System for monitoring the route of a transport vehicle, transport vehicle, method for monitoring the route of a transport vehicle, and computer program product

Abstract

To optimise route monitoring of a transportation vehicle (100), a system is proposed for monitoring a route, comprising at least one environment scanner (116) mounted on a stationary object (114), which scanner monitors a predetermined region (D) in an environment of a stationary object (114).

Description

[0001] System for monitoring the route of a transport vehicle, transport vehicle, method for monitoring the route of a transport vehicle and computer program product

[0002] The present invention is based on so-called transport vehicles. A specific example of such a transport vehicle is a so-called automated guided vehicle (AGV). Automated guided vehicles are well known in production, such as vehicle production. For example, a vehicle body can be transferred from one workstation to another across a factory hall on such an automated guided vehicle. This can replace traditional line production. Because automated guided vehicles follow predetermined routes within the factory halls or move independently due to their interaction with the environment, a more flexible production environment can be provided where many different vehicle types or variants can be produced simultaneously.

[0003] Typically, an automated guided vehicle (AGV) has a platform mounted on a chassis, with attachment points for a production object (body or vehicle) provided on the platform. To move within its environment, such a known AGV typically has one (or more) environmental scanners. The environmental scanner scans the environment of the transport vehicle, and its movement (forward, backward, cornering) and speed are instantly adapted to the environment based on the real-time data from the environmental scanner. In environments where a large number of objects are placed close to the transport vehicle, the speed of the transport vehicle is typically automatically reduced so that it can better maneuver through the narrow areas of the production facility.

[0004] Depending on the proximity and number of objects on the transport vehicle, the area scanned by the environmental scanner can also be adjusted. In particular, for example, in the case where several objects are placed very close to the transport vehicle, the scanning area is reduced so that only a relatively small area in front of and / or next to the vehicle is scanned with the environmental scanner.

[0005] It may be advantageous if, particularly due to this sensor technology, the speed of the transport vehicle is only reduced due to the proximity of the individual stationary objects if the reduction in speed is necessary for safety reasons or for process-related reasons, whereby otherwise a non-reduced maximum speed is preferably always selected.

[0006] Therefore, a system is proposed in which environmental scanners that are already present and / or in use in the production environment are used, for example in the area of ​​robots, where environmental scanners are already installed.

[0007] These environmental scanners are attached to the stationary objects in the production environment and the data from such an environmental scanner are preferably used to change at least the scanning parameters of the environmental scanner on the transport vehicle in order to ensure or influence, for example, its movement control or steering.

[0008] Thus, a system for monitoring the route of a transport vehicle is provided, wherein the transport vehicle is equipped with a first environmental scanner that monitors a first predetermined area in the surroundings of the transport vehicle. According to the invention, a second environmental scanner is provided, which is attached to a stationary object and monitors a second predetermined area in the surroundings of the first stationary object.

[0009] The system is preferably configured such that the second environmental scanner determines or can determine a) whether or not the transport vehicle enters the predefined second area, and b) whether or not one or more scan parameters of the first environmental scanner are changed. The scan parameter(s) can preferably also be changed, in particular automatically, as long as the second environmental scanner determines that the transport vehicle is located in the second predefined area.

[0010] Thus, the change in the scanning parameters can occur at the time of entry into the second predetermined area and / or be maintained as long as the transport vehicle is in the second predetermined area.

[0011] A change in the scanning parameters can, in particular, involve partially hiding or reducing the scanning area.

[0012] Thus, in the broadest sense, the data of the environmental scanner mounted on a first stationary object in the production environment are preferably used to carry out and / or influence a movement control or control of the transport vehicle and / or to change the properties and / or mode of operation of the environmental scanner mounted on or at the transport vehicle.

[0013] It may be advantageous if the one or more scanning parameters of the first environmental scanner are changed in such a way that a first sub-area is masked out in the first predetermined area, in particular a sub-area that overlaps with the second predetermined area.

[0014] Thus, the travel path monitoring of the transport vehicle by means of the first environmental scanner is preferably carried out only in areas that lie outside the second area covered by the second environmental scanner, and in the second area monitored by the second environmental scanner mounted on the stationary object, the travel path monitoring of the transport vehicle is carried out by means of the second environmental scanner.

[0015] According to an advantageous development of the invention, the transport vehicle can optionally be configured such that a) its vehicle speed and / or direction of movement is adjusted depending on the scan result of the first environmental scanner when the transport vehicle is not located in the second predetermined area, and b) that the vehicle speed and / or the direction of movement of the transport vehicle, when it enters the predetermined second area or as long as it is moving in it, is adjusted depending on the scan result of the second environmental scanner.

[0016] Thus, in the second predetermined area, the monitoring of the area and the coordinated movement control and management essentially takes place via the second environmental scanner, and outside the second predetermined area, the movement control thus takes place based on the data of the first environmental scanner, which is mounted directly on the transport vehicle.

[0017] Although the present discussion refers to a first environmental scanner on the transport vehicle, a second, third, or multiple environmental scanners can also be provided around the transport vehicle, which together cover a first predefined area, or where each of these individual environmental scanners covers a separate, predefined area. If multiple environmental scanners are provided on the transport vehicle, they can be located at the front, rear, or sides. The individual scanning areas of the environmental scanners can overlap one another, for example, so that the first predefined area around the transport vehicle is completely covered by the environmental scanners.

[0018] One or more additional environmental scanners, each attached to another stationary object, can be provided.

[0019] Thus, for example, the second environmental scanner can be attached to a pillar (e.g. in a hall) that serves as a stationary object, a further environmental scanner can be attached, for example, to a wall or a corner of a wall, and a still further environmental scanner can be attached to a fence or a machine arm that is part of a workstation. Multiple environmental scanners can also be provided on this respective stationary object, scanning the entire area around this stationary object and not just an area limited on two or more sides. Thus, a predetermined area is preferably scanned around each of these objects. The corresponding predetermined scanned areas of each object can also overlap or can also be arranged so as not to overlap.

[0020] The system can optionally be configured such that, when it is determined by means of the further environmental scanner that the transport vehicle enters the respective further predetermined area or as long as it is determined that the transport vehicle is located in the respective further predetermined area, one or more scanning parameters of the first environmental scanner provided on the transport vehicle are changed.

[0021] In particular, for example, a communication device is provided which enables communication between the transport vehicle and the second environmental scanner or further environmental scanners.

[0022] This communication can take place directly or via a control center. Such a transport vehicle is preferably controlled by a production application (software). In addition to autonomous driving in the production environment, intervention can preferably also be carried out via a control center, and the movement / speed of the transport vehicle can be manually manipulated, for example, by a person. Communication can take place directly between the transport vehicle and the second environmental scanner, or via the control center or a cloud.

[0023] Preferably, a three-stage control system is provided such that a transport vehicle receives driving and / or conveying orders from a higher-level transport control system, for example, a fully automated control center, whereby the transport control system in turn receives orders from a higher-level system control system. The communication device enables, in particular, coordination and / or use of information collected and / or generated by the transport vehicle and the second environmental scanner or additional environmental scanners. The transport vehicle and the second environmental scanner or the additional environmental scanners preferably communicate directly with the transport control system, for example, a fully automated control center. For this purpose, communication via its secure protocol, for example, Profinet / Profisafe, is provided, in particular.In particular, it may be advantageous if the vehicle speed in the second predetermined range or the further predetermined range is not reduced as much as would be the case if the speed control were carried out in particular exclusively on the basis of the data from the first environmental scanner.

[0024] By means of stationary environmental scanners mounted outside the transport vehicle, data is preferably acquired that is used to control the transport vehicle. This preferably allows a potential hazardous situation to be verified or the degree of danger to be assessed more accurately than would be the case by exclusively using the environmental scanner(s) of the transport vehicle. By means of stationary environmental scanners mounted outside the transport vehicle, a reduction in the degree of danger can thus be determined, in particular to enable a transport vehicle speed appropriate to the actual degree of danger.

[0025] As previously described, in narrow spaces in the production environment where many such stationary objects are present, the movement control and steering of the transport vehicle using data from the first environmental scanner is typically such that the speed is reduced to a minimum in order to carefully drive or maneuver around the corresponding stationary objects. This is preferably not necessary due to monitoring with the second environmental scanner, which is provided on the stationary object. Therefore, a higher speed can be achieved in comparison.

[0026] According to an advantageous development of the invention, the second environmental scanner and / or the further environmental scanner can detect hazardous situations and, upon detection of such a hazardous situation, reduce the speed of the transport vehicle, in particular, decelerate it. The speed reduction can occur down to a value above 0 km / h. Alternatively, a complete standstill is achievable. Alternatively or additionally, an alarm can be triggered upon detection of a hazardous situation. In particular, the first stationary object or the further stationary objects can be provided such that they are not placed in a designated travel path of the transport vehicle between multiple workstations in the production environment.In particular, it is advantageous if the corresponding environmental scanners are mounted on side walls, columns or sections of the workstations that are already located in the production environment, so that no dedicated stands or other mounting aids for such environmental scanners need to be set up.

[0027] According to a subordinate aspect of the invention, a transport vehicle is also proposed that has the first environmental scanner. The transport vehicle also has an interface that serves for direct or indirect communication with a second environmental scanner provided on a first stationary object.

[0028] Thus, not only the system consisting of the first environmental scanner on the transport vehicle and the second environmental scanner on the stationary object is protected, but also the transport vehicle and its interface as such.

[0029] According to a further subordinate aspect, a method for monitoring the route of a transport vehicle is also specified. The method preferably has the features described in connection with the transport vehicle.

[0030] The features relating to the device can preferably also be used to further develop the method and vice versa.

[0031] Furthermore, a computer program product is proposed which has computer-executable instructions for carrying out the method according to the invention.

[0032] Further advantageous embodiments of the invention are explained below in conjunction with the drawings. Herein:

[0033] Fig. 1 shows a schematic embodiment of the present invention; Fig. 2 shows a concrete situation in which the present invention is used for an entry or exit area of ​​a work station; and

[0034] Fig. 3 shows a configuration known from the prior art.

[0035] Fig. 3 shows a configuration known in the prior art in which a transport vehicle 100 enters a predetermined area A at a robot station. The robot station has a robot 102. Here, the base of the robot 102 is designated by reference numeral 104, and the robot arm by reference numeral 106. The robot arm 106 of the robot 102 can move in a manner not shown in the figure. The elements designated by reference numeral 108 are fence elements that delimit the rear environment of the robot 102.

[0036] For assembly or manipulation of the object (body or other), this object is moved on the transport vehicle 100 into the specified area A and transferred into a specified positional relationship with the robot 102. The specified area A is defined in this case by two laser scanners 110a, 110b, which interact with two reflectors 112a, 112b.

[0037] On the left side in Fig. 3, a first laser scanner 110a is mounted at the corner between the two fence elements 108. On the right side in Fig. 3, the second laser scanner 110b is mounted opposite the right corner of the two fence elements 108. Thus, the two laser scanners 110a, 110b are mounted substantially diagonally to each other with respect to area A. Accordingly, the reflectors 112a, 112b are also mounted diagonally.

[0038] The reflector 112a or laser scanner 110b provided on the opposite side of the robot 102 and the fence is mounted on a stand specially provided for this purpose. However, the position of the two stands obstructs the path of the transport vehicle 100, so that the transport vehicle 100 can essentially only be driven towards the robot 102 from left to right, as shown in Fig. 3, or alternatively from the front. If a person enters this designated area A or another disturbance occurs in area A, this is detected by the laser scanners 110a, 110b in conjunction with the reflectors 112a, 112b.

[0039] However, the data processing of the laser scanners 110a, 110b takes into account that the transport vehicle 100 is not considered a "foreign object," and even if the transport vehicle 100 enters area A, no alarm is triggered and the robot 102 is not stopped. In all other situations, when a foreign object is detected in area A, an alarm is triggered.

[0040] In the prior art, no interaction of the environmental scanners on the transport vehicle 100, which are not shown in this Fig. 3, with the laser scanners 110a, 110b is provided.

[0041] In addition, the laser scanners or reflectors are also provided on stands that limit the travel path of the transport vehicle 100.

[0042] The present invention preferably results in optimizations in this regard.

[0043] Firstly, the corresponding environmental scanners are preferably mounted directly on fixed objects, such as columns or walls, that are already present in the production environment. The environmental scanners monitor a specified area.

[0044] In this specified area, the route monitoring of the transport vehicle 100 is determined or at least influenced by the information from these environmental scanners. In the other areas, the route monitoring of the transport vehicle is carried out via the environmental scanner(s) provided on the transport vehicle, in particular exclusively via these.

[0045] This can be seen as an example in Fig. 1. There, a first stationary object is designated by reference numeral 114. This object has a round cross-section. This can be a column in the production hall. An environmental scanner 116, hereinafter referred to as the second environmental scanner 116, is provided on this stationary object 114.

[0046] In the example in Fig. 1, two further environmental scanners with reference numerals 118 and 120 are provided, which are mounted on another object 122. The two further environmental scanners 118, 120 monitor a predetermined area C, for example, which is square. The environmental scanner 116 on the first stationary object 114 monitors, for example, a predetermined area D, which is, for example, shaped like a circular sector.

[0047] On the left side of Fig. 1, the transport vehicle 100 is schematically depicted as an elongated, rectangular platform. On or at it, for example, three environmental scanners 124 are provided, which are referred to individually or in the plural as the first or first environmental scanners.

[0048] For example, one of the three environmental scanners 124 can be directed forward, while the other two environmental scanners 124 can be directed to the side. The invention is not limited to these three environmental scanners 124 on the transport vehicle 100; rather, a single environmental scanner 124, two environmental scanners, or more than three environmental scanners 124 can also be provided.

[0049] Each environmental scanner 124 scans corresponding areas. This is schematically illustrated by the hatching in Figure 1, which particularly indicates a transmitter signal. The corresponding areas scanned by the environmental scanners 124 can overlap one another or represent individual, separate areas.

[0050] A first predefined area is preferably monitored in the surroundings of the transport vehicle 100. Depending on the detected environment, the movement of the transport vehicle 100 is preferably monitored or controlled. Particularly in very narrow situations, where several stationary objects come close to the transport vehicle 100 or the transport vehicle 100 approaches several stationary objects, for example, the speed of the transport vehicle 100 is reduced or the length of the scanned first predefined area is reduced. Schematically, interaction or communication is indicated in Fig. 1 by the double arrows between the environment scanners 124 and the first environment scanners 116 and the further environment scanners 118, 120.

[0051] As soon as the transport vehicle 100 enters the specified area C and / or D, the environmental monitoring is taken over and / or supplemented by the associated environmental scanner 116 or 118, 120. Furthermore, for example, the speed of the transport vehicle 100 is adjusted and / or the scanning parameters of the environmental scanner 124 are adjusted.

[0052] In particular, for example, from the first predetermined area around the transport vehicle 100, the scanning area that is already covered by one of the areas C or D is automatically cut out.

[0053] As soon as a section of the transport vehicle 100 enters one of the areas C, D or an overlapping scanning area arises, the control or movement of the transport vehicle 100 or the route monitoring, which requires an alarm or a stop of the transport vehicle 100, takes place with the aid of or using the sensor data of the environmental scanners 116, 118 and 120.

[0054] The exemplary embodiment of Fig. 1 shows that a single environmental scanner 116 can be assigned to a first stationary object 114, or that multiple environmental scanners 118, 120 can be assigned to a stationary object 122. In any case, a predetermined area with a predetermined geometry is monitored in relation to this stationary object. When the transport vehicle 100 enters such an area, at least the scanning parameter of one of the environmental scanners 124 is changed, and monitoring of the travel path of the transport vehicle 100 is ensured based on the information from the environmental scanners 116, 118, 120 at the corresponding stationary objects 114, 122.Even if the transport vehicle 100 is maneuvered in an environment in which it is very narrow and / or in which several stationary objects are provided, the speed is preferably maintained or at least reduced to a lesser extent than in embodiments in the prior art where the transport vehicle 100 is controlled only by the signals of its own environmental scanners 124.

[0055] If a person or an object in one of the areas C or D is detected by the environmental scanners 116, 118, 120 on the stationary objects 114, 122, the transport vehicle 100 can be braked or switched off completely or an alarm can be triggered.

[0056] Although only a single transport vehicle 100 has been described here, multiple transport vehicles 100 may also be provided. Each of these transport vehicles 100 may preferably have one or more corresponding environmental scanners 124 and be integrated into an overall system with the environmental scanners 116, 118, 120 on the stationary objects 114, 122.

[0057] Fig. 2 shows a specific embodiment in which bodies 126 of vehicles, in particular motor vehicles, are transported to a workstation on such a transport vehicle 100 (below the body 126 shown on the right). In areas X, the body 126 is transferred from the transport vehicle 100 to the workstation. This entry area is very narrow and can therefore be monitored, in particular, with stationary environmental scanners on stationary objects in order to optimize or supplement the control and / or monitoring of the vehicles 100.

[0058] For example, environmental scanners could be provided on the columns shown in Fig. 2 to monitor the areas X. List of reference symbols

[0059] 100 transport vehicles

[0060] 102 robots

[0061] 104 Base

[0062] 106 Robot arm

[0063] 108 fence elements

[0064] 110a, 110b laser scanners

[0065] 112a, 112b reflector

[0066] 114 first stationary object

[0067] 116 second environmental scanner

[0068] 118, 120 additional environmental scanners

[0069] 122 additional stationary object

[0070] 124 first environmental scanner

[0071] 126 Body

[0072] A specified area

[0073] C specified area

[0074] D specified area

[0075] X Transfer area

Claims

Claims: System for monitoring the route of a transport vehicle (100), comprising at least one first environmental scanner (124) attached to the transport vehicle (100), which monitors a first predetermined area of ​​the environment of the transport vehicle (100), characterized by at least one second environmental scanner (116) attached to a stationary object (114), which monitors a second predetermined area (D) in the environment of the stationary object (114), wherein the system is configured such that, when it is detected by means of the second environmental scanner (116) that the transport vehicle (100) enters the second predetermined area (D) and / or as long as it is detected that the transport vehicle (100) is in the second predetermined area (D), one or more scan parameters of the first environmental scanner (124) are changed.System according to claim 1, characterized in that the system is configured such that one or more scan parameters of the first environment scanner (124) are changed such that a first sub-area is hidden in the first predetermined area, which overlaps with the second predetermined area (D).System according to claim 1 or 2, characterized in that the transport vehicle (100) is configured such that a vehicle speed and / or direction of movement of the same is adjusted depending on the scan result of the first environment scanner (124) when the transport vehicle (100) is not in the second area (D), and that the vehicle speed and / or the direction of movement of the transport vehicle (100) is adjusted when it enters the second predetermined area (D) and / or as long as the transport vehicle (100) is in the second predetermined area (D), depending on the scan result of the second environment scanner (116). A system according to any of the preceding claims, characterized in that a further environmental scanner (118, 120) attached to a further stationary object (122) monitors a further predetermined area (C) in the vicinity of the further stationary object (122), wherein the system is configured such that when the further environmental scanner (118, 120) detects that the transport vehicle (100) enters the further predetermined area (C) and / or as long as it detects that the transport vehicle (100) is located in the further predetermined area (C), one or more scan parameters of the first environmental scanner (124) are changed. A system according to any of the preceding claims, characterized in that a communication device is provided which enables communication between the transport vehicle (100) and the second environmental scanner (116) and / or the further environmental scanner (118, 120).A system according to any of the preceding claims, characterized in that the system is configured such that the vehicle speed of the transport vehicle (100) in the second predefined area (D) and / or the further predefined area (C) is not reduced as much as would be the case if the speed control of the transport vehicle (100) were based solely on the data from the first environmental scanner (124). A system according to any of the preceding claims, characterized in that the system is configured such that, in the event of a hazardous situation detected by the second environmental scanner (116) and / or the further environmental scanner (118, 120), the transport vehicle (100) is slowed down and / or switched off and / or an alarm is triggered.System according to one of the preceding claims, characterized in that the stationary object (114) and / or the further stationary object (122) is / are not placed in a provided travel path of the transport vehicle (100) between several workstations and / or that the stationary object (114). and / or the other stationary object (122) is / are a wall, a column, a workstation section or another object already present in the production plant.System for monitoring the route of a transport vehicle (100), comprising at least one first environmental scanner (124) attached to the transport vehicle (100), which monitors a first predetermined area of ​​the environment of the transport vehicle (100), characterized by at least one second environmental scanner (116) attached to a stationary object (114), which monitors a second predetermined area (D) in an environment of the stationary object (114), wherein the system is configured such that the control of the transport vehicle (100) is carried out using data from the second environmental scanner (116) when the transport vehicle (100) enters the second predetermined area and / or as long as it is determined that the transport vehicle (100) is in the second predetermined area (D).A transport vehicle (100) comprising at least one first environmental scanner (124) attached to it, which monitors a first predetermined area of ​​the environment of the transport vehicle (100), wherein the transport vehicle (100) has an interface for direct or indirect communication with a second environmental scanner (116) attached to a stationary object (114), which monitors a second predetermined area (D) in the environment of the stationary object (114), wherein the transport vehicle (100) is configured such that when the second environmental scanner (116) detects that the transport vehicle (100) is entering the second predetermined area (D) and / or while the transport vehicle (100) is located in the second predetermined area (D), one or more scan parameters of the first environmental scanner (124) are changed. A method for monitoring the travel path of a transport vehicle (100), comprising: at least one first environmental scanner (124) attached to the transport vehicle (100), which monitors a first predetermined area of ​​the environment of the transport vehicle (100); and at least one second environmental scanner (116) attached to a stationary object (114), which monitors a second predetermined area (D) in the environment of the stationary object (116), wherein in the method, when the second environmental scanner (116) detects that the transport vehicle (100) is entering the second predetermined area (116) and / or as long as it detects that the transport vehicle (100) is in the second predetermined area (D), one or more scan parameters of the first environmental scanner (124) are changed. Computer program product with computer-executable instructions for carrying out the method according to claim 11.