DE102021104781A1 - Method for optimizing the operation of an automated guided vehicle and automated guided vehicle system - Google Patents

Abstract

The invention relates to a method for operating a driverless transport vehicle (1), measurement data (7) being recorded by at least one sensor (2) of the driverless transport vehicle (1), which depends on the nature of a subsurface traveled over by the driverless transport vehicle (1). (9) or an environment of the driverless transport vehicle, at least one control parameter being determined on the basis of the recorded measurement data, and at least one vehicle control variable (19) of the driverless transport vehicle (1) being controlled on the basis of the at least one control parameter (16). The invention also relates to a driverless transport vehicle with at least one sensor (2) for acquiring measurement data (7) which are dependent on the nature of a subsurface (9) traveled by the driverless transport vehicle (1), and with at least one control device (3) for controlling at least one vehicle control variable (19) of the driverless transport vehicle (1), the control device (3) being set up to determine at least one control parameter (16) on the basis of the measurement data (7) and the at least one vehicle control variable (19) of the driverless transport vehicle (1) to regulate based on the at least one control parameter (16).

Description

The invention relates to a method for operating a driverless transport vehicle. Furthermore, the invention relates to a driverless transport vehicle and a driverless transport system with several driverless transport vehicles.

Driverless transport vehicles (FTF, English Automated Guided Vehicles, AGV) are floor-bound conveyors with their own drive, which are automatically controlled and guided without contact. Driverless transport vehicles of this type are used as part of driverless transport systems (DTS) for transporting, in particular for pulling or carrying, goods to be conveyed. Driverless transport systems are used, for example, in production and distribution companies for the internal transport of materials and goods.

The subsoil traveled by the driverless transport vehicles is usually designed in such a way that the requirements of the transport vehicle in terms of a predetermined evenness, friction, and discontinuities are met by the subsoil. These requirements can be implemented when planning new production or logistics properties. In the case of existing properties, however, retrofitting with a driverless transport system is often difficult due to these requirements for the nature of the subsoil, since the existing subsoil often cannot be used without further processing by the driverless transport vehicles.

Against this background, the task arises of making the adaptation of the subsoil of a property dispensable as a prerequisite for the use of a driverless transport vehicle.

To solve the problem, a method for operating a driverless transport vehicle is proposed, with measurement data being recorded by at least one sensor of the driverless transport vehicle, which are dependent on a condition of a surface traveled by the driverless transport vehicle or an environment of the driverless transport vehicle, with the basis of the recorded Measurement data at least one control parameter is determined and at least one vehicle control variable of the driverless transport vehicle is controlled based on the at least one control parameter.

In the method according to the invention, a sensor is provided as part of the driverless transport vehicle, which sensor records measurement data. The measurement data reflects the condition of the driven surface. A control parameter, which can be used in a controller of the driverless vehicle in order to control a vehicle control variable, is then determined on the basis of this measurement data. The method according to the invention makes it possible to adapt the driving behavior of the driverless transport vehicle to the nature of the ground. It is therefore not necessary to design the substrate according to specific specifications. Rather, the driverless transport vehicle can adjust the driving behavior of the driverless transport vehicle depending on the recorded measurement data.

According to an advantageous embodiment of the invention, it is provided that the measurement data is recorded by a number of sensors in the driverless transport vehicle. For example, there can be two, three, four or more sensors for acquiring the measurement data. The sensors are preferably of identical design and/or record identical measured variables. The sensors can be arranged on the drive train of the driverless transport vehicle.

An advantageous embodiment of the invention provides that the at least one sensor is an acceleration sensor or a gyroscope or a structure-borne noise sensor, or the multiple sensors include an acceleration sensor and/or a gyroscope and/or a structure-borne noise sensor. Movements of the vehicle can be detected via an acceleration sensor or a gyroscope. A structure-borne noise sensor can detect vehicle vibrations.

