DATA TECHNICAL SYSTEM FOR THE ORGANIZATION OF WORK PROCESSES IN WHICH THE COOPERATION OF PEOPLE AND MACHINES IS INTRALOGICALLY CONTROLLED WITH OPTIMAL PROTECTION OF THE PEOPLE INVOLVED AND METHOD FOR ITS INSTALLATION.

Description

[0001] The invention relates to a data technology system for organizing work processes in which the cooperation between people and machines is controlled intralogistically with optimal protection of the people involved, and to a method for its installation.

[0002] Since the beginning of the use of mechanical aids to facilitate human labor with the use of external energy, it has become an increasingly important issue to ensure that the safety of those involved in the production process is not compromised when using external energy. However, since the use of electronic data processing in the production of mechanical components or in the organization of events has become increasingly important, the safety requirements regarding human involvement have increasingly shifted into the area of ​​threats to human integrity. This is evident, for example, in the military use of drones or the civilian use of assistance systems in controlling cars and their vulnerability when evaluating environmental influences.

[0003] Regarding the state of the art, the patent literature refers to document DE 10 2015 010 402 A1, which concerns the operation of a driverless transport vehicle.

[0004] The objective of this document is to increase the efficiency of a driverless transport system.

[0005] In patent claim 1 of this document, a method for operating a first driverless transport vehicle (FTF1) and a second driverless transport vehicle (FTF2) is claimed, in which the request for an order (A1) from a database is carried out by the first driverless transport vehicle (FTF1) and the transfer of the order from the database to the first driverless transport vehicle (FTF1), which is characterized in that the detection of an event which has a higher priority for the first driverless transport vehicle (FTF1) than the order (A1) is carried out by the first driverless transport vehicle (FTF1) and the transfer of the order (A1) to the second driverless transport vehicle (FTF2) takes place depending on the detection of the event.

[0006] From the document DE 10 2007 026 399 B3 a zone-oriented safety concept for independent transport systems is known, the objective of which is to specify a safety concept that works in a zone-oriented manner and is not costly.

[0007] In claim 1, a method for selectively stopping driverless transport systems (6) within an area (2) travelled through by a plurality of driverless transport systems (6) with a plurality of

[0008] Production facilities (8) and / or processing units (10) upon triggering of at least one of several EMERGENCY STOP switches (12) arranged in this area (2), with the following method steps: a) safety-related transmission of the actuation of an EMERGENCY STOP switch (12) and information of an associated protective space (14) to all driverless transport systems (6) traveling through the area (2), b) transport system-autonomous determination of a position of each driverless transport system (6) within an area (2), c) transport system-related comparison of its determined position with a protective space (14) belonging to the actuated EMERGENCY STOP switch (12), and d) autonomous stopping of a driverless transport system (6) whose position determination falls within the protective space (14) belonging to the actuated EMERGENCY STOP switch (12).

[0009] From the document WO 2013 / 119942 A1, which forms the preamble of patent claim 1, a data system for organizing work processes is known, in which the cooperation of people and machines is controlled intralogistically with optimal protection of the people involved, with the following features: a) an intralogistically relevant work area is divided into production or storage areas, which are accessible without obstacles by means of transport areas for the people and machines involved in the work process, whereby the transport areas are seamlessly accessible via data technology by means of appropriately distributed radio participants as transmitters and receivers, and an intralogistics process manager system assumes the higher-level control, b) numerous driverless transport systems of various designs and manufacturer-specific control subsystems can be used to handle the resulting transport tasks,c) Robots of various designs and manufacturer-specific control subsystems are used to carry out the work required.

[0010] From the literature reference Intralogistics: "Drones in Warehouse and Production - Intralogistics", April 27, 2017, XP055522129, the use of drones is known, especially for high-bay warehouses, where the drones are deployed in higher zones above people to avoid collisions with people.

[0011] Furthermore, the use of new radio systems for locating workpieces and / or employees is known from the literature reference by Olaf Göring: "Radio technologies for Industry 4.0 - Innovative radio systems should further advance intelligent production", NEZ Journal for Communication Management, Vol. 69, No. 7 / 8, 1 January 2015, pages 26-28, XP001596350, whereby, in addition to WLAN, Bluetooth, GSM / GPRS and RFID, HiFlecs in particular is proposed as a new radio standard.

