System and method for operating a system having at least one first and one second mobile unit

Description

[0001] The invention relates to a system and a method for operating a system with at least a first and a second mobile part.

[0002] It is well known that in intralogistics, mobile units such as driverless transport systems (AGVs) perform logistical tasks.

[0003] From the WO 2018 / 124713 A2 The closest prior art is a system and method for navigation.

[0004] The invention is therefore based on the object of developing a system in which simple and cost-effective communication can be established.

[0005] According to the invention, the object is achieved by the system according to the features specified in claim 1 and by the method according to the features specified in claim 11.

[0006] Important features of the invention in the system are that the system is designed with at least a first and a second mobile part, each of which is movable on a travel plane of a system, the first mobile part has corner modules at its outer corner regions, wherein the second mobile part also has corner modules at its outer corner regions, wherein each corner module has an electronic circuit including such transmitters and such receivers that modulated light can be emitted by means of the transmitters and modulated light can be detected and demodulated by means of the receivers, wherein the receivers have different sensitivity to light from different spatial directions, in particular wherein the receivers of the respective corner module are arranged in a plane related to this respective corner module.

[0007] The advantage here is that simple and cost-effective communication is possible. This is because only a transmitter and receiver for light are required. Photosensitive semiconductors can be used as receivers and light-emitting sources such as LEDs. These components are cost-effective and can be used for high data transmission rates. Thus, by transmitting data from a corner module of a first handset to a corner module of a second handset and subsequently forwarding the data from the corner module of the second handset to a corner module of a third handset, data can be transmitted between the first and third handset even if there is no line of sight between the first and third handset. For example, handsets located in an aisle of a warehouse can also be supplied with data.

[0008] In an advantageous embodiment, the transmitters of a respective corner module are arranged and / or equipped on a circuit board which is attached to a cover part of the respective corner module, A mirror attached to the cover part of the respective corner module deflects the light emitted by the transmitters, in particular, the circuit board being aligned parallel to the travel plane, in particular, the mirror comprising a portion of a rotational body whose rotational symmetry axis is aligned parallel to the normal direction of the circuit board plane and / or intersects the circuit board perpendicularly. The advantage here is that a circuit board can be arranged parallel to the cover part and the base plate in a space-saving manner, and the light can be easily deflected by means of a mirror.

[0009] In an advantageous embodiment, a first set of corner modules of a respective handset is arranged at the corners of an imaginary rectangle in a first plane that has a first clearance from the floor. This advantageously allows for the configuration of a first communication plane in the system.

[0010] In an advantageous embodiment, the receivers of a respective corner module are accommodated in a boundary part, in particular in a respective recess of a boundary part of the respective corner module, such that the sensitive area of the respective receiver of a respective corner module covers an angular range of less than 60° in a plane parallel to the travel plane. It is advantageous that the receivers are accommodated in such a way that they detect different spatial directions with different strengths. Thus, when a transmitter is detected, one of the receivers with the highest signal strength can be used, so that a corresponding data transmission channel can be established. The other receivers can then be used for other data transmission channels, i.e., for transmitting data from other transmitters. This makes it possible to form groups that can transmit data independently of one another simultaneously using the same medium.

[0011] In an advantageous embodiment, the sensitive area of the respective sensor, i.e., the total sensitive area of all receivers of a respective corner module combined, covers an angular range of more than 180° in a plane parallel to the travel plane. This is advantageous because the largest possible angular range can be covered; in particular, 360-degree monitoring can be achieved by overlapping with the sensitive area of other corner modules.

[0012] In an advantageous embodiment, the area irradiated with light by the transmitters of the respective corner module covers an angular range of more than 180° in a plane parallel to the travel plane. The advantage here is that the largest possible angular range can be covered.

[0013] In an advantageous embodiment, second corner modules of the respective handset are arranged at the corners of an imaginary rectangle in a second plane, which has a second, different clearance from the floor than the first. This is advantageous because it allows for the creation of an additional communication level within the system.

[0014] In an advantageous embodiment, the respective corner module has a housing part that is transparent to light, in particular a Plexiglas part, wherein the housing part has a first flat region, to which a curved region adjoins a second flat region, wherein the housing part is designed in one piece, wherein a holding means is arranged on a base plate of the respective corner module in such a way that a camera can be or is attached to the holding means, in particular wherein the camera records images through the first or through the second region. The advantage here is that no distortion of the images is caused by the Plexiglas pane. Furthermore, the installation of the camera is optional. This means that the corner modules can also be operated without a camera. In any case, however, the holding means are present. Preferably, a threaded bushing part or screw nut part welded to the base plate is used as the holding means, into which a holding plate can be attached with a screw, to which the camera can be attached.

