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 first autonomous vehicle (1) and at least one second autonomous vehicle (2), wherein an object (4) located in the technical system is detected by at least one sensor (11, 12) of the first autonomous vehicle (1); and a type of the detected object (4) is determined by a recognition unit (16) of the first autonomous vehicle (1); and a location of the detected object (4) is determined by a computing unit (18) of the first autonomous vehicle (1); and a direction of movement (40) of the detected object (4) is determined by the computing unit (18) of the first autonomous vehicle (1); and the type of the detected object (4), the location of the detected object (4), and the direction of movement (40) of the detected object (4) are transmitted from the first autonomous vehicle (1) to the second autonomous vehicle (2) and / or to a server (20).The invention also relates to a technical system with which the inventive method can be operated.

Description

[0001] The invention relates to a method for operating a technical system comprising at least a first autonomous vehicle and at least a second autonomous vehicle, wherein the autonomous vehicles each have a map of the technical system. The invention also relates to a technical system that can be operated using the method according to the invention.

[0002] The technical facility is, in particular, an industrial application, such as a production plant, an industrial hall, a paint shop, or a logistics center. Autonomous vehicles are used, for example, to transport materials within the technical facility. The technical facility also contains other objects, such as walls, columns, production machines, pallets, boxes, containers, or transport trolleys, as well as people and other autonomous vehicles. The autonomous vehicles also have sensors, particularly laser scanners for recording laser scans, for detecting such objects.

[0003] Objects in the technical system, such as walls, columns, production machinery, pallets, boxes, containers, or transport trolleys, or production machines, are assigned to objects that are recorded on the map. If an object in the technical system is detected by a laser scanner of an autonomous vehicle, the location of the autonomous vehicle on the map can be determined by comparing the detected object with an object recorded on the map.

[0004] DE 10 2023 000 148 A1 discloses a mobile system and a method for operating the mobile system. The mobile system has two sensors for detecting the identity and location of a user.

[0005] A mobile system and a method for operating the mobile system are also known from DE 10 2021 001 282 A1. The mobile system has a sensor for detecting a distance to an object and a sensor for capturing an image.

[0006] DE 10 2021 210 525 A1 discloses a method and a device for organizing a storage area of ​​a warehouse and for operating a warehouse. Objects in free areas of the warehouse are detected, and a digital map of the warehouse is created.

[0007] DE 10 2018 119 469 A1 discloses a system and method for improved obstacle detection using a V2X communication system. This involves locating neighboring road users, and sharing the location, speed, and direction of the neighboring road user with other road users.

[0008] DE 10 2017 201 538 A1 discloses a method for processing data about an object located in the vicinity of a first vehicle. Data about the location and movement of the object are received, and future locations of the object are predicted.

[0009] From DE 60 2004 012 196 T2 a vehicle driver assistance system for a motor vehicle is known, which comprises an obstacle detection means, a TTC calculation means and control means.

[0010] The invention is based on the object of developing a method for operating a technical system and a technical system.

[0011] The object is achieved by a method for operating a technical system having the features specified in claim 1. Advantageous embodiments and further developments are the subject of the subclaims. The object is also achieved by a technical system having the features specified in claim 14.

[0012] A method is proposed for operating a technical installation comprising at least a first autonomous vehicle and at least one second autonomous vehicle, wherein the autonomous vehicles each have a map of the technical installation. According to the invention, an object located in the technical installation is detected by at least one sensor of the first autonomous vehicle, and a recognition unit of the first autonomous vehicle determines a type of the detected object. A computing unit of the first autonomous vehicle then determines a location of the detected object, and the computing unit of the first autonomous vehicle determines a direction of movement of the detected object. The type of the detected object, the location of the detected object, and the direction of movement of the detected object are then transmitted from the first autonomous vehicle to the second autonomous vehicle and / or to a server.

[0013] Information about the type of an object comprises a significantly smaller amount of data than an image or model of the object. By transmitting the type, the amount of data to be transmitted is significantly reduced. This accelerates the transmission of information, and the status of a technical system can be analyzed with reduced delay.

