DRIVERLESS MOBILITY DEVICE

Abstract

Driverless motion device (1), in particular an autonomously moving robot, comprising a detection device (2), in particular a 3D scanner, comprising a detection unit (3), in particular a lidar sensor and / or a camera, which is configured to detect at least one spatial point in an environment (7) of the motion device (1), wherein the detection unit (4) is arranged in a fixed position and a fixed orientation on a base body (5) of the motion device (1) and has a detection area (6) that is fixedly oriented relative to the base body (5), wherein at least one detection unit (4) is arranged on a movement section (8) of the motion device (1) that is movable relative to the base body (5), wherein the detection device (2) is configured to detect spatial points based on a detection of the position-fixed detection unit (3) and the movable detection unit (4).

Description

[0001] The invention relates to a driverless movement device, in particular an autonomously movable robot, comprising a detection device, in particular a 3D scanner, comprising a detection unit, in particular a lidar sensor and / or a camera, which is designed to detect at least one spatial point in an environment of the movement device, wherein the detection unit is arranged in a fixed position and a fixed orientation on a base body of the movement device and has a detection area that is fixedly aligned relative to the base body.

[0002] Driverless movement devices of the type mentioned above are generally known from the prior art, for example as transport systems, walking robots, and the like. These devices are designed to be moved autonomously, i.e., without active human control, into a specific position, for example, to transport an object or to interact with an object. Further fields of application for such movement devices lie in data acquisition, for example, the detection of spatial points in an environment, particularly for generating three-dimensional models of the environment.For such detection of spatial points, for example as a basis for the creation of three-dimensional models or for the navigation of the movement device within the environment, the driverless movement device usually has a detection device which has at least one detection unit, for example a lidar sensor or a depth camera, by means of which the at least one spatial point can be detected.

[0003] The described detection device is fixedly mounted on a base body of the movement device, for example, on the torso of a walking robot, specifically on the rear of the torso of a robot dog. This fixed mounting means, in particular, that the detection range of the detection unit is fixed with respect to the coordinate system of the movement device and is not variable with respect to the position of the detection unit on the base body and its orientation relative to the base body.

[0004] The described detection unit can cover a large detection range relative to the movement plane of the movement device, in particular 360° around the vertical axis of the movement device. However, the detection range is significantly restricted relative to the vertical axis, for example to a range of approximately 10°. This means that although objects in the vicinity of the movement device can be reliably detected around the vertical axis as part of collision detection, the detection of spatial points for the production of three-dimensional models requires at least a movement of the base body of the movement device in order to align the detection range of the detection unit in space such that a spatial point to be detected can be detected, i.e. lies in the detection position within the detection range.However, due to the relatively narrow detection range of the detection unit, there are also limits to such a movement, since, for example, spatial points arranged vertically above the movement device cannot be detected.

[0005] The invention is based on the object of providing an improved driverless movement device in which, in particular, the detection of spatial points in the environment is improved.

[0006] The object is achieved by a driverless movement device according to claim 1. The dependent claims relate to possible embodiments.

[0007] As described, the invention relates to a driverless movement device, in particular an autonomously movable robot. The driverless movement device comprises a detection device, which can be designed, for example, as a 3D scanner. The detection device has a detection unit, in particular a lidar sensor and / or a camera, which detection unit is designed to detect at least one spatial point in an environment of the movement device. The described detection unit is arranged in a fixed position and with a fixed orientation on a base body of the movement device and therefore has a detection range that is fixedly aligned relative to the base body.

[0008] The detection range of the detection unit is basically the area in which spatial points can be detected by the detection unit in a current state of the movement device. In other words, the detection range of the detection unit, which is permanently installed on the base body, does not change relative to the base body. However, the detection range is changed relative to the environment when the movement device moves through the environment. The detection unit, which is permanently arranged on the base body, i.e. whose position and orientation does not change relative to the base body, can also be referred to as a "position-fixed" detection unit. In this case, it is fundamentally possible for several such position-fixed detection units to be provided on the movement device.

