METHOD AND DEVICE FOR GUIDING A VEHICLE WITH GROUND MARKINGS

Description

[0001] The invention relates to a method for guiding a vehicle on a surface, wherein the vehicle is guided along a predeterminable route by means of a code arrangement which is arranged at least in sections on the surface and has one or more codes, and / or wherein the vehicle is guided by means of a strip-shaped marking which is arranged at least in sections on the surface and has one or more tracks, and by means of a detector which is designed to recognize the code arrangement and / or the strip-shaped marking and is assigned to the vehicle, wherein guidance of the vehicle by means of the code arrangement and / or guidance of the vehicle by means of the strip-shaped marking is activated or deactivated by a control device as a function of at least one predeterminable parameter.

[0002] Furthermore, the present invention relates to a device for guiding a vehicle on a surface, in particular for carrying out the method according to one of claims 1 to 11, wherein the vehicle can be guided along a predeterminable route by means of a code arrangement which is arranged at least in sections on the surface and has one or more codes, and / or wherein the vehicle can be guided by means of a strip-shaped marking which is arranged at least in sections on the surface and has one or more tracks, and by means of a detector which is designed to recognize the code arrangement and / or the marking and is assigned to the vehicle, wherein guidance of the vehicle by means of the code arrangement and / or by means of the strip-shaped marking can be activated or deactivated by a control device as a function of at least one predeterminable parameter.

[0003] Methods and devices of the type mentioned above, in which a vehicle is guided along a surface, are known in practice and exist in various designs. Such vehicles are used, for example, as driverless transport systems (AGVs) in many areas of modern production, such as the automotive industry, which is characterized by a high degree of transformation and automation. A variety of AGVs perform various in-house transport tasks and thus make a decisive contribution to optimizing speed, safety, and cost-effectiveness in ongoing operations. Especially in the context of Industry 4.0, AGVs are experiencing a real hype and are helping not only automobile manufacturers to create lean, agile production facilities.

[0004] Furthermore, it is known to apply markings to a surface, for example, the floor of an industrial hall. The marking can be realized in the form of a colored track – even in black – that is detected by a suitable detector and used to guide the vehicle. Corresponding known systems work with such contrasting tracks. A light background with a black track is common. However, this tracking is often indistinguishable from a "false track," which can be formed, for example, by an identically looking, narrow, dark skid mark on a light background or surface. Such "false tracks" can also be formed by grooves or expansion joints in which dirt has accumulated. In an unfavorable case, the detector recognizes this as the correct track and guides a vehicle in the wrong direction.As a result, the familiar guidance of a vehicle on a surface is error-prone and unreliable.

[0005] Furthermore, it is known to determine positions using code tapes, where such code tapes have several codes arranged one after the other, for example data matrix codes. It requires a relatively high level of effort to protect such code tapes from wear. Therefore, in heavily used areas or in areas where absolute position determination is not required, strip-shaped markings with tracks or colored tracks are often used to ensure vehicle guidance. For this purpose, an additional detector, such as a color-sensitive read head, must usually be implemented in the vehicle. A detector, such as a monochrome read head, is sufficient to detect the codes. To such a monochrome detector, different colors of colored tracks often appear identical because they are detected in the same grayscale.

[0006] From WO 2013 / 177163 A1 a method and a device for guiding a vehicle on a surface with all features of the preambles of claims 1 and 12 are known.

[0007] Furthermore, methods and devices for guiding a vehicle on a surface are also known from DE 10 2017 006 630 A1, US 8 078 349 B1, US 2006 / 064212 A1 and EP 3 153 940 A1.

[0008] The object of the present invention is to provide a method and a device for guiding a vehicle on a surface, according to which a particularly safe and flexible guidance of a vehicle on a surface is made possible with structurally simple means.

[0009] According to the invention, the above object is achieved by a method having the features of claim 1 and by a device having the features of claim 12.

[0010] According to this, the method according to claim 1 is designed and developed in such a way that the control device deactivates the recognition of the code arrangement if the vehicle is guided by means of the strip-shaped marking, and that the control device activates the recognition of the code arrangement as soon as no continuous strip-shaped marking or no strip-shaped marking is detected at least in a definable partial area of ​​a reading window of the detector.

