System for monitoring path of travel of transport vehicle, transport vehicle, method for monitoring path of travel of transport vehicle, and computer program product

Abstract

In order to optimize travel path monitoring of a transport vehicle (100), the invention proposes a system for travel path monitoring having at least one surroundings scanner (116) mounted on a stationary object (114), which surroundings scanner monitors a predetermined region (D) in the surroundings of the stationary object (114).

Description

Technical Field

[0001] The present invention relates to so-called transport vehicles. A specific example of such a transport vehicle is a so-called automated transport vehicle (FTF). Automated transport vehicles are generally well known in production, for example in vehicle production. For example, the body of a vehicle can be transferred from one workstation to another through a workshop on such an automated transport vehicle. Thus, conventional assembly line production can be replaced. Since the automated transport vehicle travels along a predetermined path in the workshop or advances independently based on its interaction with the environment, a more flexible production environment can be provided, in which many different vehicle types or variants can be produced simultaneously. Background Art

[0002] Typically, an unmanned transport vehicle has a platform mounted on a chassis and provided with, in particular, fastening points for production objects (car bodies or vehicles). Such known unmanned transport vehicles typically have one (or more) environmental scanners for movement in their environment. The environment of the transport vehicle is scanned with the aid of the environmental scanner and its movement (forward, backward, turning) or speed is immediately adapted to the environment based on the real-time data of the environmental scanner. In an environment where a whole row of objects is placed near the transport vehicle, the speed of the transport vehicle is typically automatically reduced so that it can be better maneuvered through narrow areas of the production plant.

[0003] Depending on the proximity and number of objects at the transport vehicle, the area scanned by the environmental scanner can also be adjusted. In particular, for example, in the case where multiple objects are placed very closely at the transport vehicle, the scanning area can be reduced so that only a relatively small area in front of and / or beside the vehicle can be scanned using the environmental scanner.

[0004] It can be advantageous, in particular based on such sensor technology, to reduce the speed of the transport vehicle due to the approach of a single stationary object only if a reduction in speed is necessary for safety or process reasons, wherein in other cases the maximum speed which is not reduced is preferably always selected. Summary of the invention

[0005] Therefore, a system is proposed in which an environment scanner which is already present and / or used in the production environment is used, for example in the area of ​​a robot in which an environment scanner is already provided.

[0006] These environment scanners are installed at stationary objects in the production environment and the data of such environment scanners are preferably used to at least change the scanning parameters of the environment scanners on the transport vehicle in order to ensure or influence, for example, its motion control or steering.

[0007] Therefore, a system for monitoring the travel path of a transport vehicle is provided, wherein the transport vehicle is equipped with a first environment scanner, which monitors a first predetermined area in the environment of the transport vehicle. According to the invention, a second environment scanner mounted on a stationary object is provided, which monitors a second predetermined area in the environment of the first stationary object.

[0008] The system is preferably configured so that it is determined or can be determined by means of the second environment scanner whether a) the transport vehicle enters the second predetermined area, and b) one or more scanning parameters of the first environment scanner are changed. Once it is determined by means of the second environment scanner that the transport vehicle is in the second predetermined area, the scanning parameters can preferably be changed, especially automatically.

[0009] Thus, a change in the scanning parameters takes place at the point in time of entry into the second predetermined area and / or the change in the scanning parameters is maintained as long as the transport vehicle is located in the second predetermined area.

[0010] The change in the scanning parameters may in particular be a regional concealment or reduction of the scanning region.

[0011] Therefore, in the broadest sense, data from an environmental scanner mounted at a first stationary object in the production environment are preferably taken into account in order to perform and / or influence motion control or manipulation of a transport vehicle and / or to change the characteristics and / or mode of operation of an environmental scanner mounted at or on the transport vehicle.

[0012] It may be advantageous if one or more scanning parameters of the first environment scanner are changed such that the first sub-region, in particular such a sub-region overlapping the second predetermined region, is concealed in the first predetermined region.

[0013] Therefore, the driving path monitoring of the transport vehicle is performed by means of the first environment scanner only in the following area, which is outside the second area covered by the second environment scanner, and in the second area monitored by the second environment scanner installed on the stationary object, the driving path monitoring of the transport vehicle is performed by means of the second environment scanner.

[0014] According to an advantageous improvement of the present invention, the transport vehicle can be optionally constructed to: a) adjust the vehicle speed and / or movement direction of the transport vehicle according to the scanning results of the first environment scanner when the transport vehicle is not located in the second predetermined area, and b) adjust the vehicle speed and / or movement direction of the transport vehicle according to the scanning results of the second environment scanner when the transport vehicle enters the second predetermined area or once the transport vehicle moves in the second predetermined area.

