Technique for wireless communication with driverless transport vehicles

Abstract

The invention describes a technique for providing a mobile radio access point (104) of a radio access network (200) for driverless transport vehicles (110) for transporting goods in an area (300) containing at least one stationary radio access point (204) of the radio access network (200). One aspect of the technique relates to a driverless radio access point vehicle (100). The driverless radio access point vehicle (100) comprises a movement controller (102) that controls a movement of the driverless radio access point vehicle (100) to a deployment location (120). The driverless radio access point vehicle (100) furthermore comprises a mobile radio access point (104) that, at the deployment location (120), establishes a radio connection (130) with a driverless transport vehicle (110') in a region (150) in which the at least one stationary radio access point (204) cannot establish a sufficient radio connection (130).

Description

[0001] Technology for wireless communication in driverless transport vehicles

[0002] The invention relates to a technology for wireless communication with driverless transport vehicles. However, without being limited thereto, the invention relates in particular to a self-driving device, a node of a network, and corresponding methods for maintaining or restoring a radio connection to a driverless transport vehicle.

[0003] In warehouses and production halls, automated guided vehicles (AGVs) now move through the aisles. AGVs include autonomous mobile robots (AMRs) and do more than just move materials. They play a crucial role in production optimization, efficiently driving or flying the shortest route to their destination.

[0004] Equipped with advanced sensors and comprehensive control technology, AGVs perform their tasks autonomously. The onboard hardware reliably provides basic computing power and optimizes energy consumption. Integrated wireless communication modules form the basis for the necessary data exchange between the AGV and local control systems or cloud platforms.

[0005] European patent EP 3910986 B1 describes a method for detecting a source of interference using an automated guide vehicle in an industrial plant. The automated guide vehicle is connected to a wireless network via a gateway. In production mode, the guide vehicle performs a production task. If a signal deteriorates in a wireless network parameter affecting the connection between the guide vehicle and the gateway, the guide vehicle switches from production mode to an interference detection mode. It receives a route plan encompassing numerous locations within the industrial plant and measures the parameter at each location on the route plan in order to transmit these measurements to a network management device connected to the wireless network. The goal is to pinpoint the location of the interference source without human intervention.This state of the art considers such an incident from a security perspective, coupled with the assumption of intentional harm. This is described in the text passage that states: "Subsequent to the localization of the interference source, various security actions may be taken to mitigate the interference source." This means that security measures can be taken after the location of the interference source has been determined. However, no specific measures are described, particularly no technical measures, which is why radio interference persists in such conventional systems at locations with disrupted reception.

[0006] The invention is therefore based on the objective of providing a technique for autonomously remedying a condition of a wireless network that is insufficient for the operation of FTFs.

[0007] The problem is solved using the features of independent claims.

[0008] Suitable embodiments and advantageous further developments of the invention are specified in the dependent claims.

[0009] Exemplary embodiments of the invention, which can be optionally combined, are disclosed below with partial reference to the figures. In particular, features mentioned in the context of a device (for example, a vehicle or node) can also be implemented accordingly in the method, for example, by a step of providing the corresponding feature or by a step of executing a function of the device. Furthermore, the device can include any feature mentioned in the context of the method and can be configured (for example, by a processing unit with memory) to execute any step mentioned in the context of the method.

[0010] A first aspect concerns a driverless FZP vehicle (FFF) for providing a mobile radio access point (FZP) of a radio access network for automated guided vehicles (AGVs) for transporting goods in an area with at least one stationary FZP of the radio access network. The FFF includes a motion controller trained to control the movement of the FFF to a deployment location. The FFF further includes a mobile FZP trained to establish a radio link at the deployment location with an AGV in an area where the at least one stationary FZP is unable to establish a sufficient radio link.

[0011] By steering to the deployment location, the FFF can establish (e.g., maintain or restore) a sufficient radio connection between the AGV and the radio access network via the FFF's mobile FZP within the affected area. This allows for maintaining the AGV's operational radius despite electromagnetic changes in the environment. These changes can involve electromagnetic propagation obstacles, reflective surfaces, and sources of interference, such as those resulting from modifications or upgrades to a production facility. Compared to a prior art approach that avoids the identified affected area, this or other implementations can optimize route planning, reduce operational interruptions, and enable the deployment of larger AGV fleets.

[0012] The mobile FZP can also be equipped to receive signals for neighborhood detection from one or more neighboring stationary FZPs at the deployment site, or to send signals to one or more neighboring stationary FZPs. Alternatively or additionally, the mobile FZP can also be equipped to receive forwarding information about future data forwarding in the radio access network from one or more neighboring stationary FZPs at the deployment site or a central control node of the radio access network, and / or to send it to one or more neighboring stationary FZPs at the deployment site or a central control node of the radio access network, and / or to store it in a forwarding table of the mobile FZP based on neighborhood detection at the deployment site.

[0013] The forwarding process can also be referred to as routing or path management. The forwarding table can be called a routing table. Routing tables in the radio access network can be dynamically updated when the mobile FZP (for example, as a mesh extender) is added to the radio access network as a node at the deployment location to establish the radio connection with the AGV in the affected area.

[0014] This improves network stability and efficiency. Neighborhood detection and dynamic forwarding table updates allow the mobile FZP to be seamlessly integrated into the existing wireless access network. This enables optimized data routing and reduces the likelihood of communication outages. Furthermore, the mobile FZP can flexibly adapt to changes in the network environment, which is particularly advantageous in dynamic environments such as warehouses and production halls.

[0015] The mobile FZP can also be configured to establish a return radio link to the radio access network. Alternatively or additionally, the mobile FZP can have a radio access interface for the radio link with the AGV and a separate radio return interface configured to establish a return radio link to the radio access network. Alternatively or additionally, the AGV in radio communication with the mobile FZP can be connected to the radio access network via a return radio link from the mobile FZP. The mobile FZP can also be configured to transparently forward data packets between the AGV and the radio access network.

[0016] The mobile FZP can differ from the stationary FZP in that it has a wireless connection back to the radio access network.

[0017] The motion control system can be configured to park the FFF (Mobile Fire Truck) at the deployment location, for example, in response to the establishment of a radio link or during radio communication between the AGV (Automated Guided Vehicle) in the area and the mobile FZP (Mobile Vehicle Point). Alternatively or additionally, the deployment location can be outside the area and / or outside a travel path for AGVs. By parking the FFF, its power consumption can be minimized. Furthermore, a one-time update of the routing tables in the radio access network may be sufficient to integrate the mobile FZP into the radio access network.

[0018] Preferably, the deployment location is outside the affected area, so that the FTF can reach the deployment location under reliable guidance from the control node of the radio access network and / or a stable return connection exists between the mobile FZP and the relay link between the radio access network and the AGV within the affected area. Alternatively or additionally, the deployment location is outside the route designated for the AGV, so that the control node does not need to transmit any altered routes to the AGV to bypass the area or the deployment location.

[0019] Examples of implementations can minimize the power requirements of the FFF. By parking the FFF at the deployment location, energy consumption is reduced because the vehicle does not need to be constantly in motion. This is particularly advantageous in scenarios where the FFF must remain in one location for an extended period to maintain a stable radio connection. Furthermore, parking outside the AGV (Automated Guided Vehicle) lane prevents the FFF from obstructing the traffic of other automated guided vehicles, thus increasing efficiency and safety in warehouse or production environments. The motion control system can also be configured to receive deployment location information from a control node of the radio access network via the mobile FFF or to determine the deployment location itself.Alternatively or additionally, the mobile FZP can be configured to measure a parameter indicating the local quality of the radio access network or to receive such a parameter from a control node of the radio access network (for example, the one mentioned above). The motion control system can be configured to control the movement of the FFF to the deployment location according to a gradient of the parameter.

