METHOD FOR OPERATING A TECHNICAL PLANT AND TECHNICAL PLANT

Description

[0001] The invention relates to a method for operating a technical system comprising at least one autonomous vehicle, wherein the autonomous vehicle has at least one sensor for detecting objects, and wherein the autonomous vehicle has a map of the technical system. The invention also relates to a technical system that can be operated using the method according to the invention.

[0002] The technical facility is primarily an industrial application, such as a production plant, an industrial hall, or a logistics center. The autonomous vehicles are used, for example, to transport materials within the facility. The facility also contains other objects. The autonomous vehicles are equipped with sensors to detect these objects and their distances. One such sensor could be a laser scanner.

[0003] Document DE 10 2018 009 114 A1 discloses a method for determining the position of a mobile unit movable on a travel surface in a system. The mobile unit has a laser scanner for detecting the positions of objects arranged on the travel surface relative to the mobile unit.

[0004] Document DE 10 2019 001 253 A1 discloses a method for operating a technical installation which includes at least one mobile system that can be moved on a traffic area of ​​the technical installation. The mobile system uses appropriate sensors to detect objects within the technical installation. The positions of the detected objects are then compared with the presumed positions of objects according to a map of the technical installation.

[0005] A method for detecting obstacles on a roadway is known from US patent 2020 / 0089970 A1.

[0006] From EP 3 693 825 A1 a method for updating information about an environment with obstacles is known.

[0007] From US patent 8,761,925 B2, a method for generating a map using a robot is known.

[0008] Objects within the technical facility, such as walls, pillars, or production machines, are assigned to objects that are recorded on the map. When a sensor on an autonomous vehicle detects an object within the technical facility, the location of the autonomous vehicle on the map is determined by comparing the detected object with an object recorded on the map.

[0009] Problems arise when the map includes objects associated with movable items, such as crates, containers, or transport vehicles. Such an item might not be located at the same place as the corresponding object shown on the map. Therefore, comparing a detected object with a corresponding object shown on the map can lead to an inaccurate determination of the autonomous vehicle's location.

[0010] The invention is based on the objective of further developing a method for operating a technical plant as well as a technical plant itself.

[0011] The problem is solved by a method for operating a technical system with the features specified in claim 1. Advantageous embodiments and further developments are the subject of the dependent claims. The problem is also solved by a technical system with the features specified in claim 14.

[0012] A method for operating a technical system is proposed. The technical system comprises at least one autonomous vehicle, wherein the autonomous vehicle has at least one sensor for detecting objects, and wherein the autonomous vehicle has a map of the technical system.

[0013] The technical system comprises at least one static zone, to which a static area is assigned on the map, containing at least one static object. The technical system also comprises at least one temporary zone, to which a temporary area is assigned on the map, containing temporary objects. When an object is detected by the sensor in a temporary zone, a temporary object is assigned to the detected object, and this temporary object is recorded in the temporary area of ​​the map assigned to the temporary zone. When the autonomous vehicle moves away from the temporary zone, all temporary objects recorded in the temporary area assigned to the temporary zone are deleted.

[0014] The temporary objects in a temporary zone are deleted immediately after the autonomous vehicle moves away from the temporary zone. They are also deleted at the latest when the vehicle approaches the temporary zone again and its sensors can detect it once more.

[0015] The static objects recorded in a static area are each assigned to a specific item. This item is located within the static zone to which the static area of ​​the map is assigned. Items to which a static object is assigned are generally immobile. Examples of such items include walls, pillars, or production machines.

[0016] Temporary zones are, for example, storage areas that are free of immovable objects. Temporary zones are primarily used for the temporary storage of movable objects. Such movable objects, to which a temporary object is assigned, include, for example, boxes, containers, or transport trolleys.

[0017] Before the autonomous vehicle approaches the temporary zone, the temporary area on the map is free of temporary objects. If an object is detected in the temporary zone, a temporary object is recorded in the temporary area. After the autonomous vehicle moves away from the temporary zone, the temporary area on the map is again free of temporary objects.

[0018] The method according to the invention allows temporary objects associated with movable items to be used temporarily to determine the location of the autonomous vehicle on the map. Such items typically remain temporarily in the same location, particularly for as long as the vehicle is within the temporary zone. This enables the location of the autonomous vehicle to be determined on the map with increased precision. If the autonomous vehicle approaches the temporary zone again at a later time, it is uncertain whether the movable items are still in the same location. Therefore, all temporary objects are deleted when the autonomous vehicle moves away from the temporary zone.

