Driverless transport system

Abstract

Automated guided vehicle system (1), comprising an automated guided vehicle (2), in particular a mobile transport robot, and a superstructure (3) which is accommodated on a supporting surface (5) of the transport vehicle (2) and which, in a transport state of the transport system (1), can be transported by the transport vehicle (2), characterized by a collision detection device (7) which is designed to detect a collision of the superstructure (3) with a third object (8) based on a tilting movement of the superstructure (3).

Description

[0001] The invention relates to a driverless transport system comprising a driverless transport vehicle, in particular a mobile transport robot, and a structure received on a supporting surface of the transport vehicle, which structure can be transported by the transport vehicle in a transport state of the transport system.

[0002] Automated guided vehicle systems, including automated guided vehicles such as mobile transport robots, are generally known in the art. Such automated guided vehicles are used for various transport tasks, for example, in production facilities such as production halls, assembly halls, and the like, to transport objects or equipment automatically.

[0003] Furthermore, such automated guided vehicles offer the possibility of transporting a data acquisition device, such as a 3D scanner, as a superstructure, which can be used to perform data acquisition tasks within the production facility during transport. For example, the entire production facility or parts of it can be recorded in order to add them to a three-dimensional model of the production facility or to maintain such a model. Advantageously, the automated guided vehicle system can perform such transport tasks autonomously, for example, even when the production facility is idle, for example, when no employees are working in the facility. This allows the journey and data acquisition to be carried out without interruption.

[0004] Such automated guided vehicles are typically equipped with a safety device to prevent the vehicle from colliding with a third-party object or a person. The safety device is designed, for example, as a so-called "safety laser scanner" and can detect a range of motion of the automated guided vehicle. For example, the detection range of the safety device is aligned to an angular range of 270° around the vehicle's longitudinal axis, i.e., -135° to +135°, in the direction of travel. The safety device is typically configured to detect third-party objects or people up to a maximum height, e.g., 200 mm, as this is sufficient for the movement or range of motion of the automated guided vehicle.

[0005] However, if the automated guided vehicle is transporting a superstructure whose height, i.e. its extension along its vertical axis or the vertical axis of the automated guided vehicle, exceeds the maximum height that can be detected by the safety device, it is possible for the superstructure to collide with a third object that cannot be detected by the safety device. In other words, a third object can be arranged in the vicinity of the automated guided vehicle system in such a way that, although the automated guided vehicle can be moved in the vicinity without colliding with the third object, the superstructure may possibly come into contact with the third object during transport by the automated guided vehicle, whereby the third object cannot be detected by the safety device of the automated guided vehicle system.

[0006] This can result in the superstructure shifting relative to the transport vehicle due to the collision, or the automated guided vehicle possibly losing the superstructure completely. Examples include cross braces, ducts, or cables that run above the maximum detectable height of the safety device and under which the automated guided vehicle can easily move. However, the superstructure that protrudes beyond the maximum detectable height of the safety device can come into contact with such obstacles and thus possibly prevent passage. Since the automated guided vehicle is only designed to detect potential collisions with objects in its range of motion, detection of obstacles that only affect the superstructure is not possible.

[0007] The invention is based on the object of providing an improved driverless transport system in which collision detection is improved.

[0008] The object is achieved by a driverless transport system according to claim 1. The dependent claims relate to possible embodiments.

[0009] As described, the invention relates to a driverless transport system comprising a driverless transport vehicle, in particular a mobile transport robot, and a superstructure mounted on a supporting surface of the transport vehicle, which superstructure can be transported by the transport vehicle when the transport system is in a transport state. In other words, the driverless transport vehicle can, in principle, be moved arbitrarily within its environment, wherein the transport vehicle can be placed into a transport state in which the transport vehicle can move the superstructure. The superstructure can generally be regarded as transported goods or as the load of the transport vehicle. In particular, the superstructure can be understood as a detection device for detecting image data, for example in the sense of a 3D scanner.

