Method for operating a technical installation, and technical installation

Abstract

The invention relates to a method for operating a technical installation which comprises at least one autonomous transport vehicle (1) and at least one load carrier (30), wherein the at least one load carrier (30) is arranged on the at least one autonomous transport vehicle (1), and wherein at least one image of the load carrier (30) arranged on the autonomous transport vehicle (1) is recorded by an optical camera (12); and a model of the load carrier (30) is created from the at least one recorded image by an identification unit (16); and at least one dimension of the load carrier (30) in at least one dimension is determined by the identification unit (16) from the created model. A technical installation according to the invention 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 transport vehicle and at least one load carrier, wherein the at least one load carrier is arranged on the at least one autonomous transport vehicle. The invention also relates to a technical system that can be operated using the method according to the invention.

[0004] The technical facility is primarily an industrial application, such as a production plant, an industrial hall, a paint shop, or a logistics center. Autonomous transport vehicles are used primarily to transport load carriers within the technical facility. Load carriers include, for example, boxes or containers filled with raw materials or finished products.

[0005] The technical system usually contains bottlenecks, such as gates, through which the autonomous transport vehicle passes. When transporting a load carrier, collisions between the load carrier and such bottlenecks must be avoided, even if the load carrier extends beyond the autonomous transport vehicle. For this purpose, the dimensions of the load carrier must be known.

[0006] The dimensions of the load carrier must also be known when transferring the load carrier from the autonomous transport vehicle to a transfer station, for example, in a high-bay warehouse. If the load carrier exceeds a specified size, collisions are possible during storage in the high-bay warehouse, which must be prevented.

[0007] DE 202 20 364 U1 discloses a device for positioning container transport vehicles in the handling area of ​​a container crane. A laser scanner is attached to the container crane. The laser scanner can be used to determine the position of a transport vehicle and a container load.

[0008] US Pat. No. 5,835,012 A discloses a method for transporting containers. A sensor is provided for detecting the orientation of the container. WO 2010 / 045391 A2 discloses a forklift truck mounted with a camera system. The volume of a cargo item is calculated from images captured by the camera system.

[0009] US 2008 / 0 304 040 A1 discloses a laser scanning device for measuring objects. Objects are scanned using laser beams, and the dimensions of the scanned objects are determined.

[0010] US 2010 / 0 091 094 A1 discloses a mechanism for steering a three-dimensional camera system. The volume of a cargo item is calculated from images captured by the camera system.

[0011] US 2017 / 0280 125 A1 discloses a method for loading cargo into a container. Images of the cargo are captured using a three-dimensional camera system, and the volume of the cargo is calculated from the captured images.

[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 is proposed for operating a technical system which comprises at least one autonomous transport vehicle and at least one load carrier, wherein the at least one load carrier is arranged on the at least one autonomous transport vehicle.

[0015] According to the invention, at least one image of the load carrier arranged on the autonomous transport vehicle is captured by an optical camera. A recognition unit creates a model of the load carrier from the at least one captured image. The recognition unit determines at least one dimension of the load carrier in at least one dimension from the created model. Thus, at least one dimension of the load carrier, for example, a width, a length, or a height, is known. This makes it possible to determine whether a passage through a narrow passage and a transfer of the load carrier at a transfer station is possible without collision.

[0016] According to an advantageous embodiment of the invention, the at least one autonomous transport vehicle has at least one camera, and the autonomous transport vehicle also has a recognition unit. The technical system has at least one mirror. The camera of the autonomous transport vehicle records at least one image of the load carrier in the mirror. The recognition unit of the autonomous transport vehicle creates the model of the load carrier. The autonomous transport vehicle is thus almost autonomously capable of determining at least one dimension of the load carrier. Only one mirror, which is relatively inexpensive, needs to be provided in the technical system.