[0019] According to a preferred embodiment of the invention, when an object is detected, the at least one sensor detects a distance to the object and a direction in which the object is located.

[0020] According to an advantageous embodiment of the invention, the at least one sensor is designed as a laser scanner or as a 3D camera.

[0021] According to an advantageous embodiment of the invention, the autonomous vehicle comprises a drive unit, an electrical energy storage device for supplying the drive unit, a control unit for controlling the drive unit, and a communication device for wireless communication via a network. The drive unit includes, for example, an electric motor, a transmission, and drive wheels. The electrical energy storage device is, in particular, a rechargeable battery.

[0022] According to an advantageous embodiment of the invention, when an object located in a static zone is detected by the at least one sensor, the location of the autonomous vehicle is determined on the map by comparing the detected object with at least one static object recorded in the static area assigned to the static zone. In particular, the detected object is compared with the static object that is associated with the detected object.

[0023] According to an advantageous embodiment of the invention, when the autonomous vehicle moves away from the temporary zone, all temporary objects recorded in the temporary area associated with the temporary zone are immediately deleted. When the vehicle approaches the temporary zone again, all previously known temporary objects are deleted.

[0024] According to another advantageous embodiment of the invention, when the autonomous vehicle moves away from the temporary zone, all temporary objects recorded in the temporary area associated with the temporary zone are deleted after a certain period of time. If the vehicle approaches the temporary zone again during this period, all previously known temporary objects are still known. This period of time is fixed and is, for example, 15 minutes or one hour.

[0025] Preferably, a temporary object is assigned to an object detected in a temporary zone only when the object is detected for the first time. If the object has already been detected previously, it already has a temporary object assigned to it, and no further temporary object is assigned to it.

[0026] According to an advantageous embodiment of the invention, a location counter and a position counter are assigned to a temporary object. The location counter is incremented when the temporary object is detected. The position counter is incremented when a location where the temporary object was last located is observed by at least one sensor. A quotient of the location counter and the position counter is then calculated. This quotient represents the probability that the temporary object is located at the specified location.

[0027] According to an advantageous embodiment of the invention, when the autonomous vehicle moves away from the temporary zone, all temporary objects recorded in the temporary area associated with the temporary zone are deleted after a variable time period. This variable time period depends on the quotient of the location counter and the position counter. Thus, the variable time period depends on the probability with which the temporary object is located at the stated location. In particular, the variable time period is longer when this probability is higher.

[0028] According to an advantageous embodiment of the invention, when an object located in a temporary zone is detected by the at least one sensor, the location of the autonomous vehicle is determined on the map by comparing the detected object with at least one temporary object recorded in the temporary area assigned to the temporary zone. In particular, the detected object is compared with the temporary object that is assigned to the detected object.

[0029] According to an advantageous embodiment of the invention, before the autonomous vehicle approaches the temporary zone, all temporary objects recorded in the temporary area assigned to the temporary zone are deleted. This ensures that the temporary area on the map is free of temporary objects when the autonomous vehicle enters the temporary zone.

[0030] According to an advantageous embodiment of the invention, when a temporary object is assigned to an object detected by the sensor, information about the temporary object is transmitted via a network to a server in the technical system. This information includes, in particular, details about the type of detected object, its location, and the time of detection.

[0031] According to an advantageous embodiment of the invention, when a temporary object is assigned to an object detected by the sensor, information about the temporary object is transmitted via a network to at least one other autonomous vehicle in the technical system. This information includes, in particular, details about the type of detected object, its location, and the time of detection.

[0032] A technical system according to the invention comprises at least one autonomous vehicle, wherein the autonomous vehicle has at least one sensor for detecting objects, and wherein the autonomous vehicle has a map of the technical system. The technical system according to the invention is operable using the method according to the invention.

[0033] The invention will now be explained in more detail with reference to the illustrations. The invention is not limited to the embodiments shown in the illustrations. The illustrations only depict the subject matter of the invention schematically. They show: Figure 1: a schematic representation of a map of a technical plant in a first operating state and Figure 2: a schematic representation of a map of the technical plant in a second operating state.

[0034] Figure 1Figure 1 shows a schematic representation of a map of a technical facility in its initial operating state. The technical facility is an industrial application, such as a production plant, a factory hall, or a logistics center. The technical facility comprises several autonomous vehicles 1. Only one such autonomous vehicle 1 is shown in this diagram. The autonomous vehicles 1 are primarily used for transporting materials within the technical facility.

