OPTICALLY BASED CORRECTION OF THE POSITION OF A MOBILE UNIT

Description

Background of the invention

[0001] The invention relates to a method for locating a mobile unit in an industrial manufacturing environment. The invention further relates to a device for locating a mobile unit in an industrial manufacturing environment.

[0002] It is known, particularly from WO 2019 / 048149 A1, to locate a mobile unit in an industrial manufacturing environment, for example, to find a collection tray. Although the location of the mobile unit is already relatively precise, this accuracy is not yet sufficient to enable fully autonomous manufacturing. In practice, therefore, static boundaries, for example in the form of stops, are erected in the industrial manufacturing environment, especially to position collection trays. However, this in turn significantly limits the flexibility of the industrial manufacturing environment with regard to rapidly changing orders in small batch sizes.

[0003] A method for determining the positions of objects is known from DE 10 2010 041548 A1. The prior art also includes DE 10 2017 121098 A1 and US 2019 / 171780 A1. Object of the invention

[0004] It is therefore an object of the invention to provide a method and a device for the fine localization of a mobile unit, which makes it possible to largely do without rigid limitations in the industrial manufacturing environment. Description of the invention

[0005] This problem is solved according to the invention by a method according to claim 1 and a device according to claim 12. The dependent claims describe preferred embodiments.

[0006] The problem according to the invention is thus solved by a method for locating a mobile unit in an industrial manufacturing environment comprising the following method steps: A) Rough localization of the mobile unit using rough position data from a Manufacturing Execution System (MES); B) Moving a sensor unit to the mobile unit using the rough position data; C) Sending a coded signal by a first transmitter of the mobile unit, receiving the signal by a sensor of the sensor unit and determining the position of the first transmitter in the form of signal position data; D) Identifying the mobile unit using the coded signal and correcting the rough position data using the signal position data.

[0007] By determining the mobile unit's (tracker / tag / marker's) position data in two different ways, the mobile unit can be located with exceptional precision. The encoding of the signal ensures that the coarse position data and the signal position data originate from the same object, namely the mobile unit.

[0008] The identification of the mobile unit and the determination of the signal position data can be carried out in any order or simultaneously.

[0009] The sensor unit can be controlled by the MES. The MES can communicate with the sensor unit wirelessly and / or via a wired connection.

[0010] The process is preferably carried out in a sheet metal processing plant and / or on a shop floor.

[0011] The mobile unit does not need to be part of a tracking system. Alternatively, a tracking system with multiple anchors can provide the MES with rough position data to determine the signal's travel time from the mobile unit.

[0012] The tracking system includes anchors (beacons / satellites) for locating the mobile unit, particularly by triangulation. The determination of the approximate position data in process step A) can be performed by a tracking system in the form of an ultra-wideband measurement system and / or a Bluetooth measurement system. The tracking system can be an indoor localization system (indoor GPS / real-time localization system). The tracking system can include a low-energy Bluetooth measurement system. The tracking system is preferably configured to determine the approximate position data of the mobile unit with an accuracy of less than 1 m, particularly less than 0.4 m.

[0013] Alternatively or additionally, the MES can determine the rough position data from a posting. This posting can be the last feedback message that the mobile unit and / or an autonomous vehicle has transmitted to the MES. This makes obtaining the rough position data technically very simple.

[0014] The sensor unit can be part of a driverless transport vehicle.

[0015] The mobile unit can be located on and / or attached to a collection carrier. The movement of the sensor unit preferably takes into account, particularly for transport, the collection carrier (the load carrier / pallet). Preferably, the collection carrier is loaded onto the sensor unit and / or unloaded from the sensor unit. The automated guided vehicle (AGV) can be designed for vertical movement of the collection carrier. In particular, the AGV can be in the form of a forklift.

[0016] According to the invention, a coded signal is emitted in the form of a coded light signal. The light signal can be emitted in the visible range.

[0017] A further simplification is achieved when the encoded signal is received by the sensor in the form of a camera. In this case, the signal position data can be determined using a camera image.

[0018] The sensor unit can include a handheld device. A handheld device is defined as a device designed to be held by a user, thereby outputting and displaying data and / or information to that user, as well as recording it, and exchanging and processing data and information, particularly digitally and wirelessly, with other devices. The handheld device can be in the form of a smartphone. A camera integrated into the handheld device or smartphone is particularly preferred as the sensor.

