DE102022118151A1 - Driverless transport system - Google Patents

Abstract

Driverless transport system (1), comprising a driverless transport vehicle (2), in particular a mobile transport robot, and a structure (3) which is coupled to the transport vehicle (2) in a transport state of the transport vehicle (2) and which is supported by the transport vehicle (2) in the transport state ) can be transported, wherein an identification device (8) is designed to detect a reference mark (7-7") in the surroundings of the transport vehicle (2), in particular in a system, based on at least one by means of a detection device (6) of the transport system (1 ) recorded image and a position database of the identification device (8), which position database includes spatial positions of at least two reference marks (7-7").

Description

The invention relates to a driverless transport system, comprising a driverless transport vehicle, in particular a mobile transport robot, and a structure which is coupled to the transport vehicle in a transport state of the transport vehicle and which can be transported by the transport vehicle in the transport state.

Driverless transport systems, including driverless transport vehicles, such as mobile transport robots, are basically known from the prior art. Such driverless transport vehicles are used for various transport tasks, for example in production facilities such as production halls, assembly halls and the like, in order to automatically transport objects or equipment.

Furthermore, such driverless transport systems offer the possibility of transporting a recording device, for example a 3D scanner, as a structure, with which recording tasks within the system can be carried out during transport. For example, the entire system or parts of it can be recorded in order to add it to a three-dimensional model of the production system or to maintain one. Advantageously, the driverless transport system can carry out such transport tasks autonomously, for example even when operation of the system is idle, for example when no employee is working in the system. This means that the journey and the recording can be carried out undisturbed.

When carrying out such capture tasks, it is common practice for a reference of captured images to be established to a specific reference point, so that, for example, registration of captured images with one another is possible in order to ensure that the positioning of the capture device during image capture is known and, if necessary, different captured images or Images taken in different positions can be connected correctly. For this purpose, it is known in the prior art to attach reference marks in the reduction environment to be detected and to provide them with an identification feature, for example an alphanumeric code.

If a user guides the detection device through the environment in order to take images using the detection device, it is possible to hold the detection device to the reference mark and enter the corresponding alphanumeric code. If the detection device is to be moved autonomously by the driverless transport system, this option does not exist. Due to the nature of the reference mark itself, detection of the reference mark by the detection device is much easier than detection of the previously described identification feature, for example the code. Detecting the reference mark using the detection device and reading out the alphanumeric identification code would therefore only be possible with increased effort, for example in relation to the quality of the detection using the detection device.

The invention is based on the object of specifying an improved driverless transport system.

The task is solved by a driverless transport system according to claim 1. The dependent claims relate to possible embodiments.

As described, the invention relates to a driverless transport system that has a driverless transport vehicle, for example an autonomously mobile transport robot, which is coupled to a structure in a transport state, so that the structure can be transported by the transport vehicle in the transport state. In principle, the way in which the body is coupled to the transport vehicle can be chosen as desired. In particular, the structure should not be firmly mechanically coupled to the transport vehicle, but should only be loosely coupled to the transport vehicle for transport, so that the structure could be lifted upwards from the transport vehicle even in the transport state. This results in the advantage that the transport vehicle is not firmly connected to the body, so that after the transport state has ended, the transport vehicle can be used for any further transport tasks without being converted and is not tied to the transport of the body. In other words, when the detection task is completed, the transport vehicle can park the structure with the detection device and pick up any other structure.

The invention is based on the knowledge that the transport system has an identification device which is designed to detect a reference mark in the surroundings of the transport vehicle, in particular in a system, based on at least one image recorded by means of a detection device of the transport system and a position database of the identification device , which position database includes spatial positions of at least two reference marks. In other words, the invention is based on, on the one hand, an image using the Recording device on which the reference mark can be recorded as such and to identify the reference mark based on the image and the position database.

