DE102019207773A1 - Method for operating a guidance system - Google Patents

Abstract

A method for operating a tracking system, comprising in particular at least one “intelligent” floor element, at least having the following steps: a) specification of a target point of at least one object on the at least one floor element, b) tracking of the movement of the at least one object, c) transmission of movement information at least to another object or to an “intelligent” floor element.

Description

The invention relates to a method for operating a track guidance system which comprises at least one floor element on which an object can be moved along a predeterminable track. In particular, the invention relates to an operating method for double floor elements of a double floor and an operating method for objects (vehicles and in particular driverless transport systems = AGVs) on the double floor. The raised floor element is particularly equipped with integrated additional functions. The invention also includes an arrangement of several raised floor elements. The invention particularly relates to a dynamic lane guidance system for driverless transport systems.

Floor constructions known as “double floors” are used in industrial buildings in particular. In the case of a double floor, plates are arranged above an existing floor or above a solid raw ceiling, which can be made of concrete, for example, and are placed on supports. Take the example DE 20 2007 017236 U1 for further explanation of the general structure of such a raised floor. The supports predominantly have a base plate that is placed on the lower floor or the raw ceiling. The raised floor panels are removable. With the help of the raised floors, it is easy to equip and retrofit the building with cables for communication technology and electricity, because the cables can be laid in the space between the floor slabs and the building floor. The cables are led out of the space through cable bushings arranged on the base plates.

Modern industrial production systems must be versatile. This means that in order to manufacture products economically and in line with the market, the production systems often have to be changed in their configuration to one another, but also in their spatial location. This problem occurs not only in a production environment that has been used for years (“brownfield”), but also in new systems (“greenfield”). As a result, the entire infrastructure supplying the production system has to be adapted to the new configuration. Typically today, the existing supply facilities are dismantled to a certain point, the production plant relocated and then a new media supply set up. The problem of dismantling and rebuilding is particularly disadvantageous for production systems of a defined size (power, weight, dimensions) and function.

Such a raised floor element can be equipped with integrated additional functions, in particular for use in industrial environments. This has the advantage that in addition to the actual function (provision of a space below the raised floor that is accessible at every point), additional functions are integrated. It is particularly advantageous that, in a structurally elegant manner, the raised floor element does not need to be relocated during a production changeover, but can remain in its place and only the functions of the functional elements in or on the raised floor element need to be changed. This enables flexible conversion of the production facilities. Another particular advantage is that the time and effort required to reorganize production is significantly minimized.

Raised floor element for a double floor preferably comprises an upper base plate, a limited free space adjoining it at the bottom, at least two functional elements (of which at least one functional element can be actuated by a control device), and at least one connecting element for connection to at least one further double floor element.

In this case, an upper base plate can form a flat end of the double floor element, which is particularly suitable and set up to serve as a walkway for people, a driveway for vehicles and / or a parking space for machines. The base plate can be at least partially transparent.

In particular, a lane guidance system for (driverless) vehicles (AGVs = driverless transport system) can be provided here. In particular, a method for decentralized route generation and optimization for autonomous, mobile units is to be specified.

A track guidance system can be provided with optical sensors and set up for applications in an industrial environment.

Depending on the space situation and / or the number or density of travel movements on such a floor, collisions can occur which can cause a hazard for the vehicles, their conveyed goods and / or the personnel.

An AGV can e.g. follow its route along a line made on the ground. In general, lane guidance systems designed in this way are not very hardware and software-intensive and work robustly. However, the lines to be applied to the ground in advance are inflexible because track changes can only be achieved by removing and re-applying a line.

The described raised floor elements for a raised floor (also called “intelligent” floor or “intelligent” floor element in the following) provide a remedy here, for example, being able to generate and display LED lines dynamically (see example 1 ). An AGV can move along a line created on an “intelligent” floor and thus find its way through the room. In this case, the travel commands required to control an AGV can be transmitted by radio from a higher-level control unit to the individual AGV. The AGV can have a largely independent drive control that only requires start and destination coordinates from a higher-level system. However, it is also assumed here that routes are defined in advance.

An exploratory procedure for the detection of shortest routes between starting and destination points is not supported.

Proceeding from this, the object of the present invention is to alleviate or even avoid the disadvantages mentioned. In particular, an improved tracking system is to be specified.

