DE102022004214A1 - Mobile transport system, technical installation and method for operating a technical installation - Google Patents

Abstract

The invention relates to a mobile transport system (10) for transporting objects, in particular in a technical system, comprising a vehicle frame (12), wheels (41) which can be rotated relative to the vehicle frame (12) and a receiving unit (20) to which energy can be transmitted inductively by a current-carrying primary conductor (50), the mobile transport system (10) comprising at least one sensor (31) for detecting thermal radiation. The invention also relates to a technical system, comprising at least one mobile transport system (10) according to the invention and at least one current-carrying primary conductor (50), which comprises a forward conductor (51) and a return conductor (52), and from which energy is transmitted inductively to the receiving unit (20 ) of the mobile transport system (10) can be transmitted. The invention also relates to a method for operating a technical installation according to the invention.

Description

The invention relates to a mobile transport system for transporting objects, in particular in a technical system, which comprises a vehicle frame, wheels that can rotate relative to the vehicle frame, and a receiving unit to which energy can be transmitted inductively from a current-carrying primary conductor. The invention also relates to a technical installation which comprises at least one mobile transport system according to the invention. The invention also relates to a method for operating a technical installation according to the invention.

From the DE 100 53 373 B4 a system for contactless energy transfer is known. The system includes a feed that injects a medium frequency alternating current into an elongated primary conductor. Mobile loads can be moved along the primary conductor and each have a coil that is inductively coupled to the primary conductor. This inductive coupling means that energy can be transmitted from the primary conductor to the consumer.

From the pamphlet DE 10 2020 002 676 B3 a generic mobile transport system for transporting objects in a technical system is known. The mobile transport system has a receiving unit to which energy can be transmitted inductively from a charging unit, in particular from a linear conductor. The energy transmitted inductively to the receiving unit is used, for example, to charge an electrical energy storage device of the mobile transport system.

From the pamphlet DE 10 2006 012 562 B4 a system for contactless energy transmission is known, which comprises an elongate primary conductor and at least one vehicle that can be supplied with power via a secondary coil. The secondary coil is inductively coupled to the primary conductor. The vehicle includes a tracking antenna for detecting lateral changes in the position of the vehicle relative to the primary conductor, viewed in the direction of travel.

From the DE 10 2014 220 228 A1 a method for positioning a vehicle over a system for inductive energy transmission is known. A light beam is generated by a control system and projected onto a floor, the light beam being detected by a sensor of the vehicle.

From the SU1377830A1 a system for checking a position of a vehicle is known. The system includes a current-carrying electrical conductor which emits thermal radiation. The thermal radiation emitted is recorded by thermal sensors.

The invention is based on the object of further developing a mobile transport system, a technical installation and a method for operating a technical installation.

The object is achieved according to the invention by a mobile transport system with the features specified in claim 1. Advantageous refinements and developments are the subject of the dependent claims. The object is also achieved by a technical system with the features specified in claim 10. The object is also achieved by a method for operating a technical system with the features specified in claim 12.

A mobile transport system according to the invention for transporting objects, in particular in a technical system, comprises a vehicle frame, wheels that can rotate relative to the vehicle frame, and a receiving unit to which energy can be transmitted inductively from a current-carrying primary conductor. The mobile transport system also includes at least one sensor for detecting thermal radiation.

A current-carrying primary conductor, which transmits energy inductively to the receiving unit, generates heat, which is emitted to the environment in the form of thermal radiation. This thermal radiation can be detected by the sensor. By detecting the thermal radiation emitted by the primary conductor, the position of the primary conductor can thus be identified, even if the primary conductor is laid under a layer of concrete and is therefore not optically visible. The pick-up thus ensures reliable tracking of the transport system over the primary conductor. If the transport system moves away from the primary conductor unintentionally, the primary conductor can be found again by means of the pick-up and the transport system can be navigated to the primary conductor.