[0014] Other autonomous vehicles, especially the second autonomous vehicle, are informed in this way about potential obstacles or problems on planned routes. In such a case, an alternative route can be calculated. For example, routes containing people should be avoided. If necessary, the vehicle should drive at a reduced speed if people are present on a planned route. Likewise, routes where a defective vehicle is parked should be avoided. If several vehicles approach an intersection at the same time, the vehicle should drive at a reduced speed, and the order of entry into the intersection should be determined in advance.

[0015] According to an advantageous embodiment of the invention, the technical system comprises at least one server. The type of the detected object, the location of the detected object, and the direction of movement of the detected object are transmitted from the first autonomous vehicle to the server. Subsequently, the type of the detected object, the location of the detected object, and the direction of movement of the detected object are transmitted from the server to the second autonomous vehicle.

[0016] The said information about the object can be transmitted from the server to all autonomous vehicles. Thus, the said information about the object is available to all autonomous vehicles, even if there is no communication connection between the first autonomous vehicle and the second autonomous vehicle.

[0017] According to an advantageous embodiment of the invention, the at least one server has a map of the technical system. The at least one server also has a database in which a model of the detected object is assigned to the type of the detected object. The model of the detected object and the direction of movement of the detected object are entered in the map at the location of the detected object. Thus, the server is able to generate a model of the object from the type of object without any loss of information. The model of the object includes, in particular, the geometric dimensions of the object.

[0018] According to an advantageous development of the invention, the computing unit of the first autonomous vehicle determines the speed of the detected object, and the speed of the detected object is transmitted from the first autonomous vehicle to the second autonomous vehicle and / or to a server. Using the speed of the detected object, it is possible to determine even more precisely where the object is likely to be located at a specific time.

[0019] According to an advantageous embodiment of the invention, the technical system comprises at least one server. The speed of the detected object is transmitted from the first autonomous vehicle to the server. The speed of the detected object is then transmitted from the server to the second autonomous vehicle. According to an advantageous embodiment of the invention, the at least one server has a map of the technical system. The speed of the detected object is entered on the map.

[0020] According to an advantageous embodiment of the invention, a time period within which the object leaves the technical system or a defined part of the technical system is calculated from the direction of movement of the detected object and the speed of the detected object. For example, said time period is calculated by the computing unit of the first autonomous vehicle and transmitted from the first autonomous vehicle to the second autonomous vehicle and / or to a server. For example, said time period is calculated by the second autonomous vehicle. For example, said time period is calculated by the server and transmitted from the server to the second autonomous vehicle.

[0021] According to an advantageous embodiment of the invention, the autonomous vehicles each have a first sensor for detecting objects and a second sensor for capturing images. By detecting an object and capturing an image of the detected object, the object can be analyzed, in particular, a type of object can be determined.

[0022] According to an advantageous embodiment of the invention, the first sensor is designed as a laser scanner. A laser scanner emits a laser beam, detects a reflected laser beam, and uses this to calculate a distance to a real object that reflects the laser beam. A laser scanner also detects a direction from which the laser beam is reflected. A laser scanner is used by the autonomous vehicle, in particular, to detect real objects, such as obstacles, in the technical system and to detect a distance to a detected real object as well as a direction in which the detected object is located. A laser scanner is already present in known autonomous vehicles, so there are no additional costs for installing the first sensor.

[0023] According to an advantageous embodiment of the invention, the second sensor is designed as a monocular camera. A monocular camera is relatively inexpensive, robust, and reliable.

[0024] According to an advantageous embodiment of the invention, the second sensor is designed as a 3D camera or a stereo camera. A 3D camera and a stereo camera are also capable of easily and reliably detecting the distance to an object and the direction in which the object is located.

[0025] According to an advantageous development of the invention, the first sensor of the autonomous vehicle detects an object located in the technical system, and the second sensor of the autonomous vehicle captures an image of the detected object. The recognition unit of the autonomous vehicle determines the type of the detected object by evaluating the image captured by the second sensor. Information about the type of object comprises a significantly smaller amount of data than an image or a model of the object. By transmitting the type, the amount of data to be transmitted is thus significantly reduced.

[0026] According to a further advantageous embodiment of the invention, the location of the detected object is determined by the computing unit of the autonomous vehicle by determining a position of the autonomous vehicle, and the first sensor of the autonomous vehicle determines a direction in which the detected object is located and a distance to the detected object. The location of the detected object is then calculated from the position of the autonomous vehicle, the direction in which the detected object is located, and the distance to the detected object.