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

These objects are achieved with a method for operating a tracking system according to the independent patent claim 1. Further embodiments of the invention are specified in the dependent patent claims. It should be pointed out that the description, in particular in connection with the figures, cites further details and developments of the invention, which can be combined with the features from the patent claims.

In particular, a location-based communication method based on the raised floor elements for a raised floor and autonomous, mobile units (preferably driverless transport systems) for the detection and optimization of routes traveled is specified here.

1. a) Vorgabe eines Zielpunktes mindestens eines Objektes auf dem mindestens einen Bodenelement,
2. b) Nachhalten der Bewegung des mindestens einen Objektes,
3. c) Übermitteln von Bewegungsinformationen zumindest an ein weiteres Objekt oder an ein („intelligentes“) Bodenelement.

A method for operating a track guidance system, comprising in particular at least one ("intelligent") floor element, which comprises at least the following steps, contributes to the solution:

1. a) specification of a target point of at least one object on the at least one floor element,
2. b) tracking the movement of the at least one object,
3. c) Transmission of movement information at least to another object or to a (“intelligent”) floor element.

The specification of (at least) one target point can be done manually or (preferably) automatically or computer-generated. The target point can be a coordinate in space or on a surface. The target point can be determined in a higher-level control unit and transmitted to the at least one object. The object can have a suitable communication and / or data processing unit for this purpose. The object can be floor-bound (on the floor) and / or floor-bound (above the floor) movable. The property is in particular a floor-bound AGV. The target point can thus be positioned on or above the mode element.

The floor element is preferably “intelligent”, this preferably having its own power distribution, communication and / or data processing unit. In particular, the floor element can communicate with other floor elements and / or a higher-level control device and / or an object.

When an object moves over the at least one floor element, its movement can be tracked. That means z. B. that a positioning system is ready to detect the movement of the object on / above the floor element. The location system can be partially formed in the floor element and / or in the object. It is possible to generate and make available data for describing the (current and / or previous) movement of the at least one object. A trajectory and / or movement path can be determined or followed. In particular, the actually (currently) realized movement (and preferably not a planned or calculated trajectory and / or movement path) is tracked. The movement information can be temporarily stored in local control devices (e.g. an object and / or a floor element) and / or transmitted to a central control device. It is possible to determine the movement information using sensors. It is possible that the movement information is not (only) temporarily stored and processed or evaluated.

The (determined and / or stored) movement information can then be sent to at least one (further) object and / or one (different) Floor element are transmitted. The object or the floor element can be set up in such a way that it adapts or changes its (current) behavior on the basis of or on the basis of the movement information received. For the floor element, this can mean that an activatable marking is adapted. For the object, this can mean that a (current or specified) route to the destination is modified.

It is possible for at least one object to be offered or available several routes, starting from its start of movement towards the specified destination. In particular, the multiple routes can relate to the passing of different ground elements. It is possible for the object to be offered a plurality of routes and, if necessary, the object can select one of them. It is also possible that a plurality of routes are available to the object and then one of the routes is selected externally. The movement information generated with the above method can be taken into account for the offer and / or the selection of routes (possibly from a large number of potentially possible routes).

The movement of the at least one object towards the specified destination can be influenced by several local control centers. A control unit of a floor element can serve as the control center, each floor element forming the floor possibly having a control center. The control center can communicate with the object unidirectionally and / or bidirectionally. The control center can collect, process and / or forward movement information. The control center can, if necessary, transmit instructions to the object (possibly via a higher-level control device) for adapting and / or accuracy of the movement in the area of the local control center.

Data communication can take place between the at least one object and at least one floor element. Data communication is preferably wireless or contactless. Data communication via radio is preferred. The data communication can be unidirectional or (at least temporarily) bidirectional.

The at least one floor element can be provided with a marking element or a display element which is controlled as a function of a data communication with the at least one object and / or an evaluation of the data communication with the at least one object. The marking element can, for example, delimit a delimitable area on the floor element. The marking element may, for example, be a light emitting element, e.g. be a (UV, infrared and / or visible light emitting) LED. The display element can, for example, be a specifiable signal, e.g. show a pattern, a symbol, a frequency-modulated signal and / or a (color) code. The display element may, for example, be an imaging or imaging element, e.g. an LED matrix, an LED strip, a monitor or the like. The marking element and / or display element are particularly suitable for providing (automatically) “readable” information for machines, in particular the objects.