[0010] The transport state generally refers to the state in which the body moves when the automated guided vehicle moves, meaning that the body moves along with the automated guided vehicle and is therefore "transported" by it. The transport state can, in principle, be created in any way, so that the corresponding movement of the body can be carried out by the automated guided vehicle. For example, the transport vehicle can lift the body, allowing the body to rest on the support surface of the transport vehicle.

[0011] The invention is based on the finding that the driverless transport system has a collision detection device that is designed to detect a collision of the body with a third object based on a tilting movement of the body. The collision detection device can thus be designed to detect whether the body is performing a tilting movement, i.e. whether the body is deflected from a basic orientation that is generally present in the transport state due to the collision or contact with the third object. For example, a vertical axis of the body can coincide with a vertical axis of the transport vehicle or, in the transport state, be aligned parallel to the vertical axis of the transport vehicle. The vertical axis of the transport vehicle and / or the body can, for example, be aligned perpendicular to the horizontal or perpendicular to the horizontal, for example perpendicular to the supporting surface of the transport vehicle.The wing of the transport vehicle can basically be aligned in any direction, in particular it can be horizontal or horizontal.

[0012] If the superstructure comes into contact with a third-party object or if the superstructure collides with the third-party object, the superstructure is deflected from its orientation in the transport state because the superstructure is tilted along its vertical axis. This tilting movement can be detected by the collision detection device. For this purpose, the collision detection device has at least one suitable sensor that can detect the tilting movement. The collision detection device can send a signal to the automated guided vehicle if a collision of the superstructure is detected. Based on the signal, the automated guided vehicle can be transferred to a safe state, in particular stopped, so that loss of the superstructure can be prevented. The automated guided vehicle can then be brought at least into a state in which the tilting movement or the tilting state is canceled again, i.e.The body can be returned to its original transport orientation. If necessary, the automated guided vehicle system can record the collision and subsequently adjust the route guidance of the automated guided vehicle so that a recurring collision does not occur.

[0013] In this context, it should be clarified once again that the collision detection device can be provided in addition to a safety device optionally provided on the transport vehicle. The safety device of the automated guided vehicle is, for example, provided on the automated guided vehicle and monitors the movement area of the automated guided vehicle. However, it is not designed to detect potential collisions with third-party objects in the area of the superstructure. Instead, its detection area is usually designed to cover an area close to the ground up to a maximum height, for example, up to a maximum of 200 mm above the ground. The collision detection device described here therefore advantageously allows detection of whether the superstructure has collided with a third-party object.“gets stuck on this” which third object the driverless transport vehicle could easily drive through without the superstructure itself and therefore cannot detect using its safety device.

[0014] As described, the collision detection device can, in principle, comprise any sensor system capable of detecting the tilting movement of the superstructure. For this purpose, the collision detection device comprises one or more sensors capable of detecting the orientation of the superstructure or a change in the orientation of the superstructure. The collision detection device can, in particular, be configured to detect a collision of the superstructure using at least one distance sensor configured to detect a distance between a first reference surface of the superstructure, in particular a support surface, and a second reference surface of the transport vehicle, in particular the supporting surface.

[0015] As described, the superstructure can be mounted on the wing of the transport vehicle, for example, it can rest on it. In principle, there is no fixed mechanical connection between the superstructure and the transport vehicle, so that the superstructure can always be lifted upwards from the transport vehicle and only rests on the transport vehicle, namely on its wing, during transport. In other words, the superstructure is decoupled from the transport vehicle. The superstructure rests freely on the transport vehicle. In principle, any reference surfaces of the superstructure and the transport vehicle can be used to record the tipping movement. If the superstructure performs a tipping movement, the alignment of the previously defined reference surfaces to one another will change.The first reference surface and the second reference surface can have an initial orientation to each other in the transport state, for example, can be aligned parallel to each other in the transport state, wherein the initial orientation is changed by the tilting movement, which can be detected by the collision detection device by means of the distance sensor.

[0016] As a specific example, the first reference surface can be understood as the support surface of the superstructure and the second reference surface as the wing of the transport vehicle, or vice versa. In the transport state, the support surface rests on the wing, so that they are aligned parallel to each other and there is no distance between the reference surfaces. However, if the superstructure performs a tilting movement, the superstructure and its support surface are lifted from the wing in at least one section, so that a distance sensor arranged there can detect a change in the distance between the reference surfaces, and thus the collision detection device is designed to detect the tilting movement.

[0017] One possible way to further develop the collision detection device can provide for the at least one distance sensor to be arranged on the transport vehicle and / or on the superstructure. In principle, the distance sensor only needs to detect whether the distance between the reference surfaces changes in at least one section of the reference surfaces, since this allows the tilting movement of the superstructure to be detected. It is fundamentally possible to arrange a distance sensor on the transport vehicle or on the superstructure in any desired location, since either a relative movement of the first reference surface to the second reference surface or, correspondingly, a relative movement of the second reference surface relative to the first reference surface can be detected.As already described, the collision detection device can generate a signal when a tipping movement is detected, which can cause the driverless transport system to move into the safe state, in particular by stopping the driverless transport vehicle and, if necessary, reversing it until the tipping movement has been eliminated.

[0018] As already described at the beginning, the structure can comprise a detection device, in particular a 3D scanner. The automated guided vehicle of the automated guided vehicle system can thus, in principle, be designed to accommodate any structure or any transport goods that can be referred to as a structure. In particular, the automated guided vehicle can accommodate a structure in a transport state that comprises a detection device, for example a 3D scanner, or is designed as a 3D scanner. This makes it possible, in particular, for the automated guided vehicle not to have to be structurally modified in order to be able to carry out the automated detection of the production plant. Instead, the automated guided vehicle accommodates the structure in the transport state and moves the structure like any other transport goods, with the detection device detecting the production plant during transport.Therefore, a modification of the automated guided vehicle that restricts its use to the detection task of the detection device is not necessary. Instead, the automated guided vehicle can park the body after completing the detection task and perform other transport tasks.

[0019] This can, in particular, provide for no (fixed) mechanical coupling between the superstructure and the transport vehicle. Coupling the superstructure to the driverless transport vehicle without mechanical coupling is understood in the context of this application to mean that the superstructure could also be lifted off the driverless transport vehicle in the transport state. The superstructure therefore rests freely on the transport vehicle and is carried by it. However, the superstructure is not firmly mechanically attached to the transport vehicle. In other words, if the superstructure is held and the driverless transport vehicle continues to move, there is no fixed mechanical connection such that the driverless transport vehicle is also held. Instead, by holding the superstructure, a relative movement is generated between the transport vehicle and the superstructure. Such a loose coupling, i.e.The absence of a fixed mechanical coupling in the sense of a positive, non-positive, or material connection enables the previously described collision detection device to detect the tipping movement of the body. If the body were mechanically firmly coupled to the transport vehicle, the execution of a tipping movement of the body relative to a reference surface of the transport vehicle would not be possible.

[0020] However, in the driverless transport system, it can be provided that there is a signaling connection between the body transport vehicle or a data connection, in particular an electrical connection, between the body and the transport vehicle. Specifically, the body can be designed for data exchange with the driverless transport vehicle. For example, the body and the driverless transport vehicle have a data interface, for example a wireless one, through which data exchange is possible. If the collision detection device or the at least one previously described distance sensor is arranged on the side of the body, the detected collision or the detected tipping movement can be transmitted to the transport vehicle by data transmission via the data interface.

[0021] As already described, the collision detection device can detect a collision of the superstructure with a third object based on the tipping movement. A signal can then be generated by the collision detection device, which is made available to the automated guided vehicle system in order to initiate a suitable measure. According to a special embodiment of the automated guided vehicle system, the collision detection device can be designed to stop the transport vehicle when a collision is detected. Stopping at least prevents the tipping movement from continuing or becoming more severe and the superstructure from being lost or damaged. The location of the collision can then be marked or saved in a control device of the automated guided vehicle system, if necessary. The route guidance of the transport vehicle can in future take into account that at this location orpoint at which a collision has occurred, so that driving through the local area of the collision location can be avoided or prevented if necessary.

[0022] As also described above, the automated guided vehicle can have a safety device in addition to the previously described collision detection device, which, as also described above, can also be provided on or in the body. The transport vehicle can have at least one proximity sensor directed in the direction of travel. The safety device can also have at least one proximity sensor directed in the opposite direction, for example for reversing. The proximity sensors can be designed as safety laser scanners or referred to as such. The described proximity sensors or, in general, the safety device, i.e., the safety laser scanners, can be used to monitor the movement area of the automated guided vehicle. These are specifically intended to ensure that the automated guided vehicle as such does not collide with third-party objects.However, the safety device is not intended to detect collisions between the superstructure and the third-party object. For this purpose, the driverless transport system explicitly features the collision detection device described above.

[0023] In addition to the driverless transport system, the invention relates to a structure for a previously described driverless transport system, comprising a collision detection device that is or can be coupled to the transport vehicle by means of at least one communication interface and is designed to detect a collision of the structure with a third object, in particular based on a tilting movement of the structure. Furthermore, the invention relates to a driverless transport vehicle for a previously described driverless transport system, comprising a collision detection device that is designed to detect a collision of a structure carried by the transport vehicle with a third object, in particular based on a tilting movement of the structure relative to the transport vehicle.In addition, the invention relates to a method for operating a driverless transport system, comprising a driverless transport vehicle, in particular a mobile transport robot, and a superstructure received on a supporting surface of the transport vehicle, which superstructure is transported by the transport vehicle in a transport state of the transport system, wherein a collision of the superstructure with a third object is detected based on a tilting movement of the superstructure.

[0024] All advantages, details, designs and / or features described with regard to the driverless transport system are fully transferable to the structure, the driverless transport vehicle and the method.

[0025] The invention is explained using exemplary embodiments with reference to the figures. The figures are schematic representations and show: Fig. 1 a schematic diagram of a driverless transport system in a transport state; Fig. 2 a detailed view of the driverless transport system of Fig. 1; Fig. 3 a schematic diagram of the driverless transport system of Fig. 1, Fig. 2 in a collision state; and Fig. 4 a detailed view of the driverless transport system of Fig. 3.

[0026] Fig. Figure 1 shows an automated guided vehicle system 1 comprising an automated guided vehicle 2, for example, an autonomously movable transport robot, and a superstructure 3. The superstructure 3 can, in principle, represent any transported item or load for the transport vehicle 2. Specifically, the superstructure 3 can carry a detection device or be designed as a detection device, which can, for example, be or include a 3D scanner. The 3D scanner can be designed to capture images of a production facility in which the automated guided vehicle system 1 is operated. However, the described invention is transferable to any superstructure 3.

[0027] In Fig. 1, Fig. 2 basically shows a transport state in which the driverless transport vehicle 2 can transport the superstructure 3, i.e. the superstructure 3 can be coupled to the driverless transport vehicle 2 in any desired manner, so that when the driverless transport vehicle 2 moves, the superstructure 3 is also moved, i.e. is transported by the driverless transport vehicle 2. Only by way of example, a coupling is shown such that a support surface 4 of the superstructure 3 rests on a supporting surface 5 of the driverless transport vehicle 2. In a special exemplary embodiment, the driverless transport vehicle 2 can drive under the superstructure 3 and, by lifting the supporting surface 5, lift the superstructure 3 and thus establish the transport state by resting the support surface 4 on the supporting surface 5. Other couplings without lifting the supporting surface 5 are also possible, and the following description can be applied accordingly.To improve the illustration, a small distance between the support surface 4 and the wing 5 is shown purely schematically for reasons of clarity, which does not exist when the support surface 4 is fully in contact with the wing 5, so that the support surface 4 is in surface contact with the wing 5.

[0028] In Fig. 1-4 further show a safety device 6, which is assigned to the automated guided vehicle 2 and is fundamentally optional for the invention described herein. The safety device 6 detects the movement area of the automated guided vehicle 2 to ensure that collisions of the automated guided vehicle 2, for example with third-party objects or people, can be prevented within the movement area of the transport vehicle 2. The safety device 6 can be designed, for example, as a safety laser scanner and monitor the movement area of the automated guided vehicle 2, for example, in a defined angular range up to a defined maximum height, which can correspond, for example, to the height of the wing 5, specifically 200 mm.

[0029] The driverless transport system 1 further comprises a collision detection device 7 designed to detect a collision of the superstructure 3 with a third object 8. In other words, the collision detection device 7 detects collisions of the superstructure 3 with a third object 8 that cannot be detected by the safety device 6, since the detection range of the safety device 6 is designed for and limited to the movement range of the driverless transport vehicle 2. A third object 8, which can also be referred to as an "object" or "obstacle," is shown purely as an example. The third object 8 is clearly located outside the detection range of the safety device 6, but when the driverless transport vehicle 2 passes it, it causes the superstructure 3 to come into contact with the third object 8.

[0030] The collision detection device 7 is designed to detect such a contact or collision, namely based on a tilting movement of the body 3. In Fig. 1, Fig. As described, Figure 2 shows the basic state or transport state in which the superstructure 3 is transported by the automated guided vehicle 2. The collision detection device 7 can, for example, detect an alignment of a first reference surface to a second reference surface, wherein the first reference surface can be assigned to the superstructure 3 and the second reference surface to the automated guided vehicle 2, or vice versa. It is shown purely by way of example that in this embodiment, the support surface 4 can be used as the first reference surface and the supporting surface 5 as the second reference surface. However, the description is transferable to any other surfaces or sections of the automated guided vehicle system 1.

[0031] In the transport state, a vertical axis of the superstructure 3 coincides with a vertical axis of the automated guided vehicle 2 or they are aligned parallel, in particular perpendicular to the horizontal. The collision detection device 7 has at least one distance sensor 9, which in this exemplary embodiment is arranged in the superstructure 3 by way of example. The distance sensor 9 can thus detect a distance between the superstructure 3 and the supporting surface 5, i.e. the second reference surface. Since the distance sensor 9 is arranged in the superstructure 3, a reference is established between the superstructure 3 and the automated guided vehicle 2, namely a reference between the two reference surfaces, i.e. in the described example between the support surface 4 and the supporting surface 5. As described, the distance shown is to be understood merely as an example, so that direct support between the support surface 4 and the supporting surface 5 is equally possible.Alternatively, reference surfaces with defined distances can also be detected, the defined distance of which is changed by the tilting movement.

[0032] If the superstructure 3 comes into contact with the third object 8 or an obstacle or object referred to as third object 8 during transport, the superstructure 3 is deflected from its basic position or basic orientation in the transport state, ie its vertical axis is no longer perpendicular to the horizontal and is also no longer parallel to the vertical axis of the driverless transport vehicle 2. Fig. 3 shows that the orientations of the reference surfaces to each other also change, whereby the distance, which, as described, can be detected by means of the distance sensor 9 and indicates, for example, the distance between the support surface 4 and the support surface 5, is changed.

[0033] The collision detection device 7 is thus designed to detect the tilting movement that occurs upon contact or collision of the superstructure 3 with the third object 8. If the support surface 4 rests on the support surface 5, for example, in the transport state, the collision with the third object 8 results in the superstructure 3 being lifted from the support surface 5 in the area of the distance sensor 9, so that the distance sensor 9 detects the change in the distance. As described several times, any reference surfaces are fundamentally possible, so that any changes in the distance between the reference surfaces can be detected and the tilting movement can thus be identified.

[0034] Fig.Figure 4 shows the described situation in detail, clearly showing the change in the distance between support surface 4 and support surface 5 being detected by distance sensor 9, thus identifying the tipping movement. Upon detection of a collision, collision detection device 7 can generate a signal that can be transmitted to automated guided vehicle 2. The automated guided vehicle system 1 can then cause automated guided vehicle 2 to stop, preventing superstructure 3 from continuing a tipping movement, or from being lost or stripped off by automated guided vehicle 2. If necessary, automated guided vehicle 2 can be reset, reducing or canceling the tipping movement, thus restoring the initial or transport state.The collision can then be stored, for example, in a control device, so that it can be taken into account in the future when controlling or routing the driverless transport vehicle 2.

[0035] Although the distance sensor 9 is arranged in the structure 3 in the illustrated embodiments, it is equally possible to arrange the distance sensor 9 in the automated guided vehicle 2. Instead of detecting the distance to the wing 5 or any reference surface of the automated guided vehicle 2, the distance sensor 9 can instead detect a reference surface of the structure 3 or a distance or a change in distance between a reference surface of the automated guided vehicle 2 and any reference surface of the structure 3, for example, whether the distance of the support surface 4 from the distance sensor 9 changes. For this purpose, the distance sensor 9 can be arranged in the region of the wing 4.

[0036] All advantages, details and features described in relation to the individual figures can be combined with each other, are interchangeable and transferable to one another. List of reference symbols 1 driverless transport system 2 driverless transport vehicles 3 Structure 4 support surface 5 Wing 6 Safety device 7 Collision detection device 8 Third party object 9 Distance sensor

Claims

[1] Driverless transport system (1), comprising a driverless transport vehicle (2), in particular a mobile transport robot, and a structure (3) accommodated on a supporting surface (5) of the transport vehicle (2), which structure can be transported by the transport vehicle (2) in a transport state of the transport system (1), characterized by a collision detection device (7) which is designed to detect a collision of the body (3) with a third object (8) based on a tilting movement of the body (3). [2] Driverless transport system (1) according to claim 1, characterized byin that the collision detection device (7) is designed to detect a collision of the superstructure (3) by means of at least one distance sensor (9) which is designed to detect a distance between a first reference surface of the superstructure (3), in particular a support surface (4), and a second reference surface of the transport vehicle (2), in particular the supporting surface (5). [3] Driverless transport system (1) according to claim 2, characterized by that the at least one distance sensor (9) is arranged on the transport vehicle (2) and / or on the structure (3). [4] Driverless transport system (1) according to one of the preceding claims, characterized by that the structure (3) comprises a detection device, in particular a 3D scanner. [5] Driverless transport system (1) according to one of the preceding claims, characterized by that the body (3) is mechanically decoupled from the transport vehicle (2). [6] Driverless transport system (1) according to one of the preceding claims, characterized by that the collision detection device (7) is designed to stop the transport vehicle (2) when a collision is detected. [7] Driverless transport system (1) according to one of the preceding claims, characterized by that the transport vehicle (2) has at least one proximity sensor directed in the direction of travel. [8] Structure (3) for a driverless transport system (1) according to one of the preceding claims, comprising a collision detection device (7) which can be coupled or is coupled to the transport vehicle (2) by means of at least one communication interface and which is designed to detect a collision of the structure (3) with a third object (8), in particular based on a tilting movement of the structure (3). [9] Automated guided vehicle (2) for an automated guided vehicle system (1) according to one of claims 1 to 7, comprising a collision detection device (7) which is designed to detect a collision of a body (3) carried by the transport vehicle (2) with a third object (8), in particular based on a tilting movement of the body (3) relative to the transport vehicle (2). [10] Method for operating a driverless transport system (1), comprising a driverless transport vehicle (2), in particular a mobile transport robot, and a structure (3) accommodated on a supporting surface (5) of the transport vehicle (2), which structure is transported by the transport vehicle (2) in a transport state of the transport system (1), characterized by that a collision of the body (3) with a third object (8) is detected based on a tilting movement of the body (3).

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