SYSTEM WITH PLANT AND MOBILE PART AND METHOD FOR OPERATING THE SYSTEM

Description

[0001] The invention relates to a system comprising a unit and a mobile unit, and a method for operating a system.

[0002] It is generally known that vehicles, i.e. automobiles for public road traffic, use radar sensors to detect the distance to objects.

[0003] From the DE 10 2011 109 597 A1 A forklift truck is known.

[0004] From the WO 91 / 09 356 A1 is a known system for the navigation of unmanned vehicles.

[0005] From the DE 10 2014 111 394 A1 A storage and order picking system is known.

[0006] From the WO 2014 / 065856 A1 A method for locating a vehicle is known.

[0007] From the DE 10 2014 010381 A1 A method for operating a vehicle system to protect against damage caused by unevenness in the ground is known.

[0008] Ground-penetrating radar is known from the publication DS Prakash Rao et al.: "Ground penetrating radar and its applications in civil engineering", The Indian Concrete Journal, November 2007, p. 35-40.

[0009] From the DE 10 2009 054776 A1 Communication via radar is known.

[0010] From the DE 10 2015 221439 B3 A method for selecting and transferring sensor data from a first to a second motor vehicle is known.

[0011] From the DE 10 2013 212 255 A1 A method for exchanging information between at least two vehicles is known.

[0012] From the US 4 328 545 A A driverless vehicle is known.

[0013] From the DE 10 2011 111895 A1 A method for preventing a vehicle collision is known.

[0014] The invention is therefore based on the objective of further developing a mobile device in a cost-effective and simple manner so that it can be moved autonomously.

[0015] According to the invention, the problem is solved in the system according to the features specified in claim 1 and in the method according to the features specified in claim 6.

[0016] A key advantage is that the handheld unit does not require an additional positioning system. This is because the downward- and upward-facing radar sensors—the first and second radar sensors—enable the detection of stationary objects, such as reinforcing bars or ceiling-mounted lamps and their mountings in the plant hall. Therefore, detection and positioning only need to be performed once during commissioning, allowing for subsequent orientation and / or positioning based on the currently detected reinforcing bars and / or objects.

[0017] Reinforcing bars arranged parallel to each other are spaced apart.

[0018] The third sensor enables the detection of moving parts within the travel area, thus allowing for collision avoidance. The lamps, mounting brackets, and other attachments on the ceiling of the machine hall are also stationary, ensuring unambiguous position determination even when the reinforcing bars embedded in the floor are regularly spaced apart, making precise position determination impossible based solely on the bars.

[0019] According to the invention, for each position detected by the first radar sensor, the relative positions of the objects, as detected by the other radar sensors and referenced to the mobile device, can be determined. The accuracy of the map is thus improved. Even though the radar sensors continuously provide measured values, according to the invention, the synchronization means that the measured values ​​from all radar sensors are only simultaneously acquired and processed at the synchronization times specified by the synchronization means, in particular for generating the map. Preferably, the position-valued output signal of each radar sensor is fed to a respective sample-hold circuit, in particular a sample-hold element, the output of which is fed to a respective input of a multiplexer, the output of which is fed to an analog-to-digital converter.Thus, despite synchronous data acquisition, a time-series measurement determination is possible, which is particularly cost-effective. The measured values ​​determined in this way are then used to determine the map.

[0020] The advantage of the reinforcement according to the invention is that the radar radiation penetrates the concrete material and thus even the optically invisible reinforcing bars can be detected.

[0021] In an advantageous embodiment, the control system is designed such that a map of the system, in particular the system's operating area, is created from the objects detected by the radar sensors. It is advantageous that the position of the detected objects is stored, thus enabling real-time position determination.

[0022] In a preferred embodiment, the data is modulated onto the radar radiation transmitted or received by the third radar sensor. A key advantage is that no additional transmitters, for example in the radio frequency range, are required. This is because the third radar sensor can also be used for information transmission. A time-slot method is particularly advantageous in this context, where data transmission and distance measurement alternate over time.

