Method for operating a technical installation, and technical installation
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-04-24
- Publication Date
- 2026-04-08
AI Technical Summary
In dynamic industrial environments like production plants and logistics centers, existing methods fail to efficiently update maps used by autonomous vehicles when changes such as new objects or moved items occur, leading to inaccuracies in object detection and navigation.
A method that utilizes laser scanners to detect changes in the environment, determining the dimension and extent of changes, and selects between online and offline map updates based on calculated ratios, with offline updates handled by a central server to conserve computing power and memory in autonomous vehicles.
Ensures accurate and efficient map updates, reducing computing power and memory requirements in autonomous vehicles, particularly effective for large-scale changes, while allowing quick online updates for minor changes, thus maintaining navigation precision and system efficiency.
Smart Images
Figure EP2024061321_28112024_PF_FP_ABST
Abstract
Description
[0001] Procedure for operating a technical system and technical system
[0002] Description:
[0003] 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 laser scanner for recording laser scans 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.
[0004] The technical facility is, in particular, an industrial application, such as a production plant, an industrial hall, or a logistics center. Autonomous vehicles are used, for example, to transport materials within the technical facility. The technical facility also contains other objects, such as walls, columns, production machines, pallets, boxes, containers, or transport trolleys, as well as people and other autonomous vehicles. The autonomous vehicles also have sensors, particularly laser scanners for recording laser scans, for detecting such objects.
[0005] Objects in the technical system, such as walls, columns, production machines, pallets, boxes, containers, or transport trolleys, or production machines, are assigned to objects that are recorded on the map. If an object in the technical system is detected by a laser scanner of an autonomous vehicle, the location of the autonomous vehicle on the map can be determined by comparing the detected object with an object recorded on the map.
[0006] DE 102021 000 349 A1 discloses a method for operating a technical installation comprising at least one mobile system. A map of the technical installation is generated, which contains information about at least one accessible area and at least one restricted area.
[0007] DE 102019 001 253 A1 discloses a method for operating a system having a mobile device. Objects in the system are detected using a sensor, and their positions are determined. WO 2022 / 087014 A1 discloses a system and method for creating occupancy maps for robots. A sensor receives a point cloud and discretizes it into a plurality of voxels. From this, an empty space around the robot is detected.
[0008] US 2008 / 0009966 A1 discloses a system and method for detecting a change in occupancy near a robot. An occupancy map of an area surrounding the robot is created, and each grid cell of the map is further processed.
[0009] US 2019 / 0035099 A1 discloses a method for creating a model of a work environment. Data from a robot's sensors is recorded, from which images with depth information are created.
[0010] If additional objects are added to the technical facility, such as production machinery, or existing objects are moved to another location, such as containers, the objects recorded on the map no longer correspond to the objects in the technical facility. In such cases, the map, or at least part of it, must be updated.
[0011] The invention is based on the object of developing a method for operating a technical system and a technical system.
[0012] The object is achieved by a method for operating a technical system having the features specified in claim 1. Advantageous embodiments and further developments are the subject of the subclaims. The object is also achieved by a technical system having the features specified in claim 11.
[0013] A method for operating a technical installation is proposed. The technical installation comprises at least one autonomous vehicle, wherein the autonomous vehicle has at least one laser scanner for recording laser scans for detecting objects, and wherein the autonomous vehicle has a map of the technical installation. The technical installation comprises at least one object to which an object is assigned, which object is recorded in the map. The at least one laser scanner of the autonomous vehicle records a laser scan of an area of the technical installation to be updated. Objects detected in the laser scan are compared with objects recorded in a zone of the map that is assigned to the area of the technical installation to be updated.The zone of the map to be updated, which is assigned to the area of the technical installation to be updated, is updated if at least one change is detected.
[0014] Depending on the number and order of the detected changes, a type of map update is selected. Specifically, both online and offline map updates are provided.
[0015] According to an advantageous development of the invention, a dimension of the zone of the technical installation to be updated is determined. A number of changes detected by the comparison is also determined. Furthermore, a dimension of a smallest polygon in the zone of the technical installation to be updated, which contains the detected changes, is determined.
[0016] The dimensions of the zone to be updated, the number of changes detected by the comparison, and the dimensions of the smallest polygon in the zone to be updated containing the detected changes represent variables that serve as criteria for selecting the type of map update to be performed. Combinations of these variables also serve as criteria for selecting the type of update to be performed. In particular, both online and offline map updates are provided.
[0017] Multiple spatially distributed zones to be updated are considered a single combined zone if these zones can be observed simultaneously by the autonomous vehicle's laser scanners. In this case, the dimensions of this single combined zone are determined as the sum of the dimensions of the individual zones. The dimensions of a smallest polygon within the combined zone containing the detected changes are also determined.
