DE102019003375A1 - A vehicle and method of operating a vehicle, comprising a handset having a cleaning function - Google Patents

Abstract

Vehicle and method for operating a vehicle, comprising a handset with a cleaning function, in particular wherein the vehicle on a travel level of a system, in particular an intralogistic system, movable, wherein the mobile part has a drive which an electronic circuit, in particular an inverter for feeding a Electric motor of the drive, comprising, wherein the mobile part has a control which drives the drive and a steering unit of the handset, in particular wherein the controller is designed to perform an intralogistic driving order from a start position to a target position in particular automatically, the vehicle is an air flow conveying means, in particular Blower, fan and / or fan, wherein the air flow conveying means promotes an air flow from the environment through a cleaning unit, wherein the mobile part at least two sensors, in particular laser scanner, in particular for Abstandsüberwa chung.

Description

The invention relates to a vehicle and a method for operating a vehicle, comprising a handset with a cleaning function.

From the EP 2 992 803 B1 is an automatically movable floor cleaning device known.

From the DE 10 2004 021 116 A1 As the closest prior art, an air cleaning robot is known.

From US 2006/0 212 152 A1 an automated material handling system is known.

From the US Pat. No. 5,995,884 is a cleaning system for the environment of a computer known.

The invention is therefore the object of developing a system, in particular a clean room.

According to the invention the object is achieved in the vehicle according to the claim 1 and in the method according to the features indicated in claim 8.

Important features of the invention in the vehicle are that it has a handset with a cleaning function,
in particular, wherein the vehicle is movable on a traversing plane of a system, in particular an intralogistic system,
wherein the mobile part has a drive, which has an electronic circuit, in particular an inverter for feeding an electric motor of the drive,
wherein the mobile part has a control which controls the drive and a steering unit of the mobile part,
in particular, wherein the controller is designed to carry out an intralogistic motion task from a start position to a target position in particular automatically,
wherein the vehicle has an airflow conveying means, in particular blower, fan and / or fan,
wherein the air flow conveying means promotes an air flow from the environment through a cleaning unit,
wherein the mobile part has at least two sensors, in particular laser scanners, in particular for distance monitoring.

The advantage here is that the vehicle executes an intralogistic driving order, so transported from the vehicle load from a start position to a destination position transported within the system. During this journey along a path from the start position to the destination position, the cleaning unit is operated, thus cleaning an air volume along the way.

In an advantageous embodiment, the cleaning unit on the air flow conveying means. The advantage here is that the air flow is actively promoted by the vehicle itself. The electrical power supply of the air flow conveyor is carried out by the vehicle.

In an advantageous embodiment, the cleaning unit has a filter which cleans the air flow,
in particular, wherein the filter comprises an electrostatic filter, a fine dust filter, a liquid and / or a centrifugal filter. The advantage here is that the air is cleanable in a simple manner.

In an advantageous embodiment, the cleaning unit is designed as a cleaning module and has a further sensor, in particular laser scanner, in particular for distance monitoring, on,
wherein, by means of the further sensor and one of the sensors of the mobile part, an entire angular range, in particular from 0 ° to 360 °, of the surroundings can be monitored parallel to the traversing plane,
wherein the cleaning module is detachably connected to the handset. The advantage here is that the cleaning module is optionally providable on the handset. Thus, in intralogistic transport of loads with large masses, the cleaning module is removable and the corresponding mass and the associated power supply can be saved.

In an advantageous embodiment, the mobile part has a lifting unit with which a load picked up by the mobile part can be raised or lowered,
in particular wherein the lifting unit has a linear actuator controlled by the control, in particular a spindle motor. The advantage here is that a pallet is received by driving under and lifting the lifting unit from the vehicle.

In an alternative advantageous embodiment, the cleaning unit is arranged integrated in the handset,
wherein the air flow flows along a heat sink of the inverter, in particular for cooling a controllable semiconductor switch of the inverter. The advantage here is that a compact design is achievable.

In an advantageous embodiment, the cleaning unit has an at least partially filled with liquid container through which the air flow passes,
wherein the container has a drain for draining the liquid and a refill for refilling the liquid. The advantage here is that a simple removal of the dirt is possible.

