Driverless transport system

Abstract

Driverless transport system (1) comprising a driverless transport vehicle (2) configured to move a trailer (3) in a transport state coupled to the transport vehicle (2), wherein a detection device (5) has at least one movable detection unit (6) which, in a parked state of the detection unit (6), is received in a parking receptacle (7) on the driverless transport vehicle (2) and which, in a moving state relative to the transport vehicle (2), is movable, in particular self-propelled, wherein the detection unit (6) in the moving state is configured to detect at least one object in a vicinity of the transport vehicle (2) and / or the trailer (3).

Description

The invention relates to a keyless transport system comprising a keyless transport vehicle which is designed to move a trailer in a transport state coupled to the transport vehicle.In principle, sensorless transport systems which can transport objects autonomously in an environment, for example a factory environment or a production plant, are known from the prior art. For example, transport vehicles are known which, in a transport state, can move or transport a trailer or "trailer" coupled to the keyless transport vehicle. In the operation of automated guided vehicles, high safety regulations must be observed, in particular with regard to personnel protection. On the part of the automated guided vehicle, these safety regulations are implemented by sensors which are permanently installed on the guided vehicle and which ultimately cover a gapless region around the guided vehicle, so that the guided vehicle can be driven in any desired directions and in the process it remains ensured that no objects, i.e. objects, structures or persons, are located in the safety region around the guided vehicle, which is covered by the described sensors.In the described transport state, in which the keyless transport vehicle moves a trailer or trailer as a "towing vehicle", the dimensions of the trailer, which is significantly longer than the transport vehicle itself, result in the latter protruding far beyond the safety area covered by the transport vehicle. Especially during a reverse travel, the end of the trailer thus forms an area which cannot be monitored reliably by the sensors of the transport vehicle, so that compliance with the described safety regulations on the part of the transport vehicle or the sensor fixedly installed on the transport vehicle is not sufficient. It is indeed possible to equip the trailer with a corresponding sensor system, which is very complicated and cost-intensive because of the large number of trailers to be transported by the rodless transport vehicle. Since trailers already in operation do not have such a sensor system, replacement or refitting of these trailers would be necessary. Furthermore, in such a case, it would have to be ensured that the keyless transport vehicle can communicate with the sensor system in the trailer and the sensor system of each trailer is certified for operation with the respective transport vehicles.The object of the invention is to specify a compared-to-comparison improved keyless transport system in which the operational safety in transport states of trailers, in particular during their reverse travel, is improved.The object is achieved by a sensorless transport system according to claim 1. The claims dependent thereon relate to possible embodiments.As described, the invention relates to a keyless transport system comprising a keyless transport vehicle configured to move a trailer in a transport state coupled to the transport vehicle. The described sensorless transport system can have, for example, a sensorless transport vehicle designed as an autonomously movable transport robot, which can be moved to a trailer and can be coupled to the trailer, such that a transport state is present in which the transport vehicle can move the trailer.In particular, the transport vehicle is provided for moving the trailer to a dock or a dock device, for example a storage gate, of a dock arrangement which has a multiplicity of dock devices, such that the trailer can be loaded or unloaded there. Since the dock arrangement described has a multiplicity of dock gates which are to be arranged next to one another in the smallest possible space and the trailers are usually loaded and unloaded from the rear, it is necessary to guide the trailer to the dock device in a reverse movement. The present invention is thus applicable in particular to factory environments or can be used in such environments which operate on the principle "warehouse on wheels", i.e. that trailers or trailers, in particular trailers, represent an essential component of the storage area for the factory environment, which trailers are coupled as required to a docking device in order to access their inventory or to remove parts from them or to store them in them.The invention is based on the realization that the keyless transport system has a detection device which has at least one movable detection unit which, in a parking state of the detection unit, is accommodated in a parking receptacle on the keyless transport system and which, in a movement state, is movable relative to the transport vehicle, in particular is self-propelled, wherein