[0019] The handheld device can have a display that shows the mobile unit when it is captured by the camera. Such a live image of the mobile unit makes it much easier for a user of the handheld device to locate it.

[0020] In a particularly preferred embodiment of the invention, the mobile unit is highlighted, marked, and / or labeled on the display. This highlighting of the mobile unit using augmented reality significantly facilitates its quick location. In particular, the mobile unit can be provided with contextual information on the display.

[0021] In a further preferred embodiment of the invention, the mobile unit can have a second transmitter offset from the first transmitter by a certain distance, which emits a secondary signal received by the sensor. From the distance between the first and second transmitters, as measured by the sensor, the MES infers the rotational position of the mobile unit. The secondary signal can be in the form of an encoded or unencoded signal. Preferably, the secondary signal is emitted in the form of a light signal, in particular a light signal in the visible range.

[0022] The method according to the invention can further comprise, in a process step E), the creation of an image of the mobile unit's environment by the sensor unit and the analysis of the image, in particular by the MES. The image is preferably created using the sensor described above, especially in the form of a camera, to receive the encoded signal. The analysis can be performed by an algorithm with artificial intelligence or a trained neural network. In a further process step F), the sensor unit can be moved based on the analyzed image. This enables particularly precise navigation.

[0023] The problem according to the invention is further solved by a device, in particular for carrying out a method described herein. The device comprises a mobile unit with a first transmitter for emitting a coded signal, a MES for providing coarse position data of the mobile unit, a mobile sensor unit with a sensor for receiving the coded signal and for determining the position of the first transmitter based on the coded signal, and a control unit for controlling the sensor unit based on the coarse position data, wherein the control unit is configured to identify the mobile unit based on the coded signal, to determine signal position data of the transmitter, and to correct the coarse position data based on the signal position data.

[0024] The control unit can be part of the device's Manufacturing Execution System (MES). The device can include sheet metal processing and / or a shop floor.

[0025] The MES can be configured to determine the rough position data based on a posting. Alternatively or additionally, the device can have a tracking system to provide the rough position data. The tracking system can be in the form of an ultra-wideband measuring system and / or a Bluetooth measuring system.

[0026] The mobile unit can feature an E-Ink display for displaying manufacturing data.

[0027] The sensor unit can be in the form of an automated guided vehicle (AGV). Preferably, the sensor unit is designed in the form of an automated guided vehicle.

[0028] To determine the rotational position of the mobile unit, the mobile unit can have a second transmitter offset from the first transmitter, which is designed to send a second signal receivable by the sensor, wherein the MES is designed to infer the rotational position of the mobile unit from the effectively measurable distance between the two transmitters.

[0029] The sensor can be configured to capture the encoded signal and / or to capture the mobile unit's surroundings in the form of a camera. The MES can be configured, particularly with a neural network, to analyze the captured environment and navigate the sensor unit based on this analysis.

[0030] The sensor unit can include a handheld device. The sensor unit can be designed in the form of a handheld device. The handheld device can be designed in the form of a smartphone. The handheld device can include a first sensor in the form of a camera, particularly one integrated into the handheld device. The handheld device can have a display to show an image captured by the camera of the mobile unit. The handheld device can be configured to highlight, mark, and / or label the image of the mobile unit displayed on the screen.

[0031] Further advantages of the invention will become apparent from the description and the drawing. Likewise, the features mentioned above and those described in more detail below can each be used individually or in any combination. The embodiments shown and described are not to be understood as an exhaustive list, but rather serve as examples illustrating the invention. Detailed description of the invention and drawing

[0032] Fig. 1 shows a schematic view of a device according to the invention for carrying out the method according to the invention. Fig. 2a shows a schematic view of a mobile unit with a first transmitter and a second transmitter. Fig. 2b shows the view according to Fig. 2a with the mobile unit rotated to demonstrate the determination of the mobile unit's rotational position.

[0033] Fig. 1 shows a device 10 with a collecting carrier 12.The collecting carrier 12 can be used to hold a workpiece. 14 It is designed in the form of a pallet. The collection carrier 12 is located in an industrial manufacturing environment. 16 in the form of a sheet metal processing plant or a shop floor.