[0009] The invention is based on the finding that at least one detection unit is provided, which is arranged on a movement section of the movement device that is movable relative to the base body, wherein the detection device is designed to detect spatial points based on detection by the position-fixed detection unit and the movable detection unit. In other words, the movement device has at least two detection units, namely the at least one position-fixed detection unit and the at least one movable or movable detection unit. In principle, it is also possible for several such detection units, i.e. position-fixed and / or movable detection units, to be provided.

[0010] The at least one detection unit, which is movably arranged on the moving section relative to the base body, can thus be moved together with the moving section, so that the detection range of the movable detection unit changes relative to the base body. This means that the detection device can detect spatial points with the fixed-position detection unit, whose detection range, as described, is fixed relative to the base body, but also changes within the environment due to the movement of the moving device through the environment.

[0011] If the position and / or orientation of the base body in the environment changes, the detection range or the currently detected range of the fixed detection unit also changes. In addition, the detection device can detect spatial points using the movable detection unit, which is also moved through the environment together with the movement device, i.e. its detection range or currently detected range changes, on the one hand, due to the movement of the movement device through the environment and, on the other hand, an active alignment and positioning of the detection unit can be carried out by moving the moving section of the movement device, for example a robot arm or any other section of the movement device that can move relative to the base body.

[0012] This advantageously makes it possible for the movable detection unit to be aligned with respect to its detection range such that it can cover areas of the environment that cannot be detected with the detection range of the fixed-position detection unit. Purely by way of example, an area of ​​the environment above the movement device can be mentioned that cannot be detected, for example, with the fixed-position detection unit. The movable detection unit can be aligned by suitable movement of the movement section such that its detection range covers this area. In this case, the detection range of the fixed-position detection unit depends on its fixed position and fixed alignment with the base body of the movement device.In other words, the detection ranges of the at least two detection units, namely the position-fixed detection unit and the movable detection unit, can be combined.

[0013] The operation of driverless movement devices is generally known from the prior art and will therefore not be described further here. Generally, the movement device has or is connected to at least one control device that generates movement commands so that the movement device and thus also the at least one movement section can be moved. Accordingly, it is also possible to move the movable detection unit arranged on the movement section by moving it.

[0014] As described, the movable movement unit is to be arranged on a movement section of the movement device so that it can be moved together with the movement section relative to the base body. According to one embodiment of the driverless movement device, it can be provided that the detection range of the at least one movable detection unit can be changed by moving the movable detection unit. This allows the movable detection unit to be positioned and aligned as needed, particularly compared to the fixed-position detection unit.

[0015] This allows the movement device to be moved more efficiently through the environment, as it may not be necessary to align the movement device itself in the environment in such a way that individual or all spatial points can be reliably detected. Instead, spatial points that cannot be adequately detected, for example, using the fixed detection unit, can be detected by moving the moving section, which also moves the movable detection unit. This allows, for example, the movement device to be moved through the environment and, on the one hand, to detect spatial points with the fixed detection unit and, on the other hand, to detect additional spatial points with the movable detection unit, without having to adapt the basic movement of the movement device through the environment, for example a movement of the base body, to the detection task.Another possibility is to use the movable detection unit to detect spatial points while the moving section performs a movement.

[0016] For example, the movable detection unit can be arranged on a functional section of the movement device with which the movement device interacts with the environment. Thus, the movable detection unit can record spatial points while the movement device performs a corresponding interaction with the environment above the movement section. According to one embodiment of the driverless movement device, the movement section can be designed as a gripper arm or has a gripper arm.

[0017] The term "gripper arm" refers to a previously described functional section of the movement device with which the movement device can interact with the environment, in particular grasp objects in the environment or otherwise actuate them. The gripper arm can in particular have a plurality of segments that are movably connected to one another at individual interfaces or joints. The movement section has motors to move the individual movement segments and thus to position and align the gripper arm in space. As described, the movable detection unit is arranged on the movement section and is thus moved and aligned in space together with the gripper arm and can thereby detect spatial points.