[0023] In an advantageous configuration, the control system also takes into account objects detected by the additional radar sensor, which is located on the other mobile unit, when creating the map and / or performing collision checks for a planned movement sequence. The advantage here is that the movement sequence is only initiated if no collision is expected. This helps to avoid accidents and increases safety.

[0024] In an advantageous embodiment, when an object is detected by one of the radar sensors, the object's distance, speed, and / or angle are recorded, particularly relative to the respective radar sensor. An advantage of this is that stationary objects can be distinguished from moving objects.

[0025] The system's operating procedure offers the advantage that the third handset can move along a second lane parallel to the first. This third handset can move in the opposite direction to the first. The first and second lanes do not require further marking. However, a guide wire, such as a metallic conductor or a linear conductor laid in the ground as a primary conductor, can be provided. This guide wire allows the handsets to be guided along their respective lanes. The distance between the first and second lanes is greater than the width of each handset, i.e., its transverse dimension to the direction of travel.

[0026] In an advantageous configuration, the transported goods picked up by the mobile units are assigned a priority, whereby the overtaking process is only carried out if the priority of the transported goods picked up by the first mobile unit is higher than the priority of the transported goods picked up by the second mobile unit and higher than the priority of the transported goods picked up by the third mobile unit. It is advantageous that the priority information can be transmitted via the data transmission channel provided by the third radar sensors, and thus the priority of the transported goods is used to decide whether an overtaking process is initiated. This increases the intralogistics throughput in the system.

[0027] In a preferred embodiment, in the third step of the process, at the start of the overtaking maneuver, a stop command, specifically a command to stop the third handset, is sent from the first handset to the third handset. The advantage here is that the overtaking maneuver can be carried out without oncoming traffic. Thus, the relative speed between the first and third handsets is kept as low as possible, further reducing the risk of collision.

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

[0029] The invention will now be explained in more detail with reference to schematic illustrations: In the Figure 1 A handset 1 is shown, which has a radar sensor whose sensitive area is aligned parallel to the travel surface of the handset 1. In the Figure 2 An alternatively usable handset 1 with radar sensors is shown, the sensitive area of ​​which is also aligned parallel to the travel surface of the handset 1 and covers a smaller angular range in a plane parallel to the travel surface than in Figure 1 . In the Figure 3 are in contrast to Figure 2 Radar sensors are used whose sensitive range is wider than the sensitive range of the radar sensors from Figure 2 . In the Figure 4A system is shown with a mobile unit 1 movable on a travel surface, wherein a load 40 is mounted on the mobile unit and is movable along with it, and which detects the stationary attachments 41 mounted on the ceiling by means of radar sensors. In the Figure 5 A group of regularly arranged mobile units 1 is provided, whose radar sensors, located on both sides (i.e., at the front and rear in the direction of travel), not only enable the maintenance of a predetermined distance but also provide a bidirectional data transmission channel between the mobile units 1. In the Figure 6 is different from Figure 5 Each handset 1 is equipped with only one radar sensor on its front side in the direction of travel and with a [missing information] in the Figure 6The receiver unit (not shown) is located on the rear side in the direction of travel, thus enabling the maintenance of a specified distance, but only a unidirectional data transmission channel is provided. In the Figure 7 are different from Figure 5 Radar sensors with a narrower sensitive range are used. In the Figure 8 are different from Figure 6 Radar sensors with a narrower sensitive range are used. In the Figure 9 Mobile units (91, 92, 93) are shown which can be moved on roadways, enabling an overtaking maneuver.

[0030] As in Figure 1 As shown, the mobile unit 1 has movable wheels and a steering unit powered by an electric motor and is therefore movable on the travel surface in a system.

[0031] The structure also features a ceiling and, if applicable, walls.

[0032] Attachments 41, in particular objects, are arranged on the ceiling such that they can be detected by a handset 1 using a radar sensor mounted on the handset 1. Thus, the distance, relative velocity, and angle of each object relative to the handset 1 can be determined.

