System with a mobile device capable of traveling on a driving plane, method for operating the system, and application

Abstract

The invention relates to a system having a mobile device that can be moved on a driving plane and a method for operating the system, the mobile device having a measuring unit, the system also having a measuring body, which is spaced apart from the driving plane and from a plane parallel to the driving plane and containing the measuring unit, the measuring body being in particular arranged as far as possible from the driving plane, wherein the measuring unit is designed in such a way that the measuring unit determines the distance between the measuring body and the measuring unit in the direction of the normal to the driving plane, wherein the measuring body is constructed in such a way that in a vertical projection of the measuring body onto a plane parallel to the driving plane and containing the measuring unit, in particular in a projection plane, a plurality of - in particular non-overlapping - partial surface areas of the projection surface are respectively associated one-to-one with distance values.

Description

Technical Field

[0001] The invention relates to a system having a mobile device which can be moved on a driving surface, a method for operating the system and a use. Background Art

[0002] As is known, mobile devices can travel on a travel surface.

[0003] As the closest prior art, a method for measuring the deviation of a hollow component of a wind energy plant from a normal position is known from WO 2009 / 068 437 A1.

[0004] A method for monitoring the deflection of a support structure by means of laser is known from DE 10 2009 031 452 A1. Summary of the invention

[0005] It is therefore an object of the present invention to provide a system with higher efficiency.

[0006] According to the invention, this object is achieved by a system according to the features of claim 1 , a method according to the features of claim 10 and a use according to the features of claim 13 , 14 or 15 .

[0007] An essential feature of the system according to the invention is that the system is provided with a measuring body and a mobile device which can be moved on a driving plane, the mobile device having a measuring unit, the measuring body being spaced apart from the driving plane and from a plane parallel to the driving plane and containing the measuring unit, the measuring body being arranged in particular as far as possible from the driving plane,

[0008] The measuring unit is designed in such a way that it determines the distance between the measuring body and the measuring unit in the normal direction of the travel plane.

[0009] The measuring body is constructed so that in a vertical projection of the measuring body onto the above-mentioned plane (the plane containing the measuring unit), in particular in the projection surface, a plurality of - in particular non-overlapping - partial surface areas of the projection surface are respectively associated one-to-one with spacing values.

[0010] The advantage here is that by means of the determination of the distance, i.e. the determination of a one-dimensional parameter, the deviation from the specified position / theoretical position, i.e. the two-dimensional parameter, can be determined. Therefore, by measuring the distance, it is known in which direction the specified position can be reached, and the drive device and the steering device of the mobile device can move towards the specified position in this direction. In this way, adjustment to the specified position can be achieved very quickly, wherein the specified position is determined on the measuring body. Therefore, the system can operate very efficiently. For example, when the target position is reached, the load / cargo can be transferred or the load received by the rail vehicle can be processed by a tool arranged on the mobile device, or alternatively, the load received by the mobile device can be processed by a tool arranged on the rail vehicle.

[0011] In an advantageous embodiment, the measuring body is arranged on a rail vehicle of the system, which can be driven on rails of the system.

[0012] In particular, the rail vehicle is a monorail overhead vehicle. The advantage here is that the moving device can be synchronized towards the rail vehicle, so that the load can be transferred during travel.

[0013] In an advantageous embodiment, the measuring unit emits a light beam parallel to the normal direction of the travel plane and the distance between the measuring unit and the measuring body in the normal direction is determined from the light reflected on the measuring body. This has the advantage that the distance is determined along the light beam, which is preferably designed as a laser beam, so that the distance of approximately point-shaped surface areas of the measuring body can be determined.

[0014] In an advantageous embodiment, the measuring body is designed such that the distance increases monotonically, but in particular not strictly monotonically, with increasing radial distance from the specified position or from the first partial area region of the projection surface.

[0015] Particularly, the radial direction and the circumferential direction are based on a straight line that passes through the prescribed position or passes through the first partial surface area and is parallel to the normal direction of the travel plane. Advantageously, the optimum prescribed position can be reached by adjusting to a smaller spacing value.

[0016] In an advantageous embodiment, the distance as a function of the radial distance and the circumferential direction has a local minimum or an absolute minimum at a predetermined position or at the first partial surface area. This has the advantage that a particularly simple adjustment of the displacement device to a minimum value can be achieved.