Important features in the method for operating a vehicle in a system are that the vehicle, which can be moved on a travel surface of the installation, is moved by means of a control along a path from a start position to a destination position,
wherein a primary conductor is laid elongated at the travel surface,
the vehicle having a secondary winding, in particular with which a capacitance is connected in series and / or in parallel such that the resonant frequency of the resonant circuit thus formed equals the frequency of the alternating current fed into the primary conductor,
wherein the vehicle has a cleaning unit, wherein an air stream sucked in from the surroundings is cleaned by means of the cleaning unit, in particular filtered,
wherein for determining the path, a minimum of the quotient of the square of the path length, ie length of the path, and a weighting factor for all of the handset ( 1 . 21 ) traversable trajectories, which lead from a start position to a target position, is determined and is chosen as a path belonging to this minimum trajectory,
wherein the traversing surface is divided into area pieces and a value is assigned to each area piece in order to illustrate the importance of the cleaning function for the respective area piece,
wherein the weighting factor is the sum of products along the respective trajectory,
where the sum passes through all of the patches touched by the respective trajectory,
wherein the respective product from the value assigned to the respective surface piece and the respective trajectory curve length in this surface piece.

The advantage here is that the way for the executed intralogistic transport with respect to the cleaning is optimized. In this case, each surface of the Verfahrfläche is provided with a value and each possible to carry out the transport trajectory assigned a weighting factor that should be as large as possible, the way should be as short as possible.

In an advantageous embodiment, the value assigned to a surface piece adjacent to a door, to a door and / or to a window is greater than that of a surface piece further removed from the door, the door and / or the window. The advantage here is that the adjacent to the gate pieces of land a large value and thus a high importance is attributable.

In an advantageous embodiment, the handset deviates from the primary conductor only so long, ie in particular the range of inductive, in particular sufficiently strong inductive, coupling between the primary conductor and secondary winding leaves only so long that made available by the energy storage of the handset energy is sufficient again to the area of inductive, in particular sufficiently strong inductive, coupling between the primary conductor and the secondary winding to return. The advantage here is that an uninterrupted supply of electrical energy is ready adjustable either from the primary conductor or the energy storage. While driving along the primary conductor of the energy storage is rechargeable.

Further advantages emerge from the subclaims. The invention is not limited to the combination of features of the claims. For the skilled person, further meaningful combination possibilities of claims and / or individual claim features and / or features of the description and / or figures, in particular from the task and / or posing by comparison with the prior art task arise.

• In der 1 ist ein erstes Ausführungsbeispiel eines erfindungsgemäßen, auf dem Boden, insbesondere auf der Verfahrfläche, einer Anlage verfahrbaren Mobilteils 1 in Draufsicht schematisch skizziert.
• In der 2 ist ein anderes erfindungsgemäßes Mobilteil in Schnittansicht schematisch dargestellt.

The invention will now be explained in more detail with reference to schematic illustrations:

• In the 1 is a first embodiment of an inventive, on the floor, in particular on the travel surface, a system movable handset 1 schematically sketched in plan view.
• In the 2 is another inventive handset in sectional view shown schematically.

As shown in the figures, the handset ( 1 . 21 ) two sensors 1 on, which act as distance sensors.

The signals of the sensors 1 become a control of the handset 1 supplied which the steering angle of a steering unit of the handset ( 1 . 21 ) and controls the traction drive of the handset ( 1 . 21 ) controls.

Thus, the handset ( 1 . 21 ) movable along a trajectory. Preferably, the handset ( 1 . 21 ) on its underside on a secondary winding, which is inductively coupled with a ground conductor in the main conductor, so that from the acted upon with an AC primary conductor electrical power to the secondary winding can be transmitted.

In this case, the secondary winding is a capacitance in series and / or connected in parallel, which is dimensioned such that the resonant frequency of the resonant circuit thus formed the frequency of AC is substantially equal. In this way, a high efficiency even with fluctuating during the movement of the handset distance between the primary conductor and the secondary winding.

On the handset ( 1 . 21 ) are at two diametrically opposite outer positions, in particular corner areas, two sensors 1 arranged. In this way, a complete 360 ° monitoring of the environment around the handset ( 1 . 21 ) if no as in 1 illustrated cleaning module 3 on a front of the handset 1 is detachably connected.