[0033] A map can be generated from this measurement data, which indicates the location of the objects. During movement through the system, numerous such measurements are taken, resulting in a correspondingly large amount of data being processed.

[0034] Examples of objects include not only ceiling-mounted light sources, lamps or the like, but also support rails, skylights, ventilation devices and / or heating devices.

[0035] The base of the system is made of concrete. Steel reinforcing bars are embedded in the ground. An additional radar sensor located on the underside of mobile unit 1 allows the positions of these reinforcing bars to be determined through the concrete. These positional measurements are also taken into account when creating the map.

[0036] The reinforcing bars are arranged in a regular grid, meaning they are regularly spaced apart from each other.

[0037] The measurement data determined by the first radar sensor in conjunction with the attachments on the ceiling and the measurement data determined by the second radar sensor in conjunction with the reinforcing bars thus form the basis for creating a map of stationary objects and reinforcing bars as well as, if applicable, metallic parts located in the ground material.

[0038] The handset 1 has at least one additional radar sensor, which is located on the side wall of the handset 1, i.e. on the side of the handset 1.

[0039] This means that dynamic objects, i.e., objects that can be moved within the system, are also detectable. In particular, the distance to a mobile unit moving ahead can be determined, and thus the drive of the mobile unit can be controlled in such a way that the detected distance is regulated to a target value.

[0040] In this way, convoy transport is possible. A group of mobile units (1) moves in an arrangement with regular spacing between them. Thus, a single load, for example, an extra-long load, can be transported together by the group.

[0041] Instead of one in Figure 1In addition to the illustrated handset 1 with a radar sensor arranged on the side wall of the handset 1, which has a wide sensitive area, several radar sensors can also be arranged on the side wall of the handset 1, each having a narrower sensitive area, as shown in Figure 2 or in Figure 3 shown. The sensitive areas of the radar sensors overlap. Figure 2 , but not those of Figure 3 .

[0042] When displaying the sensitive areas, only the area within which clear object detection is possible is shown. At excessive distances and lateral angles, detection is not sufficiently reliable.

[0043] As in Figure 4As shown, for the detection of the objects 41 arranged on the ceiling, the radar sensor on the mobile unit 41 is positioned in such a way that detection is possible even when transport goods 40 are picked up.

[0044] As in Figure 5 As shown, in this embodiment, the handsets 1 are equipped with a radar sensor on the front side (in the direction of travel) and with another radar sensor on the rear side. Thus, when driving in a convoy, not only can the distance to the handset 1 in front be maintained, but information from the first handset 1 in the group can also be transmitted via the communication channel created by the radar sensors.

[0045] Thus, the radar sensors function not only as sensors for determining the relative distance, relative speed and angle of an object in the system, but also as transmitters and / or receivers of data.

[0046] It is advantageous that the values ​​of the quantities assigned to a detected object, such as relative distance, relative speed and angle of an object, which are captured by the radar sensor(s) of one of the mobile units 1 of the group, are transmitted to another mobile unit 1 or to other mobile units 1, so that these objects can also be added to their map.

[0047] Due to the bidirectional design of the communication channel, the data can be transmitted to all handsets 1 to which there is a line of sight, or at least to the handsets 1 of the group.

[0048] As in Figure 6 As shown, a unidirectional data transmission channel can also be used instead of a bidirectional one. This allows for cost-effective and easy-to-implement data transmission. The leading handset 1 has a receiver unit on its rear.

[0049] As in Figure 5 and 6As shown, radar sensors with a wide sensitive range are used there, so that the angle of the object can be detected.

[0050] As in Figure 7 As shown, angle determination is advantageous but not necessary when using radar sensors with a narrower sensitive range.

[0051] If one of the handsets 1 deviates slightly from its target position, the deviation from the target position can be determined for the following handset by measuring the angle, and thus the steering angle of the following handset 1 can be controlled accordingly, so that the following handset 1 follows the one in front.