[0018] According to an advantageous embodiment of the invention, the zone of the map is updated when the number of detected changes within the zone to be updated exceeds a maximum value. Preferably, the zone of the map is updated by transmitting the detected changes to a central server, and the central server adapts the map by entering the detected changes into the map, and the adapted map is transmitted from the central server to the autonomous vehicle. The map is thus updated offline. The essential required calculations are performed by the central server. An offline update requires relatively low computing power and relatively little RAM in the autonomous vehicle. The offline update is particularly advantageous when a relatively large number of changes need to be entered.
[0019] According to another advantageous embodiment of the invention, a first ratio is calculated from the number of detected changes and the dimensions of the zone to be updated. The map zone is updated if the first ratio exceeds a first threshold.
[0020] Preferably, the map zone is updated by transmitting the detected changes to a central server. The central server then adjusts the map by entering the detected changes into the map. The adjusted map is then transmitted from the central server to the autonomous vehicle. The map is thus updated offline. The essential calculations required are performed by the central server. An offline update requires relatively little computing power and relatively little RAM in the autonomous vehicle. Offline updating is particularly advantageous when a relatively large number of changes need to be entered.
[0021] According to an advantageous embodiment of the invention, a second ratio is calculated from the dimensions of the smallest polygon in the zone to be updated, which contains the detected changes, and the dimensions of the zone to be updated. The map zone is updated if the second ratio exceeds a second threshold.
[0022] Preferably, the map zone is updated by transmitting the detected changes to a central server. The central server then adjusts the map by entering the detected changes into the map. The adjusted map is then transmitted from the central server to the autonomous vehicle. The map is thus updated offline. The essential calculations required are performed by the central server. An offline update requires relatively little computing power and relatively little RAM in the autonomous vehicle. Offline updating is particularly advantageous when a relatively large number of changes need to be entered.
[0023] According to an advantageous embodiment of the invention, a first ratio is calculated from the number of detected changes and the dimensions of the zone to be updated, and a second ratio is calculated from the dimensions of the smallest polygon in the zone to be updated, which contains the detected changes, and the dimensions of the zone to be updated. The map zone is updated when the first ratio falls below the first threshold and when the second ratio falls below the second threshold.
[0024] Preferably, the map zone is updated by a navigation computer of the autonomous vehicle entering the detected changes into the map. The map is thus updated online. An online update can be performed in a relatively short time, and the map is updated relatively quickly. Online updating is particularly advantageous when a relatively small number of changes need to be entered.
[0025] A technical system according to the invention comprises at least one autonomous vehicle, wherein the autonomous vehicle has at least one laser scanner for recording laser scans for detecting objects, and wherein the autonomous vehicle has a map of the technical system, and wherein the technical system comprises at least one object to which an object is assigned that is recorded on the map. The technical system can be operated using the method according to the invention.
[0026] The invention is not limited to the combination of features in the claims. Further possible combinations of claims and / or individual claim features and / or features of the description and / or the figures will become apparent to those skilled in the art, particularly from the task and / or the problem posed by comparison with the prior art. The invention will now be explained in more detail with reference to figures. The invention is not limited to the exemplary embodiments shown in the figures. The figures represent the subject matter of the invention only schematically. It shows:
[0027] Figure 1 : a schematic representation of an autonomous vehicle in a technical facility,
[0028] Figure 2: a schematic representation of a map of a technical installation according to a first embodiment and
[0029] Figure 3: a schematic representation of a map of a technical installation according to a second embodiment.
[0030] Figure 1 shows a schematic representation of an autonomous vehicle 1 in a technical facility. The technical facility is an industrial application, for example, a production plant, an industrial hall, or a logistics center. The technical facility comprises several autonomous vehicles 1. Only one such autonomous vehicle 1 is shown in this illustration. The autonomous vehicles 1 are used in particular for transporting material within the technical facility.
[0031] The autonomous vehicle 1 has a drive device, an electrical energy storage device for supplying the drive device, and a control unit for controlling the drive device. Furthermore, the autonomous vehicle 1 has a communication device 14 for wireless communication with other autonomous vehicles 1 and with other participants, for example, with a central server 20, in the technical system. The communication device 14 of the autonomous vehicle 1 is designed, for example, for data transmission via WLAN, Bluetooth, or light.