[0011] Furthermore, according to claim 12, the device for guiding a vehicle on a surface is designed and developed in such a way that the recognition of the code arrangement can be deactivated by the control device if the vehicle is guided by means of the strip-shaped marking, and that the recognition of the code arrangement can be activated by the control device as soon as no continuous strip-shaped marking or no strip-shaped marking is detected at least in a definable partial area of ​​a reading window of the detector.

[0012] According to the invention, it has been recognized that the above object is achieved in a surprisingly simple manner through suitable use of the available guidance technology of a vehicle. For this purpose, guidance of the vehicle is activated or deactivated by means of the code arrangement and / or by means of the strip-shaped marking by a control device, with this activation or deactivation process taking place as a function of at least one predeterminable parameter. Different environmental conditions, for example climatic conditions or load conditions leading to wear on the ground, can thus lead to different uses of guidance by means of the code arrangement on the one hand and guidance by means of the strip-shaped marking on the other. The code arrangement and the strip-shaped marking can also be used together to guide the vehicle.The control device can thus flexibly activate or deactivate the type of vehicle guidance depending on the at least one predeterminable parameter, even if the predeterminable parameter changes. It is possible to alternate between guiding the vehicle using the code arrangement or using the striped marking, adapting it to virtually any situation. This enables absolute positioning and navigation of the vehicle in a flexible manner.

[0013] According to the invention, the control device deactivates the recognition of the code arrangement if the vehicle is guided using the striped marking. This saves performance and thus increases the reliability of the device.

[0014] Furthermore, according to the invention, the control device activates the recognition of the code arrangement as soon as no continuous strip-shaped marking or no strip-shaped marking is detected at least in a definable partial area of ​​a reading window of the detector. This ensures particularly safe operation of the method and device, since safe guidance of the vehicle is continuously ensured, in particular through a quasi-automatic switchover from guidance of the vehicle by means of strip-shaped marking to guidance of the vehicle by means of a code arrangement. The function of guiding the vehicle by means of strip-shaped marking can remain active in order to quickly switch back from guidance by means of code arrangements to guidance by means of strip-shaped marking if necessary.

[0015] Consequently, the method and device according to the invention provide a method and device which enable particularly safe and flexible guidance of a vehicle on a surface using structurally simple means.

[0016] To enable particularly flexible vehicle guidance, the control unit can prioritize the recognition of the code arrangement over the recognition of the striped marking, or vice versa. Prioritizing the recognition of the code arrangement leads to particularly reliable positioning of the vehicle. Codes therefore always have priority here. In this case, and also in principle, the recognition of the striped marking can be switched off when a code or code arrangement is recognized. This means that the full performance of the detector can be used to recognize the codes or code arrangement, even under difficult external conditions such as contamination. Prioritizing the striped marking can be selected as an alternative, depending on the situation, in order to save performance of the detector or a reading head.The predeterminable parameter can thus be realized by choosing the prioritization.

[0017] For particularly safe vehicle guidance, the control device can activate the detector's recognition of the striped marking as soon as the detector no longer detects a code. For example, if a code arrangement becomes dirty or damaged, or if a code is worn, this can ensure safe vehicle guidance, with a quasi-automatic switchover from guidance using the code arrangement to guidance using the striped marking. The preset parameter can be determined by the detector's detection capability and / or sensitivity.

[0018] In a further embodiment, the control device can deactivate the detection of the striped marking as soon as the detector detects one or more codes. This feature can be particularly useful in a case where the vehicle is being guided using the striped marking, so that in turn, prioritization of guidance using the code arrangement can result.

[0019] With a view to particularly reliable and safe guidance of a vehicle, an image area or detection area of ​​the detector for one or more codes can be limited - preferably while the vehicle is being guided using the striped marking - to an end area of ​​the striped marking or a front area of ​​a reading window of the detector - viewed in a direction of travel of the vehicle along the route. Such a limitation can save performance of the detector and / or an evaluation device of the detector, since the entire image area or detection area of ​​the detector or the entire reading window does not have to be ready for code recognition. This leads to less utilization of the hardware in the form of the detector and / or the evaluation device and thus overall to more reliable operation of the method or device.Limiting the detection to an end area of ​​the striped marking means that the detector does not examine the entire striped marking visible through the reading window for codes, but rather only the front end area of ​​the striped marking currently located in the detector's reading window, as seen in the direction of travel. This is because, when the vehicle is moving in the direction of travel, codes usually enter the reading window from the front (as seen in the direction of travel). However, if the performance of the detector and / or an evaluation device is sufficient, this limitation can be waived.

