CN111800900A

CN111800900A - Method for operating a rail guide system

Info

Publication number: CN111800900A
Application number: CN202010241170.4A
Authority: CN
Inventors: D.埃韦特; F.卡万
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2019-04-01
Filing date: 2020-03-31
Publication date: 2020-10-20
Also published as: DE102019207773A1

Abstract

Method for operating a rail guide system, in particular comprising at least one ("smart") floor element, with at least the following steps: a) predetermining a target point of at least one object on the at least one floor element, b) tracking the movement of the at least one object, c) transmitting movement information at least to a further object or to a ("smart") floor element.

Description

Method for operating a rail guide system

Technical Field

The invention relates to a method for operating a rail guide system (spurfuhrungssystem) comprising at least one floor element on which an object can be moved along a predefinable rail (Spur). In particular, the invention relates to a method of operating a double floor element for a double floor and a method of operating an object (vehicle and in particular unmanned transport system = FTS) on said double floor. The double-layer floor element is in particular equipped with integrated additional functions. The invention also comprises an arrangement of a plurality of double-layer floor elements. In particular, the present invention relates to a dynamic track guidance system for an unmanned transportation system.

Background

In particular in industrial construction, floor constructions are used which are generally referred to as "double floors". In the case of double floors, a slab, which may be implemented, for example, from concrete, is arranged above the existing floor slab or above a massive slab, which is placed on a support. Reference is exemplarily made to DE 202007017236U 1 to further explain the general structure of such double-layer floorboards. The support essentially has a base plate which rests on the lower floor or on the slab. The double floor-slab is removable. By means of the double-layer floor, the building can be easily equipped and retrofitted with the lines for communication technology and current, as the lines can be laid in the gap existing between the base plate and the building floor. The lines are led out of the interspace via a cable gland arranged on the base plate.

Modern industrial production systems must be versatile. This means that, in order to produce products economically and on the market, the production systems must generally be changed in their arrangement with respect to one another, but also in their spatial position. In this case, the problem arises not only in production environments ("brown zones") which have been used for many years, but also in new installations ("green zones"). As a result, the entire infrastructure supplying the production system has to be adapted to the new configuration. Typically, today existing provisioning devices are dismantled to a certain extent for this purpose, the production facility is moved, and then a new media offering is established. The problems of disassembly and rebuilding are particularly disadvantageous for production systems with defined variables (power, weight, size) and functionality.

Such double floor elements can be equipped with integrated additional functions, in particular for use in an industrial environment. This has the advantage that, in addition to the actual function of providing a space under the double floor that is accessible at any location, other additional functions are integrated. It is particularly advantageous that the double-layer floor element does not need to be laid in a constructively elegant manner during a production changeover, but rather the double-layer floor element can remain in its position and only the function of the functional element in or on the double-layer floor element needs to be changed. Thereby making it possible to flexibly change the production apparatus. Another particular advantage is that the time and effort required for recombinant production are significantly minimized.

The double-layer floor element for a double-layer floor preferably comprises an upper base plate, a limited free space adjoining the upper base plate downwards, at least two functional elements, at least one of which can be actuated by means of a control device, and at least one connecting element for connecting to at least one further double-layer floor element.

Here, the upper substrate may form a flat termination of the double-layer floor element, which upper substrate is particularly suitable and designed for use as a sidewalk, a traffic lane of a vehicle and/or a floor of a machine. The substrate may be at least partially transparent.

In particular, a rail guide system for (unmanned) vehicles (FTS = unmanned transport system) may be provided here. In particular, a method for decentralized route generation and route optimization for autonomous mobile units should be specified.

The track guidance system may be equipped with optical sensors and may be designed for application in an industrial environment.

Depending on the spatial conditions and/or the number or density of travel movements on such floors, collisions may occur, which may pose a risk to the vehicle, the transported goods of the vehicle and/or the personnel.

The FTS may follow its course, for example along a line laid on the floor. In general, a track guidance system constructed in this way is less demanding in terms of hardware and software and works robustly. However, pre-laying the lines on the floor is inflexible as the track changes can only be done by removing and re-laying the lines.