[0018] According to a further embodiment of the driverless motion device, the at least one detection unit can comprise a lidar sensor and / or a camera, in particular a depth camera. Specifically, the movable detection unit can comprise such a sensor or such a camera. As also described above, multiple detection units can be provided, or any combination of movable and fixed detection units with similar or different sensors or sensor combinations can be provided.

[0019] The phrase “capturing spatial points” in the context of the description is therefore to be understood in particular to mean that spatial points can be captured as spatial data points, in particular for creating a three-dimensional model, but camera images of the environment can also be recorded in which the spatial points are visible, for example in the context of generally known panoramic images. In particular, it is possible to combine both types of spatial points, so that information about the three-dimensional spatial points of the structures and objects depicted in the images is also possible within the described image recordings. By recording such image recordings with the movable capture unit, it is particularly possible to create image recordings that appear more natural to a human observer or that are a better approximation to their way of viewing.Compared to conventionally used movement devices, it is particularly possible to position the movable detection unit at eye level and to generate images in this position and orientation so that its viewing angle or detection range can correspond to that of a human observer.

[0020] As described, the driverless movement device generally has motors for moving the movement section, which can be controlled, for example, based on control commands from a control device. The movement device can further have at least one measuring device designed to determine a position and / or an orientation of the movement section. Movement devices can have such a measuring device anyway, since it may be necessary for the movement of the at least one movement section to be carried out in a controlled manner or to monitor or verify the execution of the movement. This also makes it possible to determine the position and / or orientation in which the movable detection unit is set while the movable detection unit is recording spatial points.

[0021] The driverless movement device can be further developed such that the detection device is designed to reference the spatial points detected by the detection units. As described, the fixed-position detection unit is arranged in a fixed position on a base body, and the movable detection unit is movable relative to the base body, namely together with the moving section. As previously described, it is fundamentally possible to determine the position and orientation of the movable detection unit while recording the spatial points, namely via the at least one measuring device. This makes it possible for the detection device to reference the spatial points detected by the at least two detection units, so that they can be related to the same coordinate system, for example, a coordinate system of the movement device.Since the orientation and position of the movement device in the environment is also known or can be determined, the coordinate system of the movement device can also be referenced with a coordinate system of the environment, for example a zero point of a plant.

[0022] This also offers the possibility of using the fixed-position detection unit as an "anchor" for detecting spatial points by means of the movable detection unit. Since the two detection units are fundamentally interconnected via the structure of the movement device, and the relative position and orientation of the movable detection unit is determined based on the movement of the moving section relative to the base body, referencing with the movable detection unit can be performed by determining the absolute position using the fixed-position detection unit. In other words, it is therefore possible to orient the movable detection unit arbitrarily in space and to determine its position and orientation using the known position and orientation of the fixed-position detection unit.This allows in particular an improvement of a “SLAM process” (Simultaneous Localization And Mapping) carried out by means of the detection device.

[0023] The movement device can be further developed such that the movement device is configured to move the movement section based on at least one piece of detection information, in particular from the stationary detection unit. The detection information can describe or contain which spatial points are to be detected and, if appropriate, which of these spatial points can be suitably detected with the stationary detection unit. In particular, this can achieve a division of the spatial points into spatial points that can be detected by the stationary detection unit and spatial points that lie outside its detection range and must therefore be detected with the movable detection unit.

[0024] For example, a movement of the movable detection unit can be carried out in such a way that it detects the spatial points that cannot be detected by the fixed-position detection unit. For example, the fixed-position detection unit can generate a point density of spatial points detected by the fixed-position detection unit as detection information. If the point density is insufficient, a movement of the movable detection unit into this detection area is possible in order to increase the point density. Another possibility can be that the detection information describes whether an area of ​​the environment can be detected by the fixed-position detection unit, for example based on its orientation or position in space or based on accessibility or inaccessibility for the entire movement device.