[0027] According to an advantageous embodiment of the invention, an orientation of the detected object is determined by the computing unit of the first autonomous vehicle, and the orientation of the detected object is transmitted from the first autonomous vehicle to the second autonomous vehicle and / or to a server.

[0028] According to an advantageous embodiment of the invention, the computing unit of the first autonomous vehicle determines a time at which the object is detected, and the time of detection of the object is transmitted from the first autonomous vehicle to the second autonomous vehicle and / or to a server.

[0029] A technical system according to the invention comprises at least a first autonomous vehicle and at least a second autonomous vehicle, each of which has a map of the technical system. The technical system can be operated using the method according to the invention.

[0030] In a system according to the invention, other autonomous vehicles, in particular the second autonomous vehicle, can be informed of potential obstacles or problems on planned routes. In such a case, alternative routes can be calculated. For example, routes containing people should not be traveled. If necessary, the vehicle should drive at a reduced speed if people are present on a planned route. Likewise, routes where a defective vehicle is parked should be avoided. If several vehicles approach an intersection simultaneously, the vehicle should drive at a reduced speed, and the order of entry into the intersection should be determined in advance.

[0031] The invention is not limited to the combination of features in the claims. Further possible combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent to those skilled in the art, particularly from the problem and / or the problem posed by comparison with the prior art.

[0032] The invention will now be explained in more detail with reference to the accompanying drawings. The invention is not limited to the exemplary embodiments shown in the drawings. The drawings only represent the subject matter of the invention schematically. It shows: Fig. 1: a schematic representation of autonomous vehicles in a technical facility and Fig. 2: a schematic representation of a map of a technical installation.

[0033] Fig. Figure 1 shows a schematic representation of autonomous vehicles 1, 2 in a technical facility. The technical facility is an industrial application, for example, a production plant, an industrial hall, a paint shop, or a logistics center. The technical facility comprises several autonomous vehicles 1, 2. This illustration shows a first autonomous vehicle 1 and a second autonomous vehicle 2. The autonomous vehicles 1, 2 are used in particular for transporting material within the technical facility.

[0034] The first autonomous vehicle 1 has a drive device, an electrical energy storage device for supplying the drive device, and a control unit for controlling the drive device. Furthermore, the first autonomous vehicle 1 has a communication device 14 for wireless communication with other autonomous vehicles 1, 2 and with other participants, for example, with a server 20, in the technical system. The communication device 14 of the first autonomous vehicle 1 is designed, for example, for data transmission via WLAN, Bluetooth, or light.

[0035] The first autonomous vehicle 1 has two first sensors 11, each configured as a laser scanner. The laser scanners are used to record laser scans for detecting objects 4 in the technical system. When detecting an object 4, the laser scanners record a distance to the object 4 and a direction in which the object 4 is located. The laser scanners are mounted at opposite corners of the first autonomous vehicle 1 and each detect objects 4 within an angular range of approximately 270°. Only one first sensor 11 of the first autonomous vehicle 1, configured as a laser scanner, is shown here.

[0036] The first autonomous vehicle 1 has a second sensor 12. The second sensor 12 is designed as a monocular camera. The monocular camera is used to capture images of objects 4 in the technical system. In an alternative embodiment, the second sensor 12 is designed as an active 3D camera or a stereo camera.

[0037] The first autonomous vehicle 1 has a recognition unit 16. The recognition unit 16 is used to determine a type of the recorded object 4 from an image of an object 4 captured by the second sensor 12. The recognition unit 16 recognizes the object 4 in the captured image and classifies the recognized object 4. The type of the captured object 4 is determined through the classification.

[0038] The technical facility contains four objects, such as walls, pillars, pallets, and production machines. The first autonomous vehicle (1) has a map of the technical facility. These four objects are listed on the map of the technical facility. The locations of the four objects are also listed on the map.

[0039] The technical system also includes production machines, including an industrial robot 30. The industrial robot 30 is permanently mounted in the technical system, thus it is static. The industrial robot 30 has a movable arm, which represents a movable object 4.

[0040] The first autonomous vehicle 1 has a computing unit 18. Among other things, the computing unit 18 is used to update the map of the technical system online. When necessary, the computing unit 18 updates the map by entering changes detected by the computing unit 18 into the map.

