DE102021208247A1 - Method for operating a modular production system and modular production system - Google Patents

Abstract

The invention relates to a method for operating a modular production system (1) and the modular production system (1). The production system (1) has a control device (2), a production area (3), an electronic map (4) of the production area (3) and at least one production object (5) for positioning on the production area (3). The electronic map (4) has a respective coordinate information for several fixed node points (6) of a grid projected onto the production area (3). The method comprises: electronically selecting (S1) at least one position node (21) from the plurality of nodes (6) by means of the control device (2); and a positioning (S2) of the at least one production object (5) at a location on the production area (3) assigned to the coordinate information of the at least one electronically selected position node (21), the at least one production object (5) only at that location on the production area (3) can be positioned, which is assigned to one of the several fixed node points (6) of the electronic card (4).

Description

The invention relates to a method for operating a modular production system and such a modular production system.

A conventional production system, which has at least one production area and at least one production object for positioning on the production area, is typically designed for long-lasting production life cycles and can therefore only be adapted to a changed demand structure with great effort. The production system is, for example, a factory on whose floor, ie on its production area, several systems and/or machines as production objects manufacture and/or process a specific product, such as a motor vehicle, and thus produce it. The production system can typically only be flexibly adapted to a changed production with considerable planning effort. During the adjustment, for example, a structure of the production objects arranged on the production area is changed.

The EP 1 617 003 A2 shows a modular system sheet for a production system, in particular for a production system for body shell construction of vehicles. The system floor consists of several differently shaped floor modules.

It is the object of the invention to provide a solution by means of which a flexible production system can be provided.

The object is solved by the subject matter of the independent patent claims.

The invention is based on the finding that in a conventional production system it is very expensive to react flexibly and spontaneously to a change in a production strategy, for example to a change in a production routine. To date, a production line has typically been completely rebuilt on a production area, for example during a company vacation. However, the complete conversion is associated with considerable costs. The complete conversion makes sense, for example, to meet changing successor structures of the product and/or to meet a demand from another manufacturing plant and/or a logistics chain between individual manufacturing plants. However, the complete conversion can only be implemented with little effort and low costs if the production system has a clearly defined basic structure, with any arrangement of individual production objects being possible in the basic structure. The individual production object is, for example, a stationary installation and/or machine that is designed to produce and/or process a component of a motor vehicle, for example. A modular production system is therefore provided which has the clearly defined basic structure and is therefore flexible, ie it enables a versatile arrangement of production objects.

A first aspect relates to the method according to the invention. It is designed to operate a modular production system. The production system itself has a control device, a production area, an electronic map of the production area and at least one production object for positioning on the production area. A computing device, ie an evaluation and/or control device, for example, is provided as the control device. A central task of the control device is to control or at least plan the production system. The production area is, for example, a floor of a production hall, that is, for example, a factory or a manufacturing plant.

The electronic map is an electronic plan or an electronic map of the production area. A large amount of coordinate information is preferably stored in the electronic map, ie data that describes coordinates of locations on the production area. The electronic map has a respective coordinate information for several fixed node points of a grid projected onto the production area. A virtual projection of the grid onto the production area can be understood as a projected grid. The grid therefore does not have to be optically projected onto the production area. The grid is therefore at least virtually projected onto the production area. The electronic map therefore has coordinate information for a plurality of fixed, predefined nodes of a grid that is at least virtually projected onto the production area. The grid is thus at least virtually transferred to the electronic map of the production area. The predefined nodes are preferably arranged equidistantly on the production area, so that they form a grid, for example, in which two adjacent nodes are each arranged at the same distance from one another. Ultimately, the production area has columns and rows projected onto these, with a distance between two rows and a distance between two columns each corresponding to a single, fixed distance value that quantifies the distance. The electronic card is purely electronic and is therefore available, for example, as a file stored in the control device. No actual markings of the individual nodes have to be arranged on the production area itself not be. For example, the grid is not physically projected onto the production area, but only on the electronic map. In other words, the grid is projected purely digitally onto the production area. In addition, a physical representation of the grid on the production area, for example by means of a marking on the production area, is possible. In this way, for example, a link between a virtual and a physical grid can be implemented.

As already described above, the at least one production object is, for example, a stationary installation, ie a production installation, and/or a machine, ie a robot, for example. The system and/or machine is designed to be required as part of the manufacture of a specific component of a motor vehicle, ie the product. The production object can, for example, be mounted on rollers and/or be designed to be transportable by means of a transport vehicle, so that the production object can assume different positions on the production area. To check the positioning on the production area, for example, an actual position of the position object can be recorded and compared with the at least one selected position node.

The method according to the invention comprises the following steps: First, at least one position node is electronically selected from the plurality of nodes for positioning the at least one production object on the production area by means of the control device. A position node can be selected here, for example, which is provided, for example, for positioning a center point of a base area of the production object, assuming a predetermined orientation of the production object in space. As an alternative or in addition to this, for example four position nodes can be selected, for example in the case of a production object with a square base. For example, a selection criterion, which includes a rule and/or an algorithm, can be stored in the control device for the selection. The selection criterion is applied, for example, to at least one piece of information stored in the control device, which relates to an object to be produced using the at least one production object. The at least one position node is determined and thus ascertained by applying the selection criterion.

