Method for operating technical installation and technical installation

Abstract

The invention relates to a method for operating a technical installation comprising at least one autonomous vehicle (1) having at least one sensor for detecting an object, the autonomous vehicle (1) having a map of the technical installation. The technical device comprises at least one static section associated in the map with a static area (20) in which at least one static object (25) is marked. The technical device comprises at least one temporary section associated in the map with a temporary area (30) in which a temporary object (32) can be labeled. If the sensor identifies an object in the temporary section, the identified object is associated with a temporary object (32), and the temporary object (32) is marked in a temporary area (30) of the map associated with the temporary section. In the event that the autonomous vehicle (1) leaves the temporary section, all temporary objects (32) labeled in a temporary area (30) associated with the temporary section are deleted. The invention also relates to a technical installation which can be operated by means of the method according to the invention.

Description

Technical Field

[0001] The invention relates to a method for operating a technical installation / industrial system, the technical installation comprising at least one autonomous vehicle, wherein the autonomous vehicle has at least one sensor for detecting objects, wherein the autonomous vehicle has a map of the technical installation. The invention also relates to a technical installation that can be operated by means of the method according to the invention. Background Art

[0002] Technical installations are in particular industrial applications, such as production plants, industrial plants or logistics centers. Autonomous vehicles are used, for example, to transport materials within technical installations. Other objects are also present in the technical installations. Autonomous vehicles have sensors for detecting these objects and the distances to these objects. Such sensors are, for example, laser scanners.

[0003] A method for determining the position of a mobile component that can move on a running surface in a device is known from document DE 10 2018 009 114 A1. The mobile component has a laser scanner for detecting the position of an object arranged on the running surface relative to the mobile component.

[0004] A method for operating a technical device is known from document DE 10 2019 001 253 A1, which has at least one mobile system that can travel on a running surface of the technical device. The mobile system detects objects in the technical device by means of corresponding sensors. The position of the object detected in this way is compared with the position of the object inferred from a map of the technical device.

[0005] Objects in the technical installation, such as walls, columns or production machines, are assigned objects marked in the map. When the sensors of the autonomous vehicle detect an object in the technical installation, the position of the autonomous vehicle in the map is determined by comparing the detected object with the objects marked in the map.

[0006] The problem is that objects assigned to movable objects, such as boxes, containers or transport vehicles, are marked in the map. Such objects may not be located at the same place where the associated objects are marked in the map. Therefore, the comparison of the identified objects with such objects marked in the map may lead to an erroneous determination of the position of the autonomous vehicle in the map. Summary of the invention

[0007] The object of the invention is to improve a method for operating a technical installation and a technical installation.

[0008] This object is achieved by a method for operating a technical device having the features specified in claim 1. Advantageous embodiments and developments are the subject matter of the dependent claims. This object is also achieved by a technical device having the features specified in claim 14.

[0009] The invention proposes a method for operating a technical installation. The technical installation comprises at least one autonomous vehicle, wherein the autonomous vehicle has at least one sensor for detecting an object, wherein the autonomous vehicle has a map of the technical installation.

[0010] The technical device includes at least one static segment associated with the static area in the map, and at least one static object is marked in the static area. The technical device also includes at least one temporary segment associated with the temporary area in the map, and a temporary object can be marked in the temporary area. In the case where the sensor recognizes an object in the temporary area, the recognized object is associated with the temporary object, and the temporary object is marked in the temporary area of ​​the map associated with the temporary segment. In the case where the autonomous vehicle leaves the temporary segment, all temporary objects marked in the temporary area associated with the temporary segment are deleted.

[0011] For example, the temporary objects in the temporary section are deleted immediately after the autonomous vehicle leaves the temporary area. The temporary objects in the temporary section are deleted at the latest when the vehicle approaches the temporary section again and the sensors on the vehicle can detect the area again.

[0012] The static objects marked in the static area are respectively associated with an object. The object is located in a static section associated with the static area of ​​the map. The object associated with the static object is usually stationary. Such an object is, for example, a wall, a column or a production machine tool.

[0013] A temporary section is, for example, a placement area without fixed objects. A temporary section is particularly used for storing movable objects for a short period of time. Such movable objects associated with the temporary object are, for example, boxes, containers or transport vehicles.

[0014] Before the autonomous vehicle approaches the temporary section, the temporary area in the map has no temporary objects. In the case of identifying an object in the temporary section, the temporary object is marked in the temporary area. After the autonomous vehicle leaves the temporary section, the temporary area is again free of temporary objects in the map.