Preferably, the cleaning module acts 3 of the 1 as a vacuum cleaner by having a fan which promotes air flow through a filter unit. In this case, the filter unit to a fine dust filter and / or a liquid volume through which the air flow is passed. Additionally or alternatively, the cleaning module 3 an electrostatic filter, wherein the air flow is passed through an electric field generated by a capacitor.

The term fan also includes a fan or fan here.

As in 1 shown is at the cleaning module 3 also a sensor 2 arranged, which acts as a distance sensor.

Thus, while one of the sensors 2 of the handset 1 when connecting the cleaning module 3 with the handset 1 restricted in its function because the cleaning module 3 in the sensitive area of the restricted sensor 2 is arranged.

Therefore it monitors the cleaning module 3 arranged sensor 2 an angular range of more than 180 ° of the environment parallel to the traversing plane. The other one on the handset 1 on the cleaning module 3 remote side monitors at least the missing angle range parallel to the traversing plane. Both sensors 2 have overlapping monitored angular ranges.

When connecting the cleaning module 3 becomes a sensor of the handset 1 disabled or at least restricted in its function. The thus missing monitoring is due to the cleaning module 3 arranged sensor 2 replaced.

Preferably, by means of the cleaning module 3 the traversing surface cleaned, in particular according to the principle of a vacuum cleaner.

As in 2 is shown in another embodiment, the cleaning function in the handset 21 integrated, that.

In this case, an air flow is conveyed by means of a fan, which as supply air 22 flows in and then through a liquid 26 , in particular air or water, passed so that the air flow is purified. The liquid 26 is placed in a container, which is a drain 24 for the liquid 26 with dirt and an inlet 25 as a refill option for the liquid 26 having.

The particular purified air stream is then on a heat sink 27 an electronic circuit bypasses, which is on the handset 21 is arranged.

The electronic circuit has an inverter for feeding an electric motor, in particular the traction drive of the handset 21 , on.

Thus, the electronic circuit is cooled in the air stream, which simultaneously cleans the ambient air. Thus, the air flow on the one hand for cleaning and on the other hand for cooling, in particular the traction drive of the handset functions 21 ,

When the handset ( 1 . 21 ) after 1 or 2 its movement follows along the laid in the ground primary conductor, it is continuously supplied with electrical power from the primary conductor.

According to the invention, the handset ( 1 . 21 ) along an effective cross-section optimized path. The handset gives way ( 1 . 21 ) from the primary conductor at least from time to time and is during this time from an energy storage of the handset ( 1 . 21 ), which has, for example, an accumulator and / or a double-layer capacitor, such as Ultracap.

The trajectory of the handset ( 1 . 21 ) is therefore not optimized for energy supply but for the optimization of cleaning.

To comply with a clean room air quality, for example, preferably areas of the handset ( 1 . 21 ), which are close to a door, a gate, a lock or a window of the clean room.

The handset ( 1 . 21 ) performs an intralogistic task not on the shortest possible path but on a path optimized for cleaning.

However, the handset gives way ( 1 . 21 ) only so long from the primary conductor, so leave the Inductive, in particular sufficiently inductive, coupling between primary conductor and secondary winding, only so long that the energy storage of the handset ( 1 . 21 ) is sufficient to return to the range of inductive, in particular sufficiently strong inductive, coupling between the primary conductor and the secondary winding.

To determine the path, a minimum of a quotient is determined for all possible trajectories that lead from a start position to a target position.

Only trajectories are taken into account, which ensure a timely return of the handset ( 1 . 21 ) to the primary conductor.

To determine the path, a minimum of the quotient of the square of the path length, ie length of the path, and a weighting factor for all possible trajectories leading from a start position to a target position, is determined
wherein the traversing surface is divided into area pieces and a value is assigned to each area piece in order to illustrate the importance of the cleaning function for the respective area piece,
wherein the weighting factor is the sum of products along the respective trajectory,
where the sum passes through all of the patches touched by the respective trajectory,
wherein the respective product from the value assigned to the respective surface piece and the respective trajectory curve length in this surface piece.

Thus, the route is determined to take into account a high importance of the cleaning function as well as a short distance.

An intralogistic task here means the transport of a load picked up by the mobile part from a starting position to a destination position, the transport being carried out within an industrial plant, preferably covered plant or plant in a closed space, in particular in an enclosed space. The optimal use of the handset according to the invention takes place in a clean room or in a room to be kept clean. In this case, even during execution of the intralogistic transport cleaning can be carried out.