The recorded measurement data preferably include a movement of the driverless transport vehicle in a vehicle height direction, i.e. perpendicular to the ground of the driverless transport vehicle. The movement may be an acceleration of the driverless transport vehicle in the vehicle height direction. Accelerations in the vertical direction of the vehicle have proven to be particularly meaningful for the nature of the ground. For example, lower and/or lower-frequency accelerations in the vertical direction of the vehicle occur on level, smooth surfaces. On the other hand, stronger and/or higher-frequency accelerations in the vertical direction of the vehicle occur on uneven, rougher surfaces. Alternatively or additionally, the movement can be a speed of the transport vehicle in the vehicle height direction.

Alternatively or additionally, it is preferred if the measured data recorded include an inclination of the driverless transport vehicle, for example an inclination in relation to a vehicle longitudinal axis or a vehicle transverse axis or a vehicle height axis. To measure the inclination is an inclination sensor is preferably provided as part of the driverless transport vehicle. As an alternative or in addition, the recorded measurement data can include an altitude.

As an alternative or in addition, it is preferred if the recorded measurement data include a distance from an obstacle. An optical sensor or a range finder can be provided as part of the driverless transport vehicle to detect the distance.

Alternatively or additionally, it is preferred if the measurement data recorded include a temperature and/or a humidity and/or a light intensity. Extreme values of temperature and/or humidity and/or light intensity can be present in areas that should be avoided by the driverless transport vehicle as far as possible. For example, there may be elevated temperatures near production facilities such as ovens. Increased humidity can occur as a result of steam escaping from a production facility. It is thus possible to regulate the at least one vehicle control variable using a control parameter that was recorded as a function of a measured variable that characterizes the ambient air rather than the ground. The light intensity can be, for example, a UV light intensity, ie a light intensity in the ultraviolet spectral range.

According to an advantageous embodiment of the invention, it is provided that the control parameter is additionally determined using position data. As a result, the driving behavior of the driverless vehicle can also be adapted as a function of the position of the vehicle. If position data are available, predefined map data of the subsoil can be used, in which the nature of the subsoil is specified at least for some positions. As an alternative or in addition, positions and/or areas can be defined in the specified map data, in which special requirements are placed on the driving behavior of the driverless transport vehicle. For example, areas with a speed limit can be specified in order to protect people using the area. The position data can be determined by a device for location determination and location detection. The position data can be position data from a global navigation satellite system. For this purpose, the driverless transport vehicle can have a receiver for signals from the global navigation satellite system. The signals can be evaluated to determine the position data.

The measurement data are preferably recorded and stored as a function of a position of the driverless transport vehicle, for example in a map of the environment, the position of the driverless transport vehicle being determined in order to control the at least one vehicle controlled variable, and the at least one control parameter based on the data recorded as a function of the position Measurement data and the specific position is determined. The position-dependent measurement data can be taken from the map of the area, for example. Separate maps of the environment can be stored for different measured variables, or a map of the environment can be stored that includes a number of locations, with each location including measurement data of one type. For example, such a map may contain a location for accelerometer data and/or a location for temperature measurement data and/or a location for light intensity measurement data and/or altitude measurement data.

According to an advantageous embodiment of the invention, further measurement data are additionally recorded and stored by a second driverless transport vehicle as a function of a position of the second driverless transport vehicle. This additional measurement data can be stored together with the measurement data of the first driverless vehicle, for example in a common map of the area.

According to an advantageous embodiment of the method according to the invention, the control parameter is a compensation variable, in particular a determined disturbance variable, which is switched to a manipulated variable to compensate for a disturbance variable. A disturbance variable can be determined on the basis of the recorded measurement data and a compensation variable corresponding to the determined disturbance variable can be generated. The compensation variable can be applied to a manipulated variable as part of a disturbance variable, in order to improve the suppression of the disturbance. If, for example, measurement data are recorded that contain an acceleration, in particular an acceleration in the vertical direction of the vehicle, then a disturbance variable resulting from an unevenness in the roadway can be compensated for. It is also conceivable that the manipulated variable is a speed, an acceleration, an input value for adjusting the damping, an angle when driving over imperfections or an inclination of the driverless transport vehicle.

