Method for operating a technical installation, and technical installation

Abstract

The invention relates to a method for operating a technical installation that comprises at least one autonomous vehicle (1), wherein the autonomous vehicle (1) has at least one laser scanner (2) for recording laser scans for detecting items, and wherein the autonomous vehicle (1) has a map of the technical installation. The autonomous vehicle (1) is located on a level floor (5) in the technical installation. A slippery region (86) on the floor (5) is detected by the autonomous vehicle (1). A position at which the slippery region (86) is located is detected. The slippery region (86) is entered in the map at a point which is assigned to the position of the slippery region (86). The invention also relates to a technical installation that can be operated using the method according to the invention.

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, a paint shop, 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] The detected objects in the technical system, such as walls, columns, production machines, pallets, boxes, containers, or transport trolleys, or production machines, are assigned 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] US Patent No. 11,498,537 B1 discloses a system for determining road slipperiness in bad weather. Based on the detected slipperiness, a value is calculated for a specific section of the road. US Patent No. 2023 / 0105173 A1 discloses a computing unit for detecting slippery surfaces. Images of a ground are captured and analyzed using machine learning algorithms.

[0008] US 2011 / 0178635 A1 discloses a device and method for detecting slippery material, particularly ice. A mobile robot travels a path that detects slippery material.

[0009] EP 2 005 140 B1 discloses a method for collecting information on road slipperiness. The road slipperiness is determined from a slip ratio, a traction force, and a normal force.

[0010] DE 102017 122 432 A1 discloses a method for detecting the condition of a road surface. An image of the road surface is captured and analyzed.

[0011] In a technical facility, in addition to accessible areas and restricted areas, additional hazardous areas may exist. Such hazardous areas, such as puddles of water, are located on the floor of the technical facility and pose a slip hazard. Such hazardous areas are generally accessible to autonomous vehicles, but only with increased caution, for example, at reduced speed or by avoiding steering movements.

[0012] The invention is based on the object of developing a method for operating a technical system and a technical system.

[0013] 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 13.

[0014] A method for operating a technical installation comprising at least one autonomous vehicle is proposed. The autonomous vehicle has at least one laser scanner for recording laser scans to detect objects, and the autonomous vehicle has a map of the technical installation. The autonomous vehicle is located on a level floor within the technical installation. The autonomous vehicle detects a slippery area on the floor. A position at which the slippery area is located is recorded. The slippery area is entered on the map at a location assigned to the position of the slippery area.

[0015] Such a slippery area is created, for example, by water standing on the ground and represents a hazardous area. The invention allows the location of slippery areas to be displayed on the map of the technical system. The autonomous vehicle is thus able to navigate such a slippery area with increased caution, in particular by reducing speed or steering movements.

[0016] According to an advantageous embodiment of the invention, the autonomous vehicle has an odometric system for determining the location of the autonomous vehicle. Said odometric system comprises, for example, sensors for detecting steering movements and wheel rotations, in particular the drive wheels, of the autonomous vehicle.

[0017] According to an advantageous embodiment of the invention, the at least one laser scanner of the autonomous vehicle records a laser scan of a part of the technical installation which has at least one object. The laser scan is compared with at least one object recorded on the map. A first location of the autonomous vehicle is determined by comparing the laser scan with the at least one object recorded on the map. A second location of the autonomous vehicle is determined by the odometric system. The slippery area on the ground is detected if the second location deviates from the first location. In particular, the slippery area on the ground is detected if the second location deviates from the first location by at least a predetermined limit.

[0018] A deviation of the second location from the first location could occur, for example, if a wheel of the autonomous vehicle spins or if the autonomous vehicle slides on the ground. In both cases, the cause is likely a slippery area on the ground, for example, caused by standing water.

[0019] According to an advantageous embodiment of the invention, the first location of the autonomous vehicle is detected as the position where the slippery area is located. If a slippery area is present, the second location of the autonomous vehicle, determined by the odometric system, is likely to be inaccurate.

[0020] According to an advantageous embodiment of the invention, the slippery area on the floor is detected when a change in the second location deviates from a change in the first location. The change in the first location and the change in the second location are each observed over a period of between 100 ms and 10 s. This avoids accumulated errors over longer periods.

[0021] According to an advantageous development of the invention, the autonomous vehicle has at least one additional sensor for detecting a slippery area on the ground, and the slippery area on the ground is detected by the additional sensor. With the additional sensor, a slippery area can also be detected without detecting a deviation between a second location, determined by an odometric system, and a first location, determined by the laser scanner. Therefore, an odometric system is not required.