As an alternative or in addition to this, it is possible for the at least one position node to be electronically selected manually by a person by means of an input on an input device which is coupled to the control device. In this case, for example, the person can select one or more nodes in the electronic map in order to position the production object in the electronic map at these nodes as position nodes.

In a further method step, the at least one production object is positioned at a location on the production area that is assigned to the coordinate information of the at least one electronically selected position node. The positioning preferably takes place autonomously. The production object is thus physically arranged at the location on the production area whose coordinates correspond to the coordinate information associated with the at least one electronically selected position node. Alternatively or additionally, it is possible for the production object to be transported manually to the electronically selected position node. The at least one production object can only be positioned at the location on the production area that is assigned to one of the several permanently specified nodes on the electronic map. It is therefore not possible for the at least one production object to be arranged at any desired location on the production area; instead, only the fixed, preferably equidistant nodes of the electronically projected grid are available for its positioning.

There is therefore a modular production system that is composed of several modules. The individual modules are each an area between the individual nodes. In other words, the production system is based on a virtual grid structure. The lattice structure describes a grid of discretely specified coordinates, ie the coordinate information for the fixed node points. The individual production objects, of which preferably several are provided, can be arranged flexibly on the projected grid, but only at one of the discretely specified nodes. In addition, the at least one production object can be unambiguously located on the production area using the production node and in particular fixed at the location on the production area, for example by means of a fastening device. In this case, a check of the physical position with the virtual position in the electronic map can be provided and corresponding feedback regarding the result of the check of the control device can be provided. For example, the production object is not fixed in place on the production area if it only has to be stationary temporarily, such as a plant that is moved back and forth between two objects to be built during production. Using electronic voting of the at least one position node for the at least one production object, an optimal location for the at least one production object on the production area can be selected and determined at any time flexibly and also quickly in terms of time. In addition, the positioning there is preferably possible autonomously, which enables flexible and rapid physical adaptation of an entire production plant, that is to say the entire production system, to a changed production requirement.

An advantageous exemplary embodiment provides that the at least one production object is at least one of the following objects: a fixed installation at least for a predetermined period of time; a machine stationary at least for a predetermined period of time; a supply element that is flexible in terms of location and time; a time-flexible moving transport element. The machine, which is stable over time, has a higher-level control unit, for example, and is designed as a robot, for example. The system, which is stable over time, has, for example, a number of machines and thus a number of control units, it being possible for the number of control units to be controlled by means of a central control device, for example. The supply element that is flexible in terms of location and time is, for example, a supply vehicle that can move independently, that is to say preferably fully autonomously or at least partially autonomously, on the production area. Depending on the filling level of a battery and/or a fuel tank of the supply element, the system, the machine and/or the transport element, the supply element can independently organize and procure replenishment of the corresponding energy carrier. The temporally flexible and mobile transport element is, for example, what is known as a skit, ie a vehicle that is designed to transport, for example, the object to be produced and/or at least one aid and/or at least one auxiliary item. The transport element moves, for example, fully autonomously or at least partially autonomously back and forth between individual stationary systems and/or machines. Alternatively or additionally, it can be provided that the transport element, for example in the sense of an assembly line production, can be moved between individual systems and machines and can, for example, pass over the transport elements. Additionally or alternatively, depending on the transport element and the object to be produced, the machine and/or the system can each be mobile and/or move and can be adapted to the production process. Preferably, the temporally flexible movable transport element can only move along the predetermined projected grid, ie along the predetermined grid structure or from one node to an adjacent node and from there to another adjacent node of the adjacent node.

Ultimately, the production object can be any movable device or device that can only be moved during a position change, which is suitable for the production and/or processing of an object, ie a product. As a result, the concept of positioning the production object at one of the specified position nodes is ultimately transferred to numerous and preferably all individual components that are required during the production of the object, so that ultimately all components that are required for production are on a correspondingly electronically selected one Position node can be located virtually and positioned physically.

Alternatively or additionally, it can be provided that relative positioning points are provided. This procedure is based on the knowledge that otherwise there is no precise location of the production objects, for example between two or more position nodes and/or nodes. For example, the production object and/or the object to be produced could occupy at least one additional position on the production area and at least one piece of additional information, for example relating to the production of the object, could be assigned to this additional position. The additional information is, for example, an intermediate position, an orientation, an extent, ie size information, a direction and/or a speed. The additional information can therefore be configured as follows, for example: position x=2.65; location y = 3.15; Orientation = 35 degrees; Speed = 3.5 kilometers per hour, where x and y describe two mutually perpendicular directions that span the production area.

According to a further exemplary embodiment, it is provided that a production routine for the at least one production object positioned at the selected position node is electronically planned using the control device. The electronically planned production routine is carried out using the at least one production object. The planned production routine preferably has at least one movement rule, the movement rule describing a movement of the at least one production object. The movement rule describes, for example, a speed and/or a route that is traveled by the temporally flexible, movable transport element as a production object. Alternatively or in addition, the production routine can include a machine configuration for the stationary machine and/or system. For the supply element that is flexible in terms of time and location, the movement specification of the production routine can have information about a route and/or about a distance from other production objects. The production routine particularly preferably includes a movement path along the projected grid, a distance to another production object and/or a speed in the case of a moving production object. The specific settings according to the production routine or the movement specification of the production routine can be set as desired and are preferably dependent on the object to be produced. Not only is the positioning of the at least one production object on the production area planned, but a production configuration is also determined electronically, i.e. an actual electronic preparation of the production configuration including a production area layout, but also including travel profiles, i.e. speeds and distances , which are covered by the individual production objects. Ultimately, the actual production of the object can also be planned electronically according to the method according to the invention and can then be carried out, which makes it particularly easy for the production system to be used for the complete planning of a new production structure.

