Locating arrangement, method for changing a code arrangement in the locating arrangement, computer program, and storage medium

Abstract

The invention relates to a locating arrangement (1) comprising: - a code arrangement (6), wherein the code arrangement (6) is located on a travel surface (2) and wherein coarse positions of the travel surface (2) and / or of the code arrangement (6) are coded in the code arrangement (6) with location resolution; - at least one locating module (3), wherein the locating module (3) is designed to determine its own position on the basis of the code arrangement (6) by decoding the coded coarse position; and - a plurality of screen units (4), wherein the screen units (4) are located on the travel surface (2) and / or forming the travel surface (2), and wherein the code arrangement (6) is and / or can be at least partly displayed on the screen units (4).

Description

[0001] Description

[0002] title

[0003] Localization arrangement, method for changing a code arrangement in the localization arrangement, computer program and storage medium

[0004] The invention relates to a localization arrangement, a method for changing a code arrangement on a process surface of the localization arrangement, a computer program and a storage medium.

[0005] State of the art

[0006] In Industry 4.0, robots must move autonomously, assuming they can orient themselves in their environment. Orientation devices such as magnetic guideways or markers are commonly used. These are placed in the robot's workspace and can be read by the robot.

[0007] In the document DE 10 2016 216 2 2 1 A1 , which represents the closest prior art, a possibility for positioning and / or determining the position of objects in a space and / or on a surface is presented. A two-dimensional code arrangement is proposed. The two-dimensional code arrangement comprises base symbols, wherein the base symbols are arranged on a surface and the base symbols on the surface form a two-dimensional periodic grid 2 with a plurality of identical parcels, wherein the parcels each have a plurality of base symbols 1, wherein the parcels each have at least a first and a second parcel area. The code arrangement can be decoded so that position information can be read out.

[0008] Disclosure of the invention The subject matter of the invention is a localization arrangement with the features of claim 1, a method with the features of claim 8, a computer program with the features of claim 11 and a storage medium with the features of claim 12. Preferred or advantageous embodiments of the invention emerge from the subclaims, the following description and the attached figures.

[0009] The subject matter of the invention is a localization arrangement, wherein the localization arrangement can form a section of a transport system, a work system, a production system, etc.

[0010] The localization arrangement comprises a code arrangement, wherein the code arrangement is arranged on a processing surface. The processing surface can be a floor surface, a wall surface, or another surface. The processing surface can be exclusively flat; alternatively, it can be curved or realized in a freeform. It is also possible for the processing surface to be angled.

[0011] In the code arrangement, coarse positions of the processing area are encoded with spatial resolution. The code arrangement can, in particular, encode a coordinate system, with the coarse position being a position in the coordinate system. The code arrangement can be implemented as a plurality of local codes, such as QR codes.

[0012] The code arrangement is preferably designed as described in the document DE 10 2016 216 221 A1, the disclosure of which with regard to the code arrangement is incorporated by reference into the present disclosure. The coarse positions are designed in particular as XY coordinates in the code arrangement and / or on the process surface. The code arrangement can be imaged in particular by the sensor device, wherein the position of the localization module can be determined in up to six degrees of freedom on the basis of the image. The two-dimensional code arrangement preferably comprises basic symbols, wherein the basic symbols are arranged on a surface and the basic symbols on the surface form a two-dimensional periodic grid, a dot grid. The basic symbols are preferably geometric figures, such as circles, squares, triangles or lines. The basic symbols are particularly preferably designed as circles.The base symbols are also called dots. They preferably represent digits of a number system. In particular, the two-dimensional code arrangement comprises at least two different base symbols.

[0013] The coarse positions in the code arrangement are encoded using the basic symbols. Specifically, several basic symbols are read out, with the coarse position being determined by decoding the multiple basic symbols.

[0014] In one possible embodiment of the invention, the two-dimensional periodic grid comprises empty spaces at grid locations and / or grid locations that are not occupied by basic symbols, as parcel symbols. The basic symbols are arranged in the area to form a two-dimensional grid, wherein the area centroids of the basic symbols preferably form grid points in the point grid. The area is preferably divided into similar, regularly arranged parcels, wherein the parcels have, for example, a square, rectangular, triangular or hexagonal basic shape. Similar parcels are understood to mean, in particular, parcels of the same size and / or shape. Each parcel preferably comprises n basic symbols. The parcels comprise, in particular, an integer number of basic symbols and, more specifically, an even number of basic symbols.The parcels preferably comprise more than ten base symbols, in particular more than twenty base symbols, and especially more than forty base symbols. Furthermore, the number of base symbols in a parcel is preferably less than one hundred. The parcels formed by the base symbols can be visually indicated in the code arrangement, such as by a border, or can be non-visually indicated and form only a conceptual and / or logical unit. The parcels have at least a first and a second.