[0015] The method according to the invention allows the temporary use of temporary objects associated with movable objects to determine the position of the autonomous vehicle in the map for a short period of time. Such objects usually stay temporarily at the same place, in particular for the same length of time that the vehicle stays in the temporary section. Therefore, the position of the autonomous vehicle in the map can be determined with increased accuracy. In the case where the autonomous vehicle approaches the temporary section again at a later point in time, it is not certain whether the movable object is still located at the same place. Therefore, in the case where the autonomous vehicle leaves the temporary section, all temporary objects are deleted.

[0016] According to a preferred design solution of the present invention, when identifying an object, at least one sensor detects the distance relative to the object and the direction of the object.

[0017] According to an advantageous embodiment of the present invention, at least one sensor is designed as a laser scanner or a 3D camera.

[0018] According to an advantageous embodiment of the present invention, the autonomous vehicle has a drive device, an electric storage device for supplying power to the drive device, a control unit for controlling the drive device, and a communication device for wireless communication via a network. The drive device includes, for example, a motor, a transmission mechanism, and drive wheels. The electric storage device is in particular a rechargeable battery.

[0019] According to an advantageous embodiment of the present invention, when at least one sensor recognizes that an object is located in a static section, the position of the autonomous vehicle in the map is determined by comparing the recognized object with at least one static object marked in a static area associated with the static section. In this case, the recognized object is particularly compared with a static object associated with the recognized object.

[0020] According to an advantageous design of the present invention, when the autonomous vehicle leaves the temporary section, all temporary objects marked in the temporary area associated with the temporary section are immediately deleted. When the vehicle approaches the temporary section again, all previously known temporary objects are deleted.

[0021] According to another advantageous embodiment of the present invention, when the autonomous vehicle leaves the temporary section, all temporary objects marked in the temporary area associated with the temporary section are deleted after a determined duration. When the vehicle approaches the temporary section again during the determined duration, all previously known temporary objects are still known. Here, the determined duration is fixedly predetermined and is, for example, 15 minutes or one hour.

[0022] Preferably, only when the object is first identified, the identified object is associated with a temporary object in a temporary section. When the object has been identified before, the object has been associated with a temporary object, and the object is no longer associated with another temporary object.

[0023] According to an advantageous development of the invention, the temporary object is associated with a stay counter and a location counter. In the case of identifying the temporary object, the stay counter counts / increments. In the case of at least one sensor observing the last location of the temporary object, the location counter counts. A quotient is then formed from the stay counter and the location counter. The quotient describes the probability that the temporary object is located at the location.

[0024] According to an advantageous development of the invention, when the autonomous vehicle leaves the temporary section, all temporary objects marked in the temporary area associated with the temporary section are deleted after a variable duration has passed. Here, the variable duration depends on the quotient formed by the stay counter and the location counter. Thus, the variable duration depends on the probability that the temporary object is located at the location. In particular, the greater the probability, the longer the variable duration.

[0025] According to an advantageous embodiment of the present invention, when at least one sensor recognizes an object located in a temporary section, the position of the autonomous vehicle in the map is determined by comparing the recognized object with at least one temporary object marked in a temporary area associated with the temporary section. In this case, the recognized object is particularly compared with a static object associated with the recognized object.

[0026] According to an advantageous design of the present invention, all temporary objects marked in the temporary area associated with the temporary section are deleted before the autonomous vehicle approaches the temporary section. Therefore, it is ensured that when the autonomous vehicle enters the temporary section, there are no temporary objects in the temporary area in the map.

[0027] According to an advantageous embodiment of the present invention, when an object recognized by the sensor is associated with a temporary object, information about the temporary object is transmitted to a server in the technical device via a network. The information includes in particular information about the type of the recognized object, information about the location of the recognized object, and information about the time of the object recognition.

[0028] According to an advantageous embodiment of the invention, when an object detected by the sensor is associated with a temporary object, information about the temporary object is transmitted to at least one other autonomous vehicle in the technical system via the network. The information contains in particular information about the type of the detected object, information about the location of the detected object and information about the time of the object detection.

[0029] The technical installation according to the invention comprises at least one autonomous vehicle, wherein the autonomous vehicle has at least one sensor for detecting objects, wherein the autonomous vehicle has a map of the technical installation. The technical installation according to the invention can be operated by means of the method according to the invention.

[0030] The present invention is not limited to the feature combinations of the claims. For a person skilled in the art, in particular from the purpose proposed and / or by comparison with the prior art, other reasonable combinations of the claims and / or individual claim features and / or description features and / or drawing features may be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will now be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown in the accompanying drawings. The accompanying drawings only schematically illustrate the subject matter of the present invention. The drawings show:

[0032] Figure 1 a schematic diagram showing a map of the technical device in a first operating state, and

[0033] Figure 2 The schematic diagram shows a map of the technical installation in a second operating state. DETAILED DESCRIPTION

[0034] Figure 1 Schematic diagram of a map showing a technical installation in a first operating state. The technical installation is an industrial application, for example a production plant, an industrial plant or a logistics center. The technical installation comprises a plurality of autonomous vehicles 1. In the present illustration only one such autonomous vehicle 1 is shown. The autonomous vehicle 1 is used in particular for transporting materials within the technical installation.