A double floor element is preferably used for a double floor, in particular set up to carry out the method shown here, at least comprising an upper floor plate, at least one functional element that can be actuated by a control device, and at least one connecting element for connection to at least one further double floor element, the Functional element is a row or a matrix of activatable markings with which an area can be displayed on the raised floor element.

The markings that can be activated preferably comprise illuminants. A plurality of lighting means is preferably provided, which together can show different tracks, patterns and / or codes. The illuminants can preferably emit light in the visible range, in the infrared range and / or in the ultraviolet range.

The double floor element preferably has at least one sensor as a functional element, which is set up in particular to detect objects and particularly preferably to detect movements of objects. The sensor can be designed in the manner of a proximity sensor and z. B. recognize given components of an object or interact with them. This can be an optical sensor, a radio sensor, a camera, or the like. The sensor is preferably provided below the floor formed with the double floor element, so that in particular a position detection through the floor is made possible, possibly also with a transparency of the floor for the sensor.

The double floor element advantageously has at least one energy supply module for supplying energy to the at least one activatable marking and, if necessary, further functional elements of the double floor element. The at least one energy supply module is set up, in particular, to provide the activatable marking with energy in a targeted manner as specified by the control device, so that it can be changed according to the explanations here. The energy supply module is itself preferably with a central one Connected energy depot from which several raised floor elements are supplied.

According to yet another aspect, a double floor is proposed, comprising at least two double floor elements, in particular set up for operating a track guidance system according to the invention. This means in particular that a plurality or even a large number of such raised floor elements are connected to one another (modularly) and can interact with one another in a coordinated manner. This then creates an “intelligent” floor on which AGVs can move in a room.

The double floor expediently has a higher-level control device (also possibly as a control center and / or control center) for carrying out the method proposed here. The control device can in particular be set up in such a way that it can adjust the operation of the markings of several floor elements and / or carry out a position detection of at least one object (in relation to the floor elements).

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

An opto-electronic lane guidance system for driverless transport systems (AGV) along with its physical resources and algorithms for applications in the industrial environment contributes to the solution.

In the “Factory of the Future” swarms of different mobile robots will take on a multitude of different logistics tasks. A route planning of all robots taking into account the different travel kinematics, safety distances, etc. within a convertible factory will be difficult to implement with a central controller.

This can be remedied by distributed, decentralized processes that can better take into account the different requirements of the various systems and / or show more robust behavior in the event of an error. One such method is, for example, the so-called ant algorithm (“ant colony optimization” (ACO)).

• Ameisen scheiden bei der Futtersuche kontinuierlich Pheromone aus, welche eine Spur entlang des genommenen Weges bilden. Andere Ameisen neigen dann dazu, solch einer Pheromonspur zu folgen. Wege, welche auf kürzestem Weg zum Futter führen, werden schneller und damit häufiger durchlaufen als längere Wege, wodurch sich mit der Zeit eine stärkere Pheromonkonzentration auf dem kürzesten Pfad ergibt und dieser sich durchsetzt (siehe 2). Es entstehen die charakteristischen Ameisenstraßen.

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

• Ants continuously excrete pheromones when searching for food, which form a trail along the path they have taken. Other ants then tend to follow such a pheromone trail. Paths that lead to the food on the shortest path are covered faster and therefore more frequently than longer paths, which over time results in a stronger pheromone concentration on the shortest path and this asserts itself (see 2 ). The characteristic ant trails are created.

Mobile units (objects) should now imitate this behavior and thus independently find and follow efficient routes within a factory, in particular without specifying a central control. The mobile units are therefore set up in such a way that they can leave a “trail” on the factory floor.

As in 3 As an example, a mobile unit (an object), while following an LED strip (activatable marking of the floor element), communicates continuously via infrared diodes with the intelligent floor below. In doing so, it gives the floor an individual identifier.

1. 1. Direkte Kommunikation der zu verfolgenden Route an die mobile Einheit (Objekt) inklusive der Information über Routenführung als auch Häufigkeit der Nutzung,
2. 2. Einfärbung der jeweiligen, zur Route gehörenden LEDs, und/oder
3. 3. Änderung der Leuchtfrequenz der jeweiligen, zur Route gehörenden LEDs auf einen spezifischen, durch die mobile Einheit detektierbaren Wert.