An additional exemplary embodiment provides that the modular production system has a detection device. The detection device is, for example, a sensor device, such as at least one camera, which is arranged, for example, on a ceiling opposite the production area. The camera can therefore capture the entire production area and/or at least a partial area of the production area in the form of static and/or moving image data in a vertical direction perpendicular to the production area, viewed from above. Alternatively or additionally, the detection device can be a sensor arranged in the production area, for example a contact sensor and/or a light sensor. Alternatively or additionally, the at least one production object can be provided with its own position determination device as a detection device, which device can detect its own position of the respective production object, for example based on a global navigation satellite system (GNSS). Alternatively or additionally, the own position can be provided via a wireless connection to the control device, for example via a wireless local area network (WLAN for Wireless Local Area Network), a Bluetooth connection and/or a mobile data network, for example based on the Long Term Evolution mobile radio standard (LTE), Long Term Evolution Advanced (LTE-A) or Fifth Generation (5G).

The acquisition device is used to acquire acquisition data describing the at least one production object. In the case of the camera, for example, the static and/or moving image data of the production object can be recorded. As an alternative or in addition to this, the actual position of the production object can be detected using the data from the contact sensor in the ground and/or the position determination device as a detection device. The acquisition data is preferably made available to the control device so that it can evaluate the acquisition data, for example. This makes it possible, for example, to collect data in real time, it being possible, for example, to monitor the actual position of the at least one production object on the production area. It can be provided here that a real-time capable, virtual image and thus, for example, a virtual twin of the production environment, that is, for example, at least the production area with the at least one production object, is created. Ultimately, the provision of the detection device allows, at least in principle, data collection and data analysis with regard to an implementation and/or functioning of the modular production system.

An exemplary embodiment particularly preferably provides that by applying a checking criterion to the recorded recording data, it is determined whether the at least one positioned production object is located at the assigned location on the production area. The collection device is included in the modular production system. If the production routine is planned electronically, it can alternatively or additionally be determined by applying the verification criterion to the recorded acquisition data whether the at least one positioned production object is carrying out the planned production routine. As part of the application of the verification criterion, for example, an electronic representation of the actual location on the production area at which the production object is positioned and/or the production routine actually carried out can be imaged electronically. This electronic mapping can be compared to the selected position node associated with a location on the production floor or to the electronically planned production routine and any discrepancies can be identified. Alternatively or additionally, the electronic image can be compared to a current position relative to the selected position node, for example when the production object is located between two or more position nodes and/or nodes. The verification criterion is a rule and/or an algorithm which is/are preferably stored in the control device or is at least made available to the control device. The verification criterion includes, for example, information about the electronically selected position node and/or the electronically planned production routine. Ultimately, therefore, the near-real-time data collection and analysis of the actual position of the production object on the production area and the production routine carried out by the production object takes place. In particular, supplemented by the data from the camera on the ceiling, people standing and/or walking on the production area, for example, but also errors during the production process, i.e. errors during execution of the production routine, can be recognized and determined. This makes the production system particularly reliable.

Furthermore, an additional exemplary embodiment provides that if the at least one positioned production object is at an actual location that deviates from the assigned location on the production area and/or if the production routine that is carried out deviates from the planned production routine, a corrected production routine is electronically planned and carried out becomes. As a result of the application of the verification criterion, real-time control of the production carried out by means of the production object can therefore take place. It is thus possible to collect the data, that is to say the recording of the recording data, directly with a control of the actual production and, if necessary, an intervention in the production routine in the event of unexpected results. If, for example, it is determined that the production routine performed deviates from the planned production routine due to a machine failure and/or due to reworking, this obvious faulty planning and/or incorrect execution can be counteracted by electronically planning the corrected production routine and preferably then executing it. As an alternative or in addition to this, for example, whenever the at least one positioned production object, which is a transport element that can move over time, for example, is not located at the specified point in time at which it should be located according to the selection of the position node, the latter can obvious incorrect positioning can be countered by implementing the corrected production routine. It is assumed here that the corrected production routine includes a change in position of the production object to the location associated with the selected position node. As an alternative or in addition to the corrected production routine, at least one corrected position node can be selected and corrected positioning can take place. The corrected production routine is preferably carried out autonomously by the production object and/or a plurality of production objects of the production system. This makes production more flexible by subsequently correcting, for example, a route, a distance between individual production objects and/or an adjustment of a machine configuration.

Positioning and implementation within the meaning of the invention is always to be understood as a physical process, ie not as a purely electronic or virtual process.