[0041] The technical system comprises a server 20. The server 20 also has a map of the technical system. The server 20 serves, among other things, to update the map of the technical system offline. If necessary, detected changes are transmitted from the first autonomous vehicle 1 to the server 20. The server 20 adapts the map by entering the detected changes into the map. The server 20 transmits the adapted map to the autonomous vehicles 1, 2 as needed.

[0042] The server 20 has a communication module 24 for wireless communication with autonomous vehicles 1, 2 and with other participants in the technical system. In particular, maps of the technical system are transmitted between the communication device 14 of the first autonomous vehicle 1 and the communication module 24 of the server 20.

[0043] The second autonomous vehicle 1 is configured identically to the first autonomous vehicle 1. In particular, maps of the technical system are also transmitted between the communication device 14 of the second autonomous vehicle 2 and the communication module 24 of the server 20.

[0044] Fig.Figure 2 shows a schematic representation of a map of a technical facility. The technical facility comprises several objects 4, including static and dynamic objects 4. Static objects 4 are, for example, walls, columns, or production machines. Static objects 4 generally remain at a fixed location within the technical facility and are therefore not moved. The static objects 4 are recorded on the map.

[0045] The technical system also includes dynamic objects 4. Dynamic objects 4 are, for example, people, vehicles or a movable arm of an industrial robot 30. Dynamic objects 4 move within the technical system and usually remain in a fixed location only for a short time.

[0046] The technical system also includes restricted zones 48. Restricted zones 48 include, for example, stairs, storage racks, or areas with unpaved surfaces. Restricted zones 48 are not permitted to be entered by autonomous vehicles 1 and 2. Restricted zones 48 are marked on the map.

[0047] For example, the map comprises a plurality of cells not shown here. Cells occupied by an object 4 are marked as occupied. Cells that are free of objects 4 are marked as empty. For example, the cells of the map are square and arranged two-dimensionally directly next to each other in the map. For example, one side length of a cell corresponds to a distance of approximately 4 cm to 10 cm in the technical system.

[0048] The method according to the invention for operating the technical system is explained below using an example. The first autonomous vehicle 1 moves in a first direction of movement 41 through the technical system, for example, when transporting a load carrier, in particular a pallet cage, with workpieces. The second autonomous vehicle 2 moves in a second direction of movement 42 through the technical system, for example, when transporting a load carrier, in particular a pallet cage, with workpieces.

[0049] The first sensor 11 of the first autonomous vehicle 1, embodied as a laser scanner, records a laser scan of an area of ​​the technical system. A person, representing an object 4, is detected in the laser scan. Thus, the first sensor 11 of the first autonomous vehicle 1 detects an object 4 located in the technical system, namely the person.

[0050] The first sensor 11 of the first autonomous vehicle 1 also determines the direction in which the detected object 4, in this case a person, is located. The first sensor 11 of the first autonomous vehicle 1 also determines the distance to the detected object 4.

[0051] At the same time, the computing unit of the first autonomous vehicle 1 determines the position of the first autonomous vehicle 1 within the technical system. The position of the first autonomous vehicle 1 is determined by comparing detected objects 4, in particular static objects 4, with objects 4 recorded on the map.

[0052] The location of the detected object 4 is calculated by the computing unit 18 of the first autonomous vehicle 1 from the position of the first autonomous vehicle 1, the direction in which the detected object 4 is located, and the distance to the detected object 4. Thus, the computing unit 18 of the first autonomous vehicle 1 determines the location of the detected object 4 in the technical system.

[0053] The computing unit 18 of the first autonomous vehicle 1 also determines the orientation of the detected object 4 within the technical system. Furthermore, the computing unit 18 of the first autonomous vehicle 1 determines the time at which the object 4 is detected.

[0054] The computing unit 18 of the first autonomous vehicle 1 also determines a direction of movement 40 of the detected object 4. Furthermore, the computing unit 18 of the first autonomous vehicle 1 determines a speed of the detected object 4 in the direction of movement 40.