[0025] The movement device can further be designed to move the movable detection unit into an area inaccessible to the base body of the movement device by moving the movement section relative to the base body. For example, the movement of the movement section relative to the base body can move the movable detection unit into an area of ​​the environment into which the entire movement device cannot be moved, for example because an opening that must be passed through to access the area is too small for the base body of the movement device to be able to move through. Purely by way of example, a cavity or a fence or a wall in which at least one opening or aperture is provided can be mentioned.The opening can be dimensioned so small that, for example, the movable movement section or one of its segments, and thus the movable detection unit, can be moved through, but the base body of the movement device is too large. Further possibilities exist in that the movable movement unit can also be moved over obstacles, for example, over barriers that cannot be overcome by the fixed detection unit, e.g., the base body, or that cannot be seen past with the fixed detection unit.

[0026] In addition to the driverless movement device, the invention relates to a control device for the operation of a driverless movement device, in particular an autonomously movable robot, comprising a detection device, in particular a 3D scanner, comprising a detection unit, in particular a lidar sensor and / or a camera, which is designed to detect at least one spatial point in an environment of the movement device, wherein the detection unit is arranged in a fixed position and a fixed orientation on a base body of the movement device and has a detection area that is fixedly aligned relative to the base body, wherein the control device is designed to align and / or position at least one movable detection unit, which is arranged on a movement section of the movement device that is movable relative to the base body, by moving the movement section,wherein the detection device is designed to detect spatial points based on a detection of the position-fixed detection unit and the movable detection unit.,

[0027] The control device can, in particular, be designed as a central control device and be arranged spatially outside the movement device. The control device can be in communication with the movement device. The control device can also be communicatively connected to a plurality of movement devices, for example, to issue control commands to them. It is also possible for the control device to be designed as a decentralized control device and, for example, be arranged on the side of the movement device. In this case, the control device can be designed to operate an individual movement device.

[0028] The invention further relates to a method for operating a driverless movement device, in particular an autonomously movable robot, comprising a detection device, in particular a 3D scanner, comprising a detection unit, in particular a lidar sensor and / or a camera, which is designed to detect at least one spatial point in an environment of the movement device, wherein the detection unit is arranged in a fixed position and a fixed orientation on a base body of the movement device and has a detection area that is fixedly aligned relative to the base body, wherein at least one detection unit is arranged on a movement section of the movement device that is movable relative to the base body, wherein spatial points are detected by means of the detection device based on a detection of the position-fixed detection unit and the movable detection unit.

[0029] All advantages, details, designs and / or features described with respect to the driverless movement device are fully transferable to the control device and the method.

[0030] 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 movement device in a side view according to an embodiment; Fig. 2 a schematic diagram of a section of the driverless movement device of Fig. 1 in front view; and Fig. 3 a schematic diagram of a section of the driverless movement device of Fig. 1, Fig. 2 under supervision.

[0031] Fig. Figure 1 shows an exemplary representation of a driverless movement device 1, which is designed, for example, as an autonomously movable robot, specifically a walking robot. The basic shape or design of the movement device can be chosen arbitrarily, for example, depending on a specific application situation of the movement device. In particular, the movement device is not limited to the specifically shown embodiment of a walking robot, for example, a robot dog, but is also transferable to driverless transport systems and robots of any other design.

[0032] The driverless movement device 1 has a detection device 2, which comprises a fixed detection unit 3 and a movable detection unit 4. The fixed detection unit 3 is fixedly arranged on the movement device 1, namely on a base body 5, for example a fuselage, of the driverless movement device 1. This means that a detection area 6 of the fixed detection unit 3 relative to the base body 5 cannot be changed, but rather the relative position and orientation of the fixed detection unit 3 on the base body 5 is fixed and unchangeable. If the movement device 1 is moved in its environment 7, the detection unit 3 is obviously also moved within the environment 7, so that the detection area 6 relative to the environment 7 can be changed by the movement of the movement device 1, i.e. the currently detected area of ​​the environment 7.Therefore, it is possible to detect spatial points in the environment 7 with the position-fixed detection unit 3.