According to a preferred embodiment of the invention, the sensor is aligned in such a way that a primary conductor, which transmits energy inductively to the receiving unit, is located in a detection cone of the sensor. By aligning the sensor in this way, it is possible to detect irregular courses of the primary conductor at an early stage, for example curves, crossings, branches, switches, feed points and gaps or an end point of the primary conductor. The early detection of such an uneven course enables safe navigation along the primary conductor, for example by reducing the speed in good time. Into the In particular, a lurching of the transport system and a loss of track can be avoided.

According to a preferred embodiment of the invention, the sensor is aligned in such a way that a central axis of a detection cone of the sensor runs at an angle to a longitudinal direction and at an angle to a vertical direction. The central axis of the detection cone thus points obliquely forward and downward from the pickup. A course of the primary conductor in a normal direction of travel, ie forwards, in front of the transport system can thus be identified.

According to an advantageous embodiment of the invention, the sensor is arranged in a longitudinally front area of the vehicle frame. A course of the primary conductor in a normal direction of travel, ie forward, in front of the transport system can thus be identified.

According to an advantageous development of the invention, the mobile transport system includes at least two sensors. A first pickup is arranged in a longitudinally front area of the vehicle frame, and a second pickup is arranged in a longitudinally rear area of the vehicle frame. A course of the primary conductor in a normal direction of travel, ie forwards, in front of the transport system can thus be identified, and a course of the primary conductor in an opposite direction of travel, ie backwards, behind the transport system can also be identified. The transport system can thus be moved forwards and backwards, while a course of the primary conductor can be seen in each case.

According to an advantageous embodiment of the invention, the sensor is arranged in a central area of the vehicle frame in the transverse direction. The transport system can thus be positioned relatively easily in the center above the primary conductor.

According to an advantageous embodiment of the invention, the pickup is designed as an infrared sensor. A pickup designed as a simple infrared sensor is relatively inexpensive and usually sufficiently reliable.

According to a further advantageous embodiment of the invention, the sensor is designed as a thermal imaging camera. A sensor designed as a thermal imaging camera has a relatively high sensitivity and is able to detect the position of the primary conductor, even if the primary conductor is, for example, laid under a thick layer of concrete and only emits relatively little thermal radiation to the environment.

According to an advantageous development of the invention, the mobile transport system has a steering device for steering the wheels, which can be controlled as a function of the thermal radiation detected by the sensor. By appropriately controlling the steering device, navigation along the primary conductor is possible.

According to an advantageous development of the invention, the mobile transport system includes a tracking antenna for detecting magnetic fields of a primary conductor, which transmits energy inductively to the receiving unit. The tracking antenna allows redundant detection of the primary conductor.

According to an advantageous development of the invention, the tracking antenna has three pairs of sensor coils, which are offset from one another in the transverse direction. Such a trained tracking antenna allows a relatively precise detection of the primary conductor.

A technical system according to the invention comprises at least one mobile transport system according to the invention and at least one current-carrying primary conductor, which comprises a forward conductor and a return conductor, and from which energy can be transmitted inductively to the receiving unit of the mobile transport system.

The current-carrying primary conductor, which transmits energy inductively to the receiving unit, generates heat, which is emitted to the environment in the form of thermal radiation. This thermal radiation can be detected by the pickup of the mobile transport system. The position of the primary conductor can be identified by detecting the thermal radiation emitted by the primary conductor. This ensures safe tracking of the transport system over the primary conductor. If the transport system inadvertently moves away from the primary guide, the primary guide can be found again by the transport system and the transport system can be navigated to the primary guide.

According to a preferred embodiment of the invention, the forward conductor and the return conductor are linear and laid parallel to one another in a floor of the technical installation.

According to an advantageous embodiment of the invention, the at least one sensor of the mobile transport system is designed to detect thermal radiation emitted by the forward conductor and/or the return conductor.