An embodiment is preferred in which the controlled vehicle variable is a speed or a position of the driverless transport vehicle. Alternatively, the vehicle controlled variable be an engine setting or a chassis setting of the driverless transport vehicle.

According to a preferred embodiment, it is provided that the at least one vehicle control variable of the driverless transport vehicle is controlled in real time using the at least one control parameter.

Another subject matter of the invention is a driverless transport vehicle with at least one sensor for acquiring measurement data that is dependent on the nature of a subsurface (9) traveled by the driverless transport vehicle (1) or an area surrounding the driverless transport vehicle, and with a control device for control at least one driving variable of the driverless transport vehicle, the control device being set up to determine at least one control parameter based on the measurement data and to control the at least one driving variable of the driverless transport vehicle based on the at least one control parameter.

The driverless transport vehicle can achieve the same advantages that have already been described in connection with the method according to the invention.

An embodiment is preferred in which the at least one sensor is an acceleration sensor or a gyroscope or the multiple sensors include an acceleration sensor and/or a gyroscope.

Furthermore, the invention relates to a driverless transport system with several such driverless transport vehicles. As further components, the driverless transport system can include a master controller which is connected to the multiple driverless transport vehicles via a wireless communication link and is set up to control the driverless transport vehicles.

Furthermore, the advantageous configurations and features described in connection with the method can also be used alone or in combination in the driverless transport vehicle according to the invention.

• 1 ein Ausführungsbeispiel eines erfindungsgemäßen fahrerlosen Transportfahrzeugs in einer schematischen Darstellung; und
• 2 eine Regelungseinrichtung des fahrerlosen Transportfahrzeugs zur Erläuterung eines Ausführungsbeispiels des erfindungsgemäßen Verfahrens.

Further details and advantages of the invention will be explained below with reference to the embodiment shown in the drawings. Herein shows:

• 1 an embodiment of a driverless transport vehicle according to the invention in a schematic representation; and
• 2 a control device of the driverless transport vehicle to explain an exemplary embodiment of the method according to the invention.

In the 1 is a schematic representation of a driverless transport vehicle 1, which has a sensor 2 for acquiring measurement data and a control device for controlling a driving variable of the driverless transport vehicle. The driverless transport vehicle 1 can be operated remotely as part of a driverless transport system or autonomously in a production environment or a warehouse in order to transport materials and/or goods. The driverless transport vehicle 1 rolls on a base 9 with a plurality of wheels 8 .

Measures have been taken in the driverless transport vehicle 1 so that no special precautions need to be taken to adapt the subsurface 9 for the use of the driverless transport vehicle 1 . The control device 3 of the driverless transport vehicle 1 is set up to determine a control parameter based on the measurement data 7 recorded by the sensor 2 and to control a vehicle control variable, for example a speed or a position, of the driverless transport vehicle 1 based on the control parameter.

In the present exemplary embodiment, the sensor 2 is designed as an acceleration sensor or as a gyroscope. In this respect, sensor 2 is used to record measured data of an acceleration, preferably measured data of an acceleration of the driverless transport vehicle 1 in a vehicle height direction 6 which is arranged both perpendicularly to the ground 9 and perpendicularly to a direction of travel 5 of the vehicle 1 .

According to a modification of the exemplary embodiment, a plurality of sensors 2 can be provided in driverless transport vehicle 1 . In this case, the multiple sensors 2 include at least one acceleration sensor and/or a gyroscope.

The driverless transport vehicle 1 according to 1 can be used in a method according to the invention, with at least one sensor 2 of the driverless transport vehicle 1 recording measurement data 7 which are dependent on a condition of a subsurface 9 traveled by the driverless transport vehicle 1, with a control parameter being determined on the basis of the recorded measurement data 7, and a vehicle control variable 19 of driverless transport vehicle 1 being controlled using control parameter 16 .

the 2 shows an exemplary embodiment of a control device 3 which implements a closed control loop and can be used in the method according to the invention. The controlled vehicle variable 19 can be a speed or a position of the driverless transport vehicle 1, for example. According to the figure 2 the command variable is denoted by the reference numeral 11, the control deviation by the reference numeral 12 and the controller by the reference numeral 13. Vehicle control variable 19 is subtracted from reference variable 11 to generate control deviation 12 .