[0017] According to an advantageous embodiment of the invention, an optical axis of the camera of the autonomous transport vehicle is aligned at least approximately in a horizontal direction, and the mirror is arranged offset in a horizontal direction relative to the autonomous transport vehicle. The recognition unit of the autonomous transport vehicle determines the dimensions of the load carrier in a vertical direction and / or the dimensions of the load carrier in a horizontal direction. The optical axis of the camera is therefore aligned in a horizontal direction or slightly inclined upwards. This makes it possible to determine, in particular, the height and the width, or the length, of the load carrier. The mirror is arranged at least approximately vertically. A normal on a mirror surface of the mirror runs in a horizontal direction.

[0018] According to an advantageous embodiment of the invention, an optical axis of the camera of the autonomous transport vehicle is oriented vertically upwards, and the mirror is arranged vertically above the autonomous transport vehicle. The recognition unit of the autonomous transport vehicle determines the dimensions of the load carrier in various horizontal directions. This allows, in particular, the width and length of the load carrier to be determined. The mirror is arranged at least approximately horizontally. A normal on a mirror surface of the mirror runs in the vertical direction. According to an advantageous embodiment of the invention, the autonomous transport vehicle has a plurality of cameras, and the optical axes of the cameras of the autonomous transport vehicle are oriented at least approximately in various horizontal directions.The autonomous transport vehicle has a recognition unit, and the technical system has at least one mirror. The mirror is arranged offset in a horizontal direction relative to the autonomous transport vehicle. The autonomous transport vehicle is rotated about a vertical axis, and during the rotation, the cameras of the autonomous transport vehicle record a plurality of images of the load carrier at various angular positions of the autonomous transport vehicle in the mirror. The recognition unit of the autonomous transport vehicle creates the model of the load carrier. The recognition unit of the autonomous transport vehicle determines the dimensions of the load carrier in a vertical direction and / or the dimensions of the load carrier in various horizontal directions. The optical axes of the cameras are thus aligned in a horizontal direction or slightly inclined upwards.This allows the height, width, and length of the charge carrier to be determined. The mirror is positioned at least approximately vertically. A normal on a mirror surface of the mirror runs in a horizontal direction.

[0019] According to an advantageous embodiment of the invention, the technical system comprises at least one further autonomous vehicle. The at least one autonomous vehicle has a camera, and an optical axis of the camera of the autonomous vehicle is aligned at least approximately in a horizontal direction. The at least one autonomous vehicle has a recognition unit. At least one image of the load carrier is recorded by the camera of the autonomous vehicle, and the model of the load carrier is created by the recognition unit of the autonomous vehicle. The optical axis of the camera is thus aligned in a horizontal direction or slightly inclined upwards. The autonomous vehicle is capable of determining at least one dimension of the load carrier of the autonomous transport vehicle at almost any location in the technical system. In particular, no mirror is required.

[0020] According to an advantageous embodiment of the invention, the autonomous transport vehicle is rotated about a vertical axis extending in a vertical direction, and during the rotation, the camera of the autonomous vehicle captures a plurality of images of the load carrier at various angular positions of the autonomous transport vehicle. The recognition unit of the autonomous vehicle determines the dimensions of the load carrier in a vertical direction and / or the dimensions of the load carrier in various horizontal directions. Thus, in particular, the height, width, and length of the load carrier can be determined.

[0021] According to an advantageous embodiment of the invention, the technical system comprises at least one permanently installed camera, and the technical system comprises a permanently installed recognition unit. The permanently installed camera captures at least one image of the load carrier, and the permanently installed recognition unit creates the model of the load carrier. The autonomous transport vehicle thus does not require its own camera.

[0022] According to an advantageous embodiment of the invention, an optical axis of the permanently installed camera is aligned at least approximately horizontally, and the permanently installed camera is arranged offset horizontally from the autonomous transport vehicle. The permanently installed detection unit determines the dimensions of the load carrier in a vertical direction and / or the dimensions of the load carrier in a horizontal direction. The optical axis of the camera is thus aligned horizontally or slightly inclined upwards. In this way, the height and width, or length, of the load carrier can be determined.

[0023] According to an advantageous embodiment of the invention, the autonomous transport vehicle is rotated about a vertical axis extending in a vertical direction, and during the rotation, the permanently installed camera records a plurality of images of the load carrier at various angular positions of the autonomous transport vehicle. The permanently installed detection unit determines the dimensions of the load carrier in a vertical direction and / or the dimensions of the load carrier in various horizontal directions. In particular, the height, width, and length of the load carrier can thus be determined.