[0020] The radio access network quality parameter can indicate the availability, reliability, or performance of the radio access network (for example, regarding a radio link for AGVs) at a measurement location of the mobile vehicle and / or as a function of its location in space. Controlling movement according to the gradient of the parameter (i.e., in the direction of deteriorating quality) can be a higher-level motion control system, to which a lower-level motion control system depends on local travel paths and / or local measurements from the FFF sensors. The lower-level motion control system can execute short-term or local movements that are not aligned with the gradient of the parameter and / or minimize the parameter globally. For example, obstacles on the way to the deployment location can be autonomously avoided by the lower-level motion control system.

[0021] The motion control of the FFF can be advantageously configured to reach the deployment location based on information received from a control node of the radio access network or through its own determination. This enables precise and efficient positioning of the mobile FZP at an optimal deployment location to ensure sufficient radio communication in an area where the stationary FZP does not provide adequate coverage.

[0022] By measuring or receiving a parameter indicating the local quality of the radio access network and controlling the movement of the FFF according to a gradient of this parameter, the FFF can navigate specifically to areas with poor radio quality and improve the radio connection there. This leads to improved network stability and performance, as dead zones or areas with poor signal quality can be effectively covered. Furthermore, the efficiency of the overall system is increased because the FFF can react dynamically and autonomously to changes in a local network environment. The deployment location can be outside the area. Alternatively or additionally, the mobile FZP can be trained to establish the radio connection with the AGV within the area using radio beamforming.For example, the mobile FZP can be trained to measure a characteristic parameter of a local quality of the radio access network or to receive it from a control node (for example, the one mentioned above) of the radio access network and to direct the radio beam shaping of the radio link to the area according to the characteristic parameter (for example, parallel to a gradient of the characteristic parameter or perpendicular to a boundary section of the area).

[0023] The FZP can measure or receive the characteristic parameter as a field in space (for example, with values ​​for a multitude of different locations in space), for instance, while the FFF is moving to the deployment location. Based on the characteristic parameter field, the motion control system and / or the mobile FZP can determine the affected area and / or the deployment location and / or a direction of the radio beam shaping. For example, the radio beam shaping of the radio link can be directed perpendicular to a boundary section of the area, or to a (for example, geometric) centroid of the area, or parallel to the gradient of the characteristic parameter. The boundary section can be determined by a threshold value of the characteristic parameter. The threshold value can correspond to a minimum requirement for the radio access network (for example, for the quality of the radio access network and / or for the operation of the AGV).If a larger parameter indicates better quality, "parallel to the gradient" can, from the FFF's point of view at the point of use, mean parallel and in the opposite direction (i.e., antiparallel) to the gradient.

[0024] Unlike conventional spatial precoding for a MIMO (multiple-input multiple-output) link aimed at an FTF (for example, through channel estimation or channel reciprocity), this method allows the radio beamforming to be directed at the entire affected area based on the specified parameter. This enables the FFF to transmit a beacon signal specifically to the affected area. Alternatively or additionally, due to its orientation towards the affected area, the mobile FZP can use the same channel frequency for transmitting into the area (i.e., for the downlink of the radio link to the FTF) and for receiving from the radio access network (i.e., for the downlink of the return link).The motion control system can be configured to guide the FFF (Mobile Firefighting Vehicle) across the deployment site, advantageously without stopping at the site and / or for a temporary radio link between the mobile FZP (Mobile Vehicle Point) and the AGV (Automated Guided Vehicle) within the area. Alternatively or additionally, the motion control system can be configured so that the FFF travels around the area along a boundary section and, during this circumnavigation, maintains radio communication with the AGV within the area via radio beamforming.

[0025] The deployment location can refer to a peripheral section of the area. The FFF can travel along the peripheral section of the area while maintaining radio communication with the FTF (which is within the area). A primary direction of the radio beam shaping of the mobile FZP can be perpendicular to a direction of movement of the FFF along the peripheral section.

[0026] Advantageously, exemplary implementations can improve the flexibility and efficiency of FFF operation as an AGV. The ability to guide the FFF across the deployment site without stopping allows for the rapid and dynamic establishment of a temporary radio link, significantly reducing the response time to disruptions in the radio access network. Furthermore, by circumventing the affected area along a boundary section and simultaneously shaping the radio beam, a continuous radio link is ensured without impeding the traffic flow of other automated guided vehicles. This leads to optimized resource utilization and improved network stability, as the FFF can flexibly respond to changes in the network environment without disrupting AGV operation.

[0027] The FFF (Full-Fleet Vehicle) can be configured as an AGV with a transport route. The motion control system can be configured to add the deployment location to the FFF's transport route. The added deployment location can be an intermediate stop or a section of the route.

[0028] By integrating the deployment location into an existing transport route, the vehicle can continue to fulfill its primary transport function while simultaneously acting as a mobile FZP (Radio Access Point). This enables a seamless extension of the radio access network without significant interruptions or detours in transport logistics. This maximizes uptime and increases the efficiency of the entire system, as the FFF (Radio Access Facility) is not solely dedicated to providing radio access but can also perform its transport tasks concurrently. Furthermore, the FFF can be configured as an AGV (Automated Guided Vehicle) and, for example, carry the mobile FZP as its cargo.Alternatively or additionally, the motion control can be designed to load the mobile FZP as cargo transported by the FFF and / or unload it at the deployment site, for example in response to a measurement of a characteristic of the quality of the radio access network in the affected area or in response to a control message from a (for example, the aforementioned) control node of the radio access network.

[0029] For example, the FFF unloads the mobile FZP in an activated state and continues along its transport route, while the mobile FZP (preferably powered by a battery integrated into the mobile FZP) provides the radio connection in the affected area.

[0030] Exemplary implementations advantageously enable a flexible and dynamic expansion of the radio access network by allowing the mobile FZP to be unloaded and / or picked up again at different locations as needed. This allows the FFF to continue fulfilling its primary function as a transport vehicle while simultaneously contributing to improved radio coverage. This leads to increased efficiency and flexibility in the operation of the AGV system and the entire production plant, as affected areas can be temporarily created and autonomously covered in response to a current production process, without disrupting regular transport operations. This can also include the removal of the mobile FZP if, due to a change in the production process, the previously affected area is once again covered by stationary FZPs.

[0031] The control node's control message can specify the area. Alternatively or additionally, the control node's control message can indicate that at least one stationary FZP is unable to establish a sufficient radio link in that area.

[0032] A second aspect of the device concerns a control node of a radio access network for automated guided vehicles (AGVs) used to transport goods in a space with at least one stationary radio access point (RAP) of the radio access network. The control node comprises a receiving unit configured to receive measured values ​​from the AGVs at various locations within the space, specifying at least one local quality parameter of the radio access network, and / or to detect a lack of radio communication with one of the AGVs. The control node further comprises a determination unit configured to determine, based on the received measured values ​​and / or the last known position of the AGV with no radio communication, an area in which the radio access network is unable to establish a sufficient radio connection. The control node also comprises a transmitting unit configured to send a control message to an automated guided vehicle (AGV).The control message configures a motion control system for the FFF (Fire Truck Vehicle) to direct its movement to a deployment location. The control message also configures a mobile FZP (Mobile Vehicle Gateway) of the FFF to establish a radio link with an AGV (Automated Guided Vehicle) within a specified area at the deployment location.

[0033] Advantageously, exemplary implementations of the control node can continuously monitor the quality of the radio access network and dynamically react to areas with insufficient radio coverage. This is achieved by receiving measurements of the local radio access network quality from the AGVs, identifying areas with poor radio coverage, and sending control messages to the AGVs.