[0015] In the second predetermined area, monitoring of this area and coordinated movement control and actuation are therefore performed essentially via the second environment scanner, and outside the second predetermined area, movement control is performed based on data from the first environment scanner mounted directly on the transport vehicle.

[0016] Even if we are currently talking about a first environment scanner on a transport vehicle, a second, third or more environment scanners may be arranged around the transport vehicle, which together cover the first predetermined area, or in which each of these individual environment scanners covers a separate predetermined area. As for the multiple environment scanners arranged at the transport vehicle, they may be arranged at the front, rear and sides. For example, the individual scanning areas of the environment scanners may overlap with each other so that the first predetermined area around the transport vehicle is completely covered by the environment scanner.

[0017] One or more further environment scanners may be provided accordingly, which are correspondingly mounted on further stationary objects.

[0018] Thus, for example, a second environmental scanner can be installed at a column serving as a stationary object (e.g. in a factory building), other environmental scanners can be installed, for example, at a wall or a corner of a wall, and still other environmental scanners can be installed at a fence or a robot arm, which is part of a workstation. A plurality of environmental scanners can also be arranged at the respective stationary object, which scan the entire environment around the stationary object, not just a limited area of ​​one to two or more sides.

[0019] Therefore, it is preferred to scan a predetermined area around each of these objects. The corresponding predetermined scanning areas of each object may also overlap, or may also be arranged without overlapping.

[0020] The system can be optionally configured such that when it is determined by other environmental scanners that the transport vehicle enters other corresponding predetermined areas, or once it is determined that the transport vehicle is located in other corresponding predetermined areas, one or more scanning parameters of the first environmental scanner provided on the transport vehicle are changed.

[0021] In particular, for example, a communication device is provided which enables communication between the transport vehicle and the second surroundings scanner or further surroundings scanners.

[0022] This communication can take place directly or via a dispatch center. Such a transport vehicle is preferably controlled by a production application (software). In addition to automatic driving in the production environment, intervention is preferably also carried out via a dispatch center, and the movement / speed of the transport vehicle can be manually controlled by a person, for example. Communication can take place directly between the transport vehicle and the second environment scanner, or can take place via a dispatch center or a cloud.

[0023] Preferably, the three-level control is arranged in such a way that the transport vehicle receives driving and / or transporting tasks from a superior transport control device, such as a fully automatic dispatch center, wherein the transport control device in turn receives tasks from a superior device control unit. The communication means can in particular enable the coordination and / or utilization of information collected and / or generated by the transport vehicle and the second environment scanner or other environment scanners. The transport vehicle and the second environment scanner or other environment scanner preferably communicate directly with the transport control device, such as a fully automatic dispatch center. For this purpose, communication is in particular provided via its safety protocol, such as Profinet / Profisafe.

[0024] In particular, it may be advantageous if the vehicle speed in the second predetermined area or in other predetermined areas is not reduced as much as if the speed control were to be carried out solely on the basis of the data of the first surroundings scanner.

[0025] Data that are used for maneuvering the transport vehicle are preferably ascertained using an environment scanner that is fixed stationary outside the transport vehicle, whereby a potentially dangerous situation can preferably be checked or the degree of danger can be assessed in a better way than with the environment scanner of the transport vehicle alone. Thus, a reduction in the degree of danger can be ascertained using an environment scanner that is fixed stationary outside the transport vehicle, in particular in order to be able to achieve a speed of the transport vehicle that is suitable for the actual degree of danger.

[0026] As mentioned above, in narrow places in the production environment (where many such stationary objects are arranged), the transport vehicle is usually controlled and manipulated by the data of the first environment scanner so that the speed is reduced to a minimum value to carefully bypass or maneuver around the corresponding stationary objects. This preferably does not require monitoring by the second environment scanner arranged at the stationary objects. Therefore, it can travel at a higher speed than this.

[0027] According to an advantageous development of the invention, the second environment scanner and / or the further environment scanners can detect dangerous situations and, when such dangerous situations are detected, the speed of the transport vehicle can be reduced, in particular it can be braked. The speed can be reduced to a value above 0 km / h. Alternatively, a complete standstill can be achieved. Alternatively or in addition, an alarm can be triggered when a dangerous situation is detected.

[0028] In particular, the first or further stationary objects can be arranged in such a way that they are not placed in the provided travel path of the transport vehicle between a plurality of workstations in the production environment. It is particularly advantageous if the corresponding environment scanner is mounted on a side wall, a column or a section of a workstation that is already in the production environment, so that no special bracket or other mounting aids need to be provided for such an environment scanner.

