Methods for operating a technical plant and technical plant

Abstract

The invention relates to a method for operating a technical system comprising at least one autonomous transport vehicle (1) and at least one load carrier (30), wherein the at least one load carrier (30) is arranged on the at least one autonomous transport vehicle (1), and wherein at least one image of the load carrier (30) arranged on the autonomous transport vehicle (1) is captured by an optical camera (12); and a model of the load carrier (30) is created from the at least one captured image by a recognition unit (16); and the recognition unit (16) determines at least one dimension of the load carrier (30) in at least one dimension from the created model. A technical system according to the invention is operable with the method according to the invention.

Description

[0001] The invention relates to a method for operating a technical system comprising at least one autonomous transport vehicle and at least one load carrier, wherein the at least one load carrier is arranged on the at least one autonomous transport vehicle. The invention also relates to a technical system that can be operated using the method according to the invention.

[0002] The technical facility in question is primarily an industrial application, such as a production plant, an industrial hall, a paint shop, or a logistics center. Autonomous transport vehicles are used primarily for transporting load carriers within the technical facility. Load carriers include, for example, boxes or containers filled with raw materials or finished products.

[0003] Technical facilities typically contain bottlenecks, such as gates, which the autonomous transport vehicle must pass through. When transporting a load carrier, collisions at these bottlenecks must be avoided, even if the load carrier extends beyond the vehicle's reach. Therefore, the dimensions of the load carrier must be known.

[0004] Even when transferring the load carrier from the autonomous transport vehicle to a transfer station, such as a high-bay warehouse, the dimensions of the load carrier must be known. If the load carrier exceeds a predefined size, collisions during storage in the high-bay warehouse are possible and must be prevented.

[0005] From DE 202 20 364 U1, a device for positioning container transport vehicles in the handling area of ​​a container crane is known. A laser scanner is attached to the container crane. The position of a transport vehicle and its container load can be determined using the laser scanner.

[0006] US Patent 5,835,012 A discloses a method for transporting containers. This method includes a sensor for detecting the container's orientation.

[0007] WO 2010 / 045 391 A2 discloses a forklift truck equipped with a mounted camera system. The volume of a cargo item is calculated from images captured by the camera system.

[0008] A laser scanning device for measuring objects is known from US patent 2008 / 0304040A1. Objects are scanned using laser beams and the dimensions of the scanned objects are determined.

[0009] US patent 2010 / 0091094A1 discloses a mechanism for controlling a three-dimensional camera system. The volume of a cargo is calculated from images captured by the camera system.

[0010] A method for loading cargo into a container is known from US patent 2017 / 0280125A1. In this method, images of the cargo are captured using a three-dimensional camera system, and the volume of the cargo is calculated from these images.

[0011] The invention is based on the objective of further developing a method for operating a technical plant as well as a technical plant itself.

[0012] The problem is solved by a method for operating a technical system with the features specified in claim 1. Advantageous embodiments and further developments are the subject of the dependent claims. The problem is also solved by a technical system with the features specified in claim 11.

[0013] A method for operating a technical system is proposed, comprising at least one autonomous transport vehicle and at least one load carrier, wherein the at least one load carrier is arranged on the at least one autonomous transport vehicle.

[0014] According to the invention, an optical camera captures at least one image of the load carrier arranged on the autonomous transport vehicle. A recognition unit creates a model of the load carrier from the at least one captured image. The recognition unit then determines at least one dimension of the load carrier from the created model.

[0015] Thus, at least one dimension of the load carrier, for example its width, length, or height, is known. This makes it possible to determine whether passage through a narrow passage and transfer of the load carrier at a transfer station can be achieved without collision.

[0016] According to the invention, the at least one autonomous transport vehicle has at least one camera and a recognition unit. The technical system includes at least one mirror. The camera of the autonomous transport vehicle captures an image of the load carrier reflected in the mirror. The recognition unit of the autonomous transport vehicle creates a model of the load carrier. The autonomous transport vehicle is thus able to determine at least one dimension of the load carrier almost autonomously. The technical system requires only one mirror, which is relatively inexpensive.