[0017] In an advantageous embodiment, the measuring body is designed such that in a corresponding circumferential angle region the spacing increases monotonically with increasing radial spacing from the specified position or from the first partial surface area of ​​the projection surface according to a corresponding step function, but in particular not strictly monotonically.

[0018] In particular, the radial direction and the circumferential direction are referenced to a straight line which passes through the predetermined position or through the first partial surface area and is parallel to the normal direction of the travel plane. This has the advantage that by determining the distance value between the measuring unit and the measuring body, a clear deviation from the predetermined position can be determined, in particular, wherein the deviation is a plane vector.

[0019] In an advantageous embodiment, the step function of the respective angular circumference region differs from all other step functions of the respective other angular circumference regions.

[0020] In particular, all values ​​of the step function of the corresponding angular range differ from all values ​​of all other step functions of the corresponding other angular ranges. This has the advantage that the angular value or at least the angular range and the radial distance value, i.e. the deviation, can be clearly inferred from the spacing value determined by the measuring unit. This deviation can then be fed to a controller, whose control values ​​can be fed to the drive and steering unit of the moving device, and in this way the moving device is adjusted to a predefined, defined position relative to the rail vehicle.

[0021] In an advantageous embodiment, the radial widths of the steps of the step function in all circumferential angle regions are equal. This has the advantage that, in particular in the case of equidistant steps, a predetermined position that moves with the rail vehicle can be easily adjusted.

[0022] In an advantageous embodiment, a light sensor is also arranged on the rail vehicle next to the measuring body in the direction of the track, with which the light of the light-emitting element arranged on the mobile device can be detected. This has the advantage that the rail vehicle can monitor whether the mobile device is following the rail vehicle or whether the mobile device has been lost. Therefore, it is not necessary to install a complex data transmission between the mobile device and the rail vehicle.

[0023] In an advantageous embodiment, the light source is arranged in the tube so that the light emitted from the tube generates an illuminated area, in particular a light spot, on the rail vehicle. This has the advantage that a directed light beam can be generated in a simple manner. Alternatively, a lens arrangement can also be used which images a clearly defined area on the rail vehicle as an illuminated area, in particular a light spot.

[0024] In an advantageous embodiment, the extension of the light spot in the track direction is greater than the extension of the measuring body in the track direction. This has the advantage that it is possible to monitor whether synchronization of the movement device can still be performed with the aid of the measuring body or whether the movement device is too far away from the measuring body.

[0025] An important feature of the method for operating the system is that in a first step, in particular during system commissioning, distance values ​​associated with the measuring body are associated as deviation values ​​with the circumferential angle and the radial distance in a memory of the mobile device.

[0026] In a second step, in particular during operation of the system after commissioning, the distance between the measuring unit and the measuring body is determined repeatedly over time, and the deviation value associated with the determined distance value is read from a memory, and the control value for the drive of the moving device is determined by the controller unit in such a way that the deviation value is adjusted to the target value. This has the advantage that the moving device can be controlled by means of the controller in such a way that it is adjusted to a defined position moving with the rail vehicle. In this way, sufficient synchronization can be achieved, in which a transfer of load from the moving device to the moving rail vehicle can be carried out.

[0027] In an advantageous embodiment, during the second step, the load received by the displacement device is transferred to the rail vehicle.

[0028] or,

[0029] During a second step, the load received by the rail vehicle is transferred to the displacement device.

[0030] In both cases, a higher efficiency can be achieved, since no braking is required before the load is transferred, but the load transfer can be carried out during driving.

[0031] In an advantageous embodiment, a light sensor is arranged on the rail vehicle beside the measuring body in the track direction, with which the light of the light-emitting element arranged on the mobile device can be detected. The advantage here is that it is possible to monitor whether the mobile device is still in the synchronization area or has left the area.

[0032] In an advantageous embodiment, the lighting element is arranged in the tube in such a way that the light emitted from the tube generates an illuminated area, in particular a light spot, on the rail vehicle.

[0033] In particular, the extension of the light spot in the track direction is greater than the extension of the measuring body in the track direction. The advantage here is that a light spot can be generated in a particularly simple manner, the width of the light spot in the track direction being slightly wider, in particular 10% wider, than the extension of the measuring body in the track direction.

