, the laser light can be diverted by a pivoted deflection mirror. The travel time of the laser light from the scanner to the reception is determined and evaluated, wherein the distance to an obstacle (person, object, etc.) in the scanned area can be inferred therefrom. Also a kind of "image" can be generated, which has the relative positions of the detected objects to each other. Thereby, also a more complex analysis of the surroundings is possible.

[0021] The laser scanner is preferably arranged at the rear of the floor transport vehicle.

[0022] Suitably, the control system comprises an evaluation unit. Advantageously, the evaluation unit is integrated into the control system.

[0023] Preferably, the laser scanner is connected to the third control unit (SCU).

[0024] Advantageously, the second control unit (MCU) and the third control unit (SCU) are configured to check the surroundings for obstacles by means of predefined protection zones and alarm zones of the laser scanner.

[0025] Preferably, a plurality of protection and / or alarm zones are predefined in the laser scanner or in the evaluation unit.

[0026] Suitably, the third control unit (SCU) is configured to activate and / or deactivate the protection zones.

[0027] Preferably, the laser field of view of the laser scanner comprises a narrow laser field of view as protection zone and a wide laser field of view as alarm zone.

[0028] With the ground vehicle presented here, the distinction between the transport vehicle (dolly, slide bench) and the person is advantageously achieved by means of the protection zones and alarm zones of the laser scanner. Here, a "drive to the load" driving situation is achieved.

[0029] The ground vehicle can therefore also be designed with a system for data processing, which comprises means for carrying out the above-mentioned method steps with the detection device. In particular, the system is configured to determine a person and / or an object located in the driving path by means of the detection device, in particular in the case of use of the evaluation unit, wherein

[0030] the evaluation unit is configured to compare with an expected reference position of the object, and

[0031] the ground vehicle is caused to stop driving (without delay) upon determination of an (predefinable) impermissible change (upon detection of a deviation of the expected reference position of the object).

[0032] As a precaution, it should be noted that elements with numbers ("first", "second",...) are usually only named for the sake of distinction and the relevance and order of the elements does not have to be predefined. In the case of sensors, this means, for example, that their installation (fixed, following) and / or position (on a holder, clamp, etc.) can be freely chosen independently of the name or according to the technical environment. BRIEF DESCRIPTION OF DRAWINGS

[0033] The invention and the technical field are explained in detail below with the aid of the drawings. Here, identical components are identified with identical reference signs. The drawings are schematic and are not set up to illustrate dimensional proportions. The explanations set forth with reference to individual details of one drawing are extractable and can be combined freely with cases from other drawings or the aforementioned explanations, unless it must necessarily result for the person skilled in the art that something else results or such a combination is explicitly prohibited. In the drawings, schematically shown are:

[0034] Figure 1 Fig. 1 shows a top view of an unmanned, autonomously moving ground vehicle with a control system and a detection device;

[0035] Figure 2 Fig. 2 shows a block diagram with a control system to which a laser scanner and a drive motor are connected;

[0036] Figure 3 Fig. 3 shows a side view of a ground vehicle according to Figure 1 Fig. 4 shows a top view of a ground vehicle according to

[0037] Figure 4 Fig. 5 shows a top view of a ground vehicle according to Figure 3 Fig. 6 shows a side view of a ground vehicle according to DETAILED DESCRIPTION

[0038] Figure 1 Fig. 1 shows a top view of an unmanned, autonomously moving ground vehicle 1 with a control system 3, a load sensor 6 (orientation sensor) and a laser scanner 8.