[0055] The second sensor 12 of the first autonomous vehicle 1, which is embodied, for example, as a monocular camera, captures an image of the detected object 4. The captured image is transmitted to the recognition unit 16 of the first autonomous vehicle 1. The recognition unit 16 determines the type of detected object 4 by evaluating the image captured by the second sensor 12. In this case, the type of detected object 4 corresponds to a human.

[0056] The location of the detected object 4 and the type of the detected object 4 are transmitted from the first autonomous vehicle 1 to the server 20. Likewise, the direction of movement 40 of the detected object 4 and the speed of the detected object 4 are transmitted from the first autonomous vehicle 1 to the server 20. The orientation of the detected object 4 is also transmitted to the server 20. Furthermore, the time of detection of the object 4 is transmitted to the server 20. For this purpose, the communication device 14 of the first autonomous vehicle 1 communicates with the communication module 14 of the server 20.

[0057] The server 20 has a database in which a model of the detected object 4 is assigned to the type of the detected object 4. The model of the detected object 4, in this case a human, includes in particular the geometric dimensions of said object 4.

[0058] The model of the detected object 4 is then entered by the server 20 into the map of the technical installation at the location of the detected object 4. Likewise, the direction of movement 40 of the detected object 4 and the speed of the detected object 4 are entered by the server 20 into the map of the technical installation at the location of the detected object 4.

[0059] In particular, the model of the detected object 4 with the detected orientation is entered on the map at the location of the detected object 4. Furthermore, the model of the detected object 4 with the time of detection is entered on the map at the location of the detected object 4.

[0060] The map of the technical installation updated by the server 20 thus includes the location of the detected object 4, the model of the detected object 4, the orientation of the detected object 4, the direction of movement 40 of the detected object 4, the speed of the detected object 4, and the time of detection. The map updated by the server 20 is then transmitted by the server 20 to the autonomous vehicles 1, 2 in the technical installation.

[0061] The location of the detected object 4, the type of the detected object 4, the direction of movement 40 of the detected object 4, and the speed of the detected object 4 are transmitted from the server 20, in particular to the second autonomous vehicle 2. The orientation of the detected object 4 and the time of detection of the object 4 are also transmitted from the server 20 to the second autonomous vehicle 2. For this purpose, the communication device 14 of the second autonomous vehicle 2 communicates with the communication module 14 of the server 20.

[0062] Alternatively or additionally, the location of the detected object 4, the type of the detected object 4, the direction of movement 40 of the detected object 4, and the speed of the detected object 4 are transmitted from the first autonomous vehicle 1 directly to the second autonomous vehicle 2. In this case, the orientation of the detected object 4 and the time of detection of the object 4 are also transmitted from the first autonomous vehicle 1 directly to the second autonomous vehicle 2. For this purpose, the communication device 14 of the first autonomous vehicle 2 communicates with the communication device 14 of the second autonomous vehicle 14.

[0063] The second autonomous vehicle 2 moves, as already mentioned, through the technical installation in the second direction of movement 42. The second autonomous vehicle 2 moves to a target position 45 in the technical installation. The second autonomous vehicle 2 receives information about the detected object 4 from the server 20 and / or from the first autonomous vehicle 1, in particular the location, type, direction of movement 40, and speed of the detected object 4.

[0064] The computing unit 18 of the second autonomous vehicle 2 detects that the object detected by the first autonomous vehicle 1, in this case a human, is causing a problem. In particular, a danger to the human arises if the second autonomous vehicle 2 crosses the direction of movement 40 of the object 4, i.e., the human. The computing unit 18 of the second autonomous vehicle 2 then calculates an alternative route 44, which the second autonomous vehicle 2 takes to the target position 45 in the technical system without crossing the direction of movement 40 of the object 4, i.e., the human. List of reference symbols 1 first autonomous vehicle 2 second autonomous vehicle 4 Object 11 first sensor 12 second sensor 14 Communication device 16 Detection unit 18 computing unit 20 servers 24 Communication module 30 industrial robots 40 Direction of movement of the object 41 first direction of movement 42 second direction of movement 44 alternative route 45 Target position 48 Restricted Zone QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2023 000 148 A1

[0004] DE 10 2021 001 282 A1

[0005] DE 10 2021 210 525 A1

[0006] DE 10 2018 119 469 A1

[0007] DE 10 2017 201 538 A1

[0008] DE 60 2004 012 196 T2

[0009]