[0034] Further advantages are given by the dependent claims. The invention is not limited to the feature combinations of the claims. For a person skilled in the art, other reasonable combinations of the claims and / or the features of the individual claims and / or the features of the description and / or the features of the drawings are apparent, in particular from the objectives proposed and / or from a comparison with the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Now the present invention is described in detail according to the schematic diagram:

[0036] exist Figure 1 Schematically, a system according to the invention is shown in , wherein a measuring body 4 is arranged on a rail vehicle 2 .

[0037] exist Figure 2 The measuring body 4 is shown in an oblique view.

[0038] exist Figure 3 Detailed description of the drawings shows a side view of the measuring body 4 from a first viewing direction.

[0039] exist Figure 4 4 shows a side view of the measuring body 4 from a second viewing direction perpendicular to the first viewing direction. DETAILED DESCRIPTION

[0040] As shown in the drawing, the system has a rail vehicle 2 which is movable along a track 1 and to which a measuring body 4 is fastened.

[0041] Preferably, the track 1 is arranged above the ground of the system such that the measuring body 4 is arranged on the underside of the rail vehicle 2 .

[0042] Thus, a moving device 3 that is movable on the floor of the system can be moved underneath the rail vehicle 2 , in particular underneath the measuring body 4 .

[0043] In order to reach the exact position, the movement device 3 has a measuring unit 5 , in particular a laser distance meter, which emits a light beam 6 , in particular vertically, and determines the distance of the measuring body 4 by evaluating the reflected light.

[0044] After reaching the target position, the load can be transferred from the rail vehicle 2 to the movement device 3 .

[0045] In this case, the handover can also be carried out during driving, because by determining the distance of the measuring body 4 , the deviation from the specified position, in particular from the synchronization point, can also be determined, and the position of the movement device 3 can be adjusted to the specified position by means of position control.

[0046] When the desired position is reached, the previously known distance between the measuring unit 5 and the measuring body 4 is also achieved. Preferably, this distance is also the minimum distance between the measuring body 4 and the measuring unit 5 for all possible travel positions of the mobile device on the system floor.

[0047] The measuring body 4 is preferably designed such that the distance between the measuring body 4 and the measuring unit 5 corresponds one-to-one to the surface area of ​​the plane defined by the possible positions of the measuring unit 5. Furthermore, the distance increases monotonically, but in particular not strictly monotonically, with increasing distance from the specified position.

[0048] After the determination of the distance respectively detected by the measuring unit 5 during the measurement, the direction and the distance relative to the desired position are therefore also known, wherein the accuracy depends on the distance step of the surface area.

[0049] For this purpose, the measuring body 4 is preferably designed in a stepped manner.

[0050] As in Figure 2 , Figure 3 and Figure 4 As shown in detail in FIG. 1 , the measuring body 4 has four circumferential angular regions, wherein in each circumferential angular region, as the radial distance from the surface region containing the predetermined position increases, the distance to the measuring unit 5 also increases monotonically, but not strictly monotonically. This is because this distance from the measuring unit 5 is a step function as a function of the radial distance from the predetermined position.

[0051] Each platform (Plateau) of the step function corresponds one-to-one to a distance value from the measuring unit 5 .

[0052] In this case, the distance value always refers to the vertical height difference between measuring unit 5 and measuring body 4 , in particular the platform of measuring body 4 .

[0053] The radial width of the first step, ie the radial step width, seen from a given position is the same in each circumferential angle region. The same applies to the next step and so on.

[0054] The step function is therefore equal, ie, identical, in particular in every circumferential angle.

[0055] The radial width of each step, ie the radial step width, is preferably also respectively equal.

[0056] The light beam 6 , in particular the laser beam, of the measuring unit 5 is always oriented vertically, so that only one platform of the measuring body 4 is ever struck by the laser beam and thus measured.

[0057] A light sensor is arranged on the rail vehicle 2 in the track direction next to the measuring body 4, with which the light of the light-emitting element arranged on the moving device 3 can be detected. The light-emitting element is arranged in a tube so that the light emitted from the tube generates a light spot on the rail vehicle. As soon as the light spot no longer contains the light sensor, a stop command for the rail vehicle 2 is generated.

[0058] In this way it is monitored whether the mobile device 3 is following the rail vehicle synchronously or has left the synchronous range.