[0035] The autonomous vehicle 1 has a drive, an electric storage device for supplying power to the drive, and a control unit for controlling the drive. In addition, the autonomous vehicle 1 has a communication device for wireless communication with a higher-level server in the technical system and other autonomous vehicles 1. The communication device of the autonomous vehicle 1 is designed, for example, for data transmission by means of WLAN, Bluetooth or light.

[0036] Autonomous vehicle 1 has two sensors. The sensors of autonomous vehicle 1 are currently designed as laser scanners. Alternatively, the sensors are designed as 3D cameras, for example. The sensors are used to detect objects in technical equipment. When detecting objects, these sensors detect the distance to the object and the direction in which the object is located. The sensors are installed on opposite corners of autonomous vehicle 1 and detect objects within an angle range of approximately 270° in each case.

[0037] The technical installation includes a plurality of dynamic sections. The dynamic section has areas that autonomous vehicle 1 can drive through, such as open spaces and roads.

[0038] The technical installation includes a plurality of static sections, in which there are fixed objects, such as walls, pillars or production machines, which are obstacles for autonomous vehicle 1 .

[0039] The technical installation comprises a plurality of temporary sections. Temporary sections are, for example, storage areas without fixed objects. Temporary sections are used in particular for the short-term storage of movable objects. Such movable objects are, for example, boxes, containers or transport vehicles. In addition to the locations where movable objects are stored, the autonomous vehicle 1 can in principle drive through temporary sections.

[0040] Autonomous vehicles 1 have a map of the technical installation. In particular, all autonomous vehicles 1 in the technical installation have the same map. The map is drawn in advance and downloaded into autonomous vehicles 1. Dynamic sections of the technical installation are each associated with a dynamic area 10 in the map. Static sections of the technical installation are each associated with a static area 20 in the map. Temporary sections of the technical installation are each associated with a temporary area 30 in the map. In this case, a dynamic area 10, a plurality of static areas 20 and a temporary area 30 are shown in the map.

[0041] Fixed objects in the static section, such as walls, columns or production machines, are respectively associated with static objects 25. The static objects 25 are marked in the map. Movable objects in the temporary section, such as boxes, containers or transport vehicles, can be respectively associated with temporary objects 32. The temporary objects 32 can be marked in the map. The autonomous vehicle 1 is also marked in the map.

[0042] In the illustration of the first operating state shown here, the autonomous vehicle 1 is located in a first position. The first position is located in a dynamic section associated with the dynamic area 10. The first position is far from a temporary section associated with the temporary area 30. In particular, the sensors of the autonomous vehicle 1 cannot detect movable objects in the temporary section. Therefore, it is not known to the autonomous vehicle 1 whether there are movable objects placed in the temporary section.

[0043] If temporary objects 32 are also marked in the temporary area 30 associated with the temporary section in the map, all temporary objects 32 marked in the temporary area 30 are deleted before the autonomous vehicle 1 approaches the temporary section. In the illustration of the first operating state shown here, there are no temporary objects 32 in the temporary area 30 in the map.

[0044] When the sensors of autonomous vehicle 1 detect an object located in a static section of the landscape, the position of autonomous vehicle 1 in the map is determined by comparing the detected object with static objects 25 marked in static area 20 associated with the static section of the landscape. In this case, the detected object is compared with the corresponding static object 25 associated with the detected object.

[0045] Figure 2 A schematic diagram of a map showing a technical device in a second operating state. In the illustration of the second operating state shown here, the autonomous vehicle 1 is located in a second position. The second position is located in a dynamic section associated with the dynamic area 10. The second position is close to a temporary section associated with the temporary area 30. The sensors of the autonomous vehicle 1 can detect movable objects in the temporary section.

[0046] When the sensors of the autonomous vehicle 1 recognize an object for the first time in the temporary section, the recognized object is associated with the temporary object 32. The temporary object 32 is then marked in the temporary area 30 of the map that is associated with the temporary section.

[0047] In the illustration shown here, the sensors of autonomous vehicle 1 have detected two objects in the temporary section. The detected objects are each associated with a temporary object 32 and temporary object 32 is marked in temporary area 30 of the map.

[0048] Only when the object is recognized for the first time, the object recognized in the temporary section is associated with the temporary object 32. If the object has been recognized before, it is already associated with the temporary object 32, and the object is no longer associated with another temporary object 32.