[0020] To ensure simple and safe vehicle control, the limitation can be implemented using the control device. The control device can also include at least part of an evaluation device, so that the number of components of a device for implementing the method can be kept as small as possible in a simple and cost-effective manner.

[0021] In a further embodiment, alternative or additional codes can be arranged to the side of a strip-shaped marking. Such codes are often referred to as control codes. In such a case, the control device can activate the detection of codes by the detector only in a left and / or right area of ​​a reading window of the detector - viewed in the direction of travel of the vehicle along the route - depending on whether such codes are realized to the left and / or right of the strip-shaped marking. By limiting the reading window to a left and / or right area, performance of the detector and / or an evaluation device can be saved in order to avoid fully utilizing or overloading this hardware during operation.

[0022] In a further embodiment, in order to detect the marking on the ground, the code arrangement and / or the marking can be illuminated by means of an illumination device with a first illumination light and a second illumination light of different wavelengths and each with a predeterminable duration in a predeterminable sequence, wherein the wavelength of the first illumination light and the wavelength of the second illumination light can be selected such that the code arrangement and / or the marking is recognizable by the detector due to its definable remission spectrum when illuminated with the first illumination light with a brightness or darkness that differs from the brightness or darkness when illuminated with the second illumination light, and a corresponding detection result determined by the detector can be used to guide the vehicle along the route.This involves implementing an illumination system that illuminates the marking with a first illumination light and a second illumination light of different wavelengths and a predeterminable duration in a predeterminable sequence. Advantageously, the wavelength of the first illumination light and the wavelength of the second illumination light are selected such that, due to its definable reflectance spectrum for illumination light, the marking is recognizable by the detector when illuminated with the first illumination light with a brightness or darkness that differs from the brightness or darkness when illuminated with the second illumination light.The detector can detect whether the marking is illuminated with the first or second illumination light. When selecting the first and second illumination light, one aim may be to make the difference in brightness or darkness created by the change from the first illumination light to the second illumination light, or vice versa, as great as possible and, preferably, with as much contrast as possible. For a marking having a code with different color elements, one aim may therefore be to use one illumination light to display one color of the code as dark as possible and another color as bright as possible, or vice versa. It can behave complementarily with the other illumination light. The aim here may be to achieve the highest possible contrast between a dark and a light image under a particular illumination color or under a particular illumination light.This predeterminable illumination sequence with the first illumination light and the second illumination light generates a defined remission from the marking, which is received by the detector. The detector can use this detection result—for example, by means of a suitable control device or guidance device—to guide the vehicle along the route. It can compare the received detection result with the detection result communicated to it—for example, by the above-mentioned control device or guidance device or a suitable additional control device—and expected based on the defined remission. If the received detection result corresponds to the expected detection result, the vehicle is on or along the predeterminable, correct route and can be guided correctly along the predeterminable route.This allows the position of the detector or vehicle relative to the marking to be determined. If the received detection result does not correspond to the expected detection result, a correction to the guidance can be made—for example, using the above-mentioned control or guidance device—to bring the vehicle back onto the correct course along the predeterminable route. Ultimately, this allows for a clear identification or recognition of a marking or lane, with a distinction between "false markings" or "false lanes." This enables particularly safe guidance of a vehicle on a surface using simple structural means.

[0023] With regard to a particularly simple embodiment of the method, the marking can be recognizable by the detector due to its definable remission spectrum when illuminated with the first illumination light and not recognizable when illuminated with the second illumination light, or vice versa. This creates a particularly large difference for the detector when illuminated with the first illumination light and when illuminated with the second illumination light.

[0024] To ensure particularly reliable and safe vehicle guidance, the detection result can be used to determine whether the vehicle is still within a definable spatial or planar area around the code arrangement and / or the marking, or still within a definable distance from the code arrangement and / or marking. Such an area or distance can be defined wider or narrower depending on the specific application and the respective environmental conditions, for example, a spatial constraint. To minimize the risk of accidental deviation of the vehicle's movement from the predeterminable route and thus ensure the most precise guidance of the vehicle along the route, the area or distance can be selected to be relatively small.

[0025] In a particularly simple design, the detector can be equipped with a monochrome camera, which can capture one or more images of the striped marking at predefined times. Such a camera can also be used in a simple and economical way to detect and / or read codes arranged on the surface for position determination. In this respect, the detector's monochrome camera can perform a dual function, and it is cost-effective to eliminate the need to use two separate cameras for guidance and position determination.