[0012] In the further literature Anonymous: "Driverless Transport Vehicle-Wikipedia", October 16, 2014, XP055241849, the problem of determining the position of driverless transport vehicles is described using various navigation methods (dead reckoning, guideline, laser navigation, grid navigation, navigation using markers, etc.).

[0013] Finally, the VDI reference "VDI2510 Automated Guided Vehicle Systems (AGV)", VDI Guidelines, VDI, DE, October 1, 2005, page 39pp, XP009509336, (D5) describes further methods for determining positions in automated guided vehicles, such as position coupling, guideline guidance, and marking guidance. The present invention is based on the object of specifying a device and a method that make it possible to create a data-based system for organizing work processes in which the collaboration between humans and machines is controlled intralogistically while providing optimal protection for the people involved.

[0014] According to the invention, this object is achieved with regard to the device by the features of patent claim 1 and with regard to the method by the measures of patent claim 5.

[0015] Further advantageous embodiments of the invention are characterized in the subclaims.

[0016] Assistant (28) each have a sensor (25) for detecting 360 degrees views and a sensor (31) for detecting gripping functions. and the method according to claim 6.

[0017] Procedure for establishing a data system for organizing work processes in which the cooperation between people and machines is controlled intralogistically while providing optimal protection for the people involved, with the following procedural features: a) an intralogistically relevant work area is divided into production or storage areas (1) which are accessible without obstacles by means of transport areas (7) for the people and machines involved in the work process, whereby the transport areas (7) are seamlessly accessible via data technology by means of appropriately distributed transmitters and receivers (6) and an intralogistics process management system takes over the higher-level control, b) for the execution of the transport tasks, numerous AGVs (driverless transport systems) of various designs and manufacturer-specific control subsystems are used in addition to transport drones (9), c) for the execution of the work, in addition to Wi-Fi devices,Persons (2) Robots of various designs and manufacturer-specific control subsystems are used and also the intralogistically relevant work area is used for the orientation of all data-technically accessible function carriers with, if necessary, additionally appropriately distributed orientation markers and comparison markers 20. And, a computer program with a program code for carrying out the method steps when the program is executed in a computer and a machine-readable carrier with the program code of a computer program for carrying out the method when the program is executed in a computer.

[0018] The invention is described in more detail below.

[0019] They show in detail: Fig.1 : an overview of the sphere of influence of an intralogistics process area Fig.2 : Details of an intralogistics process area Fig.3 : Interactions of an intralogistics process area Fig.4 : Example work area within an intralogistics process area

[0020] The Fig.1 : shows an overview of the sphere of influence of an intralogistics process area.

[0021] Any type of production area and / or storage area or picking area can be considered an intralogistics work area. Such an area is defined in the Fig.1 designated 1. In such an intralogistics work area, for example, different people 2 may appear who are equipped with a radio device, e.g. a WLAN device, whereby any type of technical device that is connected to the overall system via a radio connection is suitable. Furthermore, in the Fig.1 so-called FTS (driverless transport systems) are shown, which are also connected to the overall system via data technology. As a further example of a data-relevant participant in the intralogistics work area, an electric train with a driver is designated by 4. Autonomous forklifts 5 can also be used in the intralogistics work area shown. Fig.1 participate in the movement of goods. For the operation of the transport participants shown, four different Wi-Fi transmitters 6 are shown as examples in the overall image. Transport aisles 7 are required between different production or storage areas for the movement of goods or the production process. Forklift trucks 8 with drivers must also be considered in the overall intralogistics network from a data perspective. Furthermore, the airspace must also be considered, in which not only transport drones 9 required for the movement of goods but also surveillance drones 10 must be supplied with targeted data information.

[0022] At 11, in the Fig.1 also refers to an AGV that carries a robot, whereby such an AGV is controlled by the process manager.