[0059] The extension of the light spot in the track direction is greater than the extension of the measuring body 4 in the track direction.

[0060] In other embodiments according to the invention, other directions than the vertical direction are used. Preferably, however, the direction is parallel to the normal direction of the flat travel plane of the mobile device 3 .

[0061] List of reference numerals:

[0062] 1 track

[0063] 2 Rail vehicles

[0064] 3 Mobile devices

[0065] 4 Measurement body

[0066] 5 Measuring units, especially laser distance meters

[0067] 6 Beam

Claims

1. A system having a measuring body and a mobile device movable on a travel plane, the mobile device having a measuring unit, the measuring body being spaced apart from the travel plane and from a plane parallel to the travel plane and containing the measuring unit, It is characterized in that The measuring unit is designed such that it determines the distance between the measuring body and the measuring unit in the direction normal to the travel plane. The measuring body is designed such that, in a vertical projection of the measuring body onto a plane parallel to the travel plane and containing the measuring unit, a plurality of non-overlapping partial surface areas of the vertical projection are each associated with a spacing value in a one-to-one correspondence, The measuring body is designed such that, in the corresponding circumferential angle region, the distance increases monotonically with increasing radial distance from the predetermined position or from the first partial surface region of the perpendicular projection according to a corresponding step function, The radial direction and the circumferential direction are based on a straight line passing through the predetermined position or through the first partial surface area and parallel to the normal direction of the driving plane. the step function of the corresponding angular area differs from all other step functions of the corresponding other angular areas, All values ​​of the step function of the respective circumferential angle region differ from all values ​​of all other step functions of the respective other circumferential angle region.

2. The system according to claim 1, It is characterized in that The measuring body is arranged on a rail vehicle of the system, which can be driven on the rails of the system. The rail vehicle is a single-track overhead vehicle.

3. The system according to claim 1, It is characterized in that The measuring unit emits a light beam parallel to the normal direction of the travel plane and determines the distance between the measuring unit and the measuring body in the normal direction from the light reflected at the measuring body.

4. A system according to any one of the preceding claims 1 to 3, It is characterized in that The measuring body is designed in such a way that the distance increases monotonically, but not strictly monotonically, with increasing radial distance from the predetermined position or from the first partial area region of the perpendicular projection, The radial direction and the circumferential direction are based on a straight line which passes through the specified position or through the first partial surface area and is parallel to the normal direction of the driving plane.

5. The system according to claim 4, It is characterized in that The spacing as a function of the radial spacing and the circumferential direction has a local minimum or an absolute minimum at a defined position or in the first partial area region.

6. The system according to claim 1, It is characterized in that The measuring body is designed such that, in the respective circumferential angle region, the distance does not increase strictly monotonically with increasing radial distance from the predetermined position or from the perpendicularly projected first partial area region.

7. The system according to any one of claims 1 to 3, It is characterized in that The radial widths of the steps of the step function are equal in all circumferential angle regions.

8. The system according to any one of claims 1 to 3, It is characterized in that A light sensor is arranged on the rail vehicle in the rail direction next to the measuring body, with which light from a lighting element arranged on the moving device can be detected.

9. The system according to claim 8, It is characterized in that The light emitting element is arranged in the tube so that the light emitted from the tube generates a light spot on the rail vehicle. The extension of the light spot in the track direction is greater than the extension of the measuring body in the track direction.

10. A method for operating a system according to any one of the preceding claims, comprising a measuring body and a mobile device movable on a driving plane, It is characterized in that In a first step, during system commissioning, the distance values ​​associated with the measuring body are associated as deviation values ​​with the circumferential angle and the radial distance in the memory of the mobile device. In a second step, during operation of the system after commissioning, the distance between the measuring unit and the measuring body is repeatedly determined over time, an error value associated with the determined distance value is read from a memory, and a control value for a drive of the movable device is determined by a regulator unit in such a way that the error value is adjusted to a target value.

11. The method according to claim 10, It is characterized in that During a second step, the load received by the moving device is transferred to the rail vehicle, or During a second step, the load received by the rail vehicle is transferred to the displacement device.

12. The method according to claim 10 or 11, It is characterized in that When the light sensor no longer detects the illuminated area, a stop command is generated for the rail vehicle, Monitoring: whether the mobile device is following the rail vehicle synchronously or leaving the synchronous range.