[0026] To achieve particularly simple and safe guidance of the vehicle, the lighting device can be assigned to the vehicle, arranged on the vehicle, or integrated into the vehicle. This allows for a particularly compact device for guiding a vehicle without a lighting device that may be located at a considerable distance from the vehicle. In a further embodiment, however, the lighting device can also be implemented separately from the vehicle at a suitable position along the route.

[0027] Furthermore, with a view to a particularly compact and thus easy-to-handle device and method, the illumination device can be formed integrally with the detector or in a module with the detector. In this case, an integral illumination / detector head can be realized, which comprises both the illumination device and the detector. The detector can

[0028] To ensure particularly safe vehicle guidance, the marking can be designed in a simple manner as a stripe with one lane or one stripe or multiple lanes or stripes, with the stripe preferably extending parallel to the route. Alternatively, the stripe or the lanes or stripes can also extend transversely or diagonally to the direction of travel. Such stripe markings can usually be easily detected with a detector.

[0029] Particularly advantageously, the multiple tracks or stripes can have different remission spectra. This allows for a particularly individual and thus meaningful combination of illumination and remission to be created, ensuring particularly reliable identification of one or more markings, tracks, or stripes by the detector.

[0030] In a specific embodiment, when using three adjacent tracks or stripes, two tracks or stripes—preferably the two outer tracks or stripes—can exhibit the same remission spectrum. Using three adjacent tracks or stripes, a particularly high degree of independence from the color of the background or floor can be achieved, thus enabling particularly reliable identification of one or more markings, tracks, or stripes by the detector.

[0031] Furthermore, with a view to particularly reliable identification of one or more markings, tracks, or stripes, and thus with a view to particularly safe vehicle guidance, the detector can detect the number of individual tracks or stripes and / or the width of each individual track or stripe. This allows for particularly good discrimination against "false markings" or "false tracks or stripes," which often vary greatly in number and / or width, if the number and / or width of the individual tracks or stripes is known.

[0032] In a further advantageous manner, the marking can comprise individual code elements. This allows for an economical combination of markings for guidance and code elements for position determination. Such a combination is advantageous, for example, when space is limited on a surface.

[0033] In principle, the position of the vehicle and / or the detector can be determined relative to the marking, in particular to a lane or stripe. In this case, positioning or position determination based on the marking or based on a lane or stripe in the transverse direction - Y direction - to the lane direction or direction of travel - X direction - of the vehicle is advantageous. A Y position resulting from this can reliably enable navigation using the marking, in particular based on a lane or stripe. In principle, the aim of position determination is to reliably obtain a Y position, i.e. a position transverse to a lane or stripe, which does not change depending on the lighting or when the lighting changes.

[0034] To implement a particularly customized lighting scenario, the predefined sequence of the first and second illumination lights can be irregularly sequenced or alternate between the first and second illumination lights. This allows for particularly reliable identification of a marking and thus guidance of a vehicle.

[0035] In principle, there are different ways to implement illumination using the illumination device. In a specific embodiment, the first and / or second illumination light can be monochromatic or can have multiple wavelengths or a wavelength spectrum. This depends on the specific application. With monochromatic illumination light, particularly reliable and secure detection of markings by the detector is possible.

[0036] In a specific embodiment, the code may be a Data Matrix code or the codes may be Data Matrix codes. However, other types of codes are also possible depending on the application.

[0037] Advantageous aspects and properties of exemplary embodiments of the present invention: The detector used within the scope of the method and the device can comprise a camera system with a monochrome camera. A color camera is not required. This means that images are recorded in grayscale. In principle, this does not allow for unambiguous color recognition for vehicle guidance or lane tracking. Many, quite different colors are represented with the same gray values. Thus, additional features are used for lane tracking.

[0038] For example, two illumination colors or wavelengths can be used, which can be switched on and off alternately or in a predefined sequence and for a specific time period. This color or wavelength switching is used for marking or lane detection. The alternating illumination fades out or shows parts of the marking or the entire marking, resulting in different images when captured by the detector or camera depending on the illumination color or wavelength.A suitably selected detector or decoder within the detector, or a suitably selected evaluation device within the detector or camera, does not know which illumination color or wavelength has been selected for the marking by a security chip or corresponding control device, but can only derive this information from the image or image recording and the correspondingly read information. Thus, the detector, decoder, evaluation device, or camera essentially acts as a "black channel" between the secure information in a marking and a security chip or corresponding control device that performs the process or evaluation of security functions.