[0033] As described, the movement device 1, namely the detection device 2, also has a movable detection unit 4. This is arranged on a movement section 8 of the movement device 1, which movement section 8 is movable relative to the base body 5. In the illustrated embodiment, the movement section 8 is designed as a gripper arm and has several segments 9, 10, 11, which are movably connected to one another, for example in an articulated manner. By means of suitable motors, which are not shown in detail, the segments 9, 10, 11 can be moved and aligned relative to one another, so that a three-dimensional positioning of the movement section 8 in the environment 7 is possible. Since the movable detection unit 4 is arranged on the movement section 8, in particular a distal segment 11 relative to the base body 5, it is moved together with the movement section 8 in space or in the environment 7.

[0034] A detection area 12 of the movable detection unit 4 is thus movable or changeable relative to the base body 5, particularly compared to the detection area 6 of the fixed-position detection unit 3. In other words, the detection area 12 can be aligned as needed. If the movement device 1 moves through the environment 7, it is therefore not necessary to change the orientation of the base body 5, for example, to incline or tilt it, so that a specific spatial point can be detected with the detection area 6 of the fixed-position detection unit 3. Instead, the movement of the movement device 1 through the environment 7 can generally be carried out without regard to the detection task, and instead the detection area 12 of the movable detection unit 4 can be aligned so that a specific spatial point can be detected.

[0035] The detection areas 6, 12 of the detection units 3, 4 can basically be designed as desired, for example 360° around a vertical axis of the detection units 3, 4. The movable detection unit 4 is in a section in Fig. 2 in front view and in Fig. 3 is shown in plan view. The detection range 12 is shown purely as an example in any angular range. The angular range can be restricted or expanded depending on the specific application. Likewise, the detection range can be expanded or reduced in the vertical direction, depending on the application in which the movement device 1 or the detection device 2 is to be used.

[0036] The detection units 3, 4 can, in principle, comprise any desired sensors or sensor combinations. The movement device 1 can also provide additional detection units in addition to the detection units 3, 4 shown.

[0037] In order to reference the coordinate systems or the positions of the individual spatial points acquired by the different acquisition units 3, 4, it is possible to provide a measuring device. This can, for example, be provided by the movement device 1 to control or verify the movements of the segments 9-11 of the movement section 8. This makes it possible to determine the current acquisition unit 4 relative to the base body 5 and thus relative to the fixed-position acquisition unit 3.

[0038] Furthermore, the moving section 8 can be moved based on detection information, for example by a control device 13 shown as an example, which can be implemented internally or externally to the movement device 1. For example, it can be determined how high the point density is in a specific area of ​​the environment 7 that is detected by the position-fixed detection unit 3. If this is below a defined limit, for example, the movable detection unit 4 can be directed into this area to increase the point density. Furthermore, the detection information can describe whether a specific spatial point, for example a POI (point of interest), is or will be located in the detection area 6 of the position-fixed detection unit 3.If this is not the case, the spatial point in question can be detected by moving the movable detection unit 4, namely by aligning the detection area 12 so that the spatial point can be detected therein.

[0039] The driverless movement device 1 can further be used to move the movable detection unit 4 into areas of the environment 7 that are inaccessible to the entire movement device 1. For example, an opening or a cavity, a hole in a fence or a wall, and the like can be arranged in the environment 7, wherein the movable detection unit 4 can be moved through the opening together with the segment 11 of the movement section 8, although, for example, the base body 5 alone could not be moved through the opening. By means of the movable detection unit 4, it is therefore also possible to detect spatial points in an area that is inaccessible to the entire movement device 1, but into which the detection device 4 can be moved in order to detect spatial points.

[0040] Specifically, the detection device 2 is designed to detect spatial points using both detection units 3, 4. Subsequently, for example, a three-dimensional model can be generated based on spatial points detected in combination by both detection units 3, 4.