Claims

[1] Method for operating a technical installation which at least one first autonomous vehicle (1) and at least one second autonomous vehicle (2), wherein the autonomous vehicles (1, 2) each have a map of the technical system, and wherein an object (4) located in the technical system is detected by at least one sensor (11, 12) of the first autonomous vehicle (1); and a type of the detected object (4) is determined by a recognition unit (16) of the first autonomous vehicle (1); and a location of the detected object (4) is determined by a computing unit (18) of the first autonomous vehicle (1); and a direction of movement (40) of the detected object (4) is determined by the computing unit (18) of the first autonomous vehicle (1); and the type of the detected object (4), the location of the detected object (4) and the direction of movement (40) of the detected object (4) are transmitted from the first autonomous vehicle (1) to the second autonomous vehicle (2) and / or to a server (20). [2] Method according to one of the preceding claims, characterized by that the technical system comprises at least one server (20); and that the type of the detected object (4), the location of the detected object (4) and the direction of movement (40) of the detected object (4) are transmitted from the first autonomous vehicle (1) to the server (20); and that the type of the detected object (4), the location of the detected object (4) and the direction of movement (40) of the detected object (4) are transmitted from the server (20) to the second autonomous vehicle (2). [3] Method according to claim 2, characterized by , that the at least one server (20) has a map of the technical installation, and that the at least one server (20) has a database, in which the type of the detected object (4) is assigned a model of the detected object (4); and that the model of the detected object (4) and the direction of movement (40) of the detected object (4) are entered in the map at the location of the detected object (4). [4] Method according to one of the preceding claims, characterized by that a speed of the detected object (4) is determined by the computing unit (18) of the first autonomous vehicle (1); and that the speed of the detected object (4) is transmitted from the first autonomous vehicle (1) to the second autonomous vehicle (2) and / or to a server (20). [5] Method according to claim 4, characterized bythat a time period is calculated from the direction of movement (40) of the detected object (4) and the speed of the detected object (4) within which the object (4) leaves the technical system or a defined part of the technical system. [6] Method according to one of the preceding claims, characterized by that the autonomous vehicles (1, 2) each have a first sensor (11) for detecting objects (4) and a second sensor (12) for taking images. [7] Method according to claim 6, characterized by that the first sensor (11) is designed as a laser scanner. [8] Method according to one of claims 6 to 7, characterized by that the second sensor (12) is designed as a monocular camera. [9] Method according to one of claims 6 to 7, characterized by that the second sensor (12) is designed as a 3D camera or as a stereo camera. [10] Method according to one of claims 6 to 9, characterized by, that an object (4) located in the technical system is detected by the first sensor (11) of the autonomous vehicle (1); an image of the detected object (4) is taken by the second sensor (12) of the autonomous vehicle (1); the type of the detected object (4) is determined by the recognition unit (16) of the autonomous vehicle (1) by evaluating the image recorded by the second sensor (12). [11] Method according to one of the preceding claims, characterized by that the location of the detected object (4) is determined by the computing unit (18) of the autonomous vehicle (1) by a position of the autonomous vehicle (1) is determined by the computing unit of the autonomous vehicle (1); a direction in which the detected object (4) is located and a distance to the detected object (4) are determined by the first sensor (11) of the autonomous vehicle (1); and the location of the detected object (4) is calculated from the position of the autonomous vehicle (1), the direction in which the detected object (4) is located, and the distance to the detected object (4). [12] Method according to one of the preceding claims, characterized by that an orientation of the detected object (4) is determined by the computing unit (18) of the first autonomous vehicle (1); and that the orientation of the detected object (4) is transmitted from the first autonomous vehicle (1) to the second autonomous vehicle (2) and / or to a server (20). [13] Method according to one of the preceding claims, characterized by that a time at which the object (4) is detected is determined by the computing unit (18) of the first autonomous vehicle (1); and that the time of detection of the object (4) is transmitted from the first autonomous vehicle (1) to the second autonomous vehicle (2) and / or to a server (20). [14] Technical system, comprising at least one first autonomous vehicle (1) and at least one second autonomous vehicle (2), wherein the autonomous vehicles (1, 2) each have a map of the technical system, and wherein the technical system can be operated using the method according to one of the preceding claims.

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