[0049] Additionally, each temporary object 32 is associated with a stay counter and a location counter, respectively. When a temporary object 32 is identified, the stay counter counts. When one of the sensors observes the last location of the temporary object 32, the location counter counts. A quotient is then formed by the stay counter and the location counter. The quotient describes the probability that the temporary object 32 is located at the location.

[0050] If the sensors of autonomous vehicle 1 recognize an object in the temporary section that has been associated with temporary object 32 , the position of autonomous vehicle 1 in the map is determined by comparing the recognized object with the temporary object 32 respectively associated with the recognized object.

[0051] When the autonomous vehicle 1 leaves the temporary section, all temporary objects 32 marked in the temporary area 30 associated with the temporary section are deleted. After the autonomous vehicle 1 leaves the temporary section, the temporary area 30 in the map no longer has temporary objects 32.

[0052] List of reference numerals:

[0053] 1 Autonomous Vehicles

[0054] 10 Dynamic Area

[0055] 20 Static Area

[0056] 25 Static Objects

[0057] 30 Temporary Area

[0058] 32 Temporary objects

Claims

1. A method for operating a technical installation comprising at least one autonomous vehicle (1), wherein: The autonomous vehicle (1) has at least one sensor for detecting an object, wherein the autonomous vehicle (1) has a map of the technical equipment. It is characterized in that The technical device comprises at least one static segment associated with a static area (20) in a map, at least one static object (25) being marked in the static area, The technical device comprises at least one temporary section associated with a temporary area (30) in a map, in which a temporary object (32) can be marked, When the sensor identifies an object in the temporary section, the identified object is associated with a temporary object (32), and the temporary object (32) is marked in a temporary area (30) associated with the temporary section of the map, When the autonomous vehicle (1) leaves the temporary lot, all temporary objects (32) marked in the temporary area (30) associated with the temporary lot are deleted.

2. The method according to any one of the preceding claims, characterized in that When identifying an object, at least one sensor detects the distance to the object and the direction in which the object is located.

3. The method according to any one of the preceding claims, characterized in that At least one sensor is designed as a laser scanner or a 3D camera.

4. The method according to any one of the preceding claims, characterized in that An autonomous vehicle (1) has a drive device, an electric storage device for supplying power to the drive device, a control unit for controlling the drive device, and a communication device for wireless communication via a network.

5. The method according to any one of the preceding claims, characterized in that When at least one sensor identifies an object located in a static section of land, the position of an autonomous vehicle (1) in a map is determined by comparing the identified object with at least one static object (25) marked in a static area (20) associated with the static section of land.

6. The method according to any one of the preceding claims, characterized in that When the autonomous vehicle (1) leaves the temporary lot, all temporary objects (32) marked in the temporary area (30) associated with the temporary lot are immediately deleted.

7. The method according to any one of claims 1 to 5, characterized in that When the autonomous vehicle (1) leaves the temporary section, all temporary objects (32) marked in the temporary area (30) associated with the temporary section are deleted after a certain duration has elapsed.

8. The method according to any one of the preceding claims, characterized in that A temporary object (32) is associated with the stay counter and the location counter, In case a temporary object (32) is identified, the dwell counter counts, In case at least one sensor observes the last location of the transient object (32), the location counter counts, A quotient is formed from the stay counter and the location counter.

9. The method according to claim 8, characterized in that When the autonomous vehicle (1) leaves a temporary section, all temporary objects (32) marked in a temporary area (30) associated with the temporary section are deleted after a variable duration has elapsed, wherein the variable duration depends on a quotient formed by a stay counter and a location counter.

10. The method according to any one of the preceding claims, characterized in that In the event that at least one sensor identifies an object located in a temporary section, the position of an autonomous vehicle (1) in a map is determined by comparing the identified object with at least one temporary object (32) marked in a temporary area (30) associated with the temporary section.

11. The method according to any one of the preceding claims, characterized in that All temporary objects (32) marked in a temporary area (30) associated with the temporary lot are deleted before the autonomous vehicle (1) approaches the temporary lot.

12. The method according to any one of the preceding claims, characterized in that If the object detected by the sensor is associated with a temporary object (32), information about the temporary object (32) is transmitted to a server in the technical device via a network.

13. The method according to any one of the preceding claims, characterized in that If the object detected by the sensor is associated with a temporary object (32), information about the temporary object (32) is transmitted via a network to at least one other autonomous vehicle (1) in the technical system.

14. A technical device comprising at least one autonomous vehicle (1), wherein: The autonomous vehicle (1) has at least one sensor for detecting an object, wherein the autonomous vehicle (1) has a map of technical installations, wherein the technical installations can be operated by means of a method according to one of the preceding claims.

Images