[0034] These functions enable the control node to ensure that the radio link for the AGVs is maintained throughout the entire space. This leads to increased reliability and stability of the entire system, as communication failures are minimized and AGV operational downtime is reduced. Furthermore, the dynamic adaptation of the radio access network allows for flexible and efficient use of available resources, which is particularly advantageous in dynamic environments such as warehouses and production halls.

[0035] The at least one characteristic parameter can indicate whether the radio access network is capable of establishing a sufficient radio link locally or not. Alternatively or additionally, the at least one characteristic parameter can include at least one of the following physical quantities: received signal strength; signal-to-noise ratio; signal-to-noise and interference ratio; reference signal received power; reference signal received quality value; channel quality indicator;

[0036] Rank indicator; throughput; latency, for example, propagation delay; latency variation; bit error rate; block error rate; packet loss; and / or attenuation (i.e., damping).

[0037] The at least one parameter can indicate that the radio access network is unable to establish a sufficient radio connection locally if one or each of the at least one parameter falls below a threshold value of the parameter (such as both of the first 8 parameters mentioned) or exceeds it (such as the last 6 parameters mentioned).

[0038] In this context, "no sufficient radio link" can encompass the absence of any radio link at all. That is, the case of "no sufficient radio link" can include the case of no radio link whatsoever. For example, "no sufficient radio link" may exist (e.g., in the affected area or a sub-area of ​​the affected area) if no beacon signal from the radio access network (e.g., no beacon signal from the at least one stationary radio access point of the radio access network) can be received.

[0039] Received signal strength can be technically referred to as "Received Signal Strength Indication" (RSSI). The signal-to-noise ratio can be technically referred to as "Signal-to-Noise Ratio" (SNR). The signal-to-noise and interference ratio can be technically referred to as "Signal-to-Noise and Interference Ratio" (SNIR). Reference signal received power can be technically referred to as "Reference Signal Received Power" (RSRP). Reference signal received quality can be technically referred to as "Reference Signal Received Quality" (RSRQ). Channel quality indicator can be technically referred to as "Channel Quality Indicator" (CQI). Rank indicator can be technically referred to as "Rank Indicator" (RI). Round-trip time (RTT) can be technically referred to as "Jitter". Latency variation can be technically referred to as "Jitter".The bit error rate can be technically referred to as the "Bit Error Rate" (BER). The block error rate can be technically referred to as the "Block Error Rate" (BLER). Attenuation can be technically referred to as "Path Loss". Furthermore, a modulation and coding scheme (MCS) can be assigned to the measured values.

[0040] Using one of the aforementioned physical quantities can enable a precise and comprehensive assessment of the local quality of the wireless access network in exemplary implementations. This allows for the accurate identification of areas with insufficient radio coverage and enables targeted and efficient control of the FFF (Full Frequency Flow) to improve radio coverage.

[0041] The control message can configure the FFF's motion control to load (in the sense of "picking up" for transport) a mobile FZP at a storage location, unload a mobile FZP (for example, the aforementioned one) at the deployment location, include the deployment location in an existing transport route of the FFF (for example, for a function as an AGV); determine the deployment location depending on a location dependency of at least one parameter; and / or measure the at least one parameter during the movement of the FFF to the deployment location.

[0042] Alternatively or additionally, the control message can configure the mobile FZP of the FFF to perform radio beam shaping directed at the specified area for radio communication with the AGV. For example, the mobile FZP can determine the radio beam shaping based on the location of at least one parameter and / or measure at least one parameter during radio communication with the AGV.

[0043] This can specifically improve radio communication in areas with insufficient coverage. Radio beamforming allows the transmit power and / or receive sensitivity of the mobile radio access point to be focused on the affected area, resulting in better signal quality and a more stable radio connection. Furthermore, this minimizes interference and increases the efficiency of the radio access network, as radio resources such as frequencies are used in a targeted and efficient manner.

[0044] The control message can specify the deployment location, the defined area, a direction of radio beamforming, and / or a location dependency of the characteristic value determined from the received measurements. By providing detailed information in the control message, the FFF can be optimally positioned and configured to ensure a stable and high-quality radio link in the affected areas.

[0045] The tax message can be sent to the FFF in one or more partial messages.

[0046] According to a first procedural aspect, a method for providing a mobile radio access point (RAP) of a radio access network for automated guided vehicles (AGVs) for transporting goods in an area with at least one stationary RAP of the radio access network is provided. The method, executed by an automated guided vehicle (AGV) comprising a mobile RAP vehicle, includes a step of controlling the movement of the AGV, which contains a mobile RAP, to a deployment location. Furthermore, the method includes the step of configuring the mobile RAP to establish a radio connection at the deployment location with an AGV in an area where the at least one stationary RAP is unable to establish a sufficient radio connection.

[0047] According to a second aspect of the procedure, a control node of a radio access network for automated guided vehicles (AGVs) is provided for transporting goods in a space with at least one stationary radio access point (RAP) of the radio access network. The procedure further includes a step of receiving measurement data relating to various locations within the space from the AGVs, pertaining to at least one parameter of the local quality of the radio access network. The procedure further includes a step of determining, based on the received measurement data, an area in which the radio access network is unable to establish a sufficient radio connection. The procedure further includes a step of sending a control message to an automated guided vehicle (AGV). The control message configures the AGV's motion control to direct its movement to a destination.Furthermore, the control message configures a mobile FZP of the FFF to establish a radio connection with an AGV in the specified area at the deployment site.

[0048] The first aspect procedure can be executed using the mobile device of the first aspect. The second aspect procedure can be executed using the node of the network of the second aspect.

[0049] The invention is explained in more detail below with reference to the drawings and to preferred embodiments, which can optionally be combined with one another.

[0050] They show:

[0051] Fig. 1 shows a schematic top view of an AGV system with a driverless FZP vehicle and a control node of a radio access network according to a first embodiment;

[0052] Fig. 2 a schematic top view of the driverless FZP vehicle according to a first embodiment of a second embodiment, which can further develop the first embodiment; Fig. 3 a schematic top view of the driverless FZP vehicle according to a second embodiment of the second embodiment, which can further develop the first embodiment;

[0053] Fig. 4 shows a schematic top view of the driverless FZP vehicle according to a third embodiment of the second embodiment, which can further develop the first embodiment;

[0054] Fig. 5 shows a schematic top view of the driverless FZP vehicle according to a fourth embodiment of the second embodiment, which can further develop the first embodiment;

[0055] Fig. 6 shows the acquisition and use of a characteristic value of the radio access network based on a schematic top view of an FTF system, which can be further developed into any embodiment;

[0056] Fig. 7 shows a determination of a range and direction of radio beam shaping, which can further develop each embodiment; and

[0057] Fig. 8 shows a control system for radio beam shaping, which can further develop each embodiment.

[0058] Fig. 1 shows a schematic bird's-eye view of an exemplary AGV system with a radio access network 200 for driverless transport vehicles 110, in order to illustrate individual features and functions of a driverless FZP vehicle generally designated by reference numeral 100 as a first aspect and a control node generally designated by reference numeral 202 as a second aspect using a first embodiment.

[0059] An AGV system comprises a wireless communication network with a radio access network 200 and at least one automated guided vehicle (AGV) 110. The radio access network 200 includes stationary radio access points (RCPs) 204. Every active AGV 110 (for example, every AGV 110 moving along a transport route 302 in space 300) should always be in radio contact with at least one stationary RCP 204 for control purposes. For handovers between radio cells, roaming, or for data throughput-enhancing multiple connections (dual connectivity), the AGV 110 can also be in radio contact with several stationary RCPs 204.

[0060] In AGV systems, it can happen that an AGV 110' in area 150 loses its radio connection to the radio access network 200 (affected area). This can occur during the setup or modification of the radio access network 200 or be caused by a malfunction. For example, interference or shadowing can interrupt the radio connection between the AGV 110' and the radio access network 200, or a backhaul link from a stationary FZP 204' responsible for the affected area 150 of the radio access network 200 may be interrupted. The AGV 110' in the affected area 150 is then no longer reachable.

[0061] As illustrated by the purely exemplary environment of Fig. 1, the technique encompasses several aspects.

[0062] A first aspect of the device concerns a self-propelled device, specifically a driverless FZP vehicle (FFF) 100, equipped with a mobile FZP and a motion control system. The motion control system is designed to steer the FFF to a deployment location from which the FFF's mobile FZP extends the radio access network to areas where an AGV's route lacks sufficient radio coverage for operation. The FFF 100 with mobile FZP is configured to provide radio access to the AGV within the affected area.

[0063] A second aspect of the invention relates to a control node 202 for controlling a wireless communication network with a radio access network 200 for FTF 110. The control node 202 is configured to configure a driverless FZP vehicle (FFF) 100.

[0064] A first procedural aspect concerns the provision of a mobile radio access point, for example a procedure for radio communication (in particular reconnection) of a driverless transport vehicle (FTF) 110' in response to, during or after a disturbance in a wireless communication network necessary for the control of the FTF 110' (in particular a radio access network 200).

[0065] A second procedural aspect concerns a method executed by a control node 202 for configuring a driverless automated guided vehicle (AGV) 100. In exemplary embodiments, disturbances in an automation system 300 with radio-connected AGVs 110 can be overcome, at least temporarily. An industrial radio access network 200 can thus be flexibly expanded, and disturbances due to poor network quality can be bridged.

[0066] Each embodiment of each of these aspects mentioned can be designed as follows.

[0067] The FFF 100 and the FTF 110 can be land vehicles or aircraft.

[0068] Establishing a radio link with an AGV can also be described as the technical function of providing radio access to the AGV. The at least one stationary radio access point (RAP) can be located on or in the wall or ceiling of the room in which the AGV transports the goods. Alternatively or additionally, the at least one stationary RAP can be located in an adjacent room and provide radio access to that room through the wall or ceiling. The stationary RAP can be, but does not have to be, in the same room in which the AGVs are operating.

[0069] A radio access point (RCP), for example one of the stationary RCPs or the mobile RCP of the FFF, can also be referred to in technical terms as a "Radio Access Point" or simply "Access Point" (AP) or base station. The FFF can be referred to as an access point vehicle.

[0070] The affected area may be an area with no or severely disrupted radio coverage from the stationary access network. Radio coverage in the area can be considered "disrupted" if it is insufficient for the operation of an AGV. An area with no or disrupted radio coverage can mean: no or disrupted radio reception by an AGV in the area for radio signals originating from the stationary radio access network, and / or no or disrupted radio reception by the radio access network for radio signals from within the area.

[0071] The disrupted radio coverage in the affected area may be caused by an insufficient density of stationary radio access points (RAPs). For example, in the affected area, the attenuation of a radio signal (propagation loss) in a direct radio link, or the distance (e.g., the effective distance taking propagation loss into account) to one or more stationary RAPs, may be too great for successful decoding of the radio signal.

[0072] Furthermore, the disrupted radio coverage in the affected area may be caused by surfaces reflecting the radio signal. For example, a time difference between an unreflected propagation direction and a reflected propagation direction, or a time difference between a singly reflected propagation direction and a multiply reflected propagation direction, may be too large for successful decoding of the radio signal (for example, larger than a cyclic prefix of a symbol transmitted in the radio signal).

[0073] One embodiment of the FFF can drive to the deployment site (i.e., move to a deployment site) that covers the affected area (at least partially).

[0074] For example, the FFF determines a deployment location that does not block a route for AGVs.

[0075] For a backhaul radio link (technical term: "backhaul radio link", in short:

[0076] (Return connection) of the mobile FZP of the FFF at the deployment site, i.e. for a wireless integration of the mobile FZP into the radio access network of the stationary FZP, a stationary FZP of the radio access network can serve as a radio relay station (for example as a mesh extender), within whose range the mobile FZP or the deployment site (and optionally not the affected area) is.

[0077] The FFF's mobile FZP can be trained to provide the FTF with radio access in the affected area, for example with the same radio access technology (optionally 5G or Wi-Fi) as the radio access network and / or with the same radio access standard as the radio access network and / or with the same access data as the radio access network.

[0078] The forwarding of user data from the AGV in the affected area to and / or from the radio access network (e.g., bidirectionally) can be transparent to the AGV, for example, at a packet layer of the user data and / or an application layer of the user data and / or above a layer for media access control (MAC). Alternatively or additionally, the mobile control point (FCP) of the FFF can forward the user data at the MAC layer (e.g., as a "bridge") or at the physical layer (PHY, e.g., via amplifier elements). Alternatively, the mobile FCP of the FFF or another controller of the FFF, preferably at an application layer, can receive the data for the AGV in the affected area from the radio access network and / or send it to the radio access network.For example, an application layer of the FFF control terminates a data stream with respect to the radio access network and establishes its own connection at the application layer to the affected AGV. In this way, data is routed to and / or from the affected AGV.

[0079] The mobile FZP of the FFF can include a radio access interface (technically: "access radio interface," or simply radio interface) and optionally a radio backhaul interface (also: radio link interface, or technically: "AGV"). The radio access interface can be configured to provide radio access for AGVs within the affected area. Since the deployment location is not necessarily within the affected area, the radio access interface can include multiple antenna elements and be configured for radio beamforming by using phase shifting between the antenna elements. For example, the transmission and reception of radio signals from outside the affected area can be directed at the radio access interface at the deployment location towards the affected area.Alternatively or additionally, the radio access interface (for example, for an in-band backlink) or the radio backlink interface, which differs from the radio access interface (for example, for an out-of-band backlink), can be designed to provide wireless backlinking (technical term:

[0080] to provide the "backhaul link") of the mobile FZP at the deployment site to the radio access network.

[0081] Alternatively or additionally, the disrupted radio coverage in the affected area may be caused by an excessive density of stationary radio access points (RAPs) or by uncoordinated, overlapping coverage from two stationary RAPs. For example, the interference in the affected area may be caused by a so-called hidden station problem. This means that two stationary RAPs each cover the affected area, but are too far apart to be directly aware of each other (e.g., of their presence or the radio channels they are using).

[0082] One embodiment of the FFF (Flexible Mobile Gateway) can move to a deployment location (for example, in the affected area) between two stationary FZPs (Radio Frequency Gateways) of the radio access network that do not have a direct radio link to each other. From there, the mobile FZP of the FFF can relay radio signals between the two stationary FZPs and / or send a control message to one or both of the two stationary FZPs, indicating, for example, interference between the two stationary FZPs in the affected area. The backhaul radio link of the mobile FZP can be an in-band backhaul link. This means that the same data transmission technology used in the radio access network between the FTF and the stationary FZPs is also used for the backhaul link of the mobile FZP (e.g., as a radio relay station or extension of the radio mesh, i.e., a "mesh extender") to the radio access network.Alternatively or additionally, control data from the FFF (for example, to control the movement of the FFF and / or to configure the mobile FZP in the FFF) and the user data (i.e., data from or for the FTF) forwarded (i.e., sent and / or received) by the mobile FZP of the FFF for the affected area (e.g., at the radio interface) can be transmitted via the same radio access technology, optionally via the same carrier frequency. This ensures that the extended radio access network remains uniformly structured and efficient.