the detection unit, in the movement state, is designed to detect at least one object in a vicinity of the transport vehicle and / or of the trailer. The invention thus proposes a detection device which has at least one movable detection unit. The movable detection unit can be moved relative to the rodless transport vehicle and can thus be moved into regions outside the safety region located by the sensors fixedly installed on the transport vehicle. In particular, the movable detection unit can be moved along the trailer in order to ensure there that no objects, i.e. structures, obstacles or persons, are located in the movement range of the trailer. Thus, at least a portion of the trailer or a surrounding portion around the trailer, which lies outside the detection range of the transport vehicle, in particular a sensor fixedly installed on the transport vehicle, can be covered by the movable detection unit.As described, the movable detection unit is accommodated in a parking position on the rodless transport system in a parking state. This means that the detection unit, if it is not required, for example during regular forward travel, can be stationary in its parking position, in particular can be charged. If the detection unit is required, for example when a reverse drive is triggered, the movable detection unit can be moved out of the parking space on the rodless transport vehicle and moved relative to the rodless transport vehicle in order ultimately to increase the safety range or the detection range. Advantageously, it can thereby be ensured that no objects, in particular no persons, are located in the movement range of the trailer, which cannot be sufficiently detected with the sensors fixedly installed on the transport vehicle on account of the length of the trailer and the resulting shadow regions. No re-adjustment or replacement of the already used trailers is necessary, since the detection unit can be retrofitted or provided on the automated guided vehicle. By providing the detection unit on the part of the transport vehicle itself, the keyless transport vehicle is also not dependent on any infrastructure in the factory environment, for example monitoring devices or the like installed on the structure. Furthermore, the detection device for the transport vehicle can be certified and thus used with any desired trailers.The rodless transport system can be further developed to the effect that the at least one detection unit can be moved in the movement state mechanically without contact with the rodless transport vehicle. Advantageously, this makes it possible to move the movable detection unit completely independently of the automated guided vehicle. For the operation of the movable detection unit, in particular no cable connection to the automated guided vehicle is necessary. For example, the movable detection unit can be driven by means of electrical energy, wherein the movable detection unit can have its own electrical energy store. As described, the electrical energy store of the detection unit can be charged by means of the parking recording in the parking state.Furthermore, the movable detection unit can be designed for wireless communication with the rodless transport vehicle or a superordinate system of the rodless transport system, for example a control device. By omitting any mechanical coupling between the movable detection unit and the rodless transport vehicle in the movement state, the movable detection unit can be moved through as desired, in particular below the trailer, so that it is not necessary to take into account which freedom of movement is possible by a mechanical contact, for example a cable connection. In particular, the movable detection unit can also be moved through between axles or wheels of the trailer without a cable being able to be caught there.The at least one detection unit can furthermore be configured to fly in the described movement state. In particular, a flying drone can be used as the movable detection unit. As described, the movable detection unit can land in the parking fixture in a state of rest and start from there upon triggering of the movement state. In other words, if not used, the movable detection unit may return to the parking tray. If the movable detection unit is used, it can start from the parking position and fly through below the trailer, for example from the rodless transport vehicle in the direction of the trailer, in order to monitor the environment or the trajectory or the movement range there. In particular, it can be established whether an object or that no object is located in the movement range of the trailer and the trailer can thus be moved safely.As described at the beginning, the sensors which are fixedly installed on the part of the rodless transport vehicle are basically designed to span a detection range around the rodless transport vehicle itself which is sufficient for the operation of the rodless transport vehicle. Even in the transport state in which the rodless transport vehicle pulls a trailer when driving forward, the sensors directed forward are usually sufficient for monitoring the environment and thus for operating the rodless transport vehicle. In particular in a reverse drive, however, the rearward-directed