[0035] The autonomous vehicle 1 has a drive unit, an electrical energy storage device to supply the drive unit, and a control unit for controlling the drive unit. Furthermore, the autonomous vehicle 1 has a communication device for wireless communication with other autonomous vehicles 1 and with a higher-level server in the technical system. The communication device of the autonomous vehicle 1 is designed, for example, for data transmission via WLAN, Bluetooth, or light.

[0036] The autonomous vehicle 1 has two sensors. These sensors are configured as laser scanners. Alternatively, they could be configured as 3D cameras, for example. The sensors are used to detect objects within the technical system. When an object is detected, the sensors record its distance and direction. The sensors are mounted at opposite corners of the autonomous vehicle 1 and each detects objects within an angle of approximately 270°.

[0037] The technical system comprises several dynamic zones. A dynamic zone has areas that can be traversed by the autonomous vehicle 1, for example, empty spaces and paths.

[0038] The technical system comprises several static zones. A static zone contains immovable objects that pose obstacles for the autonomous vehicle, such as walls, pillars, or production machines.

[0039] The technical system comprises several temporary zones. Temporary zones include, for example, parking areas free of immovable objects. Temporary zones are primarily intended for the temporary storage of movable objects. Such movable objects include, for example, crates, containers, or transport trolleys. The autonomous vehicle 1 is generally accessible to temporary zones, except for areas where movable objects are parked.

[0040] The autonomous vehicle 1 has a map of the technical system. Specifically, all autonomous vehicles 1 within the technical system have the same map. The map is created beforehand and loaded onto the autonomous vehicles 1. Each dynamic zone of the technical system is assigned a dynamic area 10 on the map. Each static zone of the technical system is assigned a static area 20 on the map. Each temporary zone of the technical system is assigned a temporary area 30 on the map. In this case, one dynamic area 10, several static areas 20, and one temporary area 30 are shown on the map.

[0041] Immovable objects in the static zones, such as walls, pillars, or production machines, are each assigned a static object 25. These static objects 25 are shown on the map. Movable objects in the temporary zones, such as crates, containers, or transport carts, are each assigned a temporary object 32. These temporary objects 32 are also shown on the map. The autonomous vehicle 1 is also shown on the map.

[0042] In the depiction of the first operating state shown here, the autonomous vehicle 1 is located at a first location. This first location is within the dynamic zone, which is assigned the dynamic area 10. The first location is away from the temporary zone, which is assigned the temporary area 30. Specifically, the sensors of the autonomous vehicle 1 are unable to detect moving objects within the aforementioned temporary zone. Therefore, the autonomous vehicle 1 cannot determine whether any moving objects are located within the temporary zone.

[0043] If the map still shows temporary objects 32 in the temporary area 30 assigned to the temporary zone, all temporary objects 32 shown in said temporary area 30 will be deleted before the autonomous vehicle 1 approaches the temporary zone. In the representation of the first operating state shown here, the temporary area 30 in the map is free of temporary objects 32.

[0044] When the sensors of autonomous vehicle 1 detect an object located in the static zone, the location of autonomous vehicle 1 on the map is determined by comparing the detected object with a static object 25 recorded in the static area 20 assigned to the static zone. The detected object is compared with the static object 25 that is assigned to the detected object.

[0045] Figure 2Figure 1 shows a schematic representation of a map of the technical system in a second operating state. In this representation of the second operating state, the autonomous vehicle 1 is located at a second location. This second location is in the dynamic zone, which is assigned the dynamic area 10. The second location is near the temporary zone, which is assigned the temporary area 30. The sensors of the autonomous vehicle 1 are capable of detecting moving objects in the aforementioned temporary zone.

[0046] When an object is detected for the first time by the sensors of the autonomous vehicle 1 in the temporary zone, a temporary object 32 is assigned to the detected object. The temporary object 32 is then recorded in the temporary area 30 of the map, which is assigned to the temporary zone.

[0047] In the representation shown here, the sensors of the autonomous vehicle 1 detect two objects in the aforementioned temporary zone. Each detected object is assigned a temporary object 32, and the temporary objects 32 are recorded in the aforementioned temporary area 30 of the map.

[0048] An object detected in the temporary zone will only be assigned a temporary object 32 if this is the first time the object is detected. If the object has already been detected previously, it already has a temporary object 32 assigned to it, and no further temporary object 32 will be assigned to it.

[0049] In addition, each temporary object 32 is assigned a location counter and a position counter. The location counter is incremented when the temporary object 32 is detected. The position counter is incremented when the location where the temporary object 32 was last found is observed by one of the sensors. A quotient of the location counter and the position counter is then calculated. This quotient represents the probability that the temporary object 32 is located at the specified location.