13. Use of a system having a measuring body and a mobile device movable on a driving plane, the mobile device having a measuring unit, the measuring body being spaced apart from the driving plane and from a plane parallel to the driving plane and containing the measuring unit, It is characterized in that The measuring unit is designed such that it determines the distance between the measuring body and the measuring unit in the direction normal to the travel plane. The measuring body is designed in such a way that, in a vertical projection of the measuring body onto the plane, a plurality of partial surface areas of the projection are each assigned a one-to-one correspondence to a spacing value, The measuring body is arranged on a rail vehicle of the system, which can be driven on the rails of the system. In this case, a light sensor is arranged on the rail vehicle next to the measuring body in the rail direction, with which light from a lighting element arranged on the moving device can be detected. The measuring body is designed such that, in the corresponding circumferential angle region, the distance increases monotonically with increasing radial distance from the predetermined position or from the first partial surface region of the perpendicular projection according to a corresponding step function, The radial direction and the circumferential direction are based on a straight line passing through the predetermined position or through the first partial surface area and parallel to the normal direction of the driving plane. the step function of the corresponding angular area differs from all other step functions of the corresponding other angular areas, All values ​​of the step function of the respective circumferential angle region differ from all values ​​of all other step functions of the respective other circumferential angle region.

14. Use of a system having a measuring body and a mobile device movable on a driving plane, the mobile device having a measuring unit, the measuring body being spaced apart from the driving plane and from a plane parallel to the driving plane and containing the measuring unit, It is characterized in that The measuring unit is designed such that it determines the distance between the measuring body and the measuring unit in the direction normal to the travel plane. The measuring body is designed such that, in a perpendicular projection of the measuring body onto the plane, a plurality of partial surface areas of the projection are each associated one-to-one with a spacing value, and the measuring body is designed such that, in a corresponding circumferential angle region, the spacing increases monotonically with increasing radial spacing from a predetermined position or from a first partial surface area of ​​the perpendicular projection according to a corresponding step function, The radial direction and the circumferential direction are based on a straight line passing through the predetermined position or through the first partial surface area and parallel to the normal direction of the driving plane. the step function of the corresponding angular area differs from all other step functions of the corresponding other angular areas, all values ​​of the step function of the corresponding angular area differ from all values ​​of all other step functions of the corresponding other angular areas, The measuring body is arranged on a rail vehicle of the system, which can be driven on the rails of the system. In this case, a light sensor is arranged on the rail vehicle next to the measuring body in the rail direction, with which light from a lighting element arranged on the moving device can be detected. The light-emitting element is arranged in the tube so that the light emitted from the tube generates a light spot on the rail vehicle. The extension of the light spot in the track direction is greater than the extension of the measuring body in the track direction.

15. Use of a system having a measuring body and a mobile device movable on a travel plane, the mobile device having a measuring unit, the measuring body being spaced apart from the travel plane and from a plane parallel to the travel plane and containing the measuring unit, It is characterized in that The measuring unit is designed such that it determines the distance between the measuring body and the measuring unit in the direction normal to the travel plane. The measuring body is designed such that, in a vertical projection of the measuring body onto the plane, a plurality of partial surface areas of the projection are respectively associated with a spacing value in a one-to-one correspondence, The measuring body is designed such that, in the corresponding circumferential angle region, the distance increases monotonically with increasing radial distance from the predetermined position or from the first partial surface region of the perpendicular projection according to a corresponding step function, The radial direction and the circumferential direction are based on a straight line passing through the predetermined position or through the first partial surface area and parallel to the normal direction of the driving plane. the step function of the corresponding angular area differs from all other step functions of the corresponding other angular areas, all values ​​of the step function of the corresponding angular area differ from all values ​​of all other step functions of the corresponding other angular areas, The measuring body is arranged on a rail vehicle of the system, which can be driven on the rails of the system. In a first step, during system commissioning, a distance value associated with the measuring body is associated as a deviation value with the circumferential angle and the radial distance in a memory of the mobile device. In a second step, during operation of the system after commissioning, the distance between the measuring unit and the measuring body is determined repeatedly over time, an error value associated with the determined distance value is read from a memory, and a control value for a drive of the movable device is determined by a regulator unit in such a way that the error value is adjusted to a target value.

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