[0017] According to the invention, the autonomous transport vehicle has a plurality of cameras, and the optical axes of the cameras of the autonomous transport vehicle are aligned at least approximately in different horizontal directions. The mirror is arranged offset in a horizontal direction relative to the autonomous transport vehicle. The autonomous transport vehicle is rotated about a vertical axis, and during the rotation, the cameras of the autonomous transport vehicle capture a plurality of images of the load carrier in the mirror at various angular positions of the autonomous transport vehicle. The recognition unit of the autonomous transport vehicle determines the dimensions of the load carrier in a vertical direction and / or the dimensions of the load carrier in various horizontal directions. The optical axes of the cameras are therefore aligned in a horizontal direction or slightly inclined upwards.Thus, the height, width, and length of the load carrier can be determined.

[0018] According to an advantageous embodiment of the invention, an optical axis of the camera of the autonomous transport vehicle is aligned at least approximately in a horizontal direction, and the mirror is arranged offset in a horizontal direction relative to the autonomous transport vehicle. The dimensions of the load carrier in a vertical direction and / or the dimensions of the load carrier in a horizontal direction are determined by the recognition unit of the autonomous transport vehicle. The optical axis of the camera is thus aligned in a horizontal direction or slightly inclined upwards. In this way, the height and width, or length, of the load carrier can be determined.

[0019] According to an advantageous embodiment of the invention, an optical axis of the camera of the autonomous transport vehicle is oriented vertically upwards, and the mirror is arranged vertically above the autonomous transport vehicle. The dimensions of the load carrier are determined by the recognition unit of the autonomous transport vehicle in various horizontal directions. Thus, in particular, the width and length of the load carrier can be determined.

[0020] According to an advantageous embodiment of the invention, the technical system comprises at least one further autonomous vehicle. The at least one autonomous vehicle has a camera, and an optical axis of the camera is aligned at least approximately in a horizontal direction. The at least one autonomous vehicle has a recognition unit. The camera of the autonomous vehicle captures an image of the load carrier, and the recognition unit of the autonomous vehicle creates a model of the load carrier. The optical axis of the camera is thus aligned in a horizontal direction or slightly inclined upwards. The autonomous vehicle is able to determine at least one dimension of the load carrier at approximately any location within the technical system. In particular, no mirror is required.

[0021] According to an advantageous embodiment of the invention, the autonomous transport vehicle is rotated about a vertical axis, and during the rotation, the camera of the autonomous vehicle captures multiple images of the load carrier at various angular positions of the autonomous transport vehicle. The recognition unit of the autonomous vehicle determines the dimensions of the load carrier in a vertical direction and / or the dimensions of the load carrier in various horizontal directions. Thus, in particular, the height, width, and length of the load carrier can be determined.

[0022] According to an advantageous embodiment of the invention, the technical system comprises at least one permanently installed camera and a permanently installed recognition unit. The permanently installed camera captures an image of the load carrier, and the permanently installed recognition unit creates a model of the load carrier. The autonomous transport vehicle thus does not require its own camera.

[0023] According to an advantageous embodiment of the invention, an optical axis of the fixed camera is aligned at least approximately in a horizontal direction, and the fixed camera is arranged offset in a horizontal direction from the autonomous transport vehicle. The fixed recognition unit determines the dimensions of the load carrier in a vertical direction and / or the dimensions of the load carrier in a horizontal direction. The optical axis of the camera is thus aligned in a horizontal direction or slightly inclined upwards. In this way, the height and width, or length, of the load carrier can be determined.

[0024] According to an advantageous embodiment of the invention, the autonomous transport vehicle is rotated about a vertical axis, and during the rotation, a fixed camera captures multiple images of the load carrier at various angular positions of the autonomous transport vehicle. The fixed recognition unit determines the dimensions of the load carrier in a vertical direction and / or the dimensions of the load carrier in various horizontal directions. Thus, the height, width, and length of the load carrier can be determined in particular.