At least two reference marks with their spatial positions are noted or stored in the position database. It is therefore possible to record the image using the detection device and to identify the reference mark in the image using the identification device. The image thus serves to detect whether a reference mark is present in the image; the step of detecting the reference mark in the image therefore only serves to determine whether a reference mark has been recorded in the image. The actual identification, i.e. determining which reference mark was recorded in the image from a large number of reference marks present in the system, is carried out based on the position database. In other words, the identification device can read from the position database which individual reference mark of the plurality of reference marks is depicted in the image.

For the purposes of the present invention, a system is understood to mean any environment in which reference marks are attached and can be detected using a detection device. The system is in particular a factory, for example a production facility, for example a production hall, assembly hall, a hangar and the like. The driverless transport system is used to transport the structure with the transport vehicle, which structure includes the detection device. The capture device can thus record images by means of the capture device during transport by the transport vehicle, which are used, for example, to create a model of the system. The identification device can identify reference marks in the images, namely on the one hand detect whether a reference mark is depicted in an image and, in particular based on the position database, identify which reference mark is depicted in the image.

Ultimately, the driverless transport system thus enables a two-stage process according to which the basic detection of a reference mark as such can be recorded by means of the image that was captured by the detection device of the structure and the identification of the reference mark, which represents an individual in a large number of reference marks, by means of the identification device is made based on the position database. In other words, all reference marks can be individually characterized with an identifying feature, for example an alphanumeric code. Instead of reading out the identification feature based on images, the identification is carried out based on the position database. The reference mark can be individual in terms of its coordinates in the system, for example have pre-measured coordinates that are related to a defined zero point. The zero point can be, for example, a center point of the system or a zero point of the system or any other spatial point.

In the driverless transport system described, it can be provided that the identification device is designed to detect the reference mark using the image of the detection device and to retrieve the detected reference mark from the position database based on a distance and/or a position of the transport system in which the image was captured determine. As described above, the capture device can be used to capture an image in which the reference mark is depicted. The identification device can thus detect the reference mark in the recorded or captured image, i.e. extract image information as to whether and, if necessary, where in the image the reference mark is depicted.

Furthermore, the identification device can be based on a distance and/or a position of the transport system in which the image was captured, for example a position of the transport system in the system or a distance of the transport system from a structure of the system or at least one further reference mark the position database determine which reference mark is shown in the image. In other words, from a plurality of reference marks that are stored in the position database, the reference mark whose position in the position database comes closest to the recorded reference mark can be determined as the reference mark depicted in the captured or recorded image, based on distance or position. Since the position database can have the positions of all reference marks, it can be determined which reference marks are suitable. The current position of the transport system in which the image was captured or a distance of the transport system from this position can be used to determine which of the reference marks is depicted in the image.

The transport system can be designed to determine the position, that is, the position of the transport vehicle can be determined by the transport system. The identification device can thus assign a detected reference mark as the reference mark in the position database with the shortest distance identify the position of the transport vehicle when capturing images. In principle, only low demands are placed on the position determination of the transport vehicle or the structure, since the distance at which the reference marks are arranged is significantly greater than the accuracy of the position determination.

In other words, it is sufficient for the transport system to determine the position with an accuracy of several meters, since the distance between the reference marks is chosen to be significantly larger. Such a rough determination of the position by the transport system is therefore sufficient to compare it with the positions of the reference marks in the position database. This makes it possible to determine which reference mark is closest to the position in which the reference mark was recorded in the image. It is therefore advantageously not necessary to capture identification features of the reference mark on an image-based basis in order to determine which reference mark was captured in the image, but this can be done on a position-based basis. The reference mark can therefore be identified based on the minimum distance or the reference mark can be determined from the position database as the recorded reference mark that has the shortest distance to the position of the transport system during image capture.

As described, the transport system can be designed to determine position. The position determination can be carried out, for example, by means of a position detection device of the transport vehicle or by means of the detection device of the body. The position detection of the vehicle can be carried out, for example, based on route guidance of the transport vehicle or by means of safety detection devices, radio, GPS, sensor data from proximity sensors or camera devices of the transport vehicle. A position determination can also be carried out using the detection device, for example based on images.