[0039] The ground vehicle 1 presented here with a loading area 1.1 for a load 2 (see Figure 3 ) to be transported comprises at least a control system 3 for controlling and maneuvering the ground vehicle 1 and an evaluation unit 4 (see Figure 2 ) for generating a signal for stopping the ground vehicle 1. A detection device 5 (see Figure 2 ) for recognizing the arrangement of the load 2 is connected to the control system 3, wherein the detection device 5 comprises an inductive sensor as load sensor 6 and a laser scanner 8. The control system 3 comprises a first control unit 9 for the desired direction of travel and speed, a second control unit 10 for the movement and a third control unit 11 for the safety of the ground vehicle 1. A first motor for the travel movement of the ground vehicle 1 is denoted with 12 and a second motor for the height adjustment of a lifting device 14 (see Figure 2 ) is denoted with 13. A first rotary inductor (rated speed) is denoted with 15 and a second rotary inductor, for example a SIL-2 rotary inductor, is denoted with 16. The direction of movement is denoted with A, B. The ground vehicle 1 can be an active shuttle (AS). A processing area adjoining the loading edge 1.2 is denoted with 27.

[0040] Figure 2A block diagram with a control system 3 for the ground vehicle 1 presented here is illustrated. The load sensor 6 and the laser scanner 8 are connected via a data-conducting connection 17 to the electronic control system 3 via the evaluation unit 4. The second control unit 10 is connected to the first motor 12 via the first rotational speed sensor 15 (setpoint rotational speed). The second rotational speed sensor 16 is connected to the third control unit 11. The brake system 18 is connected to the control system 3, which can generate a signal to the first motor 12 to stop the ground vehicle 1. The brake system 18 can also act on the ground vehicle 1 alone or in combination with the first motor 12. Furthermore, the second motor 13 for driving the lifting device 14 is connected to the control system 3. The detection device 5 can likewise be considered for identifying the positioning of the lifting unit 14. The memory element is designated 19.

[0041] Figure 3 A side view of the ground vehicle 1 according to Figure 1 Fig. 1 is illustrated with a loaded load 2, and an inductive sensor, for example an inductive proximity sensor, is illustrated as load sensor 6. The load sensor 6 is mounted on the rear side of the loading surface 1.1 of the ground vehicle 1 and is oriented in the direction of the load 2. Here, the load 2 consists of a loading cargo 21 and a transport cart 22 with which the loading cargo 21 can be transported. The wheels of the ground vehicle 1 are designated 20.1, 20.2 and 20.3. The wheels of the transport cart 22 are designated 23.1 and 23.2. The laser scanner 8 is mounted on the rear of the ground vehicle 1. The laser field of view 8.1 is oriented in the direction away from the ground vehicle 1. The load sensor (orientation sensor) is designated 6.

[0042] Figure 4 A top view of the ground vehicle 1 according to Figure 3 Fig. 1 is illustrated with a laser scanner 8 with a narrow protection zone 24 and a wide warning zone 25. The protection zone 24 and the warning zone 25 are located in the space between the stationary transport carts 22.1, 22.2 and 22.3 and the ground vehicle 1. Furthermore, a sidewalk 26 is illustrated.

[0043] For this purpose, the basic flow logic can be summarized as follows:

[0044] 1. The first control unit 9 passes on the desired driving direction and speed to the second control unit 10.

[0045] 2. The second control unit 10 further passes on the desired driving direction to the third control unit 11, calculates the setpoint rotational speed and passes it on to the motor.

[0046] 3. The third control unit 11 recognizes when the protection zone 24 of the rear laser scanner 8 is triggered (person recognition) and sets the speed to v = 0 mm / s for as long as the protection zone 24 is triggered by the second control unit 10. (The nominal speed of the third control unit 11 takes priority over the desired speed of the first control unit 9.)

[0047] 4. The third control unit 11 recognizes when both alarm zones 25 of the rear laser scanner 8 are triggered (slippery floor recognition) and switches the laser scanner 8 to the narrower protection zone 24 and continues the loading process.

[0048] The driverless, autonomously moving ground vehicle 1 (AGV) presented here is preferably used, for example, in a factory, warehouse, supermarket or hospital. Based on sensors, such as laser scanners, inductive proximity sensors, ultrasonic sensors and / or 3D video cameras, collisions, in particular with persons and / or objects, and / or disorientation are avoided. Transport of, for example, pallets, boxes, shelves, parts or small load carriers (KLT) with or without a transport cart 22 ("slippery floor").