[0025] According to an advantageous embodiment of the invention, the permanently installed camera is arranged vertically above the autonomous transport vehicle, and one optical axis of the permanently installed camera is oriented vertically downwards. The dimensions of the load carrier are determined by the permanently installed recognition unit in various horizontal directions. Thus, in particular, the width and length of the load carrier can be determined.

[0026] A technical system according to the invention comprises at least one autonomous transport vehicle and at least one load carrier, wherein the at least one load carrier is arranged on the at least one autonomous transport vehicle. The technical system is operable using the method according to the invention. In a technical system according to the invention, it is possible to determine whether passage through a narrow section and the transfer of the load carrier at a transfer station can be achieved without collision.

[0027] According to an advantageous embodiment of the invention, the at least one autonomous transport vehicle and / or the at least one autonomous vehicle and / or the technical system has at least one reflective element which is arranged directly adjacent to the optical camera. An optical axis of the optical camera is defined by the orientation of the camera and by the orientation of the reflective element. For example, the camera itself is oriented vertically, and the reflective element is arranged directly in front of the camera at an angle of 45°. This deflects the camera's field of view by 90° and thus into a horizontal direction. In accordance with the invention, this deflected field of view corresponds to the optical axis of the camera.

[0028] The invention is not limited to the combination of features stated in the claims. For a person skilled in the art, further meaningful combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent, in particular from the problem statement and / or the problem arising from a comparison with the prior art.

[0029] The invention will now be explained in more detail with reference to the illustrations. The invention is not limited to the embodiments shown in the illustrations. The illustrations only depict the subject matter of the invention schematically. They show: Fig. 1: a schematic representation of a technical system according to a first embodiment and Fig. 2: a schematic representation of a technical system according to a second embodiment.

[0030] Fig. Figure 1 shows a schematic representation of a technical system according to a first embodiment. The technical system is an industrial application, for example, a production plant, an industrial hall, a paint shop, or a logistics center. The technical system comprises several autonomous transport vehicles 1. In the present illustration, one autonomous transport vehicle 1 is shown.

[0031] The technical system comprises several load carriers 30. One load carrier 30 is shown in the present illustration. The load carrier 30 is arranged on the autonomous transport vehicle 1. The autonomous transport vehicle 1 serves in particular for transporting load carriers 30 within the technical system.

[0032] The autonomous transport vehicle 1 stands on a level surface 5. A vertical direction Z runs perpendicular to the surface 5. Any direction that runs perpendicular to the vertical direction Z and thus parallel to the surface 5 represents a horizontal direction H. In the present illustration, such a horizontal direction H is shown as an example.

[0033] The autonomous transport vehicle 1 has a drive unit, an electrical energy storage device for supplying the drive unit, and a control unit for controlling the drive unit. By means of the drive unit, the autonomous transport vehicle 1 is able to move on the ground 5 in all horizontal directions H. In particular, the autonomous transport vehicle 1 is able to rotate about a vertical axis extending in the vertical direction Z.

[0034] Furthermore, the autonomous transport vehicle 1 has a communication device 14 for wireless communication with other autonomous transport vehicles 1 and with other participants, for example, a server, in the technical system. The communication device 14 of the autonomous transport vehicle 1 is designed, for example, for data transmission via WLAN, Bluetooth, or light.

[0035] The autonomous transport vehicle 1 has two laser scanners 11. The laser scanners 11 are used to acquire laser scans for the detection of objects within the technical system. When detecting an object, the laser scanners 11 record the distance to the object as well as the direction in which the object is located. The laser scanners 11 are mounted at opposite corners of the autonomous transport vehicle 1 and each detects objects within an angular range of approximately 270°. Only one laser scanner 11 of the autonomous transport vehicle 1 is shown here.

[0036] The technical facility contains objects such as walls, pillars, pallets, and production machines. The autonomous transport vehicle 1 has a map of the technical facility. The aforementioned objects are marked on the technical facility map.