[0039] In embodiments of the present invention, for example, two colors of code elements or codes or bands or tracks can be used to define a multi-colored track band or a multi-colored marking or track. For this purpose, two or three colored bands or stripes can be applied next to each other on a substrate or floor. The changing illumination can then create a scene change depending on the illumination light or lighting, and the marking or track can thus be clearly identified. In this case, after an initial detection of the marking or track, the position of the marking or track can be determined with each recorded image or each individual detection process.

[0040] Embodiments of the present invention enable unambiguous detection of a marking or correct track through constantly changing images. "False tracks" are clearly filtered out, as they generally do not change significantly with the illumination color.

[0041] After a color change of the lighting by a higher-level safety chip, a lane can be clearly recognized and the vehicle can be navigated to the lane center via a Y deviation.

[0042] There are now various possibilities for advantageously embodying and developing the teaching of the present invention. Reference is made, on the one hand, to the dependent claims and, on the other hand, to the following explanation of preferred embodiments of the method according to the invention and the device according to the invention with reference to the drawing. In conjunction with the explanation of the preferred embodiments with reference to the drawing, generally preferred embodiments and developments of the teaching are also explained. The drawing shows: Fig. 1 is a schematic representation of an embodiment of a design of a single-stripe marking for use in the method according to the invention, Fig. 2 is a schematic representation of an embodiment of a design of a two-stripe marking for use in the method according to the invention, Fig. 3 is a schematic representation of the scene in the lower area of ​​the Fig. 2 , but here with a light background, Fig. 4 in a schematic representation of an embodiment of a design of a three-stripe marking for use in the method according to the invention, Fig. 5 in a schematic representation of the scene in the lower area of ​​the Fig. 4 , but here with a light background, Fig. 6 in a schematic representation of the entry of codes into a reading window of the detector and Fig. 7 in a schematic representation of the arrangement of control codes next to a strip-shaped marking.

[0043] Fig. 1 shows a schematic representation of an embodiment of a single-stripe marking for use in the method according to the invention, wherein in the left part of the Fig. 1 a reddish trace and alternatively in the right part of the Fig. 1 a blue trace are shown. In the lower part of the Fig. 1 shows how the perception of the respective tracks is represented by a detector with a monochrome camera when illuminated with red and blue light. When the reddish track is illuminated with red light, the detector perceives nothing. When the reddish track is illuminated with blue light, however, the detector perceives a dark stripe. For the blue track shown on the right, the detector perceives nothing when illuminated with blue light. When illuminated with red light, however, the detector perceives a dark stripe. The respective tracks or stripes extend along a predefined route to guide a vehicle.

[0044] When the illumination changes in an irregular sequence—alternating between red and blue illumination—the scene and the detector's perception change with each illumination change. This allows the mark or track to be clearly identified as a mark or track and distinguished from "false tracks" or "false tracks."

[0045] When using only one lane or lane color, the lane will be detected or not depending on the illumination color. Different suitable colors can be used, such as SIL colors like a code tape. When using other suitable colors, the detector's perception also varies depending on the illumination color.

[0046] Fig. 2 shows a schematic representation of an embodiment of a two-lane marking for use in the method according to the invention, whereby here a lane is realized with a combination of two adjacent individual stripes, which extends along the predeterminable route for guiding the vehicle. The left stripe is reddish and the right stripe is blue. Fig. 2 Furthermore, the perception of the track by a detector with a monochrome camera under different illumination conditions is shown, namely red illumination light on the one hand and blue illumination light on the other. With red illumination light, the blue stripe is perceived as a dark stripe, and with blue illumination light, the reddish stripe is perceived as a dark stripe by the detector.

[0047] In the lower part of the Fig. 2 The detector's perception of the track is shown, with the track positioned against a dark background. The track can be clearly identified by a "jump" in the detector's perception—from one stripe to the next—in a Y direction, caused by a change in illumination from red to blue. For unambiguous identification, it is useful to take several corresponding images beforehand with different illumination levels.

[0048] Fig. 3 shows in a schematic representation the scene as in the lower part of the Fig. 2 , but here with a bright background. Here, too, the track can be clearly identified by a "jump" in the detector's perception—from one stripe to the next—in a Y direction, caused by a change in illumination from red to blue. For clear identification, it is also useful to take several corresponding images beforehand with different illumination levels.