By aligning the sensor appropriately, it is possible to detect irregular courses in the primary conductor at an early stage, e.g wise curves, crossings, junctions, points and gaps or an end point of the primary conductor. The early detection of such an uneven course enables safe navigation along the primary conductor, for example by reducing the speed early or by initiating a steering movement in good time. In particular, a snaking of the transport system and a loss of lane can be avoided, or driving through a curve at higher speed is possible.

Furthermore, the technical system can be mapped by capturing and recording recognized non-uniform courses of the primary conductor. In particular, it is possible to deliberately introduce non-uniform courses of the primary conductor or imperfections such as crossings or gaps. Such imperfections serve as defined orientation points for the transport system and act like mechanical transponders. The detection and recording of detected irregular courses of the primary conductor can be combined with Bluebotics or Slam for mapping.

According to a method for operating a technical system according to the invention, energy is transmitted inductively from the primary conductor to the receiving unit of the mobile transport system. In this case, thermal radiation is emitted from the forward conductor and/or the return conductor. Thermal radiation emitted by the forward conductor and/or the return conductor is detected by the at least one sensor of the mobile transport system.

The invention is not limited to the combination of features of the claims. For the person skilled in the art, there are further meaningful combinations of claims and/or individual claim features and/or features of the description and/or the figures, in particular from the task and/or the task posed by comparison with the prior art.

• 1: eine schematische Seitenansicht eines mobilen Transportsystems und
• 2: eine schematische Draufsicht auf eine technische Anlage.

The invention will now be explained in more detail with reference to figures. The invention is not limited to the exemplary embodiments shown in the figures. The figures represent the subject matter of the invention only schematically. It shows:

• 1 : a schematic side view of a mobile transport system and
• 2 : a schematic plan view of a technical installation.

1 shows a schematic side view of a mobile transport system 10. In the present case, the mobile transport system 10 is used to transport objects in a technical installation. The technical installation is an industrial application, for example a production plant. In the present case, the mobile transport system 10 is an autonomous vehicle. In the representation shown here, the mobile transport system 10 is on a level floor within a technical installation.

The mobile transport system 10 includes a vehicle frame 12. The vehicle frame 12 has an approximately rectangular cross section and extends primarily in a longitudinal direction X and in a transverse direction Y.

The longitudinal direction X corresponds at least approximately to the usual direction of travel of the mobile transport system 10. The transverse direction Y runs at right angles to the longitudinal direction X. The longitudinal direction X and the transverse direction Y represent horizontal directions and run parallel to a level floor on which the mobile transport system 10 located. A vertical direction Z is perpendicular to the level ground and is thus perpendicular to the longitudinal direction X and perpendicular to the transverse direction Y. Any direction perpendicular to the vertical direction Z represents a horizontal direction.

Wheels 41 are arranged on the vehicle frame 12 and are rotatable relative to the vehicle frame 12 . In the present case, the transport system 10 comprises two front wheels 41, which are arranged offset from one another in the transverse direction Y, and two rear wheels 41, which are arranged offset from one another in the transverse direction Y. The front wheels 41 are offset from the rear wheels 41 in the longitudinal direction X. When the transport system 10 travels in the usual direction of travel, ie in the longitudinal direction X, the wheels 41 rotate about axes of rotation which run in the transverse direction Y.

The mobile transport system 10 includes a drive unit, not shown here, an electrical energy store for supplying the drive unit and a control unit for controlling the drive unit. The drive device includes, for example, an electric motor and a gearbox and drives wheels 41 . The mobile transport system 10 also has a steering device, not shown here, for steering the wheels 41 . The steering device can be controlled by the control unit.

The mobile transport system 10 also includes a receiving unit 20 which is attached to the vehicle frame 12 . Energy can be transmitted inductively to the receiving unit 20 by a primary conductor 50 through which current flows. The inductively transmitted from the primary conductor 50 to the receiving unit 20 Genetic energy is used, for example, to charge the electrical energy store of the mobile transport system 10. The receiving unit 20 includes a pick-up which has a coil.

The primary conductor 50 is laid in the floor on which the mobile transport system 10 is located. The primary conductor 50 is laid close to the surface of the floor. The receiving unit 20 is located in the immediate vicinity of the ground above the primary conductor 50. In particular, the receiving unit 20 is arranged in such a way that the coil is inductively coupled to the primary conductor 50. Energy can thus be transmitted from the primary conductor 50 to the coil of the receiving unit 20 .

The primary conductor 50 comprises a forward conductor 51 and a return conductor 52. In the illustration shown here, two separate primary conductors 50, which each comprise a forward conductor 51 and a return conductor 52, cross in the longitudinal direction X in front of the transport system 10. It is also conceivable that a single primary conductor 50 is laid in the form of a loop and forms the crossing.

The mobile transport system 10 also includes a sensor 31 for detecting thermal radiation. The sensor 31 is designed, for example, as an infrared sensor or as a thermal imaging camera. The pickup 31 is fixed to the vehicle body 12 and disposed in a lateral Y central portion of the vehicle body 12 . The pickup 31 is arranged in a front area of the vehicle frame 12 in the longitudinal direction X. The front wheels 41 are thus arranged in the longitudinal direction X between the rear wheels 41 and the pickup 31 .

The pickup 31 is aligned in such a way that the primary conductor 50 , which is laid in the ground and transmits energy inductively to the receiving unit 20 of the transport system 10 , is located in a detection cone 33 of the pickup 31 . The sensor 31 is thus able to detect thermal radiation which is generated by the current-carrying primary conductor. A central axis M of the detection cone 33 of the pickup 31 runs inclined to the longitudinal direction X and inclined to a vertical direction Z. In particular, the central axis M of the detection cone 33 from the pickup 31 obliquely forward and downward, i.e. in the usual direction of travel and on the ground to.

The mobile transport system 10 also includes a tracking antenna 21 for detecting magnetic fields of the primary conductor 50, which inductively transmits energy to the receiving unit 20. The tracking antenna 21 is also fixed to the vehicle frame 12 . The tracking antenna 21 has three pairs of sensor coils, not shown here, which are offset from one another in the transverse direction Y. In particular, a first pair of sensor coils is arranged vertically above the outgoing conductor 51 of the primary conductor 50, a second pair of sensor coils is arranged vertically above the return conductor 52 of the primary conductor 50, and a third pair of sensor coils is arranged in the transverse direction Y between the first pair of sensor coils and the second pair of sensor coils.

2 shows a schematic top view of a technical installation, for example a production plant. The technical system includes a current-carrying primary conductor 50, which is largely laid in a floor of the technical system, close to the surface of the floor. The primary conductor 50 comprises a forward conductor 51 and a return conductor 52. The technical installation also includes a number of mobile transport systems 10 which are located on the floor of the technical installation.

The technical system also includes a current source, not shown here, which generates a primary current and feeds the primary current into the primary conductor 50 . The primary conductor 50 is electrically connected to the power source and has the primary current flowing through it. The primary current is a medium-frequency alternating current and has a fundamental frequency of, for example, 25 kHz or 50 kHz. An amperage of the primary current is 60 A or 90 A, for example.

The current-carrying primary conductor 50 transmits energy inductively to the receiving units 20 of the mobile transport systems 10. In the process, the primary conductor 50 generates heat, which is emitted to the environment in the form of thermal radiation. This thermal radiation is recorded by the sensors 31 of the mobile transport systems 10 .

The primary conductor 50 is laid in the form of several loops. The primary conductor 50 has uneven courses in sections, including curves, crossings, branches, switches, feed points and gaps. Also, the primary conductor has 50 terminals.

The mobile transport systems 10 are positioned in such a way that at least a portion of the current-carrying primary conductor 50 is located in the detection cone 33 of the pickup 31 . The sensors 31 of the mobile transport systems 10 thus record the thermal radiation generated by the primary conductor 50 . As a result, the position of the primary conductor 50 is recognized by the mobile transport systems 10 .

The mobile transport systems 10 optionally include a filter device for filtering of the sensor 31 detect thermal radiation. The filter device is in the form of a bandpass, for example, and is set to the fundamental frequency of the primary current in a range of, for example, 25 kHz to 50 kHz.

The thermal radiation emitted by the primary conductor 50 has the fundamental frequency of the primary current. The sensor 31 is thus set up to distinguish whether the thermal radiation detected is emitted by the primary conductor 50 or by another heat source.

Reference List

10

Mobile transport system

12

vehicle frame

20

receiving unit

21

tracking antenna

31

pickup

33

capture cone

41

wheel

50

primary conductor

51

forward conductor

52

return conductor

M

central axis

X

longitudinal direction

Y

transverse direction

Z

vertical direction

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

• DE 10053373 B4 [0002]
• DE 102020002676 B3 [0003]
• DE 102006012562 B4 [0004]
• DE 102014220228 A1 [0005]
• SU 1377830 A1 [0006]

Claims (13)

Mobile transport system (10) for transporting objects, in particular in a technical installation, comprising a vehicle frame (12), wheels (41) which can be rotated relative to the vehicle frame (12) and a receiving unit (20) to which energy is inductively supplied by a current-carrying primary conductor (50) can be transferred, characterized in that the mobile transport system (10) comprises at least one sensor (31) for detecting thermal radiation. Mobile transport system (10) according to one of the preceding claims, characterized in that the sensor (31) is aligned in such a way that a primary conductor (50), which transmits energy inductively to the receiving unit (20), is in a detection cone (33) of the Pickup (31) is located. Mobile transport system (10) according to one of the preceding claims, characterized in that the pickup (31) is aligned in such a way that a central axis (M) of a detection cone (33) of the pickup (31) is inclined to a longitudinal direction (X) and inclined to a vertical direction (Z). Mobile transport system (10) according to one of the preceding claims, characterized in that the mobile transport system (10) comprises at least two pickups (31), and that a first pickup (31) in a front region of the vehicle frame (12 ) is arranged, and that a second pickup (31) is arranged in a longitudinal (X) rear region of the vehicle frame (12). Mobile transport system (10) according to one of the preceding claims, characterized in that the sensor (31) is designed as an infrared sensor. Mobile transport system (10) according to one of the preceding claims, characterized in that the sensor (31) is designed as a thermal imaging camera. Mobile transport system (10) according to one of the preceding claims, characterized in that the mobile transport system (10) has a steering device for steering the wheels (41), which can be controlled depending on the thermal radiation detected by the sensor (31). Mobile transport system (10) according to one of the preceding claims, characterized in that the mobile transport system (10) includes a tracking antenna (21) for detecting magnetic fields of a primary conductor (50) which transmits energy inductively to the receiving unit (20). Mobile transport system (10) after claim 8 , characterized in that the tracking antenna (21) has three pairs of sensor coils, which are arranged offset to one another in the transverse direction (Y). Technical plant, comprehensive at least one mobile transport system (10) according to one of the preceding claims and at least one current-carrying primary conductor (50), which comprises a forward conductor (51) and a return conductor (52), and from which energy can be transmitted inductively to the receiving unit (20) of the mobile transport system (10). technical installation claim 10 , characterized in that the forward conductor (51) and the return conductor (52) are linear and are laid parallel to one another in a floor of the technical installation. Technical system according to one of Claims 10 until 11 , characterized in that the at least one sensor (31) of the mobile transport system (10) is designed to detect thermal radiation emitted by the forward conductor (51) and/or the return conductor (52). Method for operating a technical system according to one of Claims 10 until 12 , characterized in that energy is transmitted inductively from the primary conductor (50) to the receiving unit (20) of the mobile transport system (10), thermal radiation being emitted by the forward conductor (51) and/or the return conductor (52), and that by the outgoing conductor (51) and/or the return conductor (52) is detected by the at least one sensor (31) of the mobile transport system (10).

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