sensors of the rodless transport vehicle are only designed for the dimensions of the rodless transport vehicle, so that the trailer protruding far beyond the dimensions of the rodless transport vehicle toward the rear cannot be sufficiently covered by these.According to one configuration of the rodless transport system, it can be provided that the detection device is designed to trigger the movement state before and / or when a reverse travel of the rodless transport vehicle, in particular of the coupled trailer, is triggered. As described, the movement state is the state in which the movable detection unit leaves the parking receptacle and monitors the environment of the transport vehicle or of the trailer. The "movement state" can thus also be referred to as "detection state". If the reverse travel is triggered, i.e. the trailer is moved backward or the keyless transport vehicle reports that a reverse travel is imminent, the detection device can start the at least one movable detection unit and move along or around the trailer in such a way that its environment can be monitored.In particular, it can thus be ensured that no person is located in the movement range of the trailer, so that when reversing is carried out and during reversing it can always be ensured that no person is located in the movement environment of the trailer or enters the movement environment. If an object, in particular a person, is detected, the movement of the keyless transport system can be stopped, i.e. the keyless transport vehicle and with it the coupled trailer are stopped. As described, the movable detection unit can be moved in principle starting from the parking position in or on the automated guided vehicle along the longitudinal central axis of the trailer. Depending on the detection range of the movable detection unit, it is also possible here for movements to be carried out perpendicular to the longitudinal central axis, i.e. laterally, in the direction of travel or opposite to the direction of travel, in particular to the left and right, in order to be able to cover any shadow regions, for example between the wheels. The movable detection unit can also rotate about its vertical axis at at least one location of the detection range, for example in order to enlarge the detection range, in particular in order to detect an intermediate range between two wheels.In a development of the rodless transport system, it can be provided that the detection device is designed to trigger the movement state before and / or when at least one danger zone, in particular a curve and / or a constriction, defined by means of at least one piece of environmental information is reached. As has already been described above with respect to the reverse travel, the at least one movable detection unit of the detection device can also be used in other hazardous areas in order to ensure the operational reliability of the rodless transport vehicle and of the coupled trailer. As described, trailers are understood to be, in particular, trailers or trailers whose length extends far beyond the length of the rodless transport vehicle. The length of the rodless transport vehicle may be, for example, in a range of about 3 m, and the length of typical trailers may be in a range of 15 m.This has the result that even when driving forwards, in particular when tight curve radii or narrow places are involved, collision-risk areas can be located which, although they can be driven through by the driver-free transport vehicle without problems, can be critical for the movement of the trailer. In particular, the tow curve which forms during operation of the trailer can be taken into account here. For example, when driving over or starting up such a hazardous area, the movable detection unit can be started in order to monitor the environment of the trailer, in particular to prevent collisions. The described danger zones can be defined, for example, on the basis of environmental information, for example in a map. The movable detection unit can monitor the danger area, for example a curve or a constriction, in such a way that it can be ensured that the trailer does not have any contact with an object in the environment. After driving over the hazardous area, the movable detection unit can be moved back into its parking position.According to a further embodiment of the rodless transport system, it is possible that the at least one piece of environmental information is detected and / or predefined by means of at least one sensor, in particular of the rodless transport vehicle. As described, the environment information may be predefined, for example in a map of the environment that is accessible to the automated guided system. It is likewise possible that the environment is detected by means of at least one sensor, in particular a sensor directed forwards and / or to the sides, of the rodless transport vehicle when driving through. In this case, certain environmental features, for example, constrictions, curve radii and the like, can be detected, which possibly form a danger region. In such surrounding areas, the movable detection unit can be placed in the movement state as described in order to ensure that a safe passing through the hazardous area is carried out.Furthermore, in the case of the rodless transport system, it can be provided that a driving state of the rodless transport vehicle can be executed, in particular exclusively, as a function of release information generated by means of the detection device. In the described embodiment, it can therefore be provided that the detection device generates release information, in particular if objects have not been detected in a movement range of the trailer or of the keyless transport vehicle on the part of the movable detection unit in the movement state. In this case, the environment is free of objects, so that the keyless transport vehicle can move the trailer, in particular backwards. In particular, it can thus be ensured that the release information is only issued or output when the driving range is free. It can likewise be ensured that a driving state of the rodless transport vehicle can be executed only when the release information is present. Thus, the range of movement of the trailer or of the rodless transport vehicle can first be detected by means of the movable movement unit before the rodless transport vehicle can move the trailer. This can be carried out before any driving state, i.e. in any parked state of the rodless transport vehicle, the environment of the trailer can first be monitored or detected with the movable detection unit in order to ensure that it is free of objects, in particular persons. It can thus be ensured that no person is in the driving range of the trailer or is present there before the driving state is assumed.The sensorless transport system can be further developed in that a detection region of the at least one movable detection unit covers at least a height of 1 m, in particular 1.5 m, above the ground. Advantageously, not only is the area directly around the trailer or the keyless transport vehicle thereby covered, but it is also possible to look at a higher area, so that the safety area is extended to this effect. In particular when driving into docks with the trailer, it can thus be ensured that no objects, in particular no persons, are located between a loading ramp and a rear region of the trailer. It can be ruled out in particular that a person sits on the loading platform while the trailer is moved to the loading platform in order to exclude squeezing of objects or persons between the loading platform and the trailer.In addition to the rodless transport system, the invention relates to a transport arrangement which comprises a dock arrangement having a plurality of dock devices and at least one previously described rodless transport system. The invention further relates to a method for operating a rodless transport system, comprising a rodless transport vehicle which is designed to move a trailer in a transport state coupled to the transport vehicle, wherein at least one movable detection unit which is accommodated in a parking receptacle on the rodless transport system in a parking state of the detection unit is moved in a movement state relative to the transport vehicle, in particular is self-propelled, and at least one object in a vicinity of the transport vehicle and / or of the trailer is detected by means of the detection unit.All advantages, details, implementations and / or features described with respect to the rodless transport system can be completely transferred to the transport arrangement and the method.The invention is explained on the basis of exemplary embodiments with reference to the figures. The figures are schematic representations and show: FIG. 1 shows a schematic illustration of a suspension system according to an exemplary embodiment in a lateral illustration; and FIG. 2 shows the suspension system from FIG. 1 in a representation from below.FIG. 1 shows a schematic basic illustration of a rodless transport system 1 which has a rodless transport vehicle 2 which is in a transport state. In the transport state, the automated guided vehicle 2 is coupled to a trailer 3. The coupling between the keyless transport vehicle 2 and the trailer 3 can be established or disconnected as desired in order to couple or decouple the trailer 3. In particular, the keyless transport vehicle 2 can be used for a transport arrangement which (not shown in more detail) has a dock arrangement with a multiplicity of dock devices, for example dock gates, to which the trailer 3 can be moved by the keyless transport vehicle 2, such that the trailer 3 can be loaded or unloaded.Purely schematically, the rodless transport system 1 has a higher-order control device 4 which is designed to communicate with the rodless transport vehicle 2, for example in order to transmit control commands to the rodless transport vehicle 2 in the manner of a guidance system, in particular which trailer 3 is to be moved to which docking device.Furthermore, the suspension system 1 has a detection device 5 which has at least one movable detection unit 6. In a parking state (shown in dashed lines), the movable detection unit 6 is arranged in a parking receptacle 7 which is provided in or on the rodless transport vehicle 2. The parking receptacle 7 can provide, for example, further devices for the operation of the movable detection unit 6, for example a charging device which is designed to charge an electrical energy store, not shown in more detail, of the movable detection unit 6.FIG. 1 shows a moving state of the movable detection unit 6 in which the movable detection unit 6 has left the parking tray 7. As can be seen, the movable detection unit 6 is designed in the movement state to be moved relative to the automated guided vehicle 2 and the trailer 3. In the exemplary embodiment shown, the movable detection unit 6 is self-propelled, i.e. configured for movement out of itself. The movable detection unit 6 is movable in particular without contact with the trailer 3 and the automated guided vehicle 2. This means that, when the parking space 7 is left, all the mechanical connections to the automated guided vehicle 2 and the trailer 3 are separated. The movable detection unit 6 is thus free from mechanical contact between the automated guided vehicle 2 and the trailer 3, in particular also with the environment. The movable detection unit 6 can be designed, for example, as a flying drone and fly in the region of the automated guided vehicle 2 or the trailer 3.Furthermore, the movable detection unit 6 has at least one sensor, by means of which the movable detection unit 6 is designed to detect objects in the environment of the transport vehicle 2 and / or of the trailer 3. As is represented by an arrow 8, the movable detection unit 6 can be moved in the direction of the rear of the trailer 3, in particular below the trailer 3, for example parallel to its longitudinal central axis. In this case, the movable detection unit 6 can detect the environment around the trailer 3, in particular ensure that no objects, in particular obstacles, structures or persons, are located there.For example, before starting a reverse travel, the movable detection unit 6 can be placed in the described movement state. For example, the movable detection unit 6 can be started when there is a reverse travel on the part of the rodless transport vehicle 2, for example, a maneuvering operation is to be carried out. For this purpose, the movable detection unit 6 can be moved out of the parking receptacle 7 and moved along the longitudinal central axis of the trailer 3 to the rear region thereof. Subsequently, the movable detection unit 6 may be moved together with the trailer 3 during the rearward travel to ensure that no object is in the range of movement of the trailer. If the reverse travel is ended, the trailer 3 is docked, for example, on the provided docking device, the movable detection unit 6 can be moved back to the parking receptacle 7, for example in order to charge up. For example, the reverse travel can only be started when the detection unit 6 has arrived at the rear area and the area between the rear area and the transport vehicle 2 has been detected as free of objects.During the movement along the arrow 8, the movable detection unit 6 can also be moved into shadow regions, for example moved perpendicularly to the movement path represented by the arrow 8 or rotated about its vertical axis. For example, as shown in FIG. 2, gaps between wheels 9 of the trailer 3 can be monitored in order to ensure that no objects are located there.In one embodiment of the rodless transport system 1, it can be provided that release information is generated on the side of the detection device 5 if no objects have been detected in the safety area or the movement area of the trailer 3 by means of the movable detection unit 6. In this case, the keyless transport vehicle 2 can be dependent on the release information in such a way that a driving operation can be carried out only if the release information is present, i.e. no driving operation can be carried out before the release information has been obtained. If the trailer 3 is parked, for example, and if it is coupled to the automated guided vehicle 2 for transport, it can be provided that monitoring is carried out with the movable detection unit 6 before the start of the driving state. As described, this can be moved out of the parking receptacle 7 along the arrow 8, in order for example also to monitor the intermediate spaces between the wheels 9, so that it is ensured that no objects, in particular obstacles, structures or persons, are located there. If no objects in the area around the transport vehicle 2 or the trailer 3 have been detected, the detection device 5 can output the release information and the keyless transport vehicle 2 can record the driving mode. If an object is detected, no release information is generated by the detection device 5 or the already started movement of the rodless transport vehicle 2 and of the trailer 3 is stopped, for example, when a person enters the travel area.In a further embodiment, the movable detection unit 6 can also be used to monitor the environment in hazardous areas, for example narrow radii of curvature, constrictions and the like, so that it can be ensured that the trailer 3 does not come into contact with structures of the environment. For this purpose, the movable detection unit 6 can likewise be moved out of the parking receptacle 7 and moved to the critical constriction. It can likewise be provided that the movable detection unit 6 monitors the trailer 3 on the side facing the constriction, for example that surface of the trailer 3 which comes closest to the structure in the environment when cornering. In this case, an item of release information can be issued or output as long as a defined critical distance is not undershot.In FIGS. 1, 2, a detection region 10 of the movable detection unit 6 is also schematically illustrated. As described, the detection region 10 is purely schematic and exemplary. During a rearward travel, the movable detection unit 6 can be moved to the rear region of the trailer 3 as described in order to ensure there by the detection region 10 that no objects are located in the movement path or the travel region. The detection region 10 can be selected in particular such that the entire width of the trailer 3 is covered. Alternatively, the movable detection unit 6 can be moved, for example continuously, over the width of the trailer 3 or over a partial region of the width of the trailer 3. The height of the detection region advantageously has a minimum height, for example 1 m, in particular 1.5 m, so that detection can also take place "upward". In particular, it can thus be ensured that no objects can be arranged between a loading edge, not shown, of a docking device and the rear region of the trailer 3. In particular, persons sitting on the cargo edge can thus be protected.As described, the rodless transport system 1 can be used for a transport arrangement which can have a dock arrangement with a plurality of dock devices and at least one rodless transport system 1 as described. All advantages, details and features described with respect to the rodless transport system 1 in FIGS. 1, 2 can be completely transferred to the transport arrangement. The method described herein for operating a rodless transport system 1 can be carried out in particular with the described and shown rodless transport system 1.List of reference characters1 Unmanned transport system 2 Keyless transport vehicle 3 Trailer 4 Control device 5 Detection device 6 Movable detection unit 7 Parking space 8 Arrow 9 Wheel 10 Detection region

Claims

A keyless transport system (1) comprising a keyless transport vehicle (2) which is configured to move a trailer (3) in a transport state coupled to the transport vehicle (2), characterized bya detection device (5) which has at least one movable detection unit (6) which is accommodated in a parking receptacle (7) on the keyless transport vehicle (2) in a parking state of the detection unit (6) and which is movable, in particular self-propelled, relative to the transport vehicle (2) in a movement state, wherein the detection unit (6) is configured in the movement state to detect at least one object in a surrounding area of the transport vehicle (2) and / or of the trailer (3).The rodless transport system (1) according to claim 1, characterized in that the at least one detection unit (6) is movable in the movement state mechanically free of contact with the rodless transport vehicle (2).The automated guided system (1) according to claim 1 or 2, characterized in that the at least one detection unit (6) is configured to fly in the state of movement.The rodless transport system (1) according to any one of the preceding claims, characterized in that the detection device (5) is configured to trigger the movement state before and / or when a reverse travel of the rodless transport vehicle (2), in particular of the coupled trailer (3) is triggered.The rodless transport system (1) according to any one of the preceding claims, characterized in that the detection device (5) is configured to trigger the movement state before and / or when at least one danger area, in particular a curve and / or a constriction, defined by means of at least one piece of environmental information is reached.The automated guided system (1) according to claim 5, characterized in that the at least one piece of environmental information is detected and / or predefined by means of at least one sensor, in particular the automated guided vehicle (2).The rodless transport system (1) according to any one of the preceding claims, characterized in that a driving state of the rodless transport vehicle (2) can be executed, in particular exclusively, as a function of release information generated by means of the detection device (5).The rodless transport system (1) according to any one of the preceding claims, characterized in that a detection area (10) of the at least one detection unit (6) covers at least a height of 1 m, in particular 1.5 m, above the ground.Transport arrangement, comprising a dock arrangement with a plurality of dock devices and at least one rodless transport system (1) according to one of the preceding claims.Method for operating a rodless transport system (1) comprising a rodless transport vehicle (2) which is designed to move a trailer (3) in a transport state coupled to the transport vehicle (2), characterized in that at least one movable detection unit (6) which is accommodated in a parking receptacle (7) on the rodless transport system (1) in a parking state of the detection unit (6) is moved, in particular self-propelled, in a movement state relative to the transport vehicle (2) and at least one object in a vicinity of the transport vehicle (2) and / or of the trailer (3) is detected by means of the detection unit (6).

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