According to one exemplary embodiment, it is particularly preferred that making production more flexible depends on the object actually processed. In other words, it is provided that, taking into account an object that is manufactured and/or processed using the at least one production object, a position node adapted to the object is electronically selected and/or a production routine adapted to the object is electronically planned. The adjusted position node and the adjusted production routine can then be used as a basis for the preferably autonomous positioning and the execution of the production routine, that is to say they can be realized in the process. For example, a size and/or a material of the object is taken into account. For example, a route of a moving production object, a machine configuration and/or a distance from other neighboring production objects can be adapted to a size of the object. As a result, for example, production can be flexibly and dynamically adapted to vehicle bodies of different sizes and thus to vehicles of different sizes to be produced. This makes it possible for the corresponding production objects to move, preferably autonomously, according to the adapted production routine to the adapted position node, in order, for example, to be able to successively produce and/or process vehicle bodies of different sizes. This enables particularly dynamic and advantageous real-time control of the production of the object.

The production object is particularly preferably arranged at exactly one position node, that is to say only a specific point on an underside of the production object is the position node on the projected grid and thus assigned to a specific location on the production floor. Here, for example, a predefined corner of a multi-page subpage of the production object can be selected and electronically arranged and physically positioned relative to the position node or the location to which the position node is assigned. Alternatively or additionally, for example, a center point of the underside of the production object can be viewed relative to the position node or location on the production area. Alternatively or additionally, several predefined points and/or areas on the underside of the production object can be taken into account, so that, for example, several position nodes can be selected electronically. In the case of one or more position nodes, it is possible, for example, to specify an orientation of the production object relative to the production area and the grid projected onto it. For example, the underside is a base area of the production object. The underside is preferably arranged parallel to the production area and is opposite to it. The underside is preferably the side of the production object that faces the production area. Alternatively or additionally, a size of the underside of the production object may be considered to determine whether one or more position nodes are selected.

Another aspect of the invention relates to the modular production system. The modular production system has a control device, a production area, an electronic map of the production area and at least one production object for positioning on the production area. The electronic map has a respective coordinate information of several fixed and preferably equidistant nodes of a grid projected onto the production area. The electronic card can also have the property that it includes the real depiction of the physical production as well as the future planning of the production, for example. processes and/or products. In other words, the electronic card forms a master of the current and/or future production. The control device is designed to electronically select a position node from the plurality of nodes for positioning the at least one production object on the production area. The production system is designed to position the at least one production object at a location on the production area assigned to the electronically selected position node, wherein the at least one production object can only be positioned at the location on the production area that is assigned to one of the multiple fixed node points of the electronic map is. As an alternative or in addition to this, intermediate positions can be provided between the permanently specified nodes. For example, a respective intermediate position in the middle between two, for example adjacent, nodes. In other words, the modular production system according to the invention is designed to carry out the method according to the invention. Furthermore, the production system according to the invention is designed to carry out one of the exemplary embodiments described and preferably a combination of several of the exemplary embodiments described. The preferred exemplary embodiments described in connection with the method according to the invention and their advantages apply correspondingly, insofar as they are applicable, to the modular production system according to the invention.

An exemplary embodiment of the modular production system provides that the production area has a number of floor elements. The multiple floor elements physically replicate the grid projected onto the production area. The floor elements have, for example, a square surface. The floor elements are preferably arranged next to one another and fastened, for example, on the production area. The individual floor elements are preferably arranged equidistantly from one another. An intermediate space is particularly preferably arranged between each two floor elements. The gap is preferably formed as a hole at meeting corners of the adjacent floor elements. Alternatively or additionally, it can be designed as a gap. Furthermore, in addition to the floor elements, a cover plate can be provided, which is arranged on the several floor elements in order to be able to provide a smooth surface of the production area. Ultimately, therefore, the grid projected onto the production area can not only be provided as a virtual grid structure, but also as an actual physical grid structure in the form of the multiple floor elements. So, in addition to the purely electronic grid of nodes, the actual physical design of a production area comprising several individual floor panels, i.e. the floor elements, is also possible.

A further exemplary embodiment provides that at least at one of the locations which is assigned to one of the nodes, an intermediate space is arranged between at least two of the plurality of floor elements. A fastening device is arranged in the intermediate space and is designed to fasten the at least one production object to the production area. The attachment device is, for example, a component of the production object itself The device can be designed as at least one extendable stilt of the production object, which can be extended into the intermediate space. The fastening device can be fastened, for example, in the intermediate space itself and/or at a lower end of the intermediate space and thus at a lower region of the floor elements arranged, for example, on the production area itself. As a result, it can be achieved that, for example, the system and/or machine can be positioned firmly and reliably as a production object on the production area.

Alternatively or additionally, a connecting element can be arranged in the intermediate space. The connecting element is designed to provide a connection to an information line and/or supply line of the production area arranged below the floor elements. The at least one production object can be connected to the information line and/or the supply line, ie to the corresponding line, by means of the connecting element. The at least one production object is preferably connected to the information line and/or the supply line by means of the connecting element. In other words, the intermediate space forms a connecting channel via which the production element is connected to the information line and/or the supply line. For example, a cable can be provided as a connecting element, which connects the production object to the supply line and/or the information line, for example. The supply line can be, for example, a power line for supplying the production object with electrical energy. The information line is, for example, a data line, such as a cable of an at least partially wired Internet connection, via which, for example, the production object can receive the production routine from the control device. In other words, the information line represents a communication link.