[0052] If, however, handset 1 deviates significantly, the radar sensor of the following handset 1 loses the radar signal from the leading handset 1. As soon as this loss occurs, the following handset 1 executes a serpentine maneuver to regain signal contact. During this maneuver, the control unit of handset 1 predefines a specific steering angle over time, whereby the steering angle initially increases from a starting value and then decreases, eventually falling below the starting value. Preferably, a sawtooth, triangular, or sinusoidal curve is used. The advantage of the sawtooth curve is very rapid detection of the radar sensor acting as the transmitter; the advantage of the triangular curve is reliable detection; and the advantage of the sinusoidal curve is a reduction in the risk of handset 1 tipping over.

[0053] Even when executed according to Figure 8 Is such a re-establishment of the data exchange connection feasible, whereby the mobile unit 1, acting as receiver, performs the meandering journey after losing reception of the radar signal?

[0054] As in Figure 9 As shown, an overtaking maneuver is also possible. In the Figure 9 The example shown drives MHandset 92 is positioned ahead of handset 91 in the direction of travel, i.e., from left to right. Handset 93, approaching in the opposite lane, is detected by handset 92, and the detected values ​​for distance, angle, and relative speed to handset 92 are transmitted to handset 91. This enables the control unit of handset 91 to decide whether or not to initiate an overtaking maneuver. In doing so, handset 91 also considers the relative distance and relative speed to handset 92. Preferably, the control unit calculates the distance and time required for the overtaking maneuver and then checks whether a collision with handset 93 could occur, taking its speed and position into account.The speed is determined from the recorded values ​​of the relative speed of handset 92 relative to handset 91 and the relative speed of handset 93 relative to handset 92.

[0055] Preferably, the handset 93 also transmits its target speed profile specified for the future, so that this can be used as the basis for collision detection.

[0056] The radar sensors of the handsets (91, 92, 93) have such wide sensitive areas that handset 92 is able to detect handset 93. It is therefore important that the sensitive area of ​​the radar sensor of handset 92, in particular the vertical projection of this area onto the travel surface, overlaps with the second lane. In this way, not only is detection of handset 93 possible, but also data transmission between handsets 92 and 93.

[0057] The control unit of the following handset 91 is therefore aware not only of those objects which are detected by its own radar sensors, but also of stationary or moving objects which are detected by the preceding handset 92 as well as further information which is transmitted by another handset 93.

[0058] In further embodiments of the invention, each transport item picked up by a mobile unit (91, 92, 93) is assigned a priority. Depending on the priority, the overtaking process is either enabled or not.

[0059] Therefore, if the priority of the load picked up by handset 93 is higher than the priority of the load picked up by handset 91, handset 93 remains stationary and handset 91 initiates the overtaking maneuver, provided there is sufficient space to perform this maneuver. For this purpose, the collision check described above is executed for the planned path.

[0060] In this context, reinforcement refers to the structural steel reinforcement of a concrete floor. Specifically, this reinforcement consists of steel elements arranged within the concrete, at least partially spaced apart from one another.

[0061] In further embodiments of the invention, a means for synchronizing the detections of the radar sensors, in particular all of them, is arranged on each of the handsets and is especially encompassed by the control unit. Thus, for every position detected by the first radar sensor, the relative positions of the objects, as detected by the other radar sensors and referenced to the handset, can be determined. The accuracy of the map is therefore improved. Even though the radar sensors continuously provide measured values, according to the invention, the synchronization means only captures and processes the measured values ​​from all radar sensors simultaneously at the synchronization times specified by the synchronization means, in particular for generating the map.Preferably, the position-valued output signal of each radar sensor is fed to a respective sample-hold circuit, in particular a sample-hold element, the output of which is fed to a respective input of a multiplexer, the output of which is fed to an analog-to-digital converter. Thus, despite synchronous measurement acquisition, a time-series measurement determination is possible, which is particularly cost-effective. The measured values ​​determined in this way are then used to determine the map. Reference symbol list