[0049] Fig. 4 shows a schematic representation of an embodiment of a three-stripe marking for use in the method according to the invention, whereby a lane is realized with a combination of three adjacent individual stripes, which extends along the predeterminable route for guiding the vehicle. The left and right stripes are reddish, and the middle stripe is blue. Fig. 4 Furthermore, the perception of the track by a detector with a monochrome camera is shown under different illumination conditions, namely red illumination light on the one hand and blue illumination light on the other. With red illumination light, the blue stripe is perceived as a dark stripe, and with blue illumination light, the reddish stripes are perceived as dark stripes by the detector.

[0050] In the lower part of the Fig. 4 The detector's perception of the track is shown, with the track positioned against a dark background. The track can be clearly identified by a change in the detector's perception—from two bright stripes to one bright stripe—created by changing the illumination from red to blue.

[0051] Fig. 5 shows in a schematic representation the scene as in the lower part of the Fig. 4 , but here with a light background. Here, too, the track can be clearly identified by a change in the detector's perception—from one dark stripe to two dark stripes—created by changing the illumination from red to blue.

[0052] If the track is designed with at least three stripes, independence from the color of the surface or ground is guaranteed.

[0053] It is generally possible to create a track with more than three stripes or colored stripes. This results in a clearer contrast with the background or substrate. Likewise, information can be encoded using different combinations of the tracks or colored stripes. For example, the detector can report back how many stripes the track contains, thus providing information about the respective distance. Encoding using different widths of the colored stripes is also possible.

[0054] The tracks or colored tracks can be implemented in various ways. For example, a tape, such as a PVC tape, can be printed with different colors. Alternatively, the tape can be made of a desired color based on its base material and then printed with another color. Such a track is inexpensive and quick to apply and easy to remove. Furthermore, curved installation is simple. The tape can also be made using polycarbonate.

[0055] As an alternative to a tape, a track or color track can be created by painting, for example, with adjacent stripes. In the case of a track with three stripes, the outer color can be painted over the entire surface first, followed by a layer of paint in the middle of the stripes. This type of track is durable, robust, and also suitable for outdoor use to a limited extent.

[0056] As a further alternative, a track can be realized using color-printed metal strips, such as aluminum strips. This also provides a permanent track. The manufacturing method can include sub-anodized printing.

[0057] As a further alternative, both lane colors, i.e., both colored stripes, can be realized as strips made of a thermoplastic. These strips are placed side by side in two or three stripes and fused to the surface by heating. Fusing into a floor groove is also possible. This creates a very robust and durable marking that is also suitable for outdoor use.

[0058] In one embodiment, color tracking on a substrate or floor can be performed using a monochrome camera. This can involve interplay between absolute positioning using a code arrangement, such as a code band, and navigation using a color track.

[0059] When navigating using the striped markings, if the performance of the detector or reading head is sufficient, the detection of codes should not be disabled to detect codes that may enter the detector's reading window. If the vehicle travels along the lane, a code will often appear at the very top or at the front of the lane or color track in the image area or reading window of the reading head or detector. This scenario is not Fig. 6 shown. The lane has three lanes with red stripes on the right and left and a blue stripe in the middle. The codes that enter the front of the reading window as the vehicle travels in the direction of travel are colored data matrix codes. The image area of ​​the detector or evaluation device can be limited to the end areas of the lane or a front area of ​​the reading window to save performance. If necessary, however, code recognition can be completely deactivated during this navigation or guidance using the striped marking in order to utilize the full performance of the detector or reading head for lane tracking.

[0060] At the latest, when no continuous lane or striped marking is detected, for example, in the upper third or in another section of the reading window, the code recognition or vehicle guidance can be activated using the code arrangement, and a valid or suitable code can be searched for. If a valid or suitable code is detected, the lane recognition or vehicle guidance can be deactivated or switched off using the striped marking.

[0061] Fig. 7shows an arrangement of so-called control codes next to a striped marking, which has a red stripe on the left and right and a blue stripe in the middle. These control codes are arranged at a predefined distance to the sides of the striped marking or color track. This also makes it possible to limit code recognition to predefined areas to the left and / or right of the striped marking in order to conserve detector or read head resources.

[0062] With regard to further advantageous embodiments of the method according to the invention and the device according to the invention, reference is made to the general part of the description and to the appended claims in order to avoid repetition.