Alternatively or additionally, an inductive energy supply can be provided for the at least one production object and/or a wireless information line can be provided between the at least one production object and another production object and/or the control device. The wireless information line is a wireless communication connection, for example via WLAN, a Bluetooth connection and/or a mobile data network, for example based on the LTE, LTE-A or 5G mobile radio standard.

Alternatively or additionally, the supply line and/or information line can lead from the ceiling to at least one production object, with the ceiling being arranged in the vertical direction of the factory opposite the production area with the floor elements. For example, a compressed air supply can be provided from the ceiling, which can be connected to the production object via a compressed air hose, for example, as a connecting element.

Another aspect of the invention relates to the control device. The control device has a processor device which is set up to carry out corresponding method steps of the method according to the invention, one of the described exemplary embodiments of the method according to the invention and/or a combination of several of the described exemplary embodiments of the method according to the invention. For this purpose, the processor device can have at least one microprocessor and/or at least one microcontroller. Furthermore, the processor device can have program code which, when executed by the processor device, is set up to carry out corresponding method steps of the method according to the invention, one of the described exemplary embodiments of the method according to the invention and/or a combination of several of the described exemplary embodiments of the method according to the invention. The program code can be stored in a data memory of the processor device.

With regard to the virtual depiction of the production area, it can be provided that a realistic virtual twin is generated, a comparison is made between the real arrangement on the production area and the virtual arrangement in the electronic card, local intelligence and/or swarm intelligence in the machine and/or or the systems is provided, a central intelligence is provided in the virtual image, i.e. in the electronic card, the process steps planning, comparison, control and optimization are carried out and/or a rigid production line with a continuously adapting positioning, that means, for example, the installation that faces the machine and/or system in the production flow.

The invention also includes the combinations of features of the described embodiments.

• 1 eine schematische Draufsicht auf ein modulares Produktionssystem,
• 2 eine schematische Seitenansicht des Produktionssystems; und
• 3 in schematischer Darstellung einen Signalflussgraphen eines Verfahrens zum Betreiben des modularen Produktionssystems.

Exemplary embodiments of the invention are described below. For this shows:

• 1 a schematic plan view of a modular production system,
• 2 a schematic side view of the production system; and
• 3 a schematic representation of a signal flow graph of a method for operating the modular production system.

The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual features of the invention that are to be considered independently of one another, which also develop the invention independently of one another and are therefore also to be regarded as part of the invention individually or in a combination other than that shown. Furthermore, the exemplary embodiments described can also be supplemented by further features of the invention already described.

Elements with the same function are each provided with the same reference symbols in the figures.

In 1 a modular production system 1 is outlined, which is shown in a plan view. The production system 1 has a control device 2 and a production area 3 . The production area 3 is here a floor on which production, for example of a motor vehicle, can take place. An electronic map 4 of the production area 3 is stored in the control device 2 . In addition, the production system 1 has a production object 5, the production object 5 being specified here as a system 5a, a machine 5a, a supply element 5b and a transport element 5c. The electronic map 4 of the production area 3 has a respective piece of coordinate information for a plurality of fixed node points 6 of a grid projected onto the production area 3 . This grid is sketched here as an example, although it does not have to be physically arranged on the production area 3. The grid outlined from the nodes 6 can be provided in the electronic map 4 purely electronically and thus purely virtually. The individual nodes 6 are preferably equidistant from one another, so that they ultimately form at least a virtual grid structure that is stored in the electronic map 4 . A single node 6 is shown here as an example. In 1 a movement trajectory 7 of the transport element 5c is also shown, with the transport element 5c passing various systems 5a and/or machines 5a or supply elements 5b along this movement trajectory 7.

In 2 the production system 1 is sketched in a side view. 2 shows that a production hall 8 is arranged in a z-direction above the production area 3 and is closed at the top with a ceiling 9 in the z-direction. The production hall 8 is, for example, a factory in which motor vehicles are manufactured. The z-direction corresponds to a vertical direction of production hall 8.

The production system 1 has a detection device 10 . This is sketched here on the one hand as a camera arranged on the ceiling 9 and on the other hand as a position determination device arranged in the respective production object 5 . The position determination device can thus be provided as a detection device 10 in the individual production object 5 .

An object 11 that is to be manufactured and/or processed by means of the production system 1 is transported here by means of the transport element 5c. The object 11 is embodied here as a motor vehicle, for example. As an alternative or in addition to this, a differently designed object 11 can be produced and/or processed by means of the production system 1 . A production robot is sketched here as system 5a and/or machine 5a. The supply element 5b is, for example, a movable container in which, for example, accessories for the system 5a and/or machine 5a are stored and/or transported. In other words, the at least one production object 5 can be the system 5a and/or machine 5a that is stationary at least for a predetermined period of time, the supply element 5b that is flexible in terms of location and time, and/or the movable transport element 5c that is flexible in terms of time.

The production area 3 has several floor elements 12 which together physically reproduce the grid electronically projected onto the production area 3 . An intermediate space 13 is arranged between individual floor elements 12, with 2 only some of the gaps 13 are marked as an example.