[0015] An X-plot area includes the first

[0016] parcel area and a Y-parcel area includes the second

[0017] Parcel area. In particular, each parcel area occupies a contiguous area or several distributed, non-contiguous sub-areas within the parcel. Each parcel area comprises several base symbols. In particular, the X-parcel area and the Y-parcel area comprise the same number of base symbols. In particular, the at least two parcel areas are arranged in the parcel such that they have a p-fold rotational symmetry with respect to the center of the parcel as the pivot point, wherein the p-fold rotational symmetry is, for example, a twofold, threefold, or fourfold rotational symmetry. The parcels each have at least one parcel symbol, which represents a fixed reference point within each parcel. The parcel symbol enables the reading and / or decoding of the base symbols in a specified order.The parcel symbols are, in particular, arranged regularly and / or periodically in the two-dimensional periodic grid of the basic symbols. The parcel symbols can be located on or next to the grid points. The parcel symbols are, in particular, each arranged at the same position within a parcel, such as, for example, in the center of a parcel. The parcel symbols are, for example, different graphic elements than the basic symbols, such as triangles, hexagons, or lines. Alternatively and / or additionally, the parcel symbols are represented by omitting one or more basic symbols in a parcel. In one possible embodiment, the parcel symbol forms the point of symmetry of the p-fold rotational symmetry of the parcel.In particular, the reading direction and / or decoding sequence, i.e. the sequence in which the base symbols must be read within the X-plot area and / or within the Y-plot area, is specified. Preferably, the reading direction and / or decoding sequence corresponds to the specification of which base symbols are to be read and / or decoded one after the other. In the X-plot area, an X-coordinate value is encoded by the base symbols, and a Y-coordinate value is encoded by the base symbols in the Y-plot area. In particular, the X-coordinate value and the Y-coordinate value are the coordinates of a base symbol in the plot, wherein the coordinates are specified in a Cartesian coordinate system of the area spanned by the base symbols.Alternatively and / or additionally, the X-coordinate value and the Y-coordinate value can also specify a position within the area as coordinates in another coordinate system, such as an oblique-angle coordinate system, in cylindrical coordinates, or spherical coordinates. The localization arrangement has at least one localization module, wherein the localization module is designed to determine its own position by decoding the coded coarse position. In particular, the localization module reads the coarse position from the code arrangement. If the localization module moves relative to the code arrangement, the coarse position changes. The code arrangement can, for example, have a two-dimensional, rectangular, in particular square, dot matrix, wherein the coarse positions of the matrix points are coded.

[0018] The localization module can in particular be designed as an autonomous transport vehicle. In particular, the respective localization module is designed to be human-free. Alternatively or additionally, the localization module is designed to exclusively transport goods, products, workpieces or the like. For example, the localization module is implemented as a transport robot or as a flying or hovering vehicle. Preferred embodiments of the localization module are AGV (Automated Guided Vehicle) and / or FTP (Driverless Transport Vehicle). In particular, the localization module is designed as a vehicle that can transport small quantities quickly over short distances and / or is preferably used for transport within a production line. The function of the localization module arises from the application: If the localization arrangement is, for example,If the localization arrangement is designed as a transport system, the localization module is preferably implemented as a transport module. If the localization arrangement is designed as a manufacturing system or work system, the localization module can be designed as a workpiece carrier module, a tool carrier module, a work robot, a production robot, etc. It can also be provided that different localization modules, such as transport modules, work robots, production robots, workpiece carrier modules, etc., are associated with the localization arrangement.

[0019] tool carrier modules etc.

[0020] If the localization module is designed as a moving module, it is preferred that the process surface and / or the code arrangement form a travel surface for the localization module. If the localization module is designed as a floating module, it is preferred that the process surface and / or the code arrangement form a support surface, e.g., a magnetic track, for the localization module.