Here, it is helpful that the described double floor element for double floors (also referred to below as "smart" floor or "smart" floor element) can for example dynamically generate and display LED lines (see the example in fig. 1). The FTS can travel along lines generated on the "smart" floor to find its way through the room. In this case, the driving commands required for controlling the FTS may be transmitted from the upper control unit to the respective FTS by means of radio. The FTS has largely independent travel control that only requires starting point coordinates and target coordinates from a superordinate system. However, it is also assumed here that the route is predefined.

Exploratory measures to detect the shortest route between the starting point and the target point are unsupported.

Disclosure of Invention

Starting from this, the object of the invention is to alleviate or even avoid the disadvantages mentioned. In particular, an improved track guidance system should be described.

In particular, a method for decentralized route generation and/or route optimization for autonomous mobile units or objects is to be specified.

These tasks are solved with a method for operating a rail guide system according to independent claim 1. Further configurations of the invention are specified in the dependent claims. It should be noted that the description especially in connection with the figures teaches further details and extensions of the invention, which may be combined with features from the claims.

In particular, a communication method based on the location binding of double floor elements for double floors and autonomous mobile units (preferably driverless transport systems) is described for detecting and optimizing travel routes.

This task is facilitated by a method for operating a track guide system, in particular comprising at least one ("smart") floor element, comprising at least the following steps:

a) a target point of at least one object on the at least one floor element is predefined,

b) tracking (Nachhalten) the motion of the at least one object,

c) the movement information is transmitted at least to further objects or to a ("smart") floor element.

The predetermination of the (at least one) target point can be performed manually or (preferably) automatically or computer-generated. The target point may be a coordinate in space or on a surface. The target point may be determined in the upper control unit and transmitted to the at least one object. For this purpose, the object may have a suitable communication unit and/or data processing unit. The object may be moved with the ground (on the floor) and/or without the ground (above the floor). The object is in particular a ground bound FTS. Thus, the target point may be positioned on or above the floor element.

The floor element is preferably "intelligent", wherein the floor element preferably has its own energy distribution unit, communication unit and/or data processing unit. In particular, the floor element can communicate with other floor elements and/or superordinate control devices and/or objects.

If an object moves above the at least one floor element, the movement of the object may be tracked. That is, for example, there is a positioning system to detect the movement of the object on/over the floor element. The positioning system may be partly constructed in the floor element and/or in the object. Data describing (current and/or previous) motion of the at least one object may be generated and provided. The trajectory and/or motion trajectory may be determined or tracked. In particular, the actual (currently) realized motion is tracked (and preferably, the planned or calculated trajectory and/or motion trajectory is not tracked). The movement information may be temporarily stored in a local control device (e.g. a control device of the object and/or the floor element) and/or transmitted to the central control apparatus. The motion information may be determined by a sensor. It is possible to store and process or evaluate the movement information more than (only) temporarily.

The (determined and/or stored) movement information may then be communicated to at least one (further) object and/or (further) floor element. The object or the floor element may be designed such that it adapts or changes its (current) behavior based on or due to the obtained movement information. For the floor element this may mean that an activatable marking is to be adapted. For the object this may mean that the (current or predefined) route to the target point is to be modified.

It is possible that a plurality of routes from the start of its movement to the predefined destination are provided to the at least one object or that a plurality of routes from the start of its movement to the predefined destination are available to the at least one object. In particular, the plurality of routes may involve passing through different floor elements. It is possible that a plurality of routes are provided to the object, and the object can select one of them if necessary. It is also possible that there are multiple routes available to the object and then one of these routes is selected from the outside. The movement information generated using the above-described method may be considered to provide and/or select a route (from a large number of potential routes, if necessary).

The movement of the at least one object to the predefined target may be influenced by a plurality of local control centers. The control device of the floor element can be used as a control center, wherein each floor element forming the floor can have a control center, if necessary. The control center may communicate with the subject in one and/or two directions. The control center may collect, process and/or relay motion information. If necessary, the control center can transmit instructions to the object (if necessary via a superordinate control device) to adapt and/or precisely control the movement within the area of the local control center.

Data communication may be between the at least one object and the at least one floor element. The data communication is preferably performed "wirelessly" or contactlessly. Preferably, the data communication is via radio. The data communication may be structured to be unidirectional or (at least temporarily) bidirectional.