[0029] According to a parallel aspect of the present invention, a transport vehicle having a first environment scanner is also provided. The transport vehicle also has an interface for direct or indirect communication with a second environment scanner arranged at the first stationary object.

[0030] Thus, not only is the system consisting of the first environment scanner on the transport vehicle and the second environment scanner on the stationary object protected, but also the transport vehicle itself and its interfaces are protected.

[0031] According to another parallel aspect, a method for monitoring the travel path of a transport vehicle is also provided. The method preferably has the features described in conjunction with the transport vehicle.

[0032] Features relating to the device can preferably also be used for developments of the method, and vice versa.

[0033] Furthermore, a computer program product is proposed, which has computer-implementable instructions for carrying out the method according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Other advantageous designs of the present invention will be explained below in conjunction with the accompanying drawings.

[0035] Figure 1 An illustrative embodiment of the present invention is shown;

[0036] Figure 2 The specific situation of the present invention being used in a driving-in area or a driving-out area of ​​a workstation is shown; and

[0037] Figure 3 A construction known from the prior art is shown. DETAILED DESCRIPTION

[0038] exist Figure 3 1 shows a configuration known in the prior art, in which a transport vehicle 100 drives into a predetermined area A at a robot station. The robot station has a robot 102. The base with reference numeral 104 and the robot arm with reference numeral 106 of the robot 102 are depicted here. The robot arm 106 of the robot 102 can be moved in a manner not shown in the figure. The element shown with reference numeral 108 is a fence element that delimits the rear environment of the robot 102.

[0039] In order to assemble or manipulate an object (car body or other object), the object is transported into a predetermined area A on a transport vehicle 100 and transferred into a predetermined positional relationship relative to the robot 102. The predetermined area A is currently defined by two laser scanners 110a, 110b, which interact with two reflectors 112a, 112b.

[0040] exist Figure 3 On the left side, a first laser scanner 110a is mounted at the corner between two fence elements 108. Figure 3 On the right side of the second laser scanner 110b, the second laser scanner 110b is mounted in a manner opposite to the right corner of the two fence elements 108. Therefore, the two laser scanners 110a, 110b are mounted substantially diagonally relative to each other with reference to the area A. Correspondingly, the reflectors 112a, 112b are also mounted diagonally.

[0041] The reflector 112a or the laser scanner 110b disposed on the opposite side of the robot 102 and facing the fence is mounted on a bracket specially installed for this purpose. However, the position of the two brackets obstructs the driving path of the transport vehicle 100, so that the transport vehicle 100 can basically only move as Figure 3 As shown, the robot 102 is driven from left to right or alternatively from the front. If a person enters the designated area A or another disturbance occurs in the area A, the laser scanners 110a, 110b detect this in conjunction with the reflectors 112a, 112b.

[0042] However, the data processing of the laser scanners 110a, 110b takes into account that the transport vehicle 100 is not considered a "foreign object", and even if the transport vehicle 100 enters the area A, the alarm is not triggered and the robot 102 does not stop. In all other cases, when a foreign object is detected in the area A, the alarm is triggered.

[0043] In the prior art, no environmental scanner is provided at the transport vehicle 100 (currently Figure 3 ) and the interaction with the laser scanners 110a, 110b.

[0044] Furthermore, a laser scanner or a reflector is additionally provided on the support, which limits the travel path of the transport vehicle 100 .

[0045] The present invention provides a preferred optimization of this.

[0046] On the one hand, the corresponding environment scanner is preferably mounted directly on an immovable object, such as a column or a wall, which is already in the production environment. The environment scanner monitors a predetermined area.

[0047] In this predetermined area, the driving path monitoring of the transport vehicle 100 is determined by the information of the environment scanner or at least influenced by it. In other areas, the driving path monitoring of the transport vehicle is carried out via the environment scanner arranged at the transport vehicle, in particular only via it.

[0048] For example, Figure 1 This can be seen in .

[0049] The first stationary object is indicated here with reference numeral 114. It has a circular cross section. It can be a column of a production workshop. An environmental scanner 116 is arranged at the stationary object 114, which is referred to as the second environmental scanner 116 below.

[0050] exist Figure 1 In the example of FIG. 1 , two further environment scanners with reference numerals 118 and 120 are also provided, which are mounted at a further object 122. A predetermined area C, for example, which is square, is monitored by the two further environment scanners 118, 120. For example, a predetermined area D, which is for example sector-shaped, is monitored by the environment scanner 116 at the first stationary object 114.

[0051] exist Figure 1 On the left side of the transport vehicle 100, a transport vehicle 100 is schematically shown as an elongated quadrilateral platform. For example, three environment scanners 124 are arranged on or at it, which are specifically referred to as first environment scanners individually or multiple times.