The ground follows the trail taken by the mobile unit via which of the recessed infrared diodes was used for communication. If another mobile unit drives over the floor in a further pass and uses the same identifier for communication, the floor can “play back” the track that was made previously. Various mechanisms can be used, such as B .:

1. 1. Direct communication of the route to be followed to the mobile unit (object) including information about route guidance and frequency of use,
2. 2. Coloring of the respective LEDs belonging to the route and / or
3. 3. Changing the light frequency of the respective LEDs belonging to the route to a specific value that can be detected by the mobile unit.

In order to implement the tracking desired for the method proposed here, communication can either be carried out directly and / or a combination of the above mechanism 2 . and 3. are elected. The shape or type of the track is communicated via the frequency change and distinguished from any other tracks, while the intensity, i.e. the frequency with which the track was selected in the past, is displayed via a gradual coloring. In the simplest case, when only a single lane is to be displayed, unused lane LEDs can be completely switched off.

Here the vehicles (objects) initially drive autonomously according to an unspecified path-finding algorithm. The vehicles leave virtual traces on the tiles of the intelligent floor (e.g. stored in a central floor control / control device and / or in the individual tile or the individual floor element). These virtual tracks can be displayed to subsequent vehicles in order to optimize their path finding. In addition to the track, it makes sense to also save an identifier for the target.

Example of a technical implementation

The intelligent floor can be equipped with an arrangement of colored LEDs and light sensors in pairs (see e.g. 3 , left area: intelligent floor with LEDs and light sensors). The mobile unit can be equipped with a sensor array and an LED. The sensor array is designed in such a way that at least one LED on the intelligent floor always remains within its reception area (see e.g. 3 ., right area: sensor group of the mobile unit).

If the mobile unit is placed on the intelligent floor, it detects the LED that emits the highest trace intensity. This directly results in the trajectory to be followed (see e.g. also 4th : Behavior and resulting trajectory of the mobile unit on the intelligent floor) along which the mobile unit moves.

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

The process described is repeated with the LEDs now in the measuring range. An overall route is created from the linking of the individual trajectories.

Other use cases

In addition to decentralized route creation and route optimization using swarms of robots, the method described can also be used to implement simpler applications. In this case, a first mobile unit - this can be a person, a software algorithm and / or an AGV - creates a track that subsequent mobile units can follow directly. In this way, both convoy scenarios, such as digitally coupled milk runners, and follow-me scenarios in which a worker instructs autonomously working AGVs can be implemented. The resulting routes can then, depending on the desired application, be persisted and reused or even discarded again directly.

The method steps proposed here (possibly abstracted) can be implemented as a computer-implemented method. In this way, a system for data processing can also be implemented which has means for carrying out the (possibly abstracted) method steps proposed here.

• 1: einen intelligenten Boden mit einem opto-elektronischen Spurführungssystem am Beispiel eines Doppelbodens aus mehreren Doppelbodenelementen;
• 2: eine Veranschaulichung des Routenverfolgungs- und anschließenden Routenvorgabemechanismus;
• 3: eine Anordnung von farblichen LEDs und Lichtsensoren bei einem „intelligenten“ Boden; und
• 4: eine Möglichkeit zur opto-elektrischen Nachverfolgung von Objektbewegungen.

The invention and the technical environment are explained in more detail below with reference to figures. The same components are identified by the same reference symbols. The representations are schematic and not intended to illustrate proportions. The explanations given with reference to individual details of a figure can be extracted and freely combined with facts from other figures or the above description, unless something different is necessary for a person skilled in the art or such a combination is explicitly prohibited here. They show schematically:

• 1 : an intelligent floor with an opto-electronic lane guidance system using the example of a raised floor made of several raised floor elements;
• 2 Figure 8 is an illustration of the route tracking and subsequent route setting mechanism;
• 3 : an arrangement of colored LEDs and light sensors in an "intelligent"floor; and
• 4th : a possibility for opto-electrical tracking of object movements.

1 shows an embodiment of an intelligent floor with an opto-electronic tracking system. Raised floor elements are shown 1 a raised floor 6th with an upper base plate 7th at the corners on a frame element 13 rest in the form of (metal) supports through which the base plate 7th above a raw floor 15th , e.g. B. made of concrete is supported. The bottom plate 7th is at a distance from the sub-floor with the help of the supports 15th arranged so that between the raw floor and the base plate 7th a free space 14th (Space) is formed.