[0024] According to an advantageous embodiment of the invention, the permanently installed camera is arranged vertically above the autonomous transport vehicle, and an optical axis of the permanently installed camera is oriented vertically downwards. The permanently installed detection unit determines the dimensions of the load carrier in various horizontal directions. This allows, in particular, the width and length of the load carrier to be determined.

[0025] A technical system according to the invention comprises at least one autonomous transport vehicle and at least one load carrier, wherein the at least one load carrier is arranged on the at least one autonomous transport vehicle. The technical system can be operated using the method according to the invention. In a technical system according to the invention, it is possible to determine whether a passage through a narrow passage and a transfer of the load carrier at a transfer station is possible without collision.

[0026] According to an advantageous embodiment of the invention, the at least one autonomous transport vehicle and / or the at least one autonomous vehicle and / or the technical system has at least one reflective element which is arranged directly adjacent to the optical camera. An optical axis of the optical camera is defined by the orientation of the camera and the orientation of the reflective element. For example, the camera itself is oriented vertically, and the reflective element is arranged directly in front of the camera at an angle of 45°. As a result, the field of view of the camera is deflected by 90° and thus in a horizontal direction. For the purposes of the invention, the field of view deflected in this way corresponds to the optical axis of the camera.

[0027] 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.

[0028] 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:

[0029] Figure 1 : a schematic representation of a technical system according to a first embodiment and

[0030] Figure 2: a schematic representation of a technical system according to a second embodiment.

[0031] Figure 1 shows a schematic representation of a technical system according to a first exemplary embodiment. The technical system is an industrial application, for example, a production plant, an industrial hall, a paint shop, or a logistics center. The technical system comprises several autonomous transport vehicles 1. One autonomous transport vehicle 1 is shown in this illustration.

[0032] The technical system comprises several load carriers 30. One load carrier 30 is shown in the present illustration. The load carrier 30 is arranged on the autonomous transport vehicle 1. The autonomous transport vehicle 1 serves in particular for transporting load carriers 30 within the technical system.

[0033] The autonomous transport vehicle 1 stands on a flat floor 5. A vertical direction Z runs perpendicular to the floor 5. Any direction that runs perpendicular to the vertical direction Z and thus parallel to the floor 5 represents a horizontal direction H. In the present illustration, such a horizontal direction H is shown as an example.

[0034] The autonomous transport 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. By means of the drive device, the autonomous transport vehicle 1 is capable of moving on the ground 5 in all horizontal directions H. In particular, the autonomous transport vehicle 1 is capable of rotating about a vertical axis running in the vertical direction Z.

[0035] Furthermore, the autonomous transport vehicle 1 has a communication device 14 for wireless communication with other autonomous transport vehicles 1 and with other participants, for example, with a server, in the technical system. The communication device 14 of the autonomous transport vehicle 1 is designed, for example, for data transmission via WLAN, Bluetooth, or light.

[0036] The autonomous transport vehicle 1 has two laser scanners 11. The laser scanners 11 are used to capture laser scans to detect objects in the technical system. When an object is detected, the laser scanners 11 record the distance to the object and the direction in which the object is located. The laser scanners 11 are mounted at opposite corners of the autonomous transport vehicle 1 and each detect objects within an angular range of approximately 270°. Only one laser scanner 11 of the autonomous transport vehicle 1 is shown here.

[0037] The technical facility contains objects such as walls, pillars, pallets, and production machines. Autonomous transport vehicle 1 has a map of the technical facility. These objects are listed on the map of the technical facility.

[0038] The autonomous transport vehicle 1 has a computing unit 18. The computing unit 18 is used to navigate the transport vehicle 1 within the technical facility using the map. The computing unit receives information from the laser scanners 11 regarding detected objects and compares this information with the objects recorded on the map. The computing unit 18 is also used, among other things, to update the map of the technical facility by entering changes detected by the computing unit 18 into the map.