[0015] In an advantageous embodiment, the mechanical interface has a hole pattern and a centering collar, and / or the mechanical interface is defined by a hole pattern, an electrical connector, and a centering collar. An advantage here is that the corner modules are interchangeable. This allows one corner module to be exchanged for another during maintenance. All corner modules are identical in design. Thus, only a single type of corner module needs to be kept in stock for replacement.

[0016] In an advantageous embodiment, the sensitive area of the respective sensor covers an angular range of more than 180° in a plane parallel to the travel plane.

[0017] The advantage here is that a corner module of a first handset can establish a communication connection with several corner modules of another handset

[0018] In an advantageous embodiment, the area irradiated with light by the transmitter covers an angular range of more than 180° in a plane parallel to the travel plane. This is advantageous because several corner modules of other handsets can be irradiated with light from one corner module of a handset. This enables MP2MP communication.

[0019] In an advantageous embodiment, the corner modules of each mobile unit are arranged at the corners of an imaginary rectangle. This advantageously allows the area of the travel plane surrounding the mobile unit to be irradiated by at least two corner modules, in particular by the transmitters of at least two corner modules. Likewise, light from one of the corner modules of the other mobile units can be received by the receivers of at least two corner modules of the mobile unit.

[0020] Important features of the method for operating a system are that the system has several mobile units that can be moved on a travel surface, in particular a travel plane, of a system, which have corner modules at outer corner areas, wherein each of the corner modules has at least one transmitter for light and one receiver for light, wherein a multipoint-to-multipoint communication, in particular MP2MP, in particular a multipoint-to-multipoint connection, is established between the corner modules of the mobile parts, in particular wherein the mobile parts, in particular the corner modules of the mobile part, are participants in a mesh network.

[0021] The advantage of this is that simple and cost-effective communication is possible. In particular, communication is also possible between two handsets that are not within line of sight, with intermediate handsets acting as data relays.

[0022] In an advantageous embodiment, data transmission within a first group of corner modules occurs simultaneously, in particular in parallel, and independently of data transmission within a second group of corner modules, in particular in both groups using the same light and the same modulation frequency. This is advantageous because a higher data transmission rate can be achieved in the same channel using the same medium.

[0023] Further advantages arise from the dependent claims. Further sensible combination possibilities of claims and / or individual claim features and / or features of the description and / or the figures will become apparent to the person skilled in the art, particularly from the problem and / or the problem posed by comparison with the prior art.

[0024] The invention will now be explained in more detail using schematic illustrations: In the Figure 1A system according to the invention with mobile units (1, 2) comprising corner modules is schematically sketched. Figure 2 A corner module with a transparent housing part 20, in particular a Plexiglas part, and with a cover part 21 is shown in an oblique view. Figure 3 is in contrast to Figure 2 the transparent housing part 20 and the cover part 21 are hidden

[0025] The mobile units 1 and 2 are movable on a travel surface of the system. Each of the mobile units (1, 2) has a respective steering unit and a respective electric motor drive, so that the controller controls the drive according to a travel task intended for the mobile unit (1, 2).

[0026] The handsets 1 and 2 are preferably of the same design.

[0027] Each of the mobile units 1 and 2 has a corner module (3) at its four outer corners, each of which has at least one transmitter from which light can be emitted and at least one receiver from which light can be detected.

[0028] The angular range that can be irradiated by the transmitter covers an angular range of more than 180° in a plane parallel to the travel surface.

[0029] Since the corner modules are arranged at the four outer corners and are thus rotated by 90° or an integer multiple of 90°, the entire angular range around the respective handset (1, 2) is even covered in an overlapping manner.

[0030] In this way, MP2MP communication is possible, i.e. multipoint-to-multipoint communication. From a first corner module 3 of a first handset 1, as shown in Figure 1shown - a communication connection to several corner modules 3 of one or more second mobile parts 2. Likewise, a communication connection to one or more corner modules 3 of the first mobile part 1 can be established from a corner module of a second mobile part 2.

[0031] A data telegram can thus be transmitted from a first handset 1 to a second handset 2, which then transmits this data telegram to another second handset 2. A respective handset (1, 2) can thus be used as a transmitter.

[0032] Thus, data telegrams can be transmitted across multiple handsets 1, 2.

[0033] In this way, data can even be transmitted around an obstacle if the obstacle blocks a direct light beam. This is particularly advantageous when a first mobile unit 1 is located in one aisle of a storage bay and the second mobile unit 2 is located in another aisle of the storage bay. Thus, a second or more second mobile units 2 can be used as a transmitter, allowing the data telegrams to be routed around one or more corners.

[0034] Light is used as the medium for the data transmission according to the invention. Unlike radio waves, such as those used in WLAN communication, a transmitter in one corner module does not reach all the receivers in all the corner modules, even if the distance between the mobile units or corner modules is sufficiently small.

[0035] According to the invention, groups of corner modules are formed that transmit data independently of one another simultaneously within the respective group using the same medium. For example, a group consists of two corner modules.

[0036] As in Figure 2 and 3 As shown, each corner module has several, in particular four, receivers whose sensitivity varies for different spatial directions.

[0037] When establishing a data connection, a transmitter first sends a signal, and then a corner module determines the receiver that receives the strongest signal. This receiver establishes a data transmission channel to the transmitter. This allows data to be transmitted simultaneously and independently within each of the groups—i.e., within the data transmission channels constructed in this way—using the same medium and at the same frequency. Each of these groups could also be referred to as a network.

[0038] In particular, the corner modules of the groups are always located closer to each other than the maximum range of one of the transmitters in a single direction. Therefore, if line of sight were maintained, data transmission between all corner modules would be possible.

[0039] The corner modules are always attached to the mobile part (1, 2) in a uniform manner, i.e., with a defined mechanical interface. For this purpose, a drilling pattern is preferably applied in a plane that encompasses a respective corner surface of the mobile part (1, 2). Preferably, the mechanical interface also has a centering means, such as a centering collar or the like, formed on the respective corner surface of the mobile part (1, 2).

[0040] By means of the mechanical interface being designed in the same way at all corner areas of all modules (1, 2), it is possible to exchange all corner modules (1, 2) for each other.

[0041] Each of the corner modules (1, 2) has not only the respective transmitter and receiver mentioned, but also an electronic circuit connected thereto, which is in particular also mounted on a printed circuit board together with the transmitter and receiver.

[0042] Each of the corner modules (1, 2) is connected to the handset by means of an electrical plug connection, so that the electronic circuit including transmitter and receiver are electrically supplied and a data bus for data exchange between the handset control and the electronic circuit including transmitter and receiver can be passed through the mechanical interfaces.

[0043] In further embodiments according to the invention, first corner modules are arranged in a first plane parallel to the travel plane. Thus, the floor clearance of these

[0044] Corner modules are constant and have a first value. Likewise, second corner modules are arranged in a second plane parallel to the travel plane. Thus, the floor clearance of these second corner modules is constant and has a second value. In this way, data transmission can be carried out in mutually independent groups not only within the first plane, but also within the second plane spaced apart from it.

[0045] Preferably, a handset has 8 corner modules, as it is essentially cuboid-shaped.

[0046] As in Figure 2 As shown, the corner module has a base plate with a side area 38 formed on the tab area 37. A supply line and a data line can also be routed into the side area.

[0047] A printed circuit board 40 is attached to the base plate, which has lighting means 36, in particular LEDs for status display, on its underside facing the base plate, i.e. between the printed circuit board 40 and the base plate.

[0048] Four receivers 30, in particular phototransistors, are arranged on a further circuit board 32 electrically connected to the circuit board 40. These receivers 30 are separated from each other by a limiting part 31 for accommodating the receivers 30 and can only detect a solid angle predetermined by the limiting part 31. Thus, the receivers 30 have different sensitivity for different spatial directions.

[0049] The light-transparent housing part 20, in particular a Plexiglas part, is made in one piece and has a first flat area, to which a curved area adjoins, which adjoins a further flat area.

[0050] In the interior area, a camera 35 can be arranged behind each flat area so that the position of the handset can be determined by analyzing the images taken by the cameras 35.

[0051] For fastening the respective camera 35, holding means 34 are attached to the base plate; even if no camera 35 is attached, it is possible to fasten the camera using the holding means 34.

[0052] A third circuit board is attached to the inside of the cover part 21. It houses light sources such as LEDs, which function as light transmitters for data transmission, thus enabling MP2MP communication. By means of a mirror 33 attached to the cover part 21, the light from the transmitters is redirected into the first plane, i.e., into a light beam or light cone aligned substantially approximately parallel to the travel plane.

[0053] The mirror 33 is designed as a part of a concave rotation body.

[0054] In further embodiments of the invention, one or more corner modules (1, 2) are also arranged stationary at one or more positions within the system. This also enables data exchange with a central controller, with this central controller of the system being connected to the stationary corner module(s) for data exchange. List of reference symbols

[0055] 1 Handset 2 Handset 3 Corner module 20 Transparent housing part, in particular Plexiglas part 21 Cover part 30 Receiver, in particular phototransistor 31 Limiting part for holding the receiver 32 Circuit board 33 Mirror 34 Holding means 35 Camera 36 Light source, in particular LED for status display 37 Tab area of the base plate of the housing part 38 Side wall 39 Cable gland

Claims

1. System comprising at least a first and a second mobile component, each of which can travel on a travel plane of a facility, the first mobile component having corner modules on its outer corner regions, the second mobile component likewise having corner modules on its outer corner regions, characterised in that each corner module each has such an electronic circuit, together with such transmitters and such receivers, that modulated light can be emitted by means of the transmitters, and modulated light can be detected and demodulated by means of the receivers, the receivers having different degrees of sensitivity to light from different spatial directions.

2. System according to claim 1, characterised in that the transmitters of each corner module are arranged and / or fitted on a circuit board that is fastened to a cover part of each corner module, a mirror fastened to the cover part of each corner module deflecting the light radiated by the transmitters, the circuit board in particular being oriented in parallel with the travel plane, the mirror in particular having a portion of a solid of revolution, the axis of rotational symmetry of which is oriented in parallel with the normal direction of the circuit board plane and / or intersects the circuit board perpendicularly.

3. System according to at least one of the preceding claims, characterised in that a first set of the corner modules of each mobile component is arranged at the corners of an imaginary rectangle in a first plane that has a first ground clearance.

4. System according to at least one of the preceding claims, characterised in that an electromechanical interface is provided in each of the outer corner regions of each mobile component such that each corner module can be replaced by another of the corner modules, the interface comprising a mechanical interface and an electrical plug connection.

5. System according to at least one of the preceding claims, characterised in that the mechanical interface has a drilling pattern and a centring collar and / or in that the mechanical interface is defined by means of a drilling pattern, an electrical plug connection and a centring collar.

6. System according to at least one of the preceding claims, characterised in that the receivers of each corner module are received in a restricting part, in particular each in a respective recess in a restricting part of each corner module, in such a way that the sensitive region of each receiver of each corner module covers an angular range of less than 60° in a plane that is parallel to the travel plane.

7. System according to at least one of the preceding claims, characterised in that the sensitive region of each sensor, i.e. the entire sensitive region of all the receivers of each corner module together, covers an angular range of more than 180° in a plane that is parallel to the travel plane.

8. System according to at least one of the preceding claims, characterised in that the region that can be irradiated with light by the transmitters of each corner module covers an angular range of more than 180° in a plane that is parallel to the travel plane.

9. System according to at least one of the preceding claims, characterised in that second corner modules of each mobile component are arranged at the corners of an imaginary rectangle in a second plane that has a second ground clearance different from the first ground clearance.

10. System according to at least one of the preceding claims, characterised in that each corner module has a housing part that is transparent to light, in particular a Plexiglass part, the housing part having a first planar region which is adjoined by a curved region which adjoins a second planar region, the housing part being configured in one piece, a retaining means being arranged on a base plate of each corner module in such a way that a camera can be fastened or is fastened to the retaining means, the camera in particular taking images through the first region or through the second region.

11. Method for operating a system, the system having a plurality of mobile components which can travel on a travel surface, in particular a travel plane, of a facility and which have corner modules on outer corner regions, each of the corner modules having at least one transmitter for light and one receiver for light, characterised in that the receivers have different degrees of sensitivity to light from different spatial directions, multipoint-to-multipoint communication being established between the corner modules of the mobile components through optical communication by means of the transmitters and receivers of the corner modules, the mobile components in particular being subscribers of a mesh network.

12. Method according to claim 11, characterised in that the data transmission within a first group of corner modules takes place simultaneously with, in particular concurrently with, and independently of the data transmission within a second group of corner modules, in particular using the same light and the same modulation frequency in both groups.