[0034] In the present case, the collecting carrier 12 is to be equipped with a sensor unit 18 The sensor unit 18 is designed in the form of a driverless vehicle. The sensor unit 18 is controlled by a control device. 20. The control unit 20 is part of a Manufacturing Execution System (MES) 22.

[0035] Precise control of the sensor unit 18 requires regular static stops (not shown). However, to enable flexible manufacturing, such static stops should be avoided as much as possible. Therefore, according to the invention, a particularly precise localization of the collection carrier 12 is proposed. In process step A), the MES 22 first guides the sensor unit 18, which is connected to the MES 22 via data transmission, roughly to the collection carrier 12. The MES 22 can obtain the information on the rough position of the collection carrier 12, i.e., rough position data, from a recording. Alternatively or additionally, the MES 22 can obtain the rough position data from a tracking system. 24 receive.

[0036] The 24-hour tracking system can detect multiple anchors. 26a, 26b, 26c Furthermore, the 24-hour tracking system can include a mobile unit. 28a on the collector carrier 12 and another mobile unit 28bexhibiting on sensor unit 18. The mobile units 28a, b can be located by the anchors 26a-c.

[0037] After the sensor unit 18 has been moved at least in the vicinity of the collecting carrier 12 or the mobile unit 28a in a process step B), a sensor receives 30 the sensor unit 18 in a process step C) a coded signal 32 the mobile unit 28a. To transmit the coded signal 32, the mobile unit designates a first transmitter. 34 The mobile unit 28a can be identified using the coded signal 32. The coded signal 32 also allows for the determination of precise signal position data. This signal position data allows for the correction of the coarse position data in a process step D), so that the sensor unit 18 can be moved precisely to the collecting carrier 12 or to the mobile unit 28a.

[0038] The sensor 30 is preferably designed in the form of a camera. The first transmitter 34 is preferably designed to emit the coded signal 32 in the form of a light beam, in particular a visible one.

[0039] Moving the sensor unit 18 is further facilitated if, in process step E), in particular with sensor 30, an image of the mobile unit 28a's surroundings is created and analyzed. An algorithm with a neural network, particularly in MES 22, can be used for this analysis. Subsequently, in process step F), the sensor unit 18 can be moved further based on the analyzed image.

[0040] Fig. 2a shows part of a device 10 with a sensor unit 18 and a mobile unit 28a, wherein the mobile unit 28a has a second transmitter in addition to a first transmitter 34. 36 The two transmitters, 34 and 36, are at a known distance. A1arranged. The distance A1 is in Fig. 2a The effective distance between the two transmitters 34, 36 is detected by sensor 30, which is designed here as a camera.

[0041] Fig. 2b The device 10 shows according to Fig. 2a , however with the mobile unit 28a rotated. In this case, the sensor unit 18 does not detect the distance A1 as the effective distance between the two transmitters 34, 36, but rather the distance A2. From a comparison of the distances A1 and A2, it is the sensor unit 18 and / or the MES 22 (see Fig. 1 ) possible to determine the rotational position of mobile unit 28a.

[0042] In summary, considering all figures of the drawing, the invention relates to a method for the precise localization of a mobile unit 28a and for the navigation of a sensor unit 18 relative to the mobile unit 28a. The method includes the coarse navigation of the sensor unit 18 to the mobile unit 28a by a MES 22. The MES 22 can obtain the necessary coarse position data from a booking and / or a tracking system 24. The mobile unit 28a has a first transmitter 34 configured to send a coded signal 32. This coded signal 32 is received by a sensor 30 of the sensor unit 18. Based on the coded signal 32, the mobile unit 28a is identified and its signal position data is determined. The MES 22 can be configured to further navigate the sensor unit 18 based on the precise signal position data.The invention further relates to a device 10 for the corresponding navigation of a sensor unit 18. Reference symbol list

[0043] 10 Device 12 Collector carrier 14 Workpiece 16 Industrial manufacturing environment 18 Sensor unit 20 Control unit 22 Manufacturing Execution System (MES) 24 Location system 26a-c Anchor 28a Mobile unit 28b Additional mobile unit 30 Sensor 32 Encoded signal 34 First transmitter 36 Second transmitter A1 Actual distance between first transmitter 34 and second transmitter 36 A2 Effective distance between first transmitter 34 and second transmitter 36