LIST OF REFERENCE NUMBERS

1

handset

2

Sensor, in particular distance sensor

3

cleaning module

21

handset

22

supply air

23

exhaust

24

drainage

25

inlet

26

Liquid, especially oil or water

27

heatsink

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 2992803 B1 [0002]
• DE 102004021116 A1 [0003]
• US 5995884 A [0005]

Claims (10)

Vehicle, in particular made so suitable that the vehicle performs an intralogistic transport order, comprising a handset with cleaning function, in particular wherein the vehicle on a traversing a system, in particular an intralogistic system, movable, wherein the mobile part has a drive which an electronic circuit , in particular an inverter for feeding an electric motor of the drive, wherein the mobile part has a control which controls the drive and a steering unit of the mobile part, in particular wherein the controller is designed to perform an intralogistic driving order from a start position to a target position in particular automatically, characterized in that the vehicle comprises an air flow conveying means, in particular fan, fan and / or fan, wherein the air flow conveying means promotes an air flow from the environment through a cleaning unit, wob ei the handset has at least two sensors, in particular laser scanner, in particular for distance monitoring. Vehicle after Claim 1 , characterized in that the cleaning unit comprises the air flow conveying means. Vehicle according to at least one of the preceding claims, characterized in that the cleaning unit comprises a filter which cleans the air flow, in particular wherein the filter comprises an electrostatic filter, a fine dust filter, a liquid and / or a centrifugal filter. Vehicle according to at least one of the preceding claims, characterized in that the cleaning unit is designed as a cleaning module and another sensor, in particular laser scanner, in particular for distance monitoring, wherein by means of the further sensor and one of the sensors of the handset a total angular range, in particular of 0 ° to 360 °, the environment can be monitored parallel to the path, with the cleaning module is detachably connected to the handset .. Vehicle according to at least one of the preceding claims, characterized in that the mobile part has a lifting unit, with which a load picked up by the handset can be raised or lowered, in particular wherein the lifting unit has a controlled by the controller linear actuator, in particular spindle motor. Vehicle according to at least one of the preceding claims, characterized in that the cleaning unit is arranged integrated in the handset, wherein the air flow flows along a heat sink of the inverter, in particular for cooling a controllable semiconductor switch of the inverter. Vehicle according to at least one of the preceding claims, characterized in that the cleaning unit has an at least partially filled with liquid container through which the air flow passes, wherein the container has a drain for discharging the liquid and a Zulass for refilling the liquid. Method for operating a vehicle, in particular according to at least one of the preceding claims, in a plant, wherein the movable on a travel surface of the system vehicle is moved by means of a control along a path from a start position to a target position, wherein a primary conductor laid elongated at the travel surface in which the vehicle has a secondary winding, in particular which has a capacitance connected in series and / or in parallel such that the resonant frequency of the resonant circuit thus formed equals the frequency of the alternating current fed into the primary conductor, characterized in that the vehicle has a cleaning unit, wherein a sucked from the ambient air flow by means of the cleaning unit is cleaned, in particular filtered, wherein the determination of the path a minimum of the quotient of the square of the path length, ie length of the path, and a weighting factor for all of the Mobilte il (1, 21) traversable trajectories, which lead from a start position to a target position, and is chosen as a path belonging to this minimum trajectory, the traversing surface divided into pieces and each sheet is assigned a value to illustrate the importance of Cleaning function for the respective surface piece, wherein the weighting factor is the sum of products along the respective trajectory, wherein the sum passes through all areal touched by the respective trajectory, wherein the respective product of the value assigned to the respective areal piece and the respective trajectory length is in this areal piece. Method according to at least one of the preceding claims, characterized in that the value assigned to a surface piece adjacent to a door, to a door and / or to a window is greater than that of a surface piece further removed from the door, the door and / or the window , Method according to at least one of the preceding claims, characterized in that the mobile part (1, 21) deviates from the primary conductor only so long, ie in particular the range inductive, in particular a predetermined threshold inductive coupling strength bordering, in particular so strong enough, inductive, coupling Leaves between the primary conductor and the secondary winding only so long that provided by the energy storage of the handset (1, 21) available energy sufficient to return to the range of inductive, in particular sufficiently strong inductive, coupling between primary and secondary.

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