A fastening device 14 can be arranged in the intermediate space 13 between at least two of the plurality of floor elements 12 . The fastening device 14 can be included in the production object 5, preferably in the system 5a and/or machine 5a. The fastening device 14 is designed to fasten the at least one production object 5 to the production area 3 . Here the system 5a and/or machine 5a has, for example, two fastening devices 14 which reach through the gap 13 and fix the system 5a and/or machine 5a firmly on the production area 3 . If the system 5a and/or the machine 5a is moved away, for example to another node 6, the fastening device 14 can, for example be drawn in, so that the corresponding production object 5 can be moved again.

Alternatively or additionally, a connecting element 15 can be arranged in the intermediate space 13 . The connecting element 15 is connected to an information line 16 and/or supply line 17 arranged below the floor elements 12 . The at least one production object 5 can be connected to the information line 16 and/or the supply line 17 by means of the connecting element 15 . The supply line 17 is a power supply line, for example. The information line 16 is a network cable, for example, via which, for example, data can be transmitted from the position determination device as the detection device 10 of the respective production object 5 to the control device 2 . As an alternative to the connection shown here by means of the connecting element 15, a direct supply line 17 can also be provided from the ceiling 9 to the respective production object 5, as is shown here as an example for the system 5a and/or machine 5a.

The transport element 5c has a battery 18 and an associated drive device, so that the transport element 5c can be moved on the production area 3 by means of drivable wheels 19 . The other production objects 5, ie the system 5a and/or machine 5a and the supply element 5b, also each have drivable wheels 19 and can therefore also be moved on the production area 3. The production area 3 also has a cover plate 20, which can optionally be arranged on the individual floor elements 12.

In 3 a method for operating the modular production system 1 is outlined. In a first method step S1, at least one position node 21 is electronically selected from the plurality of nodes 6 for positioning the at least one production object 5 on the production area 3 by means of the control device 2. It is therefore determined in method step S1 where on the production area 3 a specific Production object 5, such as the system 5a and / or machine 5a, is to be positioned. The corresponding position information is provided in the form of the position node 21, ie in the form of the respective coordinates of the electronic map 4.

In a next method step S2, the production object 5 is positioned at a location on the production area 3 assigned to the coordinate information of the at least one electronically selected position node 21. The at least one production object 5 can only be positioned at the location on the production area 3 that corresponds to one of the is assigned to a plurality of predetermined nodes 6 of the electronic card 4. The positioning in method step S2 preferably takes place autonomously.

In a method step S3, a production routine 22 for the at least one production object 5 positioned at the selected position node 21 is planned electronically, this being done using the control device 2. In a method step S4, the electronically planned production routine 22 is then carried out using the at least one production object 5 that is positioned there. The production routine 22 preferably includes a movement specification for a movement of the production object 5, such as a movement routine for a robot arm of the system 5a and/or machine 5a. As an alternative or in addition to this, it can be a travel route for the transport element 5c as the production object 5, so that the production routine 22 can have the movement trajectory 7, for example.

In a method step S5, acquisition data 23 is acquired by means of the acquisition device 10. The acquisition data 23 describe at least the production object 5. Image data of the production hall 8 are therefore acquired, for example, by means of the camera and/or by means of the respective position determination device as acquisition device 10 of the individual production objects 5 their current position and/or speed. The recorded recording data 23 are preferably transmitted to the control device 2 via the information line 16 in the production area 3 .

In a method step S6, a verification criterion 24 is applied to the recorded acquisition data 23 in order to determine whether the at least one positioned production object 5 is located at the location assigned to it on the production area 3 and/or whether it is carrying out the planned production routine 22. If this check is negative, i.e. if the at least one positioned production object 5 is at an actual location that deviates from the assigned location on the production area 3 and/or the production routine 22 that has been carried out deviates from the planned production routine 22, a corrected Production routine 22` electronically planned and carried out. This means that a method step analogous to method step S3 and a method step analogous to method step S4 are carried out again for the determined corrected production routine 22`. A corrected position node 21 can also be determined, so that the Ver Process step S1 and process step S2 can each be carried out again in the form of an analog process step, ie a corrected position of the corresponding production object 5 can be determined on the production area 3 and also approached.

If the check in method step S6 is successful, i.e. if it is determined that the production object 5 is arranged at the location assigned to it on the production area 3 and the planned production routine 22 is also carried out, the object 11 itself can be taken into account in a method step S8 that is processed by means of the production object 5, that is, for example, is transported by means of the transport element 5c and/or is manufactured and/or processed by means of the system 5a and/or machine 5a. As a result, a position node 21` adapted to the object 11 and/or a production routine 22" adapted to the object 11 can be electronically selected or planned. A corresponding positioning can then take place again according to a method step analogous to method step S2, the electronic planning of the adapted production routine 22" according to a method step analogous to method step S3 and/or the adapted production routine 22" is carried out analogously to method step S4.

Overall, the examples show a modular production system for highly flexible production, ie the modular production system 1. The modular production system 1 is based on a physical and/or virtual grid structure, as described above. The lattice structure describes a grid of discretely specified coordinates, which are used for stationary systems 5a and/or machines 5a that are stable over time, supply elements 5b that are flexible in terms of location and time, and transport elements 5c that are flexible in terms of time and are movable, such as vehicles and/or transport kits with vehicles as orientation and/or or fixing elements are used. The production system 1 therefore has the electronic card 4 with the various nodes 6 . Elements, ie the individual production objects 5, can be clearly located and/or fixed using this grid projected in this way.

A directly coupled electronic production system 1 can localize the described production objects 5 on the coordinate system, ie on the electronic card 4, and receive information about these production objects 5. This is done using the control device 2. With the clear and fixed localization of the production objects 5, rapid planning and configuration can be achieved by moving the production objects 5, either physically or by means of movably mounted, drivable wheels 19, i.e. roller elements, or automatically via the electronic production system 1, take place. By means of data collection and analysis of the production objects 5 included in the production system 1, the production hall 8, ie the factory, can be mapped as an electronic twin in the electronic card 4 and production can thus be controlled in real time. The grid structure or the coordinate system are particularly relevant here, ie ultimately the projected grid at node points 6. These have specified discrete distances from one another, as a result of which discrete localization of the production objects 5 is possible. In this way, for example, production objects 5 can only be located at defined locations on the production area 3, as a result of which a certain flexibility is superficially lost. However, this restriction of movement enables the factory structure to be changed quickly and flexibly, i.e. the arrangement of the individual production objects 5 on the production area 3, and the actual production objects 5, which are on changeable modular object holders, and the setting of the production objects 5 can be compensated. Furthermore, the direct coupling of the production objects 5 either as a physical or virtual coupling with the lattice structure or the production system 1 behind it is particularly useful. The electronic production system 1 is particularly advantageous as a virtual image of the lattice structure, ie the grid, and the localized production objects 5 .

Variants are the physical design of the grid in the form of the floor elements 12. The production object 5 can be firmly latched into the floor elements 12, in particular in the gaps 13, by means of the fastening device 14. In addition or alternatively, a physical coupling, i.e About the connecting element 15, information and a supply of the production object 5 are provided. The virtual grid structure, which is stored in the electronic card 4, in which the individual production objects 5 move purely virtually on the grid, is also particularly interesting. The exchange of information can take place via mobile communication, the supply for example via the connecting elements 15 to the supply line 17 and/or to the information line 16, with at least the supply line 17 being arranged either in or below the production area 3 or on the ceiling 9.

In summary, the electronic card 4 represents an electronic twin of the real factory, ie the production hall 8. Both in the floor elements 12 and in the production areas Projects 5 are preferably built-in sensors, such as the detection device 10 as a position determination device, which represent the current real state in real time. The control device 2 can be used to control the electronic production system 1, with this being implemented using appropriate control commands, for example for the production objects 5 in real-time control of production within the production hall 8. The factory layout, i.e. the production area 3, as is stored in the electronic card 4 preferably has a grid of square, firmly defined floor elements 12 at the same distance from one another. Corners of the grid have the fastening device 14 for connecting the production object 5 to the production area 3. The production objects 5 can only be located at specific points in this grid or grid. Power supply and networking, such as an Internet connection, are possible via the connecting elements 15 in the spaces 13 between the individual floor elements 12. Each node 6 has a unique designation that is stored in the electronic card 4, for example. The systems 5a and/or machines 5a are located on base elements that can be moved in a fixed manner, which can only occupy discrete positions in space, that is to say on the production area 3, which is predetermined by the individual nodes 6. The base element corresponds to the floor element 12. Supply and fastening on the production area 3 is possible via the fastening device 14 in the respective intermediate space 13 between individual floor elements 12. The system 5a and/or machine 5a can be moved modularly and/or flexibly. An automated movement of the production object 5 on the production area 3 is preferably possible. The individual supply elements 5b can move independently, ie autonomously, on the production area 3. Depending on the filling level of the battery 18, for example, the supply elements 5b but also the transport elements 5c can independently organize replenishment. Objects 11 to be moved are located on the movable skits, i.e. on the corresponding transport elements 5c, which can be moved along the specified grid structure, i.e. for example along the movement trajectory 7. The movement trajectory 7 but also distances and speeds of the individual production objects 5 can be any be set or result from the higher-level production system 1, that is, for example, be specified by the control device 2.

The individual production objects 5 are stored in a modular manner on the lattice structure, ie on the grid in the electronic card 4, and can be moved automatically or manually as required. The production objects 5 have contact points to the information line 16 and/or supply line 17 below the cover plate 20 or the floor elements 12. They therefore have the connecting elements 15. This allows, for example, a supply of electrical power or an exchange of information on status and position to be shared in real time , for example with the control device 2. Networking via mobile communication and/or power supply via rechargeable batteries and/or the supply line 17 on the ceiling 9 of the production hall 8 is optionally possible. Elements that are stationary in time, that is to say the machine 5a and/or system 5a, can be fastened to the floor elements 12 by means of the fastening device 14 .

Overall, the electronic production system 1 initially shows a factory planning and factory configuration. For this purpose, the electronic planning and preparation of the factory configuration including systems, layout and driving profiles takes place, with the driving profile including speeds, distances and so on. In this case, the travel profile relates to the movable production objects 5. The travel profile is specified, for example, in the form of the production routine 22 and can have the movement trajectory 7, for example. Changes in the configuration within the production hall 8 can therefore be implemented in a few hours in the case of automatically moving production objects 5 . The factory planning and factory configuration relates at least to the method steps S1, S2 and S3. Furthermore, data collection and data analysis is possible. For this purpose, data is recorded in near real-time, i.e. near real-time acquisition of the acquisition data 23 by means of the acquisition device 10. For this purpose, it may be possible to network the individual production objects 5, for example with the aid of the connecting elements 15 and the information line 16. An electronic twin or an electronic image is also created of all production objects 5 generated in the electronic card 4 in order to be able to provide an accurate and direct image of reality in electronic form. This is supplemented by, for example, image recognition based on camera data that is determined using the camera as a detection device 10 on the ceiling 9 . This image recognition can, for example, recognize and record a person moving within the production hall 8 , but also deviations in an actual state from a target state of the individual production objects 5 . This ultimately enables the verification step as method step S6. Data collection and data analysis thus take place at least in method steps S5 and S6.

In addition, production can be controlled in real time. For this purpose, direct coupling and data collection are provided, which enable the control of production as well as interventions or unexpected events such as rework or machine failure. This takes place, for example, in method step S7, ie by determining, for example, the corrected production routine 22'. It is also possible to make production more flexible by adapting travel routes, distances and/or machine configuration depending on the object 11 that is being passed through and to be processed, as is possible in method step S8 with the help of the adapted position nodes 21' and the adapted production routine 22".

Reference List

1

production system

2

control device

3

production area

4

electronic card

5

production object

5a

system and/or machine

5b

supply element

5c

transport element

6

node

7

movement trajectory

8th

production hall

9

Ceiling

20

detection device

11

object

12

floor element

13

space

14

fastening device

15

fastener

16

information line

17

supply line

18

battery

19

Wheels

20

cover plate

21, 21`

position node

22, 22`, 22"

production routine

23

acquisition data

24

verification criterion

S1 to S8

process step

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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

• EP 1617003 A2 [0003]

Claims (10)

Method for operating a modular production system (1), wherein the production system (1) has a control device (2), a production area (3), an electronic map (4) of the production area (3) and at least one production object (5) for positioning on the production area (3) and the electronic map (4) has a respective coordinate information for several fixed node points (6) of a grid projected at least virtually onto the production area (3), comprising the following steps: - electronically selecting (S1) at least one position node (21) from the plurality of nodes (6) for positioning the at least one production object (5) on the production area (3) by means of the control device (2); - Positioning (S2) of the at least one production object (5) at a location on the production area (3) assigned to the coordinate information of the at least one electronically selected position node (21), wherein the at least one production object (5) is only at the location on the production area ( 3) can be positioned, which is assigned to one of the several fixed node points (6) of the electronic card (4). procedure after claim 1 , wherein the at least one production object (5) is one of the following production objects (5): - a fixed installation (5a) at least for a predetermined period of time; - a machine (5a) which is stationary at least for a predetermined period of time; - A supply element (5b) that is flexible in terms of location and time; - A temporally flexible, movable transport element (5c). Method according to one of the preceding claims, wherein a production routine (22) for the at least one production object (5) positioned at the selected position node (21) is planned electronically by means of the control device (2) (S3) and the electronically planned production routine (22) by means of the at least one production object (5) is carried out (S4). Method according to one of the preceding claims, wherein the modular production system (1) has an acquisition device (10) and the acquisition data (23) describing the at least one production object (5) is acquired by means of the acquisition device (10) (S5). procedure after claim 4 in its references to claim 3 , it being determined (S6) by applying a verification criterion (24) to the recorded acquisition data (23) whether the at least one positioned production object (5) is located at the assigned location on the production area (3) and/or whether it is the planned production routine (22) performs. procedure after claim 5 , wherein if the at least one positioned production object (5) is at an actual location that deviates from the assigned location on the production area (3) and/or the production routine (22) carried out deviates from the planned production routine (22), a corrected production routine ( 22`) is planned and carried out electronically (S7). Method according to one of the preceding claims, wherein, taking into account an object (11) that is manufactured and/or processed by means of the at least one production object (5), a position node (21`) adapted to the object (11) is electronically selected and/or a production routine (22") adapted to the object (11) is electronically planned (S8). Modular production system (1), comprising a control device (2), a production area (3), an electronic card (4) of the production area (3) and at least one production object (5) for positioning on the production area (3), the electronic card (4) has a respective coordinate information for several fixed predetermined nodes (6) of a grid projected onto the production area (3), wherein - The control device (2) is designed to electronically select a position node (21) from the plurality of nodes (6) for positioning the at least one production object (5) on the production area (3); and - the production system (1) is designed to position the at least one production object (5) at a location on the production area (3) assigned to the electronically selected position node (21), the at least one production object (5) only being positioned at the location the production area (3) can be positioned, which is assigned to one of the several fixed node points (6) of the electronic card (4). Modular production system (1) according to claim 8 , wherein the production area (3) has a plurality of floor elements (12) which form the grid which is at least virtually projected onto the production area (3). Modular production system (1) according to claim 9 , wherein an intermediate space (13) is arranged between at least two of the plurality of floor elements (12) at least at one of the locations which is assigned to one of the nodes (6), wherein in the intermediate space (13) - A fastening device (14) is arranged, which is designed to fasten the at least one production object (5) to the production area (3); and/or - a connecting element (15) is arranged to an information line (16) and/or supply line (17) of the production area (3) arranged below the floor elements (12), the at least one production object (5) being connected by means of the connecting element (15 ) can be connected to the information line (16) and/or the supply line (17).

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