[0023] The prerequisite for the data technology system according to the invention is the localization of all people and machines involved within the intralogistically relevant work areas using the signal propagation times of electromagnetic waves, such as Wi-Fi. The exact positioning of people and machines whose position is not yet known is carried out decentrally and relative to network participants who have already determined their exact position using a calculation algorithm.

[0024] By using the position of individual automated guided vehicles from their own localization systems, a separate radio location can be performed. This eliminates the need for access points specifically surveyed in the hall, as would otherwise be required. Furthermore, each radio user, such as a pair of data glasses, can determine its position. The drivers of industrial trucks or vehicles of other automated guided vehicles can then be located within the range of the radio network described above using these radio users. This also allows additional information to be recorded.

[0025] The Fig.2 : shows details of an intralogistics process area.

[0026] In this Fig.2 As part of the overall system 18 for goods management and / or goods production, the intralogistics manager system 17 is to be recognized as a central reference point.

[0027] In the right part of the Fig.2 Here, the persons 2 with a WLAN device, the electric train 4 with driver and the forklift 8 with driver are shown as human components of the intralogistics manager system 17.

[0028] On the left side of the Fig.2 In contrast, the transport drones 9, the manufacturer's own AGVs with their subsystem A and the manufacturer's own AGVs with their subsystem B are organizationally grouped together. In subsystem A, AGVs 3 for transport and AGVs 13 for transporting assembly platforms are organizationally grouped together, and in subsystem B, AGVs 3 for transport, autonomously driving forklifts 5 and AGVs 12 with a robot that are controlled by a subsystem are organizationally grouped together. The AGVs 11 with a robot, which are controlled by the process manager, are organizationally treated separately in the intralogistics manager system 17, as are the surveillance drones 10. A self-moving assembly platform 14 can automatically enter into data traffic with the AGVs 11, 12 and 13 and with the people 2 who have a WiFi device.Particular attention is paid to ensuring that the persons 2 who have a WLAN device have a short data connection with the AGVs controlled by the process manager and the self-moving assembly platform 14.

[0029] The entire area of ​​cooperation for the goods economy and goods production is designated 19.

[0030] The Fig.3 : shows interactions of an intralogistics process area.

[0031] With 1 are production and storage areas as in the Fig.1 , whereby these areas are separated by transport aisles 7. In the transport area 7 shown top left, an electric train 4 with a driver can be seen as an example, with two people 2 with a WiFi device and an AGV 3 for transport in the immediate vicinity of a surveillance drone 10. In the next transport area 7, an autonomously driving forklift 5 is shown. In the first-mentioned transport area 7, two automatically movable assembly platforms 14 can also be seen next to an AGV 11 and an AGV 12. In the detection area of ​​the aforementioned transport aisles, orientation markers and comparison markers 20 for AGVs and other function carriers such as drones and people are shown distributed as a safety backup.

[0032] In the Fig.4 :an example work area within an intralogistics process area is shown.

[0033] The focus of the Fig.4 a human worker, a person 2 with a WiFi device, can be seen with data glasses 27 with a camera, who is wearing a sensor 26 on his wrist to measure the skin resistance 26 on his working hand. With such a sensor 26 it can be recognized immediately if the worker is becoming nervous, which could cause uncertainties in the production process and therefore should be replaced as soon as possible. On the floor of the work area two AGVs 3 can be seen one behind the other, next to an AGV 12 with a robot, controlled by a subsystem, whereby the AGV 12 communicates with the AGV 3 that has been driven up next to it using the data generated by the laser scan sensor 21, e.g. distance, speed, whereby the two AGVs 3 each have automatically movable assembly platforms 14.The work area directly in front of person 2, with a displayed product 30, is operated by a robot 24 acting as a tool assistant on the left side via a tool changer 23, which operates from a tool bar 22, and a sensor 32 for monitoring the human hands. On the right side of person 2, the production process is monitored by a robot assistant 28 and a sensor 31 for monitoring gripping functions.