[0022] According to an advantageous embodiment of the invention, the at least one additional sensor is designed as an optical sensor arranged on the underside of the autonomous vehicle. The optical sensor transmits a light beam to the ground and receives a light beam reflected from the ground. A slippery area formed by standing water on the ground produces an optical reflection of incident light rays that differs significantly from the more diffuse reflection on dry ground.

[0023] According to an advantageous embodiment of the invention, the at least one additional sensor is designed as a moisture sensor, which is arranged on an underside of the autonomous vehicle. The additional sensor is designed to detect moisture on the ground directly beneath the vehicle. According to an advantageous embodiment of the invention, the at least one laser scanner of the autonomous vehicle records a laser scan of a part of the technical system, which has at least one object. The laser scan is compared with at least one object recorded on the map. A location of the autonomous vehicle is determined by comparing the laser scan with the at least one object recorded on the map. The location of the autonomous vehicle is recorded as the position at which the slippery area is located.Therefore, no odometric system is required to determine the position of the slippery area.

[0024] According to an advantageous embodiment of the invention, the map comprises a plurality of cells. The slippery area is entered in the map in at least one cell in which the location assigned to the position of the detected slippery area is located. The cells are preferably square and arranged two-dimensionally directly next to one another in the map. A cell extends in a longitudinal direction and in a transverse direction. One side length of a cell preferably corresponds to a distance of approximately four to ten centimeters in the longitudinal and transverse directions in the technical system. Dividing the map into cells reduces the amount of data required to create the map and ensures sufficient accuracy.

[0025] According to an advantageous embodiment of the invention, the location on the map where the slippery area is entered is transmitted to at least one other autonomous vehicle. This enables the other autonomous vehicle to also navigate the slippery area with increased caution, in particular by reducing speed or steering movements.

[0026] According to an advantageous embodiment of the invention, the location on the map at which the slippery area is entered is transmitted to a central server. The server transmits the location on the map at which the slippery area is entered to other autonomous vehicles. The other autonomous vehicles are thus also able to drive through the slippery area with increased caution, in particular by reducing speed or steering movements. 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. The technical system can be operated using the method according to the invention.

[0027] In the technical system according to the invention, the location of slippery areas can be displayed on the map of the technical system. Autonomous vehicles are thus able to navigate such slippery areas with increased caution, in particular by reducing speed or steering movements.

[0028] 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 problem and / or the problem posed by comparison with the prior art.

[0029] The invention will now be explained in more detail with reference to the accompanying drawings. The invention is not limited to the exemplary embodiments shown in the drawings. The drawings only represent the subject matter of the invention schematically. It shows:

[0030] Figure 1 : a schematic representation of an autonomous vehicle in a technical facility and

[0031] Figure 2: a schematic representation of a map of a technical installation.

[0032] 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, a paint shop, 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. The autonomous vehicle 1 shown here is located on a level floor 5 of the technical facility.

[0033] The autonomous vehicle 1 comprises a drive device, an electrical energy storage device for supplying the drive device, and a control unit for controlling the drive device. The drive device comprises, for example, an electric motor, a transmission, and drive wheels. The electrical energy storage device is, in particular, a rechargeable battery.

[0034] 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.

[0035] The autonomous vehicle 1 in this case has two laser scanners 2. The laser scanners 2 are used to record laser scans in a horizontal scan plane to detect objects in the technical system. The horizontal scan plane runs parallel or at least approximately parallel to the floor 5 on which the autonomous vehicle 1 is located. The scan plane is spaced from the floor 5 by a scan height. The scan height is, for example, 20 centimeters.

[0036] When an object is detected, the laser scanners 2 each detect the distance to the object and the direction in which the object is located. The laser scanners 2 are mounted at opposite corners of the autonomous vehicle 1 and each detect objects within an angular range of approximately 270°. Only one laser scanner 2 of the autonomous vehicle 1 is shown here.

[0037] The technical facility contains objects such as walls, columns, production machines, pallets, boxes, or containers. These objects are located, in particular, on the floor 5 of the technical facility. The autonomous vehicle 1 has a map of the technical facility. These objects are recorded on the map of the technical facility as objects 4. The locations where the objects are located are also recorded on the map as locations of objects 4.

[0038] The technical system comprises a central server 20. Server 20 also has a map of the technical system. Among other things, server 20 is used to update the map of the technical system offline. If necessary, detected changes are transmitted from the first autonomous vehicle 1 to server 20. Server 20 adjusts the map by entering the detected changes into the map. Server 20 transmits the adjusted map to autonomous vehicles 1 as needed.