[0063] Finally, it should be expressly pointed out that the exemplary embodiments described above serve only to explain the claimed teaching, but do not limit it to the exemplary embodiments.

Claims

1. A method for guiding a vehicle on an underlying surface, wherein the vehicle is guided along a predeterminable route by means of a code arrangement, which is arranged at least in one or more sections on the underlying surface and which comprises one or more codes, and / or wherein the vehicle is guided along a predeterminable route by means of a strip-shaped marking, which is arranged at least in one or more sections on the underlying surface and which comprises one track or multiple tracks, and by means of a detector designed to recognize the code arrangement and / or the strip-shaped marking and assigned to the vehicle, wherein a guidance of the vehicle by means of the code arrangement and / or a guidance of the vehicle by means of the strip-shaped marking is activated or deactivated by a control unit - depending on at least one pre-definable parameter, characterized in that the identification of the code arrangement is deactivated by the control unit if the vehicle is guided by means of the strip-shaped marking, and that the identification of the code arrangement is activated by the control unit as soon as a continuous strip-shaped marking or a strip-shaped marking is not identified at least in a defined section of the reading window of the detector.

2. The method as claimed in claim 1, characterized in that the identification of the code arrangement is prioritized over the identification of the strip-shaped marking or vice versa by the control unit.

3. The method as claimed in claim 1 or 2, characterized in that the identification of the strip-shaped marking by the detector is activated by the control unit as soon as the detector no longer identifies a code.

4. The method as claimed in any one of claims 1 to 3, characterized in that the identification of the strip-shaped marking is deactivated by the control unit as soon as the detector identifies one or more codes.

5. The method as claimed in any one of claims 1 to 4, characterized in that an image area or identification area of the detector for one or more codes - preferably during guidance of the vehicle by means of the strip-shaped marking - is limited to an end area of the strip-shaped marking or a front area - viewed in a direction of travel of the vehicle along the route - of a reading window of the detector.

6. The method as claimed in claim 5, characterized in that the limiting is carried out by means of the control unit.

7. The method as claimed in any one of claims 1 to 6, characterized in that an identification of codes by the detector is activated by the control unit only in a left and / or right area - viewed in a direction of travel of the vehicle along the route - of a reading window of the detector.

8. The method as claimed in any one of claims 1 to 7, characterized in that to identify the marking on the underlying surface, the code arrangement and / or the marking is illuminated by means of an illumination unit using a first illumination light and a second illumination light of different wavelengths and respectively pre-definable duration in a pre-definable sequence, the wavelength of the first illumination light and the wavelength of the second illumination light are selected such that the code arrangement and / or the marking is identifiable by the detector due to its definable remission spectrum upon illumination using the first illumination light with a lightness or darkness which differs from the lightness or darkness upon illumination using the second illumination light, and a corresponding detection result determined by the detector is used for guiding the vehicle along the route.

9. The method as claimed in claim 8, characterized in that it is determined on the basis of the detection result whether the vehicle is still located in a definable spatial or planar area around the code arrangement and / or the marking or is still located at a definable distance to the code arrangement and / or marking.

10. The method as claimed in any one of claims 1 to 9, characterized in that the detector includes a monochromatic camera.

11. The method as claimed in any one of claims 1 to 10, characterized in that the code is a data matrix code or the codes are data matrix codes.

12. A device for guiding a vehicle on an underlying surface, in particular for carrying out the method as claimed in any one of claims 1 to 11, wherein the vehicle can be guided along a predeterminable route by means of a code arrangement, which is arranged at least in one or more sections on the underlying surface and which comprises one or more codes, and / or wherein the vehicle can be guided along a predeterminable route by means of a strip-shaped marking, which is arranged at least in one or more sections on the underlying surface and which comprises one track or multiple tracks, and by means of a detector designed to recognize the code arrangement and / or the strip-shaped marking and assigned to the vehicle, wherein a guidance of the vehicle by means of the code arrangement and / or a guidance of the vehicle by means of the strip-shaped marking is activated or deactivated by a control unit - depending on at least one pre-definable parameter, the identification of the code arrangement is deactivatable by the control unit if the vehicle is guided by means of the strip-shaped marking, and the identification of the code arrangement is activatable by the control unit as soon as a continuous strip-shaped marking or a strip-shaped marking is not identified at least in a defined section of a reading window of the detector.