[0037] The autonomous transport vehicle 1 has a processing unit 18. The processing unit 18 is used to navigate the transport vehicle 1 within the technical facility using the map. The processing unit receives information from the laser scanners 11 about detected objects and compares this information with the objects recorded on the map. The processing unit 18 also serves, among other things, to update the map of the technical facility by entering changes detected by the processing unit 18 into the map.

[0038] The autonomous transport vehicle 1 has a plurality of optical cameras 12. The optical cameras 12 are, for example, designed as monocular cameras. The optical cameras 12 serve to capture images. The optical cameras 12 preferably each have a wide-angle lens and are thus able to capture a relatively large angular range. Only one camera 12 of the autonomous transport vehicle 1 is shown here.

[0039] For example, the autonomous transport vehicle 1 has four cameras, each arranged on one side of the autonomous transport vehicle 1. The optical axes of the cameras 12 of the autonomous transport vehicle 1 are oriented in different horizontal directions H, for example, forward, backward, right, and left with respect to the autonomous transport vehicle 1.

[0040] The technical system includes a mirror 32. The mirror is attached to a wall 34 within the technical system. The mirror 32 is positioned horizontally offset H from the autonomous transport vehicle 1. A lower edge of the mirror 32 is located vertically Z above a scan plane of the laser scanners 11, i.e., further away from the floor 5.

[0041] The autonomous transport vehicle 1 is aligned with respect to the mirror 32 such that the camera 12 shown here in the mirror 32 can capture an image of the load carrier 30 arranged on the autonomous transport vehicle 1. When the autonomous transport vehicle 1 is rotated about its vertical axis, a plurality of images of the load carrier 30 in different angular positions of the autonomous transport vehicle 1 can be captured in the mirror 32 by the individual cameras 12 of the autonomous transport vehicle 1 during the rotation.

[0042] The autonomous transport vehicle 1 has a recognition unit 16. The recognition unit 16 is configured, among other things, to create a two-dimensional model of the load carrier 30 from an image of the load carrier 30 captured by a camera 12. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in the vertical direction Z from the created two-dimensional model, which is referred to as the height of the load carrier. The recognition unit 16 is also configured to determine a dimension of the load carrier 30 in a horizontal direction H from the created two-dimensional model, which is referred to as the length or width of the load carrier 30.

[0043] The recognition unit 16 is also configured to create a three-dimensional model of the load carrier 30 from several images of the load carrier 30, which are captured by several cameras 12 at different angles of the autonomous transport vehicle 1. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in the vertical direction Z from the created three-dimensional model, which is referred to as the height of the load carrier. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in a first horizontal direction H from the created three-dimensional model, which is referred to as the length of the load carrier 30. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in a second horizontal direction H from the created three-dimensional model, which is referred to as the width of the load carrier 30.The first horizontal direction H and the second horizontal direction H run perpendicular to each other and parallel to the ground 5.

[0044] Fig. Figure 2 shows a schematic representation of a technical system according to a second embodiment. This technical system is also an industrial application. It comprises several autonomous transport vehicles 1 and several load carriers 30. The autonomous transport vehicles 1 are used in particular for transporting load carriers 30 within the technical system.

[0045] The present illustration shows an autonomous transport vehicle 1 and a load carrier 30. The load carrier 30 is arranged on the autonomous transport vehicle 1. The autonomous transport vehicle 1 is identical to the one shown in Fig. The transport vehicle 1 shown in Figure 1 is designed as follows. Alternatively, in the second embodiment, the autonomous transport vehicle 1 has no camera 12 and no recognition unit 16. The load carrier 30 is identical to the one shown in Figure 1. Fig. 1. Charge carrier 30 is formed.

[0046] The technical system comprises a further autonomous vehicle 2. This further autonomous vehicle 2 is identical to the first autonomous transport vehicle 1 in the first embodiment. In particular, the autonomous vehicle 2 has a plurality of cameras 12 and a recognition unit 16. Alternatively, the autonomous vehicle 2 has only one camera 12 and one recognition unit 16.