[0039] The server 20 has a communication module 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 first autonomous vehicle 1 and the communication module 24 of the server 20.

[0040] The autonomous vehicle 1 also includes a receiving unit (not shown here). The receiving unit is arranged on an underside of the autonomous vehicle 1. Energy can be transmitted inductively to the receiving unit from a current-carrying primary conductor. The energy inductively transmitted from a primary conductor to the receiving unit is used, for example, to charge the electrical energy storage device of the autonomous vehicle 1. The receiving unit includes a transmitter head having a coil. The autonomous vehicle 1 has an additional sensor 17 for detecting a slippery area 86 on the ground 5. The first additional sensor 17 is designed as an optical sensor. The additional sensor 17 is also arranged on the underside of the autonomous vehicle 1. The additional sensor 17 is oriented such that a detection range of the additional sensor 17 is directed towards the ground.

[0041] The additional sensor 17, designed as an optical sensor, comprises a light source and a light receiver. The light source emits a light beam onto the floor 5. The light receiver receives a light beam reflected from the floor 5. A slippery area 86, formed by standing water on the floor 5, produces an optical reflection of incident light rays that differs significantly from the more diffuse reflection on a dry floor 5.

[0042] The autonomous vehicle 1 has an odometric system for determining a location of the autonomous vehicle 1. The odometric system includes sensors for detecting steering movements and rotations of wheels, in particular the drive wheels, of the autonomous vehicle 1.

[0043] The first autonomous vehicle 1 has a computing unit 18. The computing unit 18 serves, among other things, to process data from the odometric system. In particular, the computing unit 18 compares a first location of the autonomous vehicle 1, which is determined by comparing a laser scan with at least one object 4 recorded on the map, with a second location of the autonomous vehicle 1, which is determined by the odometric system.

[0044] The autonomous vehicle 1 has a navigation computer 12. The navigation computer 12 serves, among other things, to update the map of the technical system. If necessary, the navigation computer 12 updates the map by entering changes detected by the navigation computer 12 into the map. In particular, a detected slippery area 86 is entered into the map by the navigation computer 12.

[0045] The navigation computer 12 also serves to navigate the autonomous vehicle 1 within the technical system. The navigation computer 12 plans routes to be traveled, avoiding collisions with objects listed as objects 4 on the map of the technical system. The navigation computer 12 also plans routes to be traveled, if possible, avoiding slippery areas 86. If avoiding a slippery area 86 is not possible, the navigation computer 12 reduces the speed of the autonomous vehicle 1 and reduces steering movements upon reaching the slippery area 86.

[0046] Figure 2 shows a schematic representation of a map of a technical facility. The technical facility comprises several objects, particularly static objects such as walls, columns, production machines, pallets, boxes, or containers.

[0047] Static objects are mostly located on floor 5 and usually remain at a fixed location in the technical system and are therefore not moved.

[0048] Such objects are typically located on the ground 5, on which the autonomous vehicle 1 is also located, and protrude from the ground 5. In particular, said objects protrude through the scanning plane of the laser scanner 2. Each such object is assigned an object 4. The objects 4 are each entered on the map at a location that corresponds to a location of the object in the technical system. Locations on the map where an object 4 is entered are marked as impassable.

[0049] Laser scanner 2 of autonomous vehicle 1 records laser scans in the scan plane. If such a laser scan detects an object that is previously unknown, an object 4 is assigned to this object. Object 4 is entered on the map at a location that corresponds to the location of the detected object.

[0050] The map comprises a plurality of cells. In this case, the cells of the map are square and arranged two-dimensionally directly next to one another on the map. In this case, one side length of a cell corresponds to a distance of approximately four to ten centimeters in the technical installation. A cell of the map containing a location assigned to an object in the technical installation contains information about the associated registered object 4. The cells occupied by an object 4 are marked as occupied and not accessible. The laser scanner 2 of the autonomous vehicle 1 takes a laser scan of a part of the technical installation which contains at least one object. The recorded laser scan is compared with the objects 4 recorded on the map.A first location of the autonomous vehicle 1 is determined by comparing the laser scan with the objects 4 recorded on the map.

[0051] Furthermore, a second location of the autonomous vehicle 1 is determined by the odometric system. The computing unit 18 compares the first location of the autonomous vehicle 1, determined by comparing the laser scan with the objects 4 recorded on the map, with the second location of the autonomous vehicle 1 determined by the odometric system.