[0052] For example, it can be provided that one of the three environment scanners 124 points forward, while the other two environment scanners 124 point to the side. The invention is not limited to these three environment scanners 124 on the transport vehicle 100, but only one or two or more than three environment scanners 124 can also be provided.

[0053] Each environment scanner 124 is used to scan the corresponding area. Figure 1 The corresponding areas scanned by the environment scanner 124 may overlap with each other or may be separate areas.

[0054] Preferably, a first predetermined area is monitored in the environment of the transport vehicle 100. Depending on the detected environment, the transport vehicle 100 is preferably controlled or manipulated while the transport vehicle is in motion.

[0055] Especially in very narrow situations, in which a plurality of stationary objects are approaching the transport vehicle 100 or the transport vehicle 100 is close to a plurality of stationary objects, for example, the speed of the transport vehicle 100 may be reduced or the length of the first predetermined area to be scanned may be reduced. Figure 1 In the figure, the interaction or communication between the environment scanner 124 and the first environment scanner 116 and the other environment scanners 118 and 120 is schematically represented by double arrows.

[0056] Once the transport vehicle 100 enters the predetermined area C and / or D, the environment is monitored and / or supplemented by the associated environment scanner 116 or 118, 120. In addition, for example, the speed of the transport vehicle 100 and / or the scanning parameters of the environment scanner 124 are adjusted.

[0057] In particular, for example, a scanning area that is already covered by one of the areas C or D is automatically cut off from the first predetermined area around the transport vehicle 100 .

[0058] As soon as a section of transport vehicle 100 enters one of areas C, D or results in overlapping scan areas, a control or movement or travel path monitoring of transport vehicle 100 is performed with the aid of or using the sensor data of environment scanners 116 , 118 and 120 , which requires warning or stopping of transport vehicle 100 .

[0059] exist Figure 1 In the embodiment shown in FIG. 1 , a single environment scanner 116 can be provided for the first stationary object 114, or a plurality of environment scanners 118, 120 can be provided for the stationary object 122. In any case, a predetermined area with a predetermined geometry is monitored with reference to the stationary object. When the transport vehicle 100 enters such an area, the scanning parameters of at least one of the environment scanners 124 are changed, and the monitoring of the driving path of the transport vehicle 100 is ensured based on the information of the environment scanners 116, 118, 120 at the corresponding stationary objects 114, 122.

[0060] Even if the transport vehicle 100 is currently maneuvering in an environment that is very narrow and / or provided with a number of stationary objects, the speed is preferably maintained or at least reduced to a level lower than in prior art embodiments in which the transport vehicle 100 is controlled solely by the signals of its own environment scanner 124 .

[0061] If the environmental scanners 116 , 118 , 120 at the stationary objects 114 , 122 detect a person or object in one of the areas C or D, the transport vehicle may be braked or completely shut down, or an alarm may be triggered.

[0062] Although only a single transport vehicle 100 is currently described, multiple transport vehicles 100 may also be provided. Each of these transport vehicles 100 may preferably have one or more corresponding environmental scanners 124 and be integrated with the environmental scanners 116, 118, 120 at the stationary objects 114, 122 as an overall system.

[0063] Figure 2A specific embodiment is shown in which a vehicle body 126, in particular a motor vehicle, is supplied to a workstation on such a transport vehicle 100 (below the body 126 shown on the right). In area X, the body 126 is transferred from the transport vehicle 100 to the workstation. This approach area is very narrow and can therefore be monitored, in particular with stationary environment scanners at stationary objects, in order to optimize or supplement the control and / or monitoring of the vehicle 100.

[0064] For example, in Figure 2 Environmental scanners are set up at the columns shown to monitor area X.

[0065] Description of Reference Numerals

[0066] 100 Transport vehicles

[0067] 102 Robot

[0068] 104 base

[0069] 106 Robot Arm

[0070] 108 Fence elements

[0071] 110a, 110b laser scanner

[0072] 112a, 112b reflectors

[0073] 114 First Stationary Object

[0074] 116 Second Environmental Scanner

[0075] 118, 120 Other environmental scanners

[0076] 122 Other stationary objects

[0077] 124 First Environmental Scanner

[0078] 126 Vehicles

[0079] A Predetermined area

[0080] C Predetermined area

[0081] D Predetermined area

[0082] X Transfer Area

Claims

1. A system for monitoring a travel path of a transport vehicle (100), comprising at least one first environment scanner (124) mounted on the transport vehicle (100), the first environment scanner monitoring a first predetermined area of ​​the environment of the transport vehicle (100), It is characterized in that at least one second environment scanner (116) mounted at the stationary object (114), the second environment scanner monitoring a second predetermined area (D) in the environment of the stationary object (114), The system is constructed such that when it is determined by the second environment scanner (116) that the transport vehicle (100) enters the second predetermined area (D), and / or once it is determined that the transport vehicle (100) is located in the second predetermined area (D), one or more scanning parameters of the first environment scanner (124) are changed.