[0083] For example, the following tasks can each cause a data stream through the same stationary FZP of the radio access network: a data stream from a vehicle control system (e.g., a navigation system) of the FFF and / or a data stream from the backlinking radio link of the mobile FZP of the FFF (i.e., user data that the stationary FZP forwards to or from the mobile FZP) and / or a data stream from the radio access provided by the stationary FZP itself for AGVs (i.e., user data to AGVs that are directly wirelessly connected to the stationary FZP).

[0084] On the other hand, high user data loads can lead to capacity bottlenecks because radio access network resources (radio resources) are shared for multiple tasks. In this or other situations, the mobile FZP of the FFF advantageously includes a radio backhaul interface that is separate from the radio access interface, or the backhaul link is implemented outside the radio access network (technically: "out-of-band"). The radio access interface and the radio backhaul interface can differ (for example, with regard to the radio resources used) in the time domain (e.g., by transmitting in different time slots), in the frequency domain (e.g., by transmitting on different carrier frequencies), or in the spatial domain (e.g., by transmitting in different directions of radio beamforming).This allows the capacity of the radio access network (as the main network connecting the AGVs) to be fully utilized without burdening it with additional backhaul data streams. One implementation uses a separate radio backhaul interface for the return link. The backhaul link can be implemented via a separate wireless network, such as 5G, or a point-to-point radio link, such as microwave radio, or optical links, such as free-space optical communication or Li-Fi. Simultaneously, the radio access network, i.e., the radio link between the AGVs and the (mobile and stationary) FZPs, can be established, for example, via Wi-Fi. A second implementation uses dedicated frequency bands. The return channel can utilize special frequency bands reserved exclusively for the backhaul link. For example, the radio access network can operate in the 3.5 GHz band, while the backhaul link (i.e., the radio link between the AGVs and the (mobile and stationary) FZPs) operates in the 2.5 GHz band.The "backhaul link" operates in the 28 GHz millimeter wave band. This reduces interference and allows for a higher data rate for the "backhaul," as millimeter wave frequencies often provide more bandwidth.

[0085] While embodiments of the four aspects are described and shown together for a clear disclosure of the technology, it is immediately apparent to those skilled in the art that the disclosed features and functions can be attributed to each of the four aspects by corresponding features and process steps. Furthermore, each embodiment can be implemented by features and process steps of the aforementioned technology of patent EP 3910986 B1.

[0086] In one variant of each embodiment, a condition with insufficient radio communication (for example, radio interference due to an interrupted return link of a stationary FZP 204', shown schematically in Fig. 1) in an area 150 of the AGV system can be detected decentrally by the FFF 100 (optionally starting from an operational state as AGV 110). In another variant of each embodiment, the condition of insufficient radio communication in the radio access network 200 can be detected by the control node 202. The condition can be referred to as radio interference and the affected area 150 as the interference area.

[0087] The condition, and optionally the area 150 in its planar or spatial extent, is determined based on previously acquired measured values ​​of at least one characteristic parameter of the radio access network 200 (also known as "Key Performance Indicators" of the radio access network, abbreviated: radio-KPl), preferably by a control node 202 of the radio access network 200. The at least one characteristic parameter is measured by the mobile FZP 104 of the FFF 100 and / or the communication unit of other FTF 110 and reported to the control node 202 of the radio access network as a superimposed layer. In a first variant, the FTF 110 (optionally including the FFF 100) report their position data or the location of the measurement in room 300 to the control node 202. In a second variant, position data is known to the control node 202, for example from the control or monitoring of transport routes 302 of the FTF 110 (optionally including the FFF 100).

[0088] In each embodiment, the FFF 100 can be an FTF 110 whose communication unit is configured by the control node 202 as a mobile FZP 104. Alternatively or additionally, the FFF 100 can be an FTF 110 that, based on its own measurement of the radio link to the radio access network (i.e., autonomously and / or without communication with a control node 202), determines that the radio link is insufficient in a certain area (i.e., in the affected area) and then establishes a radio link at the deployment site with an FTF in the (affected) area where the at least one stationary FZP is unable to establish a sufficient radio link.

[0089] Based on the acquired location-dependent measured values, the control node 202 determines whether it is necessary or advisable to configure an FTF 110 as an embodiment of the FFF 100 and control it into area 150, or to configure a nearby FTF 110 as an FFF 100 and control it into the affected area 150. Either the approaching FFF 100 or the nearby FFF 100 has the task of moving into area 150 or its boundary section.

[0090] For example, near the affected area 150, the communication unit on the FTF 110 receives a command to establish radio access. In other words, the readiness to establish a radio connection (technically: the activation of an "access point" function) to an FTF 110 via the radio interface of the communication unit, which thus functions as a mobile FZP 104, is triggered by a control message from the control node 202. The command to establish radio access can originate from the motion controller 102. Alternatively or additionally, the sending of a control message specifying the command (to activate the "access point" function) can originate from the control node 202, optionally be decided directly in a control unit of the control node 202, or indirectly from a higher-level system, such as a cloud-based control system.

[0091] Activating the "Access Point" function activates an additional radio range, meaning a radio connection 130 to the FTF 110 can be established in the affected area 150. Depending on the implementation, the necessary configuration of the mobile FZP 104 with radio settings can be received via an interface of the communication unit to the radio access network (or another radio feedback interface) and / or specified by the motion controller 102 or the control node 202.

[0092] The FTF 110' affected by the condition can now connect to the (from its perspective, new or expanded) radio access network via the mobile FZP 104. For example, communication between the FTF 110' and the control node 202 is now routed via the mobile FZP 104 (for example, the appropriately configured communication unit) on the FFF 100 (technically: forwarding or "routing").

[0093] The FFF 100 can provide this radio coverage in the affected area 150 temporarily or permanently. In one variant of each embodiment, the FFF 100 can remain stationary at the deployment location 120 and / or during radio relay between the radio access network 200 and an FTF 110' (i.e., to and from the FTF 110' in the affected area 150) (i.e., be stationary relative to the stationary FZP of the radio access network). In another variant of each embodiment (particularly if the FFF 100 functioned as one of the FTF 110s prior to configuration to rectify the situation), a route 302 of the FFF 100 (for example, a transport route of the FTF 110 existing prior to configuration) can be adapted.

[0094] An FTF 110 can temporarily embody the FFF 100 and be temporarily at the deployment location 120. While the FTF 110, acting as FFF 100, is executing the procedure of the first aspect, the deployment location 120 can be added as an intermediate stop to its route 302, or the route 302 of the FTF 110 can be modified in the configuration of the motion control 102 such that the FFF 100 passes by area 150, for example, touching an edge section of area 150.

[0095] In one embodiment of each model, the control node 202 can configure a sequence of FTF 110s successively as FFF 100s, such that a succession of FFF 100 models sequentially touches a (not necessarily identical) boundary section of the area 150. The radio link 130 to an FTF 110' in the area 150 can be handed over from one FFF 100 to the next. Further embodiments of the invention allow an operator of the FTF system to establish variable radio zones (also called radio cells), optionally with the mobile FZP 104 coordinating with the other FTF 110s. In this way, the radio access network 200 can be temporarily expanded or extended.

[0096] The mobile FZP 104 of the FFF 100 can be directly connected to the radio access network 200, i.e., directly to a stationary FZP 204 of the radio access network 200. Alternatively or additionally, the radio return link 140 of the mobile FZP 104 can include one or more hops via one or more FTF 110s, each of which has a mobile FZP. In other words, another embodiment can utilize the access point (AP) of another FTF 110 that is located near the source of the interference. The routing can then be coordinated by a control node 202, i.e., a central management point with route knowledge.