Claims

1. A method for localizing a mobile unit (28a) in an industrial manufacturing environment (16) comprising the method steps: A) rough localization of the mobile unit (28a) using rough position data of a manufacturing execution system (MES) (22); B) moving a sensor unit (18) having a sensor (30) to the mobile unit (28a) based on the rough position data; characterized by: C) receiving a coded light signal (32), which is transmitted by the mobile unit (28a), by means of the sensor (30) and fine localization of the mobile unit (28a), wherein the sensor (30) determines the position of a first transmitter (34) of the coded light signal (32) and makes it available in the form of signal position data; D) identifying the mobile unit (28a) based on the coded light signal (32) and correcting the rough position data based on the signal position data.

2. A method according to claim 1, wherein a localization system (24) provides the rough position data to the MES (22), wherein the localization system (24) comprises a plurality of anchors (26a-c) for the transit time determination of a signal from the mobile unit (28a).

3. A method according to claim 1 or 2, in which the MES (22) determines the rough position data from an update.

4. A method according to any one of the preceding claims, in which the sensor unit (18) in method step B) has a driverless transport vehicle.

5. A method according to any one of the preceding claims, in which the mobile unit (28a) is located on and / or at a collecting carrier (12).

6. A method according to any one of the preceding claims, in which the coded light signal (32) in method step C) is received by the sensor (30) in the form of a camera.

7. A method according to any one of the preceding claims, in which the sensor unit (18) in method step B) has a handheld device.

8. A method according to claim 7, in which the mobile unit (28a), when it is detected by the sensor (30) in the form of a camera, is displayed on a display of the handheld device.

9. A method according to claim 8, in which the mobile unit (28a) displayed on the display is highlighted, marked and / or provided with a label on the display.

10. A method according to any one of the preceding claims, in which the mobile unit (28a) has a second transmitter (36) which is offset by a known distance (A1) from the first transmitter (34) and which transmits a second signal received by the sensor (30), wherein the MES (22) infers the rotational position of the mobile unit (28a) from the actually measured distance (A2) of the first transmitter (34) from the second transmitter (36).

11. A method according to any one of the preceding claims, in which the following method step is carried out before or after method step D): E) creating a recording of the environment of the mobile unit (28a) by means of the sensor unit (18) and analyzing the recording.

12. An apparatus (10) for localizing a mobile unit (28a) in an industrial manufacturing environment (16), in particular for carrying out a method according to any one of the preceding claims, wherein the apparatus (10) comprises the following: a) a mobile unit (28a) comprising a first transmitter (34) for transmitting a coded light signal (32); b) an MES (22) for providing rough position data of the mobile unit (28a); c) a mobile sensor unit (18) comprising a sensor (30) for receiving the coded light signal (32) and for determining the position of the first transmitter (34) of the coded light signal (32); d) a control device (20) for controlling the sensor unit (18) based on the rough position data, wherein the control device (20) is configured to identify the mobile unit (28a) based on the coded light signal (32), to determine signal position data of the first transmitter (34) of the coded light signal (32) and to correct the rough position data based on the signal position data.

13. An apparatus according to claim 12, in which the apparatus (10) comprises a localization system (24) for providing the rough position data to the MES (22).

14. An apparatus according to one of the claims 12 or 13, wherein the mobile unit (28a) has an e-ink display for displaying manufacturing data.

15. An apparatus according to any one of the claims 12 to 14, in which the sensor unit (18) comprises a driverless transport vehicle and / or a handheld device.

16. An apparatus according to any one of the claims 12 to 15, in which the mobile unit (28a) has a second transmitter (36) which is offset by a known distance (A1) from the first transmitter (34) and which is configured to transmit a second signal which can be received by the sensor (30), wherein the MES (22) can infer the rotational position of the mobile unit (28a) from the actually measurable distance (A2) of the first transmitter (34) from the second transmitter (36).

17. An apparatus according to any one of the claims 12 to 16, in which the sensor (30) is configured in the form of a camera for recording the coded light signal (32) and / or for recording the environment of the mobile unit (28a).