The transport system can be designed to determine the position based on a detection of a third object whose position is known, for example stored in the position database. Such third-party objects can be prominent points or so-called “landmarks”. Markings in the system can be used as third-party objects, for example fire protection devices, danger signs, positions of production facilities such as robots, shelves, movement areas for vehicles or forklifts or people, other labels such as RFID labels and the like.

According to a further embodiment of the driverless transport system, the transport system can be designed to check the plausibility of a detected reference mark based on distance. If a reference mark is recognized by the identification device in an image recorded by the detection device, it can thus be checked whether the object captured in the image can actually be a reference mark. For this purpose, the identification device can check in the position database whether a reference mark is present in the area. If there is no reference mark in the area, the reference mark captured in the image can be saved as an error capture and treated accordingly. If there is a reference mark in the position database whose positions correspond to the captured reference mark in the image, the capture of the reference mark in the image can be verified.

The transport system can also be designed to define a maximum distance and to determine a detection of a potential reference mark outside a maximum distance of one of the reference marks stored in the position database as an error detection. In other words, the identification device checks in the position database whether a reference mark is arranged in the area of the potentially detected reference mark. If the distance of the next reference mark deviates from the potentially detected reference mark by more than the maximum distance, the potentially detected reference mark can be treated as an error detection.

In addition to the driverless transport system, the invention also relates to a structure for a previously described driverless transport system, which structure is coupled to the transport vehicle in a transport state of the transport vehicle and can be transported by the transport vehicle, the structure having an identification device which is designed to include a reference mark the environment of the transport vehicle, in particular in a system, based on at least one image recorded by means of a detection device of the transport system and a position database of the identification device, which position database includes spatial positions of at least two reference marks. The invention further relates to a driverless transport vehicle for a previously described driverless transport system, which transport vehicle is designed to transport a structure coupled to the transport vehicle in a transport state of the transport vehicle, the transport vehicle having an identification device which is designed for this purpose is to detect a reference mark in the environment of the transport vehicle, in particular in a system, based on at least one image recorded by means of a detection device of the transport system and a position database of the identification device, which position database includes spatial positions of at least two reference marks.

The invention further relates to a method for operating a driverless transport system, in particular a previously described driverless transport system, comprising a driverless transport vehicle, in particular a mobile transport robot, and a structure coupled to the transport vehicle in a transport state of the transport vehicle, which can be transported by the transport vehicle in the transport state is, wherein by means of an identification device a reference mark is detected in the environment of the transport vehicle, in particular in a system, based on at least one image recorded by means of a detection device of the transport system and a position database of the identification device, which position database comprises spatial positions of at least two reference marks.

All advantages, details, designs and/or features described in relation to the automated guided vehicle system are fully transferable to the structure, the automated guided vehicle and the method.

• 1 eine Prinzipdarstellung eines fahrerlosen Transportsystems gemäß einem Ausführungsbeispiel in einer seitlichen Darstellung; und
• 2 eine Prinzipdarstellung des fahrerlosen Transportsystems von 1 gemäß einem Ausführungsbeispiel in einer Draufsicht.

The invention is explained using exemplary embodiments with reference to the figures. The figures are schematic representations and show:

• 1 a schematic representation of a driverless transport system according to an exemplary embodiment in a side view; and
• 2 a schematic diagram of the driverless transport system 1 according to an exemplary embodiment in a top view.

1 shows a schematic structure of a driverless transport system 1, which includes a driverless transport vehicle 2 and a structure 3. The structure 3 can basically be coupled to the driverless transport vehicle 2 in any way. In the illustration shown, only optionally, a support surface 4 of the structure 3 is in contact with a wing 5 of the transport vehicle 2 or, in the transport state, the structure 3 rests with its support surface 4 on the wing 5 of the transport vehicle 2. As described, this is merely an optional exemplary embodiment of the coupling between body 3 and transport vehicle 2, which can be designed in any other way.