[0097] The FTF 110' within the affected area 150 and the FFF 100 (for example, outside the area 150) can move in the same plane. The affected area 150 can be a single, continuous area within the plane. The deployment location 120 can be inside or outside the area 150. Within the area, the mobile FZP 104 can have a (for example, essentially) omnidirectional transmission and / or reception pattern for the radio link 130. Alternatively or additionally, outside the area 150, the mobile FZP 104 can have a transmission and / or reception pattern directed towards the area 150 (radio beamforming).

[0098] Alternatively or additionally, the FFF can be a drone. The deployment location can be a parking position where the drone can land, for example, above the affected area. This allows the mobile FZP 104 of the FFF 100 to fulfill its task of establishing radio communication 130 with the FTF 110 in the affected area 150, without the FFF 100 having to expend power for flight operations during this time.

[0099] The radio access network 200 can include a central routing table in a control node 202 of the radio access network 200 for all radio access points, including the mobile FZP 104. The stationary FZP 204 of the radio access network and the mobile FZP 104 of the FFF 100 can receive decentralized copies or extracts of the central routing table from the control node 202. Alternatively or additionally, the control node 202 of the radio access network 200 can receive neighborhood information about neighboring FZPs (for example, mobile FZP 104 and / or stationary FZP 204) and update the central routing table based on the received neighborhood information.

[0100] The updating of routing tables in the radio access network (RAN) can be triggered when a new node such as the mobile FZP 104 (for example as a mesh extender) is added to the radio access network 200 to establish the radio link 130 with the FTF 110 in the affected area 150.

[0101] The mobile FZP 104 and / or any stationary FZP 204 can transmit signals (for example, reference signals, system information blocks, or radio beacon signals) to announce its presence in the 200 radio access network. Neighboring nodes (e.g., stationary FZP 204s as base stations or the mobile FZP 104 as a mesh extender) receive these signals and recognize the neighboring node as a potential communication partner.

[0102] The FZP 104 and 204 can exchange routing information with each other.

[0103] For example, one of the protocols OLSR ("Optimized Link State Routing"), AODV ("Ad hoc On-Demand Distance Vector Routing"), or DSDV ("Destination-Sequenced Distance-Vector Routing") can be used to exchange routing information or send it to the control node 202. Alternatively or additionally, the mobile FZP 104 sends updates to its radio links with neighboring nodes (for example, as part of or an example of a metric report) to the control node 202 and / or the neighboring nodes, causing them to update their routing tables.

[0104] While the control node in Fig. 1 is shown as a separate unit of the radio access network 200, in one variant of each embodiment, one of the stationary FZP 204 can implement the control node 202 of the radio access network 200 as a primary FZP. For example, the primary FZP is an orchestrator for all FZP 104 and 204 that offer wireless services within the meshed radio access network 200. The primary FZP manages information from the other FZPs in network 200, the connection quality of each FTF 110, and neighborhood information to determine the transmission route for data and / or the transport route 302 for goods and send it to FZPs 104 and 204 or to FTF 110. The control node 202 (for example, the primary radio access point) is used to manage and / or control the radio access network 200, for example, the topology of a meshed radio access network 200 according to the routing table.Optionally, the control node can also act as a bridge (technically: "gateway") to the rest of the external network (usually the Internet) using an Internet Service Provider (ISP).

[0105] The stationary FZP 204 and / or the mobile FZP 104 can be trained according to a radio access technology (RAT), optionally a Wi-Fi standard (e.g., Wi-Fi 6) of the Wi-Fi Alliance or an IEEE 802.11 standard, or a standard (e.g., 5G, especially for low latency and high reliability, IIRLL) of the Third Generation Partnership Project (3GPP).

[0106] The stationary FZP 204 and the mobile FZP 104 can form a unified meshed wireless access network (Wireless Mesh Network). The mobile FZP 104 can act as a mesh extender, for example, a remote, subordinate access point of the wireless access network that is not wired to it.

[0107] An FTF 110, which can implement an FFF 100 through its configuration, comprises a local control unit with a motion control 102 and a communication unit with an antenna 105.

[0108] The communication unit has an interface that can be used by the motion controller 102 and / or the control node 202 as a higher-level system to read status information regarding a radio connection between the communication unit and the radio access network 200, for example, measured values ​​of a parameter indicating the local quality of the radio access network 200. Additionally, control commands (e.g., in control messages) can be transmitted from the control node 202 or the motion controller 102 (e.g., to establish the radio connection 130 upon reaching the deployment location 120) to the communication unit. These control commands can activate or deactivate specific functions on the communication unit, for example, establishing the radio connection 130 as a mobile FZP 104 when the AGV 110 is configured as an FFF 100.Figures 2 to 5 each show a schematic top view of various embodiments of a second embodiment of the FFF 100, which can further develop the first embodiment. The FFF 100 comprises a motion control unit 102, which guides the FFF 100 to the deployment location 120. For this purpose, the motion control unit 102 controls the direction and speed of a drive 107 of the FFF 100, which is powered by an electrical energy storage device 106. The energy storage device can comprise a battery (secondary cell) and / or a fuel cell with fuel storage.

[0109] For example, the FFF 100 can be a further development of an FTF 110 and / or have a fork for the transport function of a forklift, i.e. for loading and unloading the transported goods.

[0110] In each embodiment, the movement of the FFF 100 – and thus of the mobile FZP 104 – to the area 150 can be controlled by a field (i.e., a location dependency) of the detected (e.g., measured or received) parameter. For example, the motion control 102 can control the FFF 100 in the direction of a gradient of the parameter (positive or negative, depending on the definition of the parameter). Optionally, the parameter-dependent motion control 102 can be combined with local navigation that follows predefined paths and / or is controlled by (e.g., short-range) sensors 103 (e.g., lidar, radar, ultrasound, stereo camera).

[0111] In the first embodiment of the second embodiment shown in Fig. 2, the mobile FZP 104 has a radio interface 105 (for example, with a single antenna) which provides both the radio link 130 to the FTF 110' (technically: "fronthaul" radio link) and the radio return link 140 (technically: "backhaul" radio link) to the radio access network 200 (e.g., to a stationary FZP 204). This enables a compact design of the mobile FZP 104.

[0112] In the second embodiment of the second exemplary embodiment shown in Fig. 3, the mobile FZP 104 has separate radio interfaces 105A and 105B for the radio link 130 to the FTF 110' and the radio return link 140 to the radio access network 200, respectively. This allows the mobile FZP 104 to perform a relay function with spatially separated radio channels, which, for example, are particularly interference-free due to their non-overlapping directional characteristics or use the same channel frequency for both the radio link and the radio return link. In a third embodiment of the second exemplary embodiment, the mobile FZP 104 of the FFF 100 can be transported by the FFF 100 without being integrated into the FFF 100. In a first example, the mobile FZP 104 can be connected to the FFF 100 in a non-destructively detachable manner. This allows an existing fleet of FTF 110s to be (partially or completely) retrofitted with the functionality of the FFF 100.

[0113] In a second example, shown schematically in Figures 4 and 5, the mobile FZP 104 can be relocated, e.g., loaded and unloaded by the FFF 100. For this purpose, the mobile FZP 104 can be mounted on a frame with lateral recesses (fork pockets) into which the forks of a forklift can engage. The FFF 100 has forks whose vertical movement (lifting movement) is controlled by the motion controller 102. At a predetermined storage location, or one specified by the control node 202 in a control message, the FFF 100 picks up the mobile FZP 104 and places it at the deployment location 120. Preferably, the FFF 100 then functions again as an FTF 110 after it has placed the FZP 104 down.

[0114] In other words, in the configuration schematically shown in Figures 4 and 5, the FFF 100 is an AGV whose (e.g., temporary) cargo is the mobile FZP 104. The motion control 102 of the FFF 100 is configured to place the mobile FZP 104 at the deployment location 120. This allows the FFF 100 to continue its productive function as an AGV 110 for transporting goods. In particular, after placing the mobile FZP 104 at the deployment location, the FFF 100 can continue operating in its function as an AGV 110, meaning that no AGV 110 remains tied up at the deployment location 120.