[0032] The autonomous vehicle 1 has two laser scanners 2. The laser scanners 2 are used to take laser scans to detect objects in the technical system. When an object is detected, the laser scanners 2 record the distance to the object and the direction in which the object is located. The laser scanners are mounted at opposite corners of the autonomous vehicle 1 and each detect objects within an angular range of approximately 270°. In this case, only one laser scanner 2 of the autonomous vehicle 1 is shown. The technical system contains objects, for example walls, pillars, and production machines. The autonomous vehicle 1 has a map of the technical system. These objects are recorded on the map of the technical system as objects 4. The positions at which the objects are located are also recorded on the map as positions of the objects 4.
[0033] The autonomous vehicle 1 has a navigation computer 12. The navigation computer 12 is used to update the map of the technical system online. If necessary, the navigation computer 12 updates the map by entering changes detected by the navigation computer 12 into the map.
[0034] The technical system includes a central server 20. The central server 20 is used for offline updating of the map of the technical system. If necessary, detected changes are transmitted from the autonomous vehicle 1 to the central server 20. The central server 20 adjusts the map by entering the detected changes into the map. The server 20 transmits the adjusted map to the autonomous vehicle 1.
[0035] The central server 20 has a communication device 24 for wireless communication with autonomous vehicles 1 and with other participants in the technical system. In particular, maps of the technical system are transmitted between the communication device 14 of the autonomous vehicle 1 and the communication device 24 of the central server 20.
[0036] Figure 2 shows a schematic representation of a map of a technical installation according to a first exemplary embodiment. The technical installation comprises several objects, in particular static objects. Static objects include, for example, walls, columns, or production machines. Static objects generally remain at a fixed location within the technical installation and are therefore not moved. Each object is assigned an object 4. The objects 4 are recorded on the map.
[0037] The map comprises a plurality of cells. Cells occupied by an object 4 are marked as occupied. Cells that are free of objects 4 are marked as empty. The cells on the map are square and arranged two-dimensionally, directly adjacent to one another. In this case, one side of a cell corresponds to a distance of approximately 4 cm to 10 cm in the technical system.
[0038] The technical facility includes an area to be updated. For example, additional items have been added to the area to be updated, such as production machines, or existing items have been moved to another location. The area of the technical facility to be updated is assigned an update zone 8 on the map.
[0039] The area to be updated extends over an area in the technical system. Zone 8 to be updated has a dimension that corresponds to the area of the area to be updated. In this case, zone 8 to be updated comprises 450 cells and is therefore relatively large.
[0040] The laser scanner 2 of the autonomous vehicle 1 takes a laser scan of the area of the technical system to be updated. Objects detected in the laser scan are compared with objects 4 recorded in the zone 8 of the map to be updated.
[0041] The dimensions of zone 8 to be updated are determined, in this case 450 cells. The number of changes detected by the comparison is determined, for example, 190. The dimensions of a smallest polygon in zone 8 to be updated, which contains the detected changes, are determined, for example, 240.
[0042] The number of detected changes is compared to a maximum value, for example, 150. In this case, the number of detected changes exceeds the maximum value.
[0043] A first ratio is calculated from the number of detected changes and the size of zone 8 to be updated, for example, 42%. This first ratio is compared with a first threshold, for example, 30%. In this case, the first ratio exceeds the first threshold.
[0044] A second ratio is calculated from the dimensions of the smallest polygon in zone 8 to be updated, which contains the detected changes, to the dimensions of zone 8 to be updated, for example, 53%. The second ratio is compared to a second threshold, for example, 40%. In this case, the second ratio exceeds the second threshold.
[0045] Zone 8 of the map is therefore updated offline. The detected changes are transmitted to the central server 20. The central server 20 adjusts the map by entering the detected changes into the map. The adjusted map is transmitted from the central server 20 to the autonomous vehicle 1.
[0046] Figure 3 shows a schematic representation of a map of a technical installation according to a second exemplary embodiment. The technical installation comprises several objects, in particular static objects. Static objects include, for example, walls, columns, or production machines. Static objects generally remain in a fixed location within the technical installation and are therefore not moved. Each object is assigned an object 4. The objects 4 are recorded on the map.
[0047] The map comprises a plurality of cells. Cells occupied by an object 4 are marked as occupied. Cells that are free of objects 4 are marked as empty. The cells on the map are square and arranged two-dimensionally, directly adjacent to one another. In this case, one side length of a cell corresponds to a distance of approximately 4 cm to 10 cm in the technical system.
[0048] The technical facility includes an area to be updated. For example, additional items have been added to the area to be updated, such as production machines, or existing items have been moved to another location. The area of the technical facility to be updated is assigned an update zone 8 on the map.
[0049] The area to be updated extends over an area in the technical system. Zone 8 to be updated has a dimension that corresponds to the area of the area to be updated. In this case, zone 8 to be updated comprises 50 cells and is therefore relatively small.