The at least one floor element may be equipped with a marking element or a display element, which is actuated as a function of and/or evaluation of the data communication with the at least one object. The marking elements may for example (together) define a definable area on the floor element. The marking element may for example be a light emitting element, such as an LED (emitting ultraviolet, infrared and/or visible light). The display elements can be, for example, predefinable signals, such as patterns, symbols, frequency-modulated signals and/or (color) codes. The display elements may for example be imaging elements or elements producing an image, such as LED matrices, LED strips, monitors, etc. The marking element and/or the display element are particularly suitable for providing (automatically) "readable" information to a machine, in particular an object.

The double-layer floor element is preferably used for double-layer floors, in particular designed to carry out the method shown here, comprising at least an upper substrate, at least one functional element which can be actuated by means of a control device, and at least one connecting element for connecting to at least one further double-layer floor element, wherein the functional element is a row or a matrix of activatable markings with which an area can be displayed on the double-layer floor element.

The activatable marking preferably comprises a light. Preferably a number of lights are provided which together may display different tracks, patterns and/or codes. These illuminants can preferably emit light in the visible range, infrared range and/or ultraviolet range.

The double-layer floor element preferably has at least one sensor as a functional element, which is designed in particular for detecting objects and particularly preferably for detecting movements of the objects. The sensor can be implemented as a proximity sensor and, for example, identifies predetermined components of the object itself or interacts with these predetermined components. This may be an optical sensor, a radio sensor, a camera, etc. The sensor is preferably arranged below a floor formed with the double-layer floor element, so that in particular a position detection through the floor can be achieved, if necessary also with floor transparency for the sensor.

The double-layer floor element advantageously has at least one energy supply module for supplying energy to at least one activatable marking and, if appropriate, also to further functional elements of the double-layer floor element. In particular, the at least one energy supply module is designed to supply energy to the activatable marking in a targeted manner on the basis of a specification by the control device, so that the activatable marking can be changed as explained herein. The energy supply module itself is preferably connected to a central energy store from which a plurality of double-floor elements are supplied.

According to a further aspect, a double-layer floor is proposed, which comprises at least two double-layer floor elements, in particular designed for operating the rail guide system according to the invention. This means in particular that a plurality or even a large number of such double-layered floor elements are connected to one another (in a modular manner) and can interact in a coordinated manner with one another. Thus, a "smart" floor is thus formed, on which the FTS can move in space.

The double floor is expediently provided with a superordinate control device (possibly also as a center console and/or control center) for carrying out the method proposed here. The control device can be designed in particular such that it can coordinate the operation of the markings of a plurality of floor elements and/or can carry out a position detection of at least one object (relative to the floor elements).

A particularly preferred embodiment variant of the system proposed here is explained below.

The photoelectric track guidance system for unmanned transportation systems (FTS) and its physical operating devices and algorithms applied in industrial environments help to solve this task.

In "future factories" the various mobile machine populations will assume a number of different logistical tasks. It is difficult to implement route planning for all robots by means of a central control taking into account different driving kinematics, safety distances etc. within the transferable factory.

Here, distributed, decentralized methods are useful, which may better take into account the different requirements of various systems and/or exhibit more robust behavior in the event of error conditions. Such methods are, for example, the so-called ant algorithm (English: Ant Colony Optimization (ACO)).

ACO is inspired by pheromone-based behavior of real ants:

ants continuously emit pheromones while searching for food, and the pheromones form tracks along the roads traveled by the ants. Other ants then tend to follow such pheromone tracks. The road leading to food on the shortest road is passed faster than the longer road and is therefore passed more frequently, whereby the pheromone concentration on the shortest path is higher as time passes and the shortest path is established (see fig. 2). A characteristic ant street is created.

Now, the mobile unit (object) should mimic this behavior in order to find and track the active route within the plant independently, in particular without a central control of the pre-provisioning. The mobile units are therefore designed so that they can leave a "track" on the floor of the plant.

As exemplarily shown in fig. 3, the mobile unit (object) continuously communicates with the smart floor underneath it via an infrared diode during its following of the LED strip (activatable marking of the floor element). In this process, the mobile unit notifies the floor of the individual identifier.