The "intelligent" floor can be a double floor 7th be made up of individual tiles or elements (floor elements 1 ), which have integrated additional functions, such as embedded LEDs as visualization functions or as markings that can be activated 11 with marking elements 4th . Depending on the selected expansion level, the LEDs can be organized as LED strips and / or as an LED matrix (see 1 ). The primary function of the LEDs is, on the one hand, the marking of walkways, routes, etc. In addition, the LEDs can be used as a dynamic lane guidance system for objects 2 , in particular track-guided driverless transport systems (AGV) are used. The activatable markings 7th will in particular do so used to transmit control information to the AGV.

2 is intended to exemplify how the process could run in the form of an opto-electronic lane guidance system for driverless transport systems (AGV). Links in 2 it is illustrated that the objects have multiple routes 17th or choose paths or get given to from a starting point 18th to a destination point 19th to get. Depending on the direction of movement (see direction arrows a, b in the figure), a starting point can also be a target point for a (different) object. Centered in 2 it is illustrated that the exercise intensity and / or frequency of use is recorded and, if necessary, analyzed. The results of this process can be tracked and communicated to a control center and / or directly to the objects, so that they can be sent to the next departure from the starting point 18th to the target point 19th a particularly preferred (e.g. because it is shortened) route 17th choose, compare to the right in 2 .

3 shows a section of an intelligent floor on the left 1 , 6th can with a paired arrangement of colored LEDs as marking elements 4th and light sensors 12 . The object 2 via a sensor array 20th and an LED as marking elements 4th equipped (shown on the right). The sensor array 20th is designed in such a way that there is always at least one LED on the intelligent floor 1 , 6th within its reception area or monitoring area 21st remains. Will the object 2 on the intelligent floor 1 , 6th placed, it detects the LED that emits the highest trace intensity. This directly results in the trajectory to be followed, as exemplified in 4th is indicated along which the object (ultimately) moves.

4th illustrates the behavior for selecting a preferred route in accordance with the path with the highest lane intensity (see at (+)) and the resulting trajectory of the object on the intelligent ground 1,6. This is where the object is 2 above or on the appropriately equipped floor. Once the object has reached the target LED, it emits a corresponding track signal via its own LED, which is sent by the associated light sensor 12 is captured on the ground. The process described is repeated with the LEDs now in the measuring range. An overall route is created from the linking of the individual trajectories.

List of reference symbols

1

Floor element

2

object

3

Control center

4th

Marking element

5

Display element

6

Double floor

7th

Base plate

8th

Functional element

9

Control unit

10

Connecting element

11

activatable marking

12th

sensor

13

Frame element

14th

free space

15th

Unfinished floor

16

Control device

17th

route

18th

Starting point

19th

Target point

20th

Sensor array

21st

Monitoring area

22nd

Trajectory

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 202007017236 U1 [0002]

Claims (8)

A method for operating a tracking system, comprising in particular at least one floor element (1), at least having the following steps: a) specification of a target point of at least one object (2) on the at least one floor element (1), b) tracking the movement of the at least one object (2), c) Transmission of movement information at least to a further object (2) or to a floor element (1). Procedure according to Claim 1 , with the at least one object (2) being offered or being available several routes starting from its start of movement to the specified destination. Method according to one of the preceding claims, wherein the movement of the at least one object (2) towards the predetermined destination is influenced by several local control centers (3). Method according to one of the preceding claims, wherein data communication takes place between the at least one object (2) and at least one floor element (1). Method according to one of the preceding claims, wherein the at least one floor element (1) is provided with a marking element (4) or a display element (5) which, depending on data communication with the at least one object (2) or evaluation of the data Communication with the at least one object (2) is controlled. Double floor element (1) for a double floor (6), in particular designed to carry out the method shown here, at least comprising an upper floor plate (7), at least one functional element (8) which can be actuated by a control device (9) and at least one connecting element (10) for connection to at least one further double floor element (1), the functional element (8) being a row or a matrix of activatable markings (11) with which an area can be displayed on the double floor element (1). Double floor element (1) Claim 6 , wherein activatable markings (11) comprise illuminants. Double floor element (1) Claim 6 or 7th , having at least one sensor (12) as a functional element (8), which is set up in particular to detect objects (2) and particularly preferably to detect movements of objects (2).

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