[0050] If the sensors of the autonomous vehicle 1 detect an object in the temporary zone to which a temporary object 32 is already assigned, the location of the autonomous vehicle 1 on the map is determined by comparing the detected object with the temporary object 32 that is assigned to the detected object.

[0051] When the autonomous vehicle 1 moves away from the temporary zone, all temporary objects 32 recorded in the temporary area 30 assigned to the temporary zone are deleted. After the autonomous vehicle 1 has moved away from the temporary zone, the aforementioned temporary area 30 on the map is again free of temporary objects 32. Reference symbol list

[0052] 1 autonomous vehicle 10 dynamic area 20 static area 25 static object 30 temporary area 32 temporary object

Claims

1. A method of operating a technical installation which comprises at least one autonomous vehicle (1), wherein the autonomous vehicle (1) has at least one sensor for identifying items, and wherein the autonomous vehicle (1) has a map of the technical installation at its disposal, and wherein the technical installation comprises at least one static zone to which on the map there is assigned a static region (20) in which at least one static object (25) is marked, and wherein the technical installation comprises at least one temporary zone to which on the map there is assigned a temporary region (30) in which temporary objects (32) can be marked, and wherein when an item is identified in a temporary zone by the sensor, a temporary object (32) is assigned to the identified item and the temporary object (32) is marked in the temporary region (30) of the map assigned to the temporary zone, characterised in that when the autonomous vehicle (1) leaves the temporary zone, all temporary objects (32) marked in the temporary region (30) assigned to the temporary zone are deleted.

2. A method according to any one of the preceding claims, characterised in that upon identification of an item by the at least one sensor there is detected a distance from the item and there is detected a direction in which the item is located.

3. A method according to any one of the preceding claims, characterised in that the at least one sensor is in the form of a laser scanner or a 3D camera.

4. A method according to any one of the preceding claims, characterised in that the autonomous vehicle (1) has a drive device, an electrical energy storage device to supply the drive device, a control unit to control the drive device and a communication device for wireless communication via a network.

5. A method according to any one of the preceding claims, characterised in that when the at least one sensor identifies an item located in a static zone, a location of the autonomous vehicle (1) on the map is determined by comparison of the identified item with at least one static object (25) marked in the static region (20) assigned to the static zone.

6. A method according to any one of the preceding claims, characterised in that when the autonomous vehicle (1) leaves the temporary zone, all temporary objects (32) marked in the temporary region (30) assigned to the temporary zone are deleted immediately.

7. A method according to any one of claims 1 to 5, characterised in that when the autonomous vehicle (1) leaves the temporary zone, all temporary objects (32) marked in the temporary region (30) assigned to the temporary zone are deleted after a certain period of time.

8. A method according to any one of the preceding claims, characterised in that a stay counter and a place counter are associated with a temporary object (32), and in that the stay counter is incremented when the temporary object (32) is identified, and in that the place counter is incremented when a place at which the temporary object (32) was last located is observed by the at least one sensor, and in that a quotient is then formed from the stay counter and the place counter.

9. A method according to claim 8, characterised in that when the autonomous vehicle (1) leaves the temporary zone, all temporary objects (32) marked in the temporary region (30) assigned to the temporary zone are deleted after a variable period of time, wherein the variable period of time is dependent on the quotient formed from the stay counter and the place counter.

10. A method according to any one of the preceding claims, characterised in that when an item located in a temporary zone is identified by the at least one sensor, a location of the autonomous vehicle (1) on the map is determined by comparison of the identified item with at least one temporary object (32) which is marked in the temporary region (30) which is assigned to the temporary zone.

11. A method according to any one of the preceding claims, characterised in that before the autonomous vehicle (1) approaches the temporary zone there are deleted all temporary objects (32) which are marked in the temporary region (30) which is assigned to the temporary zone.

12. A method according to any one of the preceding claims, characterised in that when a temporary object (32) is assigned to an item identified by the sensor, information about the temporary object (32) is transmitted via a network to a server in the technical installation.

13. A method according to any one of the preceding claims, characterised in that when a temporary object (32) is assigned to an item identified by the sensor, information about the temporary object (32) is transmitted via a network to at least one further autonomous vehicle (1) in the technical installation.

14. A technical installation comprising at least one autonomous vehicle (1), wherein the autonomous vehicle (1) has at least one sensor for identification of items, and wherein the autonomous vehicle (1) has a map of the technical installation at its disposal, and wherein the technical installation can be operated using the method according to any one of the preceding claims.