[0047] The autonomous transport vehicle 1 and the autonomous vehicle 2 are positioned on the flat ground 5 and are offset from each other in a horizontal direction H. The autonomous vehicle 2 is oriented relative to the autonomous transport vehicle 1 such that the camera 12 of the autonomous vehicle 2, shown here, can capture an image of the load carrier 30 located on the autonomous transport vehicle 1.

[0048] When the autonomous transport vehicle 1 is rotated around its vertical axis, a plurality of images of the load carrier 30 in different angular positions of the autonomous transport vehicle 1 can be recorded by the camera 12 of the autonomous vehicle 2 during the rotation.

[0049] The recognition unit 16 of the autonomous vehicle 2 is configured, among other things, to create a two-dimensional model of the load carrier 30 from an image of the load carrier 30 captured by a camera 12. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in the vertical direction Z from the created two-dimensional model, which is referred to as the height of the load carrier. The recognition unit 16 is also configured to determine a dimension of the load carrier 30 in a horizontal direction H from the created two-dimensional model, which is referred to as the length or width of the load carrier 30.

[0050] The recognition unit 16 of the autonomous vehicle 2 is also configured to create a three-dimensional model of the load carrier 30 from several images of the load carrier 30, which are captured by the camera 12 at various angles of the autonomous transport vehicle 1. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in the vertical direction Z from the created three-dimensional model, which is referred to as the height of the load carrier. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in a first horizontal direction H from the created three-dimensional model, which is referred to as the length of the load carrier 30.The recognition unit 16 is further configured to determine a dimension of the charge carrier 30 in a second horizontal direction H from the created three-dimensional model, which is referred to as the width of the charge carrier 30. The first horizontal direction H and the second horizontal direction H are perpendicular to each other and parallel to the base 5. Reference symbol list 1 autonomous transport vehicle 2 autonomous vehicles 5 Floor 11 laser scanners 12 Camera 14 Communication device 16 Recognition unit 18 computing units 30 load carriers 32 mirrors 34 Wall H Horizontal direction Z Vertical direction