[0049] List of reference signs

[0050] 1 ground vehicle

[0051] 1.1 loading area

[0052] 1.2 loading edge

[0053] 2 load

[0054] 3 control system

[0055] 4 evaluation unit

[0056] 5 detection device

[0057] 6 load sensor

[0058] 7 sensor system

[0059] 8 laser scanner

[0060] 8.1 laser field of view

[0061] 9 first control unit

[0062] 10 second control unit

[0063] 11 third control unit

[0064] 12 first motor

[0065] 13 second motor

[0066] 14 lifting device

[0067] 15 first rotary inductor

[0068] 16 second rotary inductor

[0069] 17 connection for conducting data

[0070] 18 braking system

[0071] 19 memory element

[0072] 20.1, 20.2, 20.3 wheel of a ground vehicle

[0073] 21 loading goods

[0074] 22 transport vehicle

[0075] 22.1, 22.2, 22.3 stationary transport vehicle

[0076] 23.1, 23.2 wheel of a transport vehicle

[0077] 24 protection zone

[0078] 25 warning zone

[0079] 26 sidewalk

[0080] 27 processing area

[0081] A, B direction of movement

Claims

1. A ground transport vehicle (1) configured for driverless, autonomous operation and having loading sides (1.2) for a load (2) to be transported, said ground transport vehicle having at least: -Control system (3), which controls and manipulates the ground transport vehicle (1), - Evaluation unit (4), which generates a signal to stop the ground transport vehicle (1), in, The detection device (5) is configured to inspect the processing area (27) adjacent to the loading edge (1.2) and to detect objects in the processing area (27), wherein the evaluation unit (4) is configured to compare with the expected reference position of the object and the evaluation unit (4) generates a signal to stop the ground transport vehicle (1) when a deviation from the expected reference position of the object is detected, wherein the detection device (5) includes a laser scanner (8) arranged at the rear of the ground transport vehicle (1), wherein the alarm zones (25) on both sides of the laser scanner (8) are used to detect objects in the processing area (27). The evaluation unit (4) is configured to distinguish between loaded cargo and personnel by a combination of an evaluation unit (25) and an intermediate protection zone (24), wherein the evaluation unit (4) is configured to identify the detected object as a specific loaded cargo when the two side alarm zones (25) are triggered simultaneously or within a short time window and the intermediate protection zone (24) remains unidentified, and to identify the detected object as a person in all other cases, and then the evaluation unit (4) generates a signal to stop the ground transport vehicle (1) and the control system (3) stops the movement of the ground transport vehicle (1).

2. The ground transportation vehicle (1) according to claim 1, wherein, The control system (3) includes a first control unit (9) for the desired driving direction and speed, a second control unit (10) for movement, and a third control unit (11) for the safety of the ground vehicle (1).

3. The ground transport vehicle (1) according to claim 1, wherein, The control system (3) includes a testing unit (4).

4. The ground transport vehicle (1) according to claim 2, wherein, The laser scanner (8) is connected to the third control unit (11).

5. The ground transport vehicle (1) according to claim 2, wherein, The second control unit (10) and the third control unit (11) are configured to inspect obstacles in the surrounding environment by means of a pre-defined protected area (24) and alarm zone (25) of the laser scanner (8).

6. The ground transport vehicle (1) according to claim 1, wherein, Multiple protected areas (24) are predefined in the laser scanner (8).

7. The ground transport vehicle (1) according to claim 2, wherein, The third control unit (11) is configured to activate or deactivate the protected area (24).

8. The ground transport vehicle (1) according to claim 1, wherein, The protected area (24) and the alarm zone (25) are formed by the sensor field of view (8.1) of the laser scanner (8).

9. The ground transport vehicle (1) according to claim 8, wherein, The sensor field of view (8.1) as a protected area (24) includes a wide laser field of view and as an alarm zone (25) includes a narrow laser field of view.

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