The structure 3 has a detection device 6, which is designed to capture images of the environment, in particular the environment of a facility, in particular a plant in the sense of a production facility, which can represent a production hall, assembly hall, a hangar or any other facility. The detection device 6 can have several cameras that can record images in different directions relative to the structure 3 or the transport vehicle 2. The detection device 6 can in particular be designed as a 3D scanner. To reference the position of the images or image sections that are depicted in the images and to register the images with one another, for example in order to incorporate them into a three-dimensional model, reference marks 7 are arranged at different positions in the system.

The detection device 6 can thus record images of the system in which reference marks 7 are shown. The transport system 1 has, for example assigned to the structure 3, an identification device 8 which is designed to detect and identify reference marks 7. As described, the reference marks 7 are depicted in the images that are captured by the capture device 6. The identification device 8 can detect the reference mark 7 in the captured image 8, for example using suitable image analysis algorithms. For identification, the identification device 8 has a position database in which the reference marks 7 of the system are stored with their positions.

The identification device 8 can thus compare the position of the transport system 1 during image capture with the positions that are stored in the position database. The reference mark 7 can then be determined which corresponds closest to the position of the transport system 1 during image capture. For example, the position of the transport system 1 can be compared with the positions of the reference marks 7. Here, for example, the smallest distance can be selected and thus the reference mark 7 can be determined as the reference mark from the position database that corresponds closest to the position of the transport system 1 in which the image in which the reference mark 7 is depicted was recorded. Additional parameters can be taken into account here, for example in which direction the image with the reference mark 7 was recorded. Furthermore, a projection can be carried out in which, starting from the position of the transport system 1 during image capture, for example using depth data of the image, the approximate position of the reference mark 7 can be determined even more precisely based on the position of the transport system 1 can. Advantageously, the detection device 6 does not have to be designed to be able to read out a specific identification code of the reference mark 7 on an image-based basis, for example to capture an alphanumeric code on an image-based basis and thereby identify the reference mark 7 without errors. Instead, the identification of the detected reference mark 7 is carried out based on the position of the transport system 1.

2 shows an example of a top view of a section of a system in which several reference marks 7, 7 ', 7" are arranged at different positions. The number, arrangement and distribution of the reference marks 7-7" can basically be selected or changed as desired and in the representation in 2 to be understood as merely an example. In the situation shown, the transport system 1 is arranged closest to a reference mark 7, so that when the image is captured, the reference mark 7 can be seen or depicted in the image captured by the capture device 6. The identification device 8 can then compare the position of the transport system 1, in which the image of the reference mark 7 was recorded, with the position database and thus determine that the reference mark 7 has the smallest distance 9. Next are in 2 Distances 9', 9" are shown, which represent the distances between the position of the transport system 1 during image capture of the reference mark 7 and the further reference marks 7', 7". Since the distances 9 ', 9" are significantly larger than the distance 9, the identification device 8 can clearly identify the reference mark 7. It is also possible for the identification device 8 to take the orientation of the transport vehicle 1 or the detection device 6 into account when capturing an image of the reference mark 7 . This can indicate that the position in the current orientation of the transport system 1 must be further away from the transport system 1, so that the further reference marks 7' and 7" can already be excluded because they are not only further away, but additionally are arranged in a different direction.

In a second exemplary situation, which is shown in dashed lines, the transport system 1 is closest to the reference mark 7 '. In the position shown in dashed lines, an image can again be recorded in which the reference mark 7 'can be detected. Correspondingly, the comparison of the position database with the position of the transport system 1 when capturing the image of the reference mark 7' shows that in this situation the distance 9' is the smallest and the other distances 9, 9" are larger. Accordingly, in this situation the reference mark 7' can based on the distance 9 'from the position database and thus identified.

If a reference mark is incorrectