Procedure for operating a technical system and technical system

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 recorded by an optical camera (12); and a recognition unit (16) creates a model of the load carrier (30) from the at least one recorded image; and at least one dimension of the load carrier (30) is determined in at least one dimension from the created model by the recognition unit (16). A technical system according to the invention can be operated using the method according to the invention.

Description

The invention relates to a method for operating a technical installation which 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 invention also relates to a technical plant which can be operated with the method according to the invention.The technical installation is in particular an industrial application, for example a production plant, an industrial shop, a painting installation or a logistics center. Autonomous transport vehicles are used in particular for transporting load carriers within the technical installation. Load carriers are, for example, boxes or containers which are filled with raw material or manufactured products.In the technical installation there are usually bottleneck points, for example gates, which the autonomous transport vehicle passes. During the transport of a load carrier, collisions of the load carrier at such bottleneck points must be avoided, even if the load carrier protrudes beyond the autonomous transport vehicle. For this purpose, the dimensions of the charge carrier must be known.Also in the case of the transfer of the load carrier from the autonomous transport vehicle at a transfer station, for example at a high-bay store, the dimensions of the load carrier must be known. If the load carrier exceeds a predetermined size, collisions are possible during storage in the high-bay store, which is to be prevented.DE 202 20 364 U1 discloses a device for positioning transport vehicles for containers in the handling area of a container crane. A laser scanner is attached to the container crane. With the aid of the laser scanner, a position of a transport vehicle and a container load can be determined.U.S. Pat. No. 5,835,012 A discloses a method for transporting containers. A sensor is provided for detecting an orientation of the container.WO 2010 / 045 391 A2 discloses a forklift truck on which a camera system is mounted. A volume of a freight item is calculated from images recorded by the camera system.US 2008 / 0 304 040 A1 discloses a laser scanning device for measuring objects. Objects are scanned by laser beams, and dimensions of the scanned objects are determined.US 2010 / 0 091 094 A1 discloses a mechanism for steering a three-dimensional camera system. A volume of cargo is calculated from images recorded by the camera system.US 2017 / 0 280 125 A1 discloses a method for loading cargo into a container. In this case, images of the freight are recorded with a three-dimensional camera system and a volume of the freight is calculated from the recorded images.The object of the invention is to further develop a method for operating a technical installation and a technical installation.The object is achieved by a method for operating a technical installation having the features specified in claim 1. Advantageous embodiments and developments are the subject matter of the dependent claims. The object is also achieved by a technical installation having the features specified in claim 13.A method for operating a technical installation is proposed, which 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.According to the invention, at least one image of the charge carrier arranged on the autonomous transport vehicle is recorded by an optical camera. A model of the charge carrier is created by a recognition unit from the at least one recorded image. The recognition unit determines at least one dimension of the charge carrier in at least one dimension from the generated model.Thus, at least one dimension of the charge carrier, for example a width, a length or a height, is known. It is thus possible to determine whether a passage through a constriction and a transfer of the load carrier at a transfer station is possible without a collision.According to an advantageous embodiment of the invention, the at least one autonomous transport vehicle has at least one camera, and the autonomous transport vehicle also has a recognition unit. The technical installation has at least one mirror. The camera of the autonomous transport vehicle captures at least one image of the charge carrier in the mirror. The model of the charge carrier is created by the recognition unit of the autonomous transport vehicle. The autonomous transport vehicle is thus able to ascertain at least one dimension of the load carrier in an approximately autonomous manner. In the technical installation, only one mirror is to be provided which is relatively cost-effective.According to an advantageous embodiment of the invention, an optical axis of the camera of the autonomous transport vehicle is oriented at least approximately in a horizontal direction, and the mirror is arranged offset from the autonomous transport vehicle in a horizontal direction. The recognition unit of the autonomous transport vehicle determines the dimension of the load carrier in a vertical direction and / or the dimension of the load carrier in a horizontal direction. The optical axis of the camera is thus oriented in a horizontal direction or slightly inclined upward. Thus, in particular the height and the width, or the length, of the charge carrier can be determined. The mirror is arranged at least approximately vertically. A normal line on a mirror surface of the mirror extends in a horizontal direction.According to an advantageous embodiment of the invention, an optical axis of the camera of the autonomous transport vehicle is oriented upward in a vertical direction, and the mirror is arranged above the autonomous transport vehicle in the vertical direction. The identification unit of the autonomous transport vehicle determines the dimensions of the load carrier in different horizontal directions. Thus, in particular the width and the length of the charge carrier can be determined. The mirror is arranged at least approximately horizontally. A normal line on a mirror surface of the mirror runs in the vertical direction.According to an advantageous embodiment of 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 autonomous transport vehicle has a recognition unit, and the technical installation has at least one mirror. The mirror is arranged offset in a horizontal direction with respect to the autonomous transport vehicle. The autonomous transport vehicle is rotated about a vertical axis running in a vertical direction, and during the rotation a plurality of images of the charge carrier are recorded in the mirror by the cameras of the autonomous transport vehicle in different angular positions of the autonomous transport vehicle. The model of the charge carrier is created by the recognition unit of the autonomous transport vehicle. The recognition unit of the autonomous transport vehicle determines the dimension of the load carrier in a vertical direction and / or the dimensions of the load carrier in different horizontal directions. The optical axes of the cameras are thus oriented in a horizontal direction or slightly inclined upward. Thus, in particular the height, the width and the length of the charge carrier can be determined. The mirror is arranged at least approximately vertically. A normal line on a mirror surface of the mirror extends in a horizontal direction.According to an advantageous embodiment of the invention, the technical installation comprises at least one further autonomous vehicle. The at least one autonomous vehicle includes a camera, and an optical axis of the camera of the autonomous vehicle is oriented at least approximately in a horizontal direction. The at least one autonomous vehicle has a recognition unit. At least one image of the charge carrier is recorded by the camera of the autonomous vehicle, and the model of the charge carrier is created by the recognition unit of the autonomous vehicle. The optical axis of the camera is thus oriented in a horizontal direction or slightly inclined upward. The autonomous vehicle is capable of determining at least one dimension of the load carrier of the autonomous transport vehicle at an approximately arbitrary location in the technical installation. In particular, no mirror is required.According to an advantageous embodiment of the invention, the autonomous transport vehicle is rotated about a vertical axis running in a vertical direction, and during the rotation a plurality of images of the charge carrier are recorded by the camera of the autonomous vehicle in different angular positions of the autonomous transport vehicle. The identification unit of the autonomous vehicle determines the dimension of the charge carrier in a vertical direction and / or the dimensions of the charge carrier in different horizontal directions. Thus, in particular the height, the width and the length of the charge carrier can be determined.According to an advantageous embodiment of the invention, the technical installation comprises at least one permanently installed camera, and the technical installation comprises a permanently installed recognition unit. At least one image of the charge carrier is recorded by the permanently installed camera, and the model of the charge carrier is created by the permanently installed recognition unit. The autonomous transport vehicle thus does not require its own camera.According to an advantageous embodiment of the invention, an optical axis of the fixedly installed camera is oriented at least approximately in a horizontal direction, and the fixedly installed camera is arranged offset from the autonomous transport vehicle in a horizontal direction. The stationary identification unit determines the dimension of the charge carrier in a vertical direction and / or the dimension of the charge carrier in a horizontal direction. The optical axis of the camera is thus oriented in a horizontal direction or slightly inclined upward. Thus, in particular the height and the width, or the length, of the charge carrier can be determined.According to an advantageous embodiment of the invention, the autonomous transport vehicle is rotated about a vertical axis running in a vertical direction, and during the rotation a plurality of images of the load carrier are recorded by the fixedly installed camera in different angular positions of the autonomous transport vehicle. The stationary identification unit determines the dimension of the charge carrier in one vertical direction and / or the dimensions of the charge carrier in different horizontal directions. Thus, in particular the height, the width and the length of the charge carrier can be determined.According to an advantageous embodiment of the invention, the fixedly installed camera is arranged above the autonomous transport vehicle in the vertical direction, and an optical axis of the fixedly installed camera is oriented downward in a vertical direction. The stationary identification unit determines the dimensions of the load carrier in different horizontal directions. Thus, in particular the width and the length of the charge carrier can be determined.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 industrial plant can be operated with the method according to the invention. In a technical installation according to the invention, it is possible to determine whether passage through a narrow passage and transfer of the load carrier at a transfer station is possible without collision.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 installation has at least one reflection 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 reflection element. For example, the camera itself is oriented in the vertical direction, and the reflection element is arranged in an orientation at an angle of 45° immediately in front of the camera. As a result, the viewing range of the camera is deflected by 90° and thus in a horizontal direction. For the purposes of the invention, the field of view deflected in this way corresponds to the optical axis of the camera.The invention is not limited to the combination of features of the claims. The skilled person will be familiar with further meaningful combination possibilities of claims and / or individual claim features and / or features of the description and / or of the figures, in particular from the task and / or the task which arises by comparison with the prior art.The invention will now be explained in more detail with reference to figures. The invention is not limited to the exemplary embodiments shown in the figures. The figures only schematically represent the subject matter of the invention. It shows: FIG. 1 : shows a schematic illustration of a technical installation according to a first exemplary embodiment, and FIG. 2 : shows a schematic illustration of a technical installation according to a second exemplary embodiment.FIG. 1 shows a schematic illustration of a technical installation according to a first exemplary embodiment. The technical installation is an industrial application, for example a production plant, an industrial shop, a painting installation or a logistics center. The technical installation comprises a plurality of autonomous transport vehicles 1.The technical installation comprises a plurality of charge carriers 30. 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 installation.The autonomous transport vehicle 1 stands on a planar floor 5. a vertical direction Z runs perpendicular to the floor 5. each direction, which runs perpendicular to the vertical direction Z and thus parallel to the floor 5, represents a horizontal direction H. In the present illustration, such a horizontal direction H is drawn in by way of example.The autonomous transport vehicle 1 has a drive device, an electrical energy store for supplying the drive device, and a control unit for controlling the drive device. By means of the drive device, 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 capable of rotating about a vertical axis running in the vertical direction Z.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 with a server, in the technical installation. The communication device 14 of the autonomous transport vehicle 1 is designed, for example, for data transmission by means of WLAN, Bluetooth or light.The autonomous transport vehicle 1 has two laser scanners 11. The laser scanners 11 are used to record laser scans for detecting objects in the technical installation. When detecting an object, a distance to the object and a direction in which the object is located are detected by the laser scanners 11. The laser scanners 11 are mounted at opposite corners of the autonomous transport vehicle 1 and each detect objects in an angle range of approximately 270°. In the present case, only one laser scanner 11 of the autonomous transport vehicle 1 is shown.The technical installation contains objects, for example walls, pillars, pallets and production machines. The autonomous transport vehicle 1 has a map of the technical installation. The objects are listed in the map of the technical installation.The autonomous transport vehicle 1 has a computing unit 18. The computing unit 18 serves for navigation of the transport vehicle 1 in the technical installation on the basis of the map. The computing unit receives information from the laser scanners 11 relating to detected objects and compares these with the objects recorded in the map. The arithmetic unit 18 also serves, among other things, for updating the map of the technical installation by virtue of changes detected by the arithmetic unit 18 being entered into the map.The autonomous transport vehicle 1 has a plurality of optical cameras 12. The optical cameras 12 are designed, for example, as monocular cameras. The optical cameras 12 serve to record images. The optical cameras 12 preferably each have a wide-angle lens and are thus capable of capturing a relatively large angle range. In the present case, only one camera 12 of the autonomous transport vehicle 1 is shown.For example, the autonomous transport vehicle 1 has four cameras, which are 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 in the front, rear, right and left direction with respect to the autonomous transport vehicle 1.The technical installation has a mirror 32. The mirror is attached to a wall 34 in the engineering plant. The mirror 32 is arranged offset in a horizontal direction H with respect to the autonomous transport vehicle 1. A lower edge of the mirror 32 is located above a scanning plane of the laser scanners 11 in the vertical direction Z, i.e. further away from the floor 5. The mirror 32 is arranged at least approximately vertically. A normal line on a mirror surface of the mirror 32 extends in a horizontal direction.The autonomous transport vehicle 1 is oriented with respect to the mirror 32 in such a way that an image of the charge carrier 30 arranged on the autonomous transport vehicle 1 can be recorded in the mirror 32 by the camera 12 shown here. When the autonomous transport vehicle 1 is rotated about the vertical axis, a plurality of images of the load carrier 30 in different angular positions of the autonomous transport vehicle 1 can be recorded in the mirror 32 by the individual cameras 12 of the autonomous transport vehicle 1 during the rotation.The autonomous transport vehicle 1 has a recognition unit 16. The recognition unit 16 is configured, among other things, to generate a two-dimensional model of the charge carrier 30 from an image of the charge carrier 30 recorded by a camera 12. The recognition unit 16 is furthermore configured to determine from the created two-dimensional model a dimension of the charge carrier 30 in the vertical direction Z, which is referred to as the height of the charge carrier. The recognition unit 16 is furthermore configured to determine from the created two-dimensional model a dimension of the charge carrier 30 in a horizontal direction H, which is referred to as the length or width of the charge carrier 30.The recognition unit 16 is likewise configured to generate a three-dimensional model of the charge carrier 30 from a plurality of images of the charge carrier 30 recorded by a plurality of cameras 12 in different angular positions of the autonomous transport vehicle 1. The recognition unit 16 is furthermore configured to determine from the created three-dimensional model a dimension of the charge carrier 30 in the vertical direction Z, which is referred to as the height of the charge carrier. The recognition unit 16 is furthermore configured to determine from the created three-dimensional model a dimension of the charge carrier 30 in a first horizontal direction H, which is referred to as the length of the charge carrier 30. The recognition unit 16 is furthermore configured to determine from the created three-dimensional model a dimension of the charge carrier 30 in a second horizontal direction H, which is referred to as the width of the charge carrier 30. The first horizontal direction H and the second horizontal direction H extend at right angles to one another and parallel to the floor 5.FIG. 2 shows a schematic illustration of a technical installation according to a second exemplary embodiment. The industrial plant is likewise an industrial application. The technical installation comprises a plurality of autonomous transport vehicles 1 and a plurality of load carriers 30. the autonomous transport vehicles 1 serve in particular for transporting load carriers 30 within the technical installation.In the present illustration, an autonomous transport vehicle 1 and a load carrier 30 are shown. The load carrier 30 is arranged on the autonomous transport vehicle 1. The autonomous transport vehicle 1 is designed identically to the transport vehicle 1 shown in FIG. 1. Alternatively, the autonomous transport vehicle 1 in the second exemplary embodiment does not have a camera 12 and a recognition unit 16. The charge carrier 30 is formed identically to the charge carrier 30 illustrated in FIG. 1.The technical system comprises a further autonomous vehicle 2. the further autonomous vehicle 2 is designed identically to the first autonomous transport vehicle 1 in the first exemplary embodiment. In particular, the autonomous vehicle 2 includes a plurality of cameras 12 and a recognition unit 16. Alternatively, the autonomous vehicle 2 includes only one camera 12 and one recognition unit 16.The autonomous transport vehicle 1 and the autonomous vehicle 2 stand on the planar floor 5 and are arranged offset with respect to one another in a horizontal direction H. The autonomous vehicle 2 is oriented with respect to the autonomous transport vehicle 1 in such a way that an image of the charge carrier 30 arranged on the autonomous transport vehicle 1 can be recorded by the camera 12 of the autonomous vehicle 2 shown here.When the autonomous transport vehicle 1 is rotated about the vertical axis, a plurality of images of the load carrier 30 are receivable by the camera 12 of the autonomous vehicle 2 during the rotation in different angular positions of the autonomous transport vehicle 1.The recognition unit 16 of the autonomous vehicle 2 is configured, inter alia, to generate a two-dimensional model of the charge carrier 30 from an image of the charge carrier 30 recorded by a camera 12. The recognition unit 16 is furthermore configured to determine from the created two-dimensional model a dimension of the charge carrier 30 in the vertical direction Z, which is referred to as the height of the charge carrier. The recognition unit 16 is furthermore configured to determine from the created two-dimensional model a dimension of the charge carrier 30 in a horizontal direction H, which is referred to as the length or width of the charge carrier 30.The recognition unit 16 of the autonomous vehicle 2 is likewise configured to generate a three-dimensional model of the charge carrier 30 from a plurality of images of the charge carrier 30 which are recorded by the camera 12 in different angular positions of the autonomous transport vehicle 1. The recognition unit 16 is furthermore configured to determine from the created three-dimensional model a dimension of the charge carrier 30 in the vertical direction Z, which is referred to as the height of the charge carrier. The recognition unit 16 is furthermore configured to determine from the created three-dimensional model a dimension of the charge carrier 30 in a first horizontal direction H, which is referred to as the length of the charge carrier 30. The recognition unit 16 is furthermore configured to determine from the created three-dimensional model a dimension of the charge carrier 30 in a second horizontal direction H, which is referred to as the width of the charge carrier 30. The first horizontal direction H and the second horizontal direction H extend at right angles to one another and parallel to the floor 5.List of reference characters1 Autonomous transport vehicle 2 Autonomous vehicle 5 Floor 11 Laser scanner 12 Camera 14 Communication device 16 Detection unit 18 Computing unit 30 Charge carriers 32 Mirror 34 Wall H Horizontal direction Z Vertical directionReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedDE 202 20 364 U1

[0005] U.S. Pat. No. 5,835,012 A

[0006] WO 2010 / 045 391 A2

[0007] US 2008 / 0 304 040 A1

[0008] US 2010 / 0 091 094 A1

[0009] US 2017 / 0 280 125 A1

[0010]

Claims

Method for operating a technical installation which comprises 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), characterized in 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 in that a model of the load carrier (30) is produced by a recognition unit (16) from the at least one recorded image; and in that at least one dimension of the load carrier (30) in at least one dimension is determined by the recognition unit (16) from the produced model.Method according to Claim 1, characterized in that the at least one autonomous transport vehicle (1) has at least one camera (12), and in that the autonomous transport vehicle (1) has a recognition unit (16), and in that the technical installation has at least one mirror (32), and in that the camera (12) of the autonomous transport vehicle (1) records at least one image of the charge carrier (30) in the mirror (32); and in that the model of the charge carrier (30) is created by the recognition unit (16) of the autonomous transport vehicle (1).Method according to Claim 2, characterized in that an optical axis of the camera (12) of the autonomous transport vehicle (1) is oriented at least approximately in a horizontal direction (H), and in that the mirror (32) is arranged offset from the autonomous transport vehicle (1) in a horizontal direction (H), and in that the dimension of the charge carrier (30) in a vertical direction (Z) and / or the dimension of the charge carrier (30) in a horizontal direction (H) are determined by the detection unit (16) of the autonomous transport vehicle (1).Method according to Claim 2, characterized in that an optical axis of the camera (12) of the autonomous transport vehicle (1) is oriented upwards in a vertical direction (Z), and in that the mirror (32) is arranged above the autonomous transport vehicle (1) in the vertical direction (Z), and in that the dimensions of the load carrier (30) in different horizontal directions (H) are determined by the detection unit (16) of the autonomous transport vehicle (1).Method according to one of the preceding claims, characterized in that the autonomous transport vehicle (1) has a plurality of cameras (12), and in 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 in that the autonomous transport vehicle (1) has a recognition unit (16), and in that the technical installation has at least one mirror (32), and in that the mirror (32) is arranged offset with respect to the autonomous transport vehicle (1) in a horizontal direction (H), and in that the autonomous transport vehicle (1) is rotated about a vertical axis running in a vertical direction (Z); and in that during the rotation a plurality of images of the charge carrier (30) are recorded in the mirror (32) in different angular positions; and in that the model of the charge carrier (30) is created by the recognition unit (16) of the autonomous transport vehicle (1), and in that the dimension of the charge carrier (30) in a vertical direction (Z) and / or the dimensions of the charge carrier (30) in different horizontal directions (H) are determined by the recognition unit (16) of the autonomous transport vehicle (1).Method according to one of the preceding claims, characterized in that the technical installation comprises at least one further autonomous vehicle (2), and in that the at least one autonomous vehicle (2) has a camera (12), and in that an optical axis of the camera (12) of the autonomous vehicle (2) is oriented at least approximately in a horizontal direction (H), and in that the at least one autonomous vehicle (2) has a recognition unit (16), and in that the camera (12) of the autonomous vehicle (2) records at least one image of the charge carrier (30); and in that the model of the charge carrier (30) is created by the recognition unit (16) of the autonomous vehicle (2).Method according to Claim 6, characterized in that the autonomous transport vehicle (1) is rotated about a vertical axis running in a vertical direction (Z); and in that during the rotation a plurality of images of the charge carrier (30) are recorded in different angular positions by the camera (12) of the autonomous vehicle (2); and in that the dimension of the charge carrier (30) in a vertical direction (Z) and / or the dimensions of the charge carrier (30) in different horizontal directions (H) are determined by the recognition unit (16) of the autonomous vehicle (2).Method according to one of the preceding claims, characterized in that the technical installation comprises at least one fixedly installed camera (12), and in that the technical installation comprises a fixedly installed recognition unit (16), and in that the fixedly installed camera (12) records at least one image of the load carrier (30); and in that the fixedly installed recognition unit (16) generates the model of the load carrier (30).Method according to Claim 8, characterized in that an optical axis of the fixedly installed camera (12) is oriented at least approximately in a horizontal direction (H), and in that the fixedly installed camera (12) is arranged offset from the autonomous transport vehicle (1) in a horizontal direction (H), and in 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 fixedly installed recognition unit (16).Method according to Claim 8, characterized in that the autonomous transport vehicle (1) is rotated about a vertical axis running in a vertical direction (Z); and in that, during the rotation, the fixedly installed camera (12) records a plurality of images of the load carrier (30) in different angular positions; and in that the fixedly installed recognition unit (16) determines the dimension of the load carrier (30) in a vertical direction (Z) and / or the dimensions of the load carrier (30) in different horizontal directions (H).Method according to Claim 8, characterized in that the fixedly installed camera (12) is arranged above the autonomous transport vehicle (1) in the vertical direction (Z), and in that an optical axis of the fixedly installed camera (12) is oriented downwards in a vertical direction (Z), and in that the fixedly installed recognition unit (16) determines the dimensions of the load carrier (30) in different horizontal directions (H).Method according to one of the preceding claims, characterized in 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 reflection element which is arranged directly adjacent to the optical camera (12), and in 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.Technical installation 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 the technical installation can be operated with the method according to one of the preceding claims.

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