A control parameter is determined in the control device 3 on the basis of the measurement data 7 recorded by the sensor 2 . In the present case, this control parameter is a compensation variable 16, in particular a disturbance variable. This compensation variable 16 is applied to the manipulated variable 14 to compensate for a disturbance variable 17 acting in the controlled system 18 . To do this, compensation variable 16 is subtracted from manipulated variable 14.

It is optionally provided that the control parameter for controlling the vehicle control variable is additionally determined on the basis of position data, in particular position data of a device for location determination and location detection. In order to make this possible, the driverless transport vehicle 1 can additionally include a receiver 4 of a global navigation satellite system. The position data collected with the receiver 4 can be fed to the control device 3 .

Due to the method according to the invention and the driverless transport vehicle 1 according to the invention, an adaptation of the subsurface of a property is not a prerequisite for the use of the driverless transport vehicle.

reference list

1

Driverless transport vehicle

2

sensor

3

control device

4

Receiver of a global navigation satellite system

5

driving direction

6

vehicle height direction

7

measurement data

8th

wheel, drivetrain

9

underground

11

benchmark

12

deviation

13

controller

14

manipulated variable

15

evaluation unit

16

control parameters; compensation size

17

disturbance variable

18

controlled system

19

vehicle control variable

Claims (11)

Method for operating a driverless transport vehicle (1), measurement data (7) being recorded by at least one sensor (2) of the driverless transport vehicle (1), which depends on the nature of a subsurface (9) or an environment of the driverless transport vehicle, at least one control parameter being determined on the basis of the recorded measurement data, and at least one vehicle control variable (19) of the driverless transport vehicle (1) being controlled using the at least one control parameter (16). procedure after claim 1 , characterized in that the measurement data are recorded by a plurality of sensors of the driverless transport vehicle (1). Method according to one of the preceding claims, characterized in that the at least one sensor is an acceleration sensor or a gyroscope or a structure-borne noise sensor or the multiple sensors comprise an acceleration sensor and/or a gyroscope and/or a structure-borne noise sensor. Method according to one of the preceding claims, characterized in that the recorded measurement data (7) an acceleration of the driverless transport vehicle (1) in a vehicle height direction (6) and / or an inclination of the driverless transport vehicle (1) and / or a height and / or include a distance to an obstacle and/or a temperature and/or a humidity and/or a light intensity. Method according to one of the preceding claims, characterized in that the control parameter (16) is additionally determined on the basis of position data, in particular position data of a global navigation satellite system. Method according to one of the preceding claims, characterized in that the measurement data are recorded and stored as a function of a position of the driverless transport vehicle (1), for example in a map of the area, with the at least one vehicle control variable (19) being controlled by the position of the driverless Transport vehicle (1) is determined and the at least one control parameter (16) is determined based on the measurement data (7) recorded as a function of the position and the determined position. Method according to one of the preceding claims, characterized in that the control parameter (16) is a compensation variable, in particular a determined disturbance variable, which is applied to a manipulated variable (14) to compensate for a disturbance variable (17). Method according to one of the preceding claims, characterized in that the vehicle control variable (19) is a speed or a position or an engine setting or a chassis setting. Automated guided vehicle with at least one sensor (2) for acquiring measurement data (7) which are dependent on a condition of a subsurface (9) driven on by the automated guided vehicle (1) or an environment of the automated guided vehicle, and with a control device (3) for controlling at least one vehicle control variable (19) of the driverless transport vehicle (1), the control device (3) being set up to determine at least one control parameter (16) on the basis of the measurement data (7) and the at least one vehicle control variable (19) of the driverless transport vehicle (1) to regulate based on the at least one control parameter (16). Driverless transport vehicle claim 9 , characterized in that the at least one sensor (2) is an acceleration sensor or a gyroscope or the plurality of sensors comprise an acceleration sensor and/or a gyroscope. Driverless transport system with several driverless transport vehicles according to one of claims 9 or 10 .

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