Claims

[1] Procedure for operating a technical installation which at least one autonomous transport vehicle (1) and comprises at least one load carrier (30), wherein the at least one load carrier (30) is arranged on the at least one autonomous transport vehicle (1), characterized by , that at least one image of the load carrier (30) arranged on the autonomous transport vehicle (1) is recorded by an optical camera (12); and that a recognition unit (16) creates a model of the load carrier (30) from the at least one recorded image; and that at least one dimension of the load carrier (30) is determined in at least one dimension by the recognition unit (16) from the created model, and that the at least one autonomous transport vehicle (1) has at least one camera (12), and that the autonomous transport vehicle (1) has a recognition unit (16), and that the technical system has at least one mirror (32), and that the image of the load carrier (30) in the mirror (32) is recorded by the camera (12) of the autonomous transport vehicle (1); and that the model of the load carrier (30) is created by the recognition unit (16) of the autonomous transport vehicle (1), and that the autonomous transport vehicle (1) has a plurality of cameras (12), and that the optical axes of the cameras (12) of the autonomous transport vehicle (1) are aligned at least approximately in different horizontal directions (H), and that the mirror (32) is arranged offset in a horizontal direction (H) to the autonomous transport vehicle (1), and that the autonomous transport vehicle (1) is rotated about a vertical axis running in a vertical direction (Z); and that during the rotation, a plurality of images of the load carrier (30) are recorded in different angular positions in the mirror (32) by the cameras (12) of the autonomous transport vehicle (1); and that the recognition unit (16) of the autonomous transport vehicle (1) determines the dimensions of the load carrier (30) in a vertical direction (Z) and / or the dimensions of the load carrier (30) in different horizontal directions (H). [2] Method according to claim 1, characterized by , that an optical axis of the camera (12) of the autonomous transport vehicle (1) is aligned at least approximately in a horizontal direction (H), and that the mirror (32) is arranged offset in a horizontal direction (H) relative to the autonomous transport vehicle (1), and that the recognition unit (16) of the autonomous transport vehicle (1) determines the dimension of the load carrier (30) in a vertical direction (Z) and / or the dimension of the load carrier (30) in a horizontal direction (H). [3] Method according to one of the preceding claims, characterized by that an optical axis of the camera (12) of the autonomous transport vehicle (1) is oriented upwards in a vertical direction (Z), and that the mirror (32) is arranged in the vertical direction (Z) above the autonomous transport vehicle (1), and that the dimensions of the load carrier (30) in various horizontal directions (H) are determined by the recognition unit (16) of the autonomous transport vehicle (1). [4] Method according to one of the preceding claims, characterized bythat the technical system comprises at least one further autonomous vehicle (2), and that the at least one autonomous vehicle (2) has a camera (12), and that an optical axis of the camera (12) of the autonomous vehicle (2) is aligned at least approximately in a horizontal direction (H), and that the at least one autonomous vehicle (2) has a recognition unit (16), and that the image of the load carrier (30) is recorded by the camera (12) of the autonomous vehicle (2); and that the model of the load carrier (30) is created by the recognition unit (16) of the autonomous vehicle (2). [5] Method according to claim 4, characterized by , that the autonomous transport vehicle (1) is rotated about a vertical axis running in a vertical direction (Z); and that during the rotation, a plurality of images of the load carrier (30) are recorded by the camera (12) of the autonomous vehicle (2) in different angular positions; and that the recognition unit (16) of the autonomous vehicle (2) determines the dimensions of the load carrier (30) in a vertical direction (Z) and / or the dimensions of the load carrier (30) in different horizontal directions (H). [6] Method according to one of the preceding claims, characterized by that the technical system comprises at least one permanently installed camera (12), and that the technical system comprises a permanently installed recognition unit (16), and that the image of the load carrier (30) is recorded by the permanently installed camera (12); and that the model of the load carrier (30) is created by the permanently installed recognition unit (16). [7] Method according to claim 6, characterized by , that an optical axis of the fixedly installed camera (12) is aligned at least approximately in a horizontal direction (H), and that the fixed camera (12) is arranged offset in a horizontal direction (H) to the autonomous transport vehicle (1), and that the dimension of the load carrier (30) in a vertical direction (Z) and / or the dimension of the load carrier (30) in a horizontal direction (H) are determined by the permanently installed detection unit (16). [8] Method according to claim 6, characterized bythat the autonomous transport vehicle (1) is rotated about a vertical axis running in a vertical direction (Z); and that during the rotation a plurality of images of the load carrier (30) in different angular positions are recorded by the permanently installed camera (12); and that the dimensions of the load carrier (30) in a vertical direction (Z) and / or the dimensions of the load carrier (30) in different horizontal directions (H) are determined by the permanently installed recognition unit (16). [9] Method according to claim 6, characterized by , that the fixed camera (12) is arranged in the vertical direction (Z) above the autonomous transport vehicle (1), and that an optical axis of the fixed camera (12) is oriented downwards in a vertical direction (Z), and that the dimensions of the load carrier (30) in different horizontal directions (H) are determined by the permanently installed detection unit (16). [10] Method according to one of the preceding claims, characterized by that the at least one autonomous transport vehicle (1) and / or the at least one autonomous vehicle (2) and / or the technical installation has at least one reflective element, which is arranged immediately adjacent to the optical camera (12), and that an optical axis of the optical camera (12) is defined by the orientation of the camera (12) and by the orientation of the reflection element. [11] Technical system, comprising at least one autonomous transport vehicle (1) and at least one charge carrier (30), wherein the at least one load carrier (30) is arranged on the at least one autonomous transport vehicle (1), and wherein the technical system can be operated using the method according to one of the preceding claims.

Images