[0034] Both robots 24 and 28 have in their working area a sensor 25 for capturing 360-degree views and a sensor 29 for monitoring gripping functions. Bezugszeichenliste

[0035] 1Production or storage areas 2Person with a radio device 3AGV (driverless transport system, vehicle) for transport 4Electric train with driver 5Autonomous forklift 6Transmitter and receiver (e.g. WLAN device) 7Transport areas (aisle) 8Forklift with driver 9Transport drone 10Surveillance drone 11AGV with a robot, controlled by the process manager 12AGV with a robot, controlled by a subsystem 13AGV for transporting assembly platforms 14Self-moving assembly platform 15Subsystem A (manufacturer's own control system for AGV) 16Subsystem B (manufacturer's own control system for AGV) 17Intralogistics manager system 18System for goods management and goods production 19Cooperation area of ​​transport and tool media 20Orientation markers and comparison markers (e.g.for AGVs) 21Laser scan sensor 22Tool bar 23Tool changer 24Robot as tool assistant 25Sensor for capturing 360 degree views 26Sensor for measuring skin resistance 27Data glasses with camera 28Robot assistant for product fixation and product reloading 29Sensor with laser scanner for monitoring gripping functions 30Product 31Sensor for monitoring gripping functions 32Sensor for monitoring human hands.

Claims

1. Data technical system for organizing workflows in which the collaboration of humans and machines is intralogistically controlled with optimal protective effect for the involved humans, with the following features: a) An intralogistically relevant work area is divided into production or storage areas (1), which are accessible without obstacles via transport areas (7) for the humans and machines involved in the work process, wherein the transport areas (7) are seamlessly data-technically accessible via appropriately distributed radio participants as transmitters and receivers (6), and an intralogistic process manager system takes over the overall control, b) Numerous driverless transport systems of various designs and manufacturer-specific control subsystems can be used for handling the transport tasks, c) Robots of various designs and manufacturer-specific control subsystems are used for performing the tasks, characterized in that for handling the transport tasks transport drones (9) are used, for performing the tasks humans (2) equipped with radios are also used, wherein the localization of involved humans and machines, whose position within the intralogistically relevant work area is not yet known, is carried out decentrally and in relation to network participants, who have already determined their exact position, using the signal propagation times of electromagnetic waves, without the need for extra surveyed access points, and with the help of the position of individual driverless transport vehicles (3), from whose own localization systems a separate radio localization is carried out.

2. Data technical system according to claim 1, characterized in that the intralogistically relevant work area additionally has appropriately distributed orientation markers and alignment markers (20) for the orientation of all data-technically accessible function carriers.

3. Data technical system according to claim 1 or 2, characterized in that human workers are supported in their work by a robot (24) as a tool assistant and / or a robot assistant (28).

4. Data technical system according to one of the preceding claims, characterized in that a robot (24) and / or a robot assistant (28) each have a sensor (25) for capturing 360-degree views and a sensor (31) for capturing gripping functions.

5. Method for establishing a data technical system for organizing workflows in which the collaboration of humans and machines is intralogistically controlled with optimal protective effect for the involved humans, with the following method features: a) An intralogistically relevant work area is divided into production or storage areas (1), which are accessible without obstacles via transport areas (7) for the humans and machines involved in the work process, wherein the transport areas (7) are seamlessly data-technically accessible via appropriately distributed transmitters and receivers (6), and an intralogistic process manager system takes over the overall control, b) Numerous driverless transport systems of various designs and manufacturer-specific control subsystems, along with transport drones (9), are used for handling the transport tasks, c) For performing the tasks, humans (2) equipped with WLAN devices, along with robots of various designs and manufacturer-specific control subsystems, are used, wherein the localization of involved humans and machines, whose position within the intralogistically relevant work area is not yet known, is carried out decentrally and in relation to network participants, who have already determined their exact position, using the signal propagation times of electromagnetic waves, without the need for extra surveyed access points, and with the help of the position of individual driverless transport vehicles (3), from whose own localization systems a separate radio localization is carried out.

6. Method according to claim 5, characterized in that the intralogistically relevant work area is provided with additionally appropriately distributed orientation markers and alignment markers (20) for the orientation of all data-technically accessible function carriers.

7. Computer program with a program code for performing the method steps according to one of claims 5 or 6, when the program is executed on a computer.

8. Machine-readable carrier with the program code of a computer program for performing the method according to one of claims 5 or 6, when the program is executed on a computer.