The floor tracks the mobile unit has traveled via which of the embedded infrared diodes have been used for communication. Now if another mobile unit drives across the floor in another pass and communicates using the same identifier, the floor can "play" the previously passed track. Various mechanisms may be used in this process, such as:

1. communicating the route to be tracked directly to the mobile unit (object), including information about route guidance and frequency of use,

2. coloring respective LEDs belonging to said route, and/or

3. Changing the lighting frequency of the respective LEDs belonging to the route to a specific value detectable by the mobile unit.

In order to achieve the desired track guidance of the method proposed here, a combination of the above-mentioned mechanisms 2 and 3 can be communicated directly and/or selected here. The shape or type of the track is communicated out by frequency changes and is distinguished from possible other tracks, while the intensity (i.e. the frequency at which the track was selected in the past) is represented by a gradual coloration. In the simplest case, if only a single track is displayed, the unused track LEDs can be completely switched off.

Thus, here the vehicle (object) is first driven autonomously according to a track finding algorithm not described in detail. In the process, the vehicle leaves a virtual track on the tiles of the smart floor (e.g. stored in the central floor control/control and/or in individual tiles or individual floor elements). These virtual tracks may be displayed to subsequent vehicles to optimize their track search. It makes sense that the identifier of the target should be kept together in addition to the track.

Technical implementation examples

The smart floor may be equipped with colored LEDs and light sensors arranged in pairs (see fig. 3, left area: smart floor with LEDs and light sensors). In conjunction with this, the mobile unit may be equipped with a sensor array and LEDs. The sensor array is designed such that at least one LED of the smart floor always remains within the reception range of the sensor array (see, for example, fig. 3, right-hand area: sensor group of the mobile unit).

If the mobile unit is placed on the smart floor, it will detect the LED emitting the highest track intensity. The trajectory to be tracked (see also e.g. fig. 4: the behavior of the mobile unit on the smart floor and the resulting trajectory) along which the mobile unit travels is thus directly generated.

If the mobile unit has reached the target LED, the mobile unit emits a corresponding track signal via its own LED, which is detected by the associated light sensor.

The above process is repeated with the LED now located within the measurement range. Thereby generating a total route from the links of the respective tracks.

Other application cases

In addition to decentralized route creation and route optimization by the group of machines, simpler applications can also be achieved by the described method. Here, a first mobile unit, which may be a person, a software algorithm and/or an FTS, sets a trajectory that subsequent mobile units may follow directly. In this way, both a fleet scenario (e.g., a digitally coupled milk cart) and a follow-me scenario for FTS where workers direct their autonomous work can be achieved. The generated route can then be retained and reused, or it can be directly rejected again, depending on the desired application.

The method steps presented herein (abstract if necessary) may be implemented as a computer implemented method. A system for data processing with means for carrying out the method steps set forth herein (abstract if necessary) can thus also be realized.

Drawings

The invention and the technical environment are explained in more detail below also on the basis of the figures. Here, like parts are denoted by like reference numerals. These illustrations are schematic and are not intended to show dimensional relationships. The explanations of the individual details with reference to one drawing can be extracted and can be freely combined with facts from the other drawings or the above description, unless further statements are mandatory for the person skilled in the art or such combinations are explicitly forbidden here. Schematically showing:

FIG. 1: a smart floor having a photovoltaic track guidance system, as exemplified by a double floor composed of a plurality of double floor elements;

FIG. 2: a schematic diagram of a route tracking mechanism followed by a route pre-specification mechanism;

FIG. 3: arrangement of colored LEDs and light sensors in the case of "smart" floors; and

FIG. 4: for the possibility of photoelectric tracking of the movement of an object.

Detailed Description

Fig. 1 illustrates an embodiment of a smart floor with an optoelectronic track guiding system. A double-layer floor element 1 of a double-layer floor 6 is shown, which has an upper base plate 7, which upper base plate 7 rests at the corners on a frame element 13 constructed with (metal) supports, by means of which the base plate 7 is supported above a floor blank 15, which is made of concrete, for example. The base plate 7 is arranged at a distance from the floor blank 15 by means of said support, so that a free space 14 (void) is formed between said floor blank and the base plate 7.