[0039] The autonomous transport vehicle 1 has a plurality of optical cameras 12. The optical cameras 12 are designed, for example, as monocular cameras. The optical cameras 12 are used to capture images. The optical cameras 12 preferably each have a wide-angle lens and are thus capable of capturing a relatively large angular range. Only one camera 12 of the autonomous transport vehicle 1 is shown here.

[0040] For example, the autonomous transport vehicle 1 has four cameras, each arranged on one side of the autonomous transport vehicle 1. The optical axes of the cameras 12 of the autonomous transport vehicle 1 are aligned in different horizontal directions H, for example, forward, backward, right, and left with respect to the autonomous transport vehicle 1.

[0041] The technical system has a mirror 32. The mirror is attached to a wall 34 in the technical system. The mirror 32 is arranged offset from the autonomous transport vehicle 1 in a horizontal direction H. A lower edge of the mirror 32 is located above a scanning plane of the laser scanners 11 in the vertical direction Z, i.e., further away from the floor 5. The mirror 32 is arranged at least approximately vertically. A normal on a mirror surface of the mirror 32 runs in a horizontal direction.

[0042] The autonomous transport vehicle 1 is aligned with respect to the mirror 32 such that an image of the load carrier 30 arranged on the autonomous transport vehicle 1 can be recorded in the mirror 32 by the camera 12 shown here. When the autonomous transport vehicle 1 is rotated about its vertical axis, a plurality of images of the load carrier 30 in various angular positions of the autonomous transport vehicle 1 can be recorded in the mirror 32 by the individual cameras 12 of the autonomous transport vehicle 1 during the rotation.

[0043] The autonomous transport vehicle 1 has a recognition unit 16. The recognition unit 16 is configured, among other things, to create a two-dimensional model of the load carrier 30 from an image of the load carrier 30 captured by a camera 12. The recognition unit 16 is further configured to determine, from the created two-dimensional model, a dimension of the load carrier 30 in the vertical direction Z, which is referred to as the height of the load carrier. The recognition unit 16 is further configured to determine, from the created two-dimensional model, a dimension of the load carrier 30 in a horizontal direction H, which is referred to as the length or width of the load carrier 30.

[0044] The recognition unit 16 is also configured to create a three-dimensional model of the load carrier 30 from a plurality of images of the load carrier 30, which are recorded by a plurality of cameras 12 at different angular positions of the autonomous transport vehicle 1. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in the vertical direction Z from the created three-dimensional model, which dimension is referred to as the height of the load carrier. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in a first horizontal direction H from the created three-dimensional model, which dimension is referred to as the length of the load carrier 30. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in a second horizontal direction H from the created three-dimensional model, which dimension is referred to as the width of the load carrier 30.The first horizontal direction H and the second horizontal direction H run at right angles to each other and parallel to the floor 5.

[0045] Figure 2 shows a schematic representation of a technical system according to a second exemplary embodiment. This technical system also represents an industrial application. The technical system comprises several autonomous transport vehicles 1 and several load carriers 30. The autonomous transport vehicles 1 are used, in particular, to transport load carriers 30 within the technical system.

[0046] The present illustration shows an autonomous transport vehicle 1 and a load carrier 30. The load carrier 30 is arranged on the autonomous transport vehicle 1. The autonomous transport vehicle 1 is configured identically to the transport vehicle 1 shown in Figure 1. Alternatively, the autonomous transport vehicle 1 in the second exemplary embodiment does not have a camera 12 or a recognition unit 16. The load carrier 30 is configured identically to the load carrier 30 shown in Figure 1.

[0047] The technical system comprises another autonomous vehicle 2. The other autonomous vehicle 2 is configured identically to the first autonomous transport vehicle 1 in the first exemplary embodiment. In particular, the autonomous vehicle 2 has a plurality of cameras 12 and a detection unit 16. Alternatively, the autonomous vehicle 2 has only one camera 12 and one detection unit 16.