[0062] 1 handset 40 load, transported goods 41 stationary attachments 91 first handset 92 first handset

Claims

1. System comprising a facility and a mobile component (1), wherein the mobile component (1) is movable on a travel surface, wherein the travel surface is a surface region of a floor of the facility, wherein a reinforcement is arranged in the floor, wherein the mobile component (1) has a controller and radar sensors electrically connected to the controller, wherein a first radar sensor is suitably configured for detecting objects arranged above the mobile component (1), in particular objects immovably arranged on the ceiling of the facility, and is arranged on the mobile component (1), wherein a second radar sensor is suitably configured for detecting the system reinforcement arranged in the floor, i.e. in particular the structural-steel reinforcement of a concrete floor, and is arranged on the mobile component (1), wherein the reinforcement is enclosed by concrete material, wherein the reinforcement is composed of bars that are arranged in a plurality of planes arranged in parallel with one another, wherein the planes are oriented in parallel with the travel surface on which the mobile component (1) is movable, wherein a third radar sensor is suitably configured for detecting objects arranged in the facility, in particular on the travel surface and / or at least in the spatial region with which the mobile component (1) can come into contact in order for the mobile component (1) to move on the travel surface, and is arranged on the mobile component (1), wherein a means for synchronising the detections of the radar sensors, in particular of all the radar sensors, is arranged on the mobile component (1), the controller in particular comprising said means, wherein the third radar sensor not only is suitably configured for detecting objects but also acts as a data transceiver, wherein the system has a further mobile component (1) and a further radar sensor, wherein the controller also takes into account objects detected by the further radar sensor arranged on the further mobile component (1).

2. System according to claim 1, characterised in that the controller is suitably configured such that a map of the facility, in particular of the travel surface of the facility, is created from the objects detected by the radar sensors.

3. System according to at least one of the preceding claims, characterised in that< / b> the data either are modulated onto the radar radiation emitted or received by the third radar sensor or are emitted or received using the time-division multiple access method, in particular wherein, in the time-division multiple access method, in time intervals, objects are not detected but data are transmitted by means of the radar radiation, and / or wherein, in the time-division multiple access method, data are transmitted and distances acquired in an alternating manner over time.

4. System according to at least one of the preceding claims, characterised in that when creating the map and / or when performing collision testing for a planned sequence of movements, the controller also takes into account objects detected by the further radar sensor arranged on the further mobile component (1).

5. System according to at least one of the preceding claims, characterised in that when one of the radar sensors detects an object, the distance to the object, the velocity of the object and / or the angle of the object are acquired, in particular relative to the radar sensor in question.

6. Method for operating a system according to at least one of the preceding claims comprising two further mobile components (1) that are structurally identical to the mobile component (1), in a first method step, in a first lane, a first of the mobile components (1) either travels or is arranged behind a second of the mobile components (1), wherein the values, detected by the third radar sensor of the second mobile component (1), of the distance to a third of the mobile components (1) from the second mobile component (1), of the velocity of the third mobile component (1) in relation to the second mobile component (1) and of the angle of the third mobile component (1) in relation to the second mobile component (1), measured relative to the travel direction of the second mobile component (1), are communicated to the first mobile component (1), wherein, in a second method step, the values are used to perform collision testing for an intended overtaking operation for the first mobile component (1) to overtake the second mobile component (1), wherein the values, detected by the third radar sensor of the first mobile component (1), of the distance to the second mobile component (1) from the first mobile component (1), of the velocity of the second mobile component (1) in relation to the first mobile component (1) and of the angle of the second mobile component (1) in relation to the first mobile component (1), measured relative to the travel direction of the first mobile component (1), are also taken into account.

7. Method according to claim 6, characterised in that respective priorities are assigned to the items in transit that are received by the mobile components (1), wherein the overtaking operation is carried out only if the priority of the item in transit that is received by the first mobile component (1) is higher than the priority of the item in transit that is received by the second mobile component (1) and higher than the priority of the item in transit that is received by the third mobile component (1).