[0050] The laser scanner 2 of the autonomous vehicle 1 takes a laser scan of the area of the technical system to be updated. Objects detected in the laser scan are compared with objects 4 recorded in the zone 8 of the map to be updated.
[0051] The dimensions of zone 8 to be updated are determined, in this case 50 cells. The number of changes detected by the comparison is determined, for example, 12. The dimensions of a smallest polygon in zone 8 to be updated, which contains the detected changes, are determined, for example, 18.
[0052] A first ratio is calculated from the number of detected changes and the size of the zone 8 to be updated, for example, 24%. A second ratio is calculated from the size of the smallest polygon in the zone 8 to be updated, which contains the detected changes, and the size of the zone 8 to be updated, for example, 36%.
[0053] The first ratio is compared with the first threshold, for example, 30%. The second ratio is compared with the second threshold, for example, 40%. In this case, the first ratio is below the first threshold, and the second ratio is below the second threshold.
[0054] Zone 8 of the map is therefore updated online. The navigation computer 12 of the autonomous vehicle 1 enters the detected changes into the map.
[0055] List of reference symbols
[0056] 1 autonomous vehicle 2 laser scanners
[0057] 4 Object
[0058] 8 Zone
[0059] 12 navigation computers
[0060] 14 Communication device 20 Server
[0061] 24 Communication device
Claims
Patent claims:
1. A method for operating a technical installation comprising at least one autonomous vehicle (1), wherein the autonomous vehicle (1) has at least one laser scanner (2) for recording laser scans for detecting objects, and wherein the autonomous vehicle (1) has a map of the technical installation, wherein the technical installation comprises at least one object to which an object (4) is assigned, which object is recorded in the map, characterized in that a laser scan of an area of the technical installation to be updated is recorded by the at least one laser scanner (2) of the autonomous vehicle (1); objects detected in the laser scan are compared with objects (4) that are recorded in a zone (8) of the map that is assigned to the area of the technical installation to be updated;the zone (8) of the map to be updated, which is assigned to the area of the technical installation to be updated, is updated if at least one change is detected; 2. Method according to claim 1, characterized in that a dimension of the zone (8) to be updated is determined; a number of changes detected by the comparison is determined; and a dimension of a smallest polygon in the zone (8) to be updated, in which the detected changes are contained, is determined; 3. Method according to claim 2, characterized in that the zone (8) of the map is updated when the number of detected changes within the zone to be updated exceeds a maximum value.
4. Method according to claim 3, characterized in that the zone (8) of the map is updated by transmitting the detected changes to a central server (20); the central server (20) adapts the map by entering the detected changes into the map; the adapted map is transmitted from the central server (20) to the autonomous vehicle (1).
5. Method according to one of claims 2 to 4, characterized in that a first ratio is calculated from the number of detected changes and the dimension of the zone (8) to be updated, and in that the zone (8) of the map is updated when the first ratio exceeds a first limit value.
6. The method according to claim 5, characterized in that the zone (8) of the map is updated by transmitting the detected changes to a central server (20); the central server (20) adapts the map by entering the detected changes into the map; the adapted map is transmitted from the central server (20) to the autonomous vehicle (1).
7. Method according to one of claims 2 to 6, characterized in that a second ratio is calculated from the dimension of the smallest polygon in the zone (8) to be updated, in which the detected changes are contained, and the dimension of the zone (8) to be updated, and in that the zone (8) of the map is updated if the second ratio exceeds a second limit value.
8. The method according to claim 7, characterized in that the zone (8) of the map is updated by transmitting the detected changes to a central server (20); the central server (20) adapts the map by entering the detected changes into the map; the adapted map is transmitted from the central server (20) to the autonomous vehicle (1).
9. Method according to one of claims 2 to 8, characterized in that a first ratio is calculated from the number of detected changes and the dimension of the zone (8) to be updated, and in that a second ratio is calculated from the dimension of the smallest polygon in the zone (8) to be updated, in which the detected changes are contained, and the dimension of the zone (8) to be updated, and in that the zone (8) of the map is updated when the first ratio falls below a first limit value and when the second ratio falls below a second limit value.
10. Method according to claim 9, characterized in that the zone (8) of the map is updated by a navigation computer (12) of the autonomous vehicle (1) entering the detected changes into the map.
11. Technical installation, comprising at least one autonomous vehicle (1), wherein the autonomous vehicle (1) has at least one laser scanner (2) for recording laser scans for detecting objects, and wherein the autonomous vehicle (1) has a map of the technical installation, wherein the technical installation comprises at least one object to which an object (4) is assigned, which object is recorded in the map, and wherein the technical installation can be operated using the method according to one of the preceding claims.