[0048] The autonomous transport vehicle 1 and the autonomous vehicle 2 stand on the flat floor 5 and are arranged offset from one another in a horizontal direction H. The autonomous vehicle 2 is oriented with respect to the autonomous transport vehicle 1 such that an image of the load carrier 30 arranged on the autonomous transport vehicle 1 can be recorded by the camera 12 of the autonomous vehicle 2 shown here.

[0049] When the autonomous transport vehicle 1 is rotated around the vertical axis, during the

[0050] Rotation of the camera 12 of the autonomous vehicle 2 allows a plurality of images of the load carrier 30 to be recorded in different angular positions of the autonomous transport vehicle 1.

[0051] The recognition unit 16 of the autonomous vehicle 2 is configured, among other things, to create a two-dimensional model of the load carrier 30 from an image of the load carrier 30 captured by a camera 12. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in the vertical direction Z from the created two-dimensional model, which dimension is referred to as the height of the load carrier. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in a horizontal direction H from the created two-dimensional model, which dimension is referred to as the length or width of the load carrier 30.

[0052] The recognition unit 16 of the autonomous vehicle 2 is also configured to create a three-dimensional model of the load carrier 30 from multiple images of the load carrier 30, which are recorded by the camera 12 at various angular positions of the autonomous transport vehicle 1. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in the vertical direction Z from the created three-dimensional model, which dimension is referred to as the height of the load carrier. The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in a first horizontal direction H from the created three-dimensional model, which dimension is referred to as the length of the load carrier 30.The recognition unit 16 is further configured to determine a dimension of the load carrier 30 in a second horizontal direction H from the created three-dimensional model, which dimension is referred to as the width of the load carrier 30. The first horizontal direction H and the second horizontal direction H run at right angles to each other and parallel to the floor 5.

[0053] List of reference symbols

[0054] 1 autonomous transport vehicle 2 autonomous vehicle

[0055] 5 Floor

[0056] 11 laser scanners

[0057] 12 Camera

[0058] 14 Communication device 16 Detection unit

[0059] 18 computing unit

[0060] 30 load carriers

[0061] 32 mirrors

[0062] 34 Wall H Horizontal direction

[0063] Z vertical direction

Claims

Patent claims:

1. A method for operating a technical installation comprising at least one autonomous transport vehicle (1) and at least one load carrier (30), wherein the at least one load carrier (30) is mounted on the at least one autonomous Transport vehicle (1), characterized in that at least one image of the load carrier (30) arranged on the autonomous transport vehicle (1) is recorded by an optical camera (12); and in that a recognition unit (16) creates a model of the load carrier (30) from the at least one recorded image; and in that at least one dimension of the load carrier (30) is determined in at least one dimension from the created model by the recognition unit (16).

2. Method according to claim 1, characterized in that the at least one autonomous transport vehicle (1) has at least one camera (12), and that the autonomous transport vehicle (1) has a recognition unit (16), and that the technical system has at least one mirror (32), and that at least one image of the load carrier (30) is recorded in the mirror (32) by the camera (12) of the autonomous transport vehicle (1); and that the model of the load carrier (30) is created by the recognition unit (16) of the autonomous transport vehicle (1).

3. Method according to claim 2, characterized in that an optical axis of the camera (12) of the autonomous transport vehicle (1) is aligned at least approximately in a horizontal direction (H), and in that the mirror (32) is arranged offset in a horizontal direction (H) to the autonomous transport vehicle (1), and in that the dimension of the load carrier (30) in a vertical direction (Z) and / or the dimension of the load carrier (30) in a horizontal direction (H) are determined by the recognition unit (16) of the autonomous transport vehicle (1).

4. Method according to claim 2, characterized in that an optical axis of the camera (12) of the autonomous transport vehicle (1) is oriented upwards in a vertical direction (Z), and in that the mirror (32) is arranged in the vertical direction (Z) above the autonomous transport vehicle (1), and in that the dimensions of the load carrier (30) in different horizontal directions (H) are determined by the recognition unit (16) of the autonomous transport vehicle (1).