[0115] In a first variant, the FFF 100 is an FTF 110 that has preemptively loaded the mobile FZP 104 (for example, in addition to a changing cargo). In response to a detection of the affected area 150 (for example, receiving a control message from the control node 202 and / or a measurement of a parameter relating to the quality of the radio access network), the FFF 100 can deploy the mobile FZP 104 to the deployment location 120. This allows for a rapid response to a malfunction, i.e., the detection of an affected area 150, meaning that the condition of the radio access network 200, which is insufficient for the operation of the FTF, can be autonomously rectified.

[0116] For example, the motion control of an existing FTF 110 can be configured by the control node 202 as a motion control 102 according to the invention via the radio access network 200. Preferably, the control node 202 configures the FTF 110 with a preemptively charged mobile FZP 104 as FFF 100, which is currently closest to the area in question.

[0117] In a second variant, which can be combined with the first, the FFF 100 charges the mobile FZP 104 in response to a detection of the affected area 150 (for example, a control message from the control node 202 and / or a measurement of a parameter relating to the quality of the radio access network). This allows the FFF 100 to fully perform its productive function as an FTF 110 and, in the event of a fault, to transport the mobile FZP 104 to resolve the fault. For example, the FTF system keeps at least one mobile FZP 104 at a storage location where the FFF 100 charges the mobile FZP 104.

[0118] This demonstrates that exemplary implementations can not only ensure the operation of the AGV with the desired spatial extent, but also improve the efficiency of the AGV system.

[0119] According to the schematic embodiment shown in Fig. 5, the deployable mobile FZP 104 can also have separate radio interfaces 105A and 105B for the radio connections to the FTF 110' and to the radio access network 200.

[0120] The radio link 130 of the mobile FZP 104 can be essentially omnidirectional or semispherical. An example of this is shown in Fig. 1. Alternatively or additionally, the radio link can be directed from outside to the affected area 150. An example of this is shown in Fig. 6.

[0121] In a third embodiment, shown schematically in Figures 6 to 8, the FFF 100 not only moves to the deployment location 120, but also aligns its transmit power and / or receive sensitivity to the affected area 150 by means of radio beamforming (technically referred to as "transmit beamforming" or "receive beamforming"). In one variant, the measured parameter (also referred to as "key performance indicator", KPI), which preferably serves to determine the affected area 150 and / or the deployment location 120, can control the alignment of the radio beamforming by the mobile FZP 104, for example, from the deployment location 120 to the affected area 150 or the FTF 110' therein. This spatial diversity between radio access and radio return links minimizes or even avoids spatial overlap between the access-side radio link 130 and the return radio link 140.This allows the 130 radio link and the 140 radio link to use the same channel frequency, meaning the frequency reuse factor can be 1 (one) in the downlink, for example. Alternatively or additionally, different radio access technologies such as 5G and Wi-Fi can be used for the 130 radio link and the 140 radio link.

[0122] As schematically shown in Fig. 6, the control node 202 can acquire the measured values ​​of the characteristic parameter of FTF 110 at various locations and thereby calculate a field of the characteristic parameter. From this field, the deployment location 120, for example an edge section of the affected area 150, and / or the direction of the radio beam shaping can be calculated.

[0123] Fig. 7 shows a schematic contour plot of the detected parameter as a function of its location in space 300, i.e., as the parameter's field. The boundary section of the affected area 150 can be determined by an absolute threshold or a relative threshold of the parameter (for example, relative to an average value of the parameter). Alternatively or additionally, the direction of the radio waveform shaping can be antiparallel to the gradient of the parameter and thus directed towards the interference source and into the area 150. In this way, the radio link 130 can be provided in the area 150 by local measurements of the parameter or by decentralized radio waveform shaping, preferably from different sides of the area 150.

[0124] In one variant of each embodiment, the FFF 100 inserts a boundary segment of the area 150 into its existing transport route 302 and aligns the radio beamforming for the radio link 130 to the area 150 as the FFF 100 moves along the boundary segment. This prevents an interruption of the transport. An example of this is shown schematically in Fig. 8. In one embodiment of the control node 202, it sends control messages to several FFF 100s, their deployment location and / or deployment time being staggered so that at least one FFF 100 is always providing the radio link 130, preferably without an FFF 100 interrupting its transport of goods by stopping and / or without the transport routes of the FFF 100s blocking each other.For example, the edge of area 150 can be traversed section by section by each FFF 100, with a uniform direction of travel for all participating FFF 100s, i.e., either all traveling clockwise or counterclockwise around area 150. As can be seen from the preceding embodiments, FTF 110s in a plant 300 communicate wirelessly with higher-level systems such as the control node 202 via the radio access network 200. For example, WLAN technology is used for the radio access network 200. The problem with the prior art is that the radio network is not sufficiently available in some areas of the plant, or a temporary disruption of the radio network interferes with communication to the FTF 110s and thus hinders their continued operation in that area of ​​plant 300. By using the FFF 100, the continued operation of the plant can be quickly restored.

[0125] In the event of an insufficient radio link (for example, in a situation where an interference source interrupts radio communication to the radio access network 200, the control node 202, or another higher-level system), a dedicated embodiment of the FFF 100, which moves to the affected area 150, or an FTF 110 located nearby and reachable via the radio access network 200, which is configured as an FFF 100 via a control message, can activate its mobile FZP 104 (i.e., a local access point) in the vicinity of the FTF 110. The mobile FZP 104 on the FFF 100 then serves as a relay station. That is to say, Communication from the FTF 110' to the control node 202 runs via the FFF 100. Therefore, the vehicle 110', which is located in the affected area 150, can be reconnected to the radio access network 200 and resume operation. The operation of the system 300 can then be restarted.

[0126] Although the invention has been described with reference to exemplary embodiments, it is apparent to those skilled in the art that various modifications can be made and equivalents can be used as replacements. Furthermore, many modifications can be made to adapt the invention to a specific situation or material. Consequently, the invention is not limited to the disclosed embodiments but encompasses all embodiments that fall within the scope of the appended claims. List of reference numerals

[0127] Driverless FZP vehicle 100 Motion control 102 Sensor 103 Mobile radio access point (mobile FZP) 104 Radio interface, optionally with unified fronthaul and backhaul antenna 105 Radio access interface, optionally with dedicated fronthaul antenna 105A Radio backhaul interface, optionally with dedicated backhaul antenna 105B Electrical energy storage 106 Electric drive 107 Driverless transport vehicle (AGV) 110 Affected AGV 110' Location 120 Radio link 130 Backhaul radio link, short: radio backhaul 140 Affected area 150 Radio access network 200 Control node 202 Stationary radio access point (stationary FZP) 204 Affected stationary FZP 204' Space for driverless goods transport, e.g., production plant 300 Route, for example transport route 302

Claims

Patent claims 1. Driverless FZP vehicle, FFF (100), for providing a mobile radio access point, FZP (104), of a radio access network (200) for driverless transport vehicles, AGV (110), for transporting goods in a space (300) with at least one stationary FZP (204) of the radio access network (200), wherein the FFF (100) comprises: a motion controller (102) designed to control the movement of the FFF (100) to a deployment location (120); and a mobile FZP (104) which is trained to establish a radio link (130) with an FTF (110') at the deployment site (120) in an area (150) where at least one stationary FZP (204) is unable to establish a sufficient radio link (130).