[0052] To avoid accumulated errors over longer periods, relative movements of the two systems are considered for location determination. The period over which a movement, i.e., a change in location, is calculated and considered is preferably in the range of 100 ms to 10 s.

[0053] If the second location deviates from the first location by at least a predetermined threshold, a slippery area 86 on the ground 5 is detected. Alternatively or additionally, the slippery area 86 is detected by the additional sensor 17. If a slippery area 86 is detected, the first location of the autonomous vehicle 1, determined by comparing the laser scan with the objects 4 recorded on the map, is recorded as the position at which the slippery area 86 is located.

[0054] The detected slippery area 86 is then entered on the map at a location assigned to the position of the slippery area 86. In particular, the slippery area 86 is entered on the map in those cells in which the location assigned to the position of the detected slippery area 86 is located. A cell of the map in which a location assigned to the slippery area 86 is located thus contains information about the slippery area 86.

[0055] The location on the map where the slippery area 86 is entered is transmitted via the communication device 14 of the autonomous vehicle 1 to the communication module 24 of the central server 20. The location on the map where the slippery area 86 is entered is also transmitted to other autonomous vehicles 1 via the communication device 14 of the autonomous vehicle 1.

[0056] List of reference symbols

[0057] 1 autonomous vehicle 2 laser scanners

[0058] 4 Object

[0059] 5 Floor

[0060] 12 navigation computers

[0061] 14 Communication device 17 Additional sensor

[0062] 18 computing unit

[0063] 20 servers

[0064] 24 Communication module

[0065] 86 slippery area

Claims

Patent claims:

1. A method for operating a technical installation which comprises 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, characterized in that the autonomous vehicle (1) is located on a level floor (5) in the technical installation; a slippery area (86) on the floor (5) is detected by the autonomous vehicle (1); a position at which the slippery area (86) is located is detected; and the slippery area (86) is entered in the map at a location which is assigned to the position of the slippery area (86).

2. Method according to claim 1, characterized in that the autonomous vehicle (1) has an odometric system for determining a location of the autonomous vehicle (1).

3. Method according to claim 2, characterized in that a laser scan of a part of the technical installation which has at least one object is recorded by the at least one laser scanner (2) of the autonomous vehicle (1); the laser scan is compared with at least one object (4) recorded on the map; a first location of the autonomous vehicle (1) is determined by comparing the laser scan with the at least one object (4) recorded on the map; a second location of the autonomous vehicle (1) is determined by the odometric system; the slippery area (86) on the ground (5) is detected if the second location deviates from the first location.

4. The method according to claim 3, characterized in that the first location of the autonomous vehicle (1) is detected as the position at which the slippery area (86) is located.

5. Method according to claim 3, characterized in that the slippery area (86) on the floor (5) is detected when a change in the second location deviates from a change in the first location, wherein the change in the first location and the change in the second location are each considered over a period of between 100 ms to 10 s.

6. Method according to one of the preceding claims, characterized in that the autonomous vehicle (1) has at least one additional sensor (17) for detecting a slippery area (86) on the ground (5), and that the slippery area (86) on the ground (5) is detected by the additional sensor (17).

7. The method according to claim 6, characterized in that the at least one additional sensor (17) is designed as an optical sensor which is arranged on an underside of the autonomous vehicle (1).

8. Method according to one of claims 6 to 7, characterized in that the at least one additional sensor (17) is designed as a moisture sensor which is arranged on an underside of the autonomous vehicle (1) and is designed to detect moisture on the ground (5) immediately beneath the vehicle (1).

9. The method according to one of claims 6 to 8, characterized in that a laser scan of a part of the technical installation which has at least one object is recorded by the at least one laser scanner (2) of the autonomous vehicle (1); the laser scan is compared with at least one object (4) recorded on the map; a location of the autonomous vehicle (1) is determined by comparing the laser scan with the at least one object (4) recorded on the map; the location of the autonomous vehicle (1) is recorded as the position at which the slippery area (86) is located.

10. Method according to one of the preceding claims, characterized in that the map comprises a plurality of cells, and in that the slippery area (86) is entered in the map in at least one cell in which the location assigned to the position of the detected slippery area (86) is located.

11. Method according to one of the preceding claims, characterized in that the location of the map at which the slippery area (86) is entered is transmitted to at least one further autonomous vehicle (1).

12. Method according to one of the preceding claims, characterized in that the location of the map at which the slippery area (86) is entered is transmitted to a central server (20).

13. 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, and wherein the technical installation can be operated using the method according to one of the preceding claims.

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