[0041] The advantages, details, and features shown in the individual figures can be combined with one another as desired, are interchangeable, and are transferable to one another. The control device 13 is designed to control the operation of the driverless movement device 1, in particular to issue control commands for the movement of the movement device 1 and the segments 9-11 of the movement section 8. Several movement devices 1 can be assigned to the control device 13, so that it can be designed to operate the individual movement devices 1. Alternatively, it is also possible for each movement device 1 to be assigned its own control device 13. The method described herein can be carried out by means of the control device 13 or by means of the driverless movement device 1. List of reference symbols 1 driverless movement device 2 Recording device 3 fixed position detection unit 4 movable detection unit 5 basic bodies 6 Detection range 7 Surroundings 8 Movement section 9-11 segment 12 Detection range 13 Control device

Claims

[1] Driverless movement device (1), in particular an autonomously movable robot, comprising a detection device (2), in particular a 3D scanner, comprising a detection unit (3), in particular a lidar sensor and / or a camera, which is designed to detect at least one spatial point in an environment (7) of the movement device (1), wherein the detection unit (4) is arranged in a fixed position and a fixed orientation on a base body (5) of the movement device (1) and has a detection area (6) which is fixedly aligned relative to the base body (5), characterized by at least one detection unit (4) which is arranged on a movement section (8) of the movement device (1) which is movable relative to the base body (5), wherein the detection device (2) is designed to detect spatial points based on a detection of the position-fixed detection unit (3) and the movable detection unit (4). [2] Driverless movement device (1) according to claim 1, characterized by that a detection area (12) of the at least one movable detection unit (4) can be changed by moving the movable detection unit (4). [3] Driverless movement device (1) according to claim 1 or 2, characterized by that the movement section (8) is designed as a gripping arm or has a gripping arm. [4] Driverless movement device (1) according to one of the preceding claims, characterized by that the at least one detection unit (3, 4), in particular the at least one movable detection unit (4), has a lidar sensor and / or a camera, in particular a depth camera. [5] Driverless movement device (1) according to one of the preceding claims, characterized by a measuring device which is designed to determine a position and / or an orientation of the movement section (8). [6] Driverless movement device (1) according to one of the preceding claims, characterized by that the detection device (2) is designed to reference the spatial points detected by means of the detection units (3, 4). [7] Driverless movement device (1) according to one of the preceding claims, characterized by that the movement device (1) is designed to move the movement section (8) based on at least one item of detection information, in particular the position-fixed detection unit (3). [8] Driverless movement device (1) according to one of the preceding claims, characterized by in that the movement device (1) is designed to move the movable detection unit (4) by moving the movement section (8) relative to the base body (5) into an area inaccessible to the base body (5) of the movement device (1). [9] Control device (13) for the operation of a driverless movement device (1), in particular an autonomously movable robot, comprising a detection device (2), in particular a 3D scanner, comprising a detection unit (3), in particular a lidar sensor and / or a camera, which is designed to detect at least one spatial point in an environment (7) of the movement device (1), wherein the detection unit (3) is arranged in a fixed position and a fixed orientation on a base body (5) of the movement device (1) and has a detection area (6) which is fixedly aligned relative to the base body (5), characterized byin that the control device (13) is designed to align and / or position at least one movable detection unit (4), which is arranged on a movement section (8) of the movement device (1) that is movable relative to the base body (5), by moving the movement section (8), wherein the detection device (2) is designed to detect spatial points based on a detection of the position-fixed detection unit (3) and the movable detection unit (4). [10] Method for operating a driverless movement device (1), in particular an autonomously movable robot, comprising a detection device (2), in particular a 3D scanner, comprising a detection unit (3), in particular a lidar sensor and / or a camera, which is designed to detect at least one spatial point in an environment (7) of the movement device (1), wherein the detection unit (3) is arranged in a fixed position and a fixed orientation on a base body (5) of the movement device (1) and has a detection area (6) which is fixedly aligned relative to the base body (5), characterized bythat at least one detection unit (4) which is arranged on a movement section (8) of the movement device (1) which is movable relative to the base body (5), wherein spatial points are detected by means of the detection device (2) based on a detection of the position-fixed detection unit (3) and the movable detection unit (4).

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