[0021] The localization module preferably has a sensor device for reading the coding of the coarse position from the code arrangement. The sensor device is preferably designed as an optical sensor device, such as a camera. The decoding of the coarse position from the code arrangement can be performed locally in the localization module or decentrally in a host computer unit, a cloud, etc.

[0022] Within the scope of the invention, it is proposed that the localization arrangement comprise a plurality of screen units, wherein the screen units are arranged on the process area and wherein the screen units display and / or can display the code arrangement at least partially or completely. The code arrangement is divided into individual code segments, some or all of which are displayed by the individual screen units and which, as a whole, form the code arrangement. Preferably, the localization arrangement comprises at least 10, in particular at least 20, and especially at least 40 screen units.

[0023] One consideration of the invention is that the code arrangement must be arranged on the processing area. The code arrangement must be positioned correctly depending on the processing area. If the code arrangement is implemented statically, for example, using prefabricated code segments or by formless application by printing, coating, etc., changing or even repairing the code arrangement is difficult. Due to the described static generation of a code arrangement, the code arrangement cannot be subsequently adapted to any desired shape or size without calculating, statically generating, and arranging specific code field extensions for the existing area of ​​the code arrangement.In contrast, implementation with screen units has the advantage that when the code arrangement on the process area is expanded, reduced, changed and / or repaired, the position of the screen units, in particular those of the same construction, can be easily adjusted as required and the code arrangement can then be displayed on the screen units.

[0024] It is possible for the code arrangement to be displayed exclusively on the screen units. Alternatively, it is also possible for the code arrangement to be implemented as a mixture of static code segments and code segments displayed on the screen units.

[0025] In a preferred embodiment of the invention, at least two of the screen units are arranged side by side without gaps. Particularly preferably, a plurality of screen units, such as more than 10, in particular more than 20, and especially more than 40 screen units, can also be arranged side by side without gaps. In particular, the screen units can be arranged in the form of a matrix or in a freeform configuration, which is oriented according to the shape of the required processing area. The seamless arrangement has the advantage that transition areas between the screen units, in which the localization module cannot orient itself, are kept small.

[0026] In a preferred embodiment of the invention, the screen units are frameless. This maximizes the proportion of the screen to the screen unit, further reducing any transition areas between the screen units.

[0027] In a preferred development of the invention, additional data fields are arranged on the screen units and / or in the code arrangement. The data fields can, for example, form control signals for the at least one localization module. The data fields can encode information that can be read and / or decoded by the localization module in addition to the rough position. For example, the data fields can mark restricted areas into which the localization module is not permitted to enter. It is also possible for the data fields to specify maximum speeds and directions of movement, similar to traffic signs. In particular, the data fields can mark restricted lines that the localization module is not permitted to cross.By using the additional data fields, a change to the planned path can be implemented at short notice and immediately in addition to and / or any path planning by a master computer device, so that, for example, an exceptional situation can be responded to quickly and immediately.

[0028] In a preferred embodiment of the invention, the screen units are designed as passive and / or reflective screen units. In particular, the screen units have non-luminous screens. This embodiment has the advantage that no energy needs to be expended to display the code arrangement. Alternatively or additionally, the code arrangement or the respective code segments are displayed permanently, in particular without a maintenance voltage, so that energy does not even need to be expended for the passive display. For example, the display is based on electrophoresis and / or the display is designed as electronic paper, e-paper, e-paper and / or e-ink. With this embodiment, the localization arrangement can be operated with low energy requirements for displaying the code arrangement.

[0029] In an alternative embodiment of the invention, however, the screen units are designed as active screen units. This allows the code arrangement to be read more easily by the localization module.

[0030] Particularly preferably, the localization arrangement comprises a control device for controlling the screen units. The control device is designed to control the screen units according to a common code card in order to display the code arrangement represented by the common code card. The at least two code segments are entered in a common code card of the work surface device, in particular in the correct orientation and / or position. A code card is understood, in particular, to be a data model that is designed as a 2D plan or implemented as a data set.

[0031] In a preferred embodiment of the invention, the code card is also changed when the plurality of screen units is changed, and / or the plurality of screen units is changed when the code card is changed. Once both changes are completed, the control device is configured to monitor the changed plurality of screen units to ensure that the code arrangement is displayed according to the changed code card.

[0032] A further subject matter of the invention relates to a control device for implementing the method as described above. The control device is designed, in particular, as a digital data processing device, such as a computer, the cloud, etc. It is provided that the control device is designed to control the plurality of display units in order to display the code arrangement according to the modified plurality of display units and / or the modified code card.