5. Method according to one of the preceding claims, characterized in that the autonomous transport vehicle (1) has a plurality of cameras (12), and in that the optical axes of the cameras (12) of the autonomous transport vehicle (1) are aligned at least approximately in different horizontal directions (H), and in that the autonomous transport vehicle (1) has a recognition unit (16), and in that the technical system has at least one mirror (32), and in that the mirror (32) is arranged offset in a horizontal direction (H) relative to the autonomous transport vehicle (1), and in that the autonomous transport vehicle (1) is rotated about a vertical axis extending in a vertical direction (Z); and in that during the rotation, a plurality of images of the load carrier (30) are recorded in the mirror (32) by the cameras (12) of the autonomous transport vehicle (1) at different angular positions;and that the model of the load carrier (30) is created by the recognition unit (16) of the autonomous transport vehicle (1), and that the dimension of the load carrier (30) in a vertical direction (Z) and / or the dimensions of the load carrier (30) in various horizontal directions (H) are determined by the recognition unit (16) of the autonomous transport vehicle (1); 6. Method according to one of the preceding claims, characterized in that the technical system comprises at least one further autonomous vehicle (2), and in that the at least one autonomous vehicle (2) has a camera (12), and in that an optical axis of the camera (12) of the autonomous vehicle (2) is aligned at least approximately in a horizontal direction (H), and in that the at least one autonomous vehicle (2) has a recognition unit (16), and in that at least one image of the load carrier (30) is recorded by the camera (12) of the autonomous vehicle (2); and in that the model of the load carrier (30) is created by the recognition unit (16) of the autonomous vehicle (2).

7. The method according to claim 6, characterized in that the autonomous transport vehicle (1) is rotated about a vertical axis running in a vertical direction (Z); and that during the rotation, a plurality of images of the load carrier (30) are recorded by the camera (12) of the autonomous vehicle (2) in different angular positions; and that the recognition unit (16) of the autonomous vehicle (2) determines the dimension of the load carrier (30) in a vertical direction (Z) and / or the dimensions of the load carrier (30) in different horizontal directions (H).

8. Method according to one of the preceding claims, characterized in that the technical system comprises at least one permanently installed camera (12), and in that the technical system comprises a permanently installed recognition unit (16), and in that at least one image of the load carrier (30) is recorded by the permanently installed camera (12); and in that the model of the load carrier (30) is created by the permanently installed recognition unit (16).

9. The method according to claim 8, characterized in that an optical axis of the permanently installed camera (12) is aligned at least approximately in a horizontal direction (H), and in that the permanently installed camera (12) is arranged offset in a horizontal direction (H) to the autonomous transport vehicle (1), and in that the dimension of the load carrier (30) in a vertical direction (Z) and / or the dimension of the load carrier (30) in a horizontal direction (H) are determined by the permanently installed recognition unit (16).

10. The method according to claim 8, characterized in that the autonomous transport vehicle (1) is rotated about a vertical axis extending in a vertical direction (Z); and that during the rotation, a plurality of images of the load carrier (30) are recorded by the permanently installed camera (12) in different angular positions; and that the dimensions of the load carrier (30) in a vertical direction (Z) and / or the dimensions of the load carrier (30) in different horizontal directions (H) are determined by the permanently installed recognition unit (16).

11. Method according to claim 8, characterized in that the permanently installed camera (12) is arranged in the vertical direction (Z) above the autonomous transport vehicle (1), and that an optical axis of the permanently installed camera (12) is oriented downwards in a vertical direction (Z), and that the dimensions of the load carrier (30) in various horizontal directions (H) are determined by the permanently installed detection unit (16).

12. Method according to one of the preceding claims, characterized in that the at least one autonomous transport vehicle (1) and / or the at least one autonomous vehicle (2) and / or the technical system has at least one reflection element which is arranged immediately adjacent to the optical camera (12), and in that an optical axis of the optical camera (12) is defined by the orientation of the camera (12) and by the orientation of the reflection element.

13. Technical system comprising at least one autonomous transport vehicle (1) and at least one load carrier (30), wherein the at least one load carrier (30) is arranged on the at least one autonomous transport vehicle (1), and wherein the technical system can be operated using the method according to one of the preceding claims.

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