2. The system according to claim 1, characterized in that The system is configured such that one or more scanning parameters of the first environment scanner (124) are changed so that a first sub-area overlapping the second predetermined area (D) is hidden in the first predetermined area.

3. The system according to claim 1 or 2, characterized in that: The transport vehicle (100) is configured to adjust the vehicle speed and / or movement direction of the transport vehicle according to the scanning result of the first environment scanner (124) when the transport vehicle (100) is not located in the second area (D), and to adjust the vehicle speed and / or movement direction of the transport vehicle (100) according to the scanning result of the second environment scanner (116) when the transport vehicle enters the second predetermined area (D) or once the transport vehicle (100) is located in the second predetermined area (D).

4. A system according to any one of the preceding claims, characterised in that Other environmental scanners (118, 120) installed at other stationary objects (122) monitor other predetermined areas (C) in the environment of the other stationary objects (122), wherein the system is constructed such that when it is determined by means of the other environmental scanners (118, 120) that the transport vehicle (100) enters the other predetermined area (C), and / or once it is determined that the transport vehicle (100) is located in the other predetermined area (C), one or more scanning parameters of the first environmental scanner (124) are changed.

5. System according to any one of the preceding claims, characterized in that A communication mechanism is provided, which enables communication between the transport vehicle (100) and the second environment scanner (116) or the other environment scanners (118, 120).

6. System according to any one of the preceding claims, characterized in that The system is configured so that the vehicle speed of the transport vehicle (100) in the second predetermined area (D) and / or the other predetermined area (C) is not reduced as much as when the speed of the transport vehicle (100) is controlled based solely on data from the first environment scanner (124).

7. A system according to any one of the preceding claims, characterised in that The system is configured to brake and / or shut down the transport vehicle (100) and / or trigger an alarm when a dangerous situation is detected by the second environment scanner (116) and / or the further environment scanners (118, 120).

8. System according to any one of the preceding claims, characterized in that The stationary object (114) and / or the other stationary object (122) are not placed in a travel path arranged between a plurality of workstations of the transport vehicle (100), and / or the stationary object (114) and / or the other stationary object (122) are walls, columns, workstation segments or other objects already present in the production facility.

9. A system for monitoring a travel path of a transport vehicle (100), comprising at least one first environment scanner (124) installed at the transport vehicle (100), the first environment scanner monitoring a first predetermined area of ​​the environment of the transport vehicle (100), It is characterized in that at least one second environment scanner (116) mounted at the stationary object (114), the second environment scanner monitoring a second predetermined area (D) in the environment of the stationary object (114), The system is constructed such that when the transport vehicle (100) enters the second predetermined area and / or once it is determined that the transport vehicle (100) is located in the second predetermined area (D), the transport vehicle (100) is controlled by means of data from the second environment scanner (116).

10. A transport vehicle (100), comprising at least one first environment scanner (124) installed at the transport vehicle, the first environment scanner monitoring a first predetermined area of ​​the environment of the transport vehicle (100), wherein the transport vehicle (100) has an interface for communicating directly or indirectly with a second environment scanner (116) installed at a stationary object (114), the second environment scanner monitoring a second predetermined area (D) in the environment of the stationary object (114), wherein the transport vehicle (100) is configured such that when it is determined by the second environment scanner (116) that the transport vehicle (100) enters the second predetermined area (D), and / or once it is determined that the transport vehicle (100) is located in the second predetermined area (D), one or more scanning parameters of the first environment scanner (124) are changed.

11. A method for monitoring a travel path of a transport vehicle (100), comprising: at least one first environment scanner (124) mounted at the transport vehicle (100), the first environment scanner monitoring a first predetermined area of ​​the environment of the transport vehicle (100); and at least one second environment scanner (116) mounted at the stationary object (114), the second environment scanner monitoring a second predetermined area (D) in the environment of the stationary object (116), In the method, when it is determined by the second environment scanner (116) that the transport vehicle (100) enters the second predetermined area (116), and / or once it is determined that the transport vehicle (100) is located in the second predetermined area (D), one or more scanning parameters of the first environment scanner (124) are changed.

12. A computer program product having computer-implementable instructions for performing the method according to claim 11.

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