[0033] A further subject matter of the invention relates to a computer program, wherein the computer program is designed to carry out the method as described above when the computer program is executed on a computer, a digital data processing device or the control device as described above.

[0034] Another subject of the invention relates to a machine-readable storage medium, wherein the computer program as described above is stored on the storage medium.

[0035] Further features, advantages, and effects of the invention will become apparent from the following description of a preferred embodiment and the accompanying figures. These show:

[0036] Figure 1 is a schematic representation of a localization arrangement as an embodiment of the invention with deactivated screen units;

[0037] Figure 2 is a schematic representation of the localization arrangement in Figure 1, wherein the screen units display a code arrangement;

[0038] Figure 3 is a schematic representation of the localization arrangement in Figures 1 and 2, wherein the localization arrangement has been supplemented by two screen units; wherein the two screen units are still deactivated; Figure 4 is a schematic representation of the localization arrangement in Figure 3, wherein the screen units display a supplemented code arrangement.

[0039] Figure 1 shows a schematic representation of a localization arrangement 1 as an exemplary embodiment of the invention. The localization arrangement 1 has a processing surface 2, with at least one localization module 3 being movable on the processing surface 2. The localization module 3 can move on the processing surface 2, for example, with contact with the ground. Alternatively, the processing surface 2 is designed as a magnetic track surface, so that the localization module 3 can move in a suspended manner on the processing surface.

[0040] The localization module 3 is designed as an autonomous mobile device, which can assume different functions depending on the application. For example, the localization arrangement 1 is part of a transport system, whereby goods, products, tools, etc. can be transported by the localization module 3. It is also possible for the localization module 3 to be designed as a work module and / or process module and, for example, to carry a tool or to be designed as a robot. During operation, the localization module 3 moves on the process area 2 to fulfill its respective function. It can be provided that the localization arrangement 1 has a plurality of such localization modules 3.

[0041] The processing area 2 is formed by a plurality of screen units 4, the screens of which form the processing area 2 or are at least arranged beneath the processing area 2 and protected from damage, for example, by a transparent protective plate. The screen units 4 are arranged directly adjacent to one another and, in particular, without gaps. The screen units 4 are preferably frameless, so that the processing area 2 represents a large, uninterrupted screen in this exemplary embodiment.

[0042] The localization arrangement 1 optionally has a control device 5, wherein the control device 5 is connected to the screen units 4 for data purposes. The control device 5 is designed, for example, as a computer or another electronic data processing device. The control device 5 is designed to control the screen units 4 and, in particular, to transmit an image content to be displayed to the screen units 4.

[0043] The screen units 4 are designed, for example, as passive and / or reflective screen units 4 (E-Ink), so that they can be operated with low energy or even without energy when displaying the image content.

[0044] Figure 2 shows the localization arrangement 1 with a code arrangement 6. The code arrangement 6 is displayed on the screen units 4, or at least co-displayed. A code segment of the code arrangement 6 is displayed on each of the screen units 4. The code arrangement 6 may be displayed exclusively by the screen units 6. Alternatively, in addition to the code segments of the code arrangement 6 displayed by the screen units 4, static code segments may also form part of the code arrangement 6, which are printed on the process surface 2 or are fixed and statically arranged on it.

[0045] The control device 5 has a code card 7, wherein the code card 7 provides the necessary data for displaying the code arrangement 6 to the control device 5. The control device 5 receives the necessary information from the code card 7 and controls the display units 4 so that the code segments of the code arrangement 6 associated with the code card 7 and / or the code arrangement 6 are displayed in the correct position on the display units 4.

[0046] The localization module 3 has a sensor device (not shown), which is designed, for example, as a camera and which records a section 8 of the code arrangement 6. The code arrangement 6 is designed as a coordinate system, wherein a rough position within the coordinate system is encoded by the code arrangement 6. The sensor device is designed to record the section 8 of the code arrangement 6. The code arrangement 6 has a dot matrix, wherein base symbols 9 are arranged at the grid points and wherein the base symbols 9 differ in area, wherein the base symbols can occupy two different areas. The area forms a coding of the base symbols 9. It is provided that the section 8 is decoded, wherein first a matrix of the position and a data item is created according to the area of ​​the base symbols 9.In this case, the larger base symbols 9 are entered into the matrix with a 1 as the datum, and the smaller base symbols 9 are entered into the matrix with a 0 as the datum. From the matrix, the coarse position of the section 8, in particular of a specific base symbol 9 of the section 8, can be decoded in a lookup device or a look-up table, and in this way, the self-position of the localization module 3 can be determined.