2. FFF (100) according to claim 1, wherein the mobile FZP (104) is further configured to receive signals for neighborhood detection from one or more neighboring stationary FZPs at the deployment location (120) or to send signals to one or more neighboring stationary FZPs, and / or - To receive forwarding information about a future forwarding of data in the radio access network (200) from one or more stationary FZPs or a central control node (202) of the radio access network (200) located at the deployment site (120) and / or to send it to one or more stationary FZPs or a central control node (202) of the radio access network (200) located at the deployment site (120) and / or to store it in a forwarding table of the mobile FZP (104) based on a neighborhood detection at the deployment site (120).

3. FFF (100) according to claim 1 or 2, wherein the mobile FZP (104) is further configured to establish a backlink radio link (140) to the radio access network (200), or wherein the mobile FZP (104) has a radio access interface (104A) for the radio link (130) with the FTF (110) and a radio backlink interface (105B) different from the radio access interface (105A), which is configured to establish a backlink radio link (140) to the radio access network (200); and / or wherein the FTF (110) in radio communication (130) with the mobile FZP (104) is connected to the radio access network (200) via a return radio link (140) of the mobile FZP (104); and / or the mobile FZP (104) is further equipped to transparently forward data packets between the FTF (110) and the radio access network (200).

4. FFF (100) according to one of claims 1 to 3, wherein the motion control (102) is configured to park the FFF (100) at the deployment location (120), optionally in response to the establishment of the radio link (130) or during the radio link (130) between the FTF (110') in the area (150) and the mobile FZP (104), and / or where the deployment location (120) is outside the area (150) and / or outside a travel path for AGVs (110).

5. FFF (100) according to one of claims 1 to 4, wherein the motion control (102) is further configured to receive information about the deployment location (120) from a control node (202) of the radio access network (200) via the mobile FZP (104) or to determine the deployment location (120), and / or wherein the mobile FZP (104) is configured to measure or receive a characteristic of a local quality of the radio access network (200) from a control node (202) of the radio access network (200) and the motion control (102) is configured to control the movement of the FFF (100) to the deployment location (120) according to a gradient of the characteristic.

6. FFF (100) according to one of claims 1 to 5, wherein the deployment location (120) is outside the area (150) and the mobile FZP (104) is configured to establish the radio link (130) with the FTF (110') in the area (150) by means of radio beam shaping, optionally, wherein the mobile FZP (104) is configured to measure a characteristic parameter of a local quality of the radio access network (200) or to receive it from a control node (202) of the radio access network (200) and to direct the radio beam shaping of the radio link (130) according to the characteristic parameter onto the area (150), optionally parallel to a gradient of the characteristic parameter or perpendicular to a boundary section of the area (150).

7. FFF (100) according to one of claims 1 to 6, wherein the motion control (102) is configured to guide the FFF (100) over the deployment location (120), optionally without stopping at the deployment location (120), for a temporary radio link (130) between the mobile FZP (104) and the FTF (110') in the area (150) and / or wherein the motion control (102) is configured such that the FFF (100) bypasses the area (150) along a boundary section of the area (150) and during the bypass the mobile FZP (104) is in radio communication with the FTF (110') within the area (150) by means of radio beam shaping.

8. FFF (100) according to one of claims 1 to 7, wherein the FFF (100) is configured as an FTF (110) with a transport route and the motion control (102) is configured to add the deployment location (120) to the transport route of the FFF (100).

9. FFF (100) according to any one of claims 1 to 8, wherein the FFF (100) is further configured as an FTF (110), and optionally comprises the mobile FZP (104) as the transported goods, and / or wherein the motion control (102) is further configured to load the mobile FZP (104) as goods transported by the FFF (100) and / or unload it at the deployment location (120), optionally in response to a measurement of a characteristic parameter of the quality of the radio access network (200) at the area (120) or a control message from a control node (202) of the radio access network (200).

10. Control node (202) of a radio access network (200) for automated guided vehicles (AGVs) (110) for transporting goods in a room (300) with at least one stationary radio access point (RAP) (204) of the radio access network (200), wherein the control node (202) comprises: a receiving unit designed to receive measured values ​​of at least one characteristic of a local quality of the radio access network (200) from the FTF (110) at various locations in space (300) and / or to detect a missing radio connection to one of the FTF (110'); a determination unit designed to determine, based on the received measured values ​​and / or a last position of the FTF (110') with no radio link, an area (150) in which the radio access network (200) is unable to establish a sufficient radio link (130); and a transmitting unit trained to send a control message to a driverless FZP vehicle, FFF (100), which configures a motion control (102) of the FFF (100), to control a movement of the FFF (100) to a deployment location (120), and which configures a mobile FZP (104) of the FFF (100) to establish a radio link (130) at the deployment location (120) with an FTF (110') in the specified area (150).

11. Control node (202) according to claim 10, wherein the at least one parameter indicates whether the radio access network (200) is able to establish a sufficient radio link (130) locally or not; and / or where at least one characteristic parameter includes at least one of the following physical quantities: - Received signal strength; - Signal-to-noise ratio; - Signal-to-noise ratio and interference; - Reference signal reception performance; - Reference signal reception quality value; - Channel quality indicator; - Rank indicator; - Throughput; - Latency, optional runtime delay; - Fluctuations in latency times; - Bit error rate; - Block error rate; - Packet loss; - Weakening; - Delays in receiving telegrams - Loss of packets on a data channel.

12. Control node (202) according to claim 10 or 11, wherein the control message configures the motion control (102) of the FFF (100) to: - to charge the mobile FZP (104) at a storage location; - to unload the mobile FZP (104) at the deployment site (120); - to incorporate the deployment location (120) into an existing transport route of the FFF (100) in a function as an FTF (110); - to determine the deployment location (120) depending on a location dependency of at least one characteristic parameter; and / or - to measure at least one parameter during the movement of the FFF (100) to the deployment location (120).

13. Control node (202) according to one of claims 10 to 12, wherein the control message configures the mobile FZP (104) of the FFF (100) to perform radio beamforming directed towards the specified area for radio communication with the FTF (110'), optionally: to determine the radio waveform depending on a location dependency of at least one characteristic parameter and / or to measure at least one parameter during the radio link with the FTF (110').

14. Control node (202) according to one of claims 10 to 13, wherein the control message specifies: the deployment location (120), the specific area a direction of radio beam shaping, and / or a location dependency of the characteristic value determined from the received measured values.

15. Method for providing a mobile radio access point, FZP (104), of a radio access network (200) for driverless transport vehicles, AGV (110), for transporting goods in a room (300) with at least one stationary FZP (204) of the radio access network (200), wherein the method performed by a driverless FZP vehicle, FFF (100), comprises: Controlling the movement of the FFF (100) comprising a mobile FZP (104) to a deployment location (120); and Configure the mobile FZP (104) to establish a radio link (130) at the deployment site (120) with an FTF (110') in an area (150) where at least one stationary FZP (204) is unable to establish a sufficient radio link (130).

16. Method of a control node (202) of a radio access network (200) for automated guided vehicles (AGVs) (110) for transporting goods in a room (300) with at least one stationary radio access point (RAP) (204) of the radio access network (200), wherein the method comprises: Receiving measured values ​​from various locations in the room (300) of at least one characteristic of a local quality of the radio access network (200) from the FTF (110) and / or detecting a missing radio connection to one of the FTF (110'); Determining an area (150) based on the received measured values ​​and / or a last position of the FTF (110') with no radio connection, in which the radio access network (200) is unable to establish a sufficient radio connection (130); and sending a control message to a driverless FZP vehicle, FFF (100), which configures a motion control (102) of the FFF (100) to control a movement of the FFF (100) to a deployment location (120), and which configures a mobile FZP (104) of the FFF (100) to establish a radio connection (130) at the deployment location (120) with an FTF (110') in the determined area (150).

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