The "smart" floor can be a double-layered floor 7 made of individual tiles or elements (floor elements 1) with integrated additional functions, such as embedded LEDs as visualization functions or activatable markers 11 with marker elements 4. Depending on the selected level of disassembly, the LEDs can be organized here as a LED strip and/or a LED matrix (see fig. 1). The main function of the LEDs is to mark on the one hand the road of travel, the route, etc. Furthermore, these LEDs may be used as a dynamic track guidance system for the object 2, in particular a track guided unmanned transport system (FTS). The activatable label 7 is used in particular to communicate control information to the FTS.

Fig. 2 should exemplarily show how the method can be operated in the form of an optoelectronic track guidance system for an unmanned transportation system (FTS). On the left side of fig. 2, the object selects or is pre-given a plurality of routes 17 or paths in order to reach a target point 19 from a starting point 18. In this process, the starting point may also be a target point for a (further) object, depending on the direction of movement (see directional arrows a, b in the figure). In the middle of fig. 2, it is shown that the intensity of the movement and/or the frequency of use is detected and, if necessary, analyzed. The result of this process can be tracked and communicated to the control center and/or directly to the object, so that the object will select a particularly preferred route 17 (e.g. because it is shortest) the next time it starts from the starting point 18 to the target point 19, see the right-hand side in fig. 2.

Fig. 3 shows a portion of the left side of the smart floor 1, 6, which may be equipped with colored LEDs as marking elements 4 and light sensors 12 arranged in pairs. In accordance therewith, the object 2 can be equipped with a sensor array 20 and LEDs as marking elements 4 (shown on the right). The sensor array 20 is designed here such that at least one LED of the smart floor 1, 6 always remains in the receiving or monitoring area 21 of the sensor array. If an object 2 is placed on the smart floor 1, 6, the object detects the LED emitting the highest track intensity. From this, the trajectory along which the object (eventually) travels is directly derived, which is shown by way of example in fig. 4.

Fig. 4 shows the behavior for selecting a preferred route according to the path with the highest track strength (see (+)) and the resulting trajectory of the object on the smart floor 1, 6. The object 2 is here located on or above the floor of the respective installation. If the object has reached the target LED, the object emits via its own LED a corresponding track signal, which is detected by the associated light sensor 12 on the floor. The above process is repeated with the LED now located within the measurement range. Thereby generating a total route from the links of the respective tracks.

List of reference numerals

1 floor element

2 object

3 control center

4 marking element

5 display element

6 double-layer floor

7 substrate

8 functional element

9 control device

10 connecting element

11 activatable label

12 sensor

13 frame element

14 free space

15 floor blank

16 control device

17 route

18 starting point

19 target Point

20 sensor array

21 monitoring area

22 track.

Claims

1. Method for operating a rail guide system, in particular comprising at least one floor element (1), having at least the following steps:

a) specifying a target point of at least one object (2) on the at least one floor element (1),

b) tracking the motion of the at least one object (2),

c) the movement information is transmitted at least to the further object (2) or to the floor element (1).

2. The method according to claim 1, wherein a plurality of routes from the start of its movement to a predefined target are provided to the at least one object (2) or a plurality of routes from the start of its movement to a predefined target are available to the at least one object (2).

3. The method according to any of the preceding claims, wherein the movement of the at least one object (2) to a predetermined target is influenced by a plurality of local control centers (3).

4. The method according to any of the preceding claims, wherein data communication is performed between the at least one object (2) and at least one floor element (1).

5. Method according to any of the preceding claims, wherein the at least one floor element (1) is provided with a marking element (4) or a display element (5), the marking element (4) or the display element (5) being manipulated depending on data communication with the at least one object (2) or evaluation of the data communication with the at least one object (2).

6. Double-layer floor element (1) for a double-layer floor (6), in particular designed to carry out the method shown here, comprising at least an upper substrate (7), at least one functional element (8) which can be actuated by a control device (9), and at least one connecting element (10) for connecting to at least one further double-layer floor element (1), wherein the functional element (8) is a row or matrix of activatable markings (11) with which an area can be displayed on the double-layer floor element (1).

7. The double-layered floor element (1) according to claim 6, wherein the activatable marking (11) comprises a light.

8. The double-layered floor element (1) according to claim 6 or 7, having at least one sensor (12) as a functional element (8), which is in particular designed for detecting an object (2) and particularly preferably for detecting a movement of the object (2).