[0047] If the localization module 3 moves over the processing area 2 and thus over the code arrangement 6, different sections 8 of the code arrangement 6 are recorded, resulting in a different coarse position during decoding. As is known from the applicant's publication cited above, it is also possible to determine not only the coarse position but also the fine position of the localization module 3 in up to 6 degrees of freedom based on the code arrangement 6.

[0048] Each section 8 of the code arrangement 6 must be unique or uniquely assignable to a coarse position in the code arrangement 6 in order to be able to unambiguously determine the coarse position. In particular, the code arrangement 6 forms a coordinate system that can be decoded with respect to the coarse position using the code arrangement 6.

[0049] In the event that a modification or repair of the code arrangement 6 is necessary, it would generally be necessary to expand, reduce, and / or modify the code arrangement 6 according to the coding. In the event that the code segments are formed by static supports, a specific code segment would have to be manufactured for such a modification of the code arrangement 6.

[0050] However, in the exemplary embodiment, as shown by way of example in Figure 3, it is provided that a change to the code arrangement 6 and / or the process area 2 is implemented by adding, removing, or moving one of the screen units 4. In this case, the code card 7 can be changed accordingly, and the screen units 4 can be controlled accordingly via the control device 5, so that decoding of the code arrangement 6 is ensured across the entire process area 2.

[0051] Figure 4 schematically shows that the control device 5 controls the modified and, in this embodiment, new screen units 4, so that the code arrangement 6 is extended to the new screen units 4.

Claims

Claims 1. Localization arrangement (1) with a code arrangement (6), wherein the code arrangement (6) is arranged on a process area (2) and wherein coarse positions of the process area (2) and / or the code arrangement (6) are coded in a spatially resolved manner in the code arrangement (6), with at least one localization module (3), wherein the localization module (3) is designed to determine an own position on the basis of the code arrangement (6) by decoding the coded coarse position, characterized by a plurality of screen units (4), wherein the screen units (4) are arranged on the process area (2) and / or form the process area (2) and wherein the code arrangement (6) is displayed and / or can be displayed at least in sections on the screen units (4).

2. Localization arrangement (1) according to claim 1, characterized in that at least two of the screen units (4) are arranged next to one another without gaps.

3. Localization arrangement (1) according to claim 1 or 2, characterized in that the screen units (4) are frameless.

4. Localization arrangement according to one of the preceding claims, characterized in that further data fields are arranged on the screen units (4) and / or in the code arrangement (6), wherein the data fields can be read out by the localization module (3).

5. Localization arrangement (1) according to one of the preceding claims, characterized in that the screen units (4) are designed as passive and / or reflective screen units (4).

6. Localization arrangement (1) according to one of the preceding claims, characterized in that the screen units (4) are designed as active and / or self-luminous screen units (4).

7. Localization arrangement (1) according to one of the preceding claims, characterized by a control device (5), wherein the control device (5) is designed to control the screen units (5) according to a common code card (7) in order to display the code arrangement (6).

8. A method for changing the code arrangement (6) on the process surface (2) of the localization arrangement (1) according to one of the preceding claims, wherein the arrangement and / or the number of the plurality of screen units (4) is changed and wherein the code arrangement (6) is displayed on the changed plurality of image units (4).

9. Method according to claim 8, characterized in that with the change of the plurality of screen units (4) the code card (7) is changed and the changed plurality of screen units (4) is controlled to display the code arrangement (6) according to the changed code card (7).

10. Control device (5) for implementing the method according to one of claims 8 or 9, characterized in that the control device (5) is designed to control the plurality of screen units (4) in order to display the code arrangement (6) according to the changed plurality of screen units (4) and / or the new code card (7). 11 . Computer program, wherein the computer program is designed to carry out the method according to one of claims 8 or 9, when the computer program is executed on a computer, the localization arrangement (1) according to one of claims 1 to 7 or on the control device (5) according to claim 10.

12. A machine-readable storage medium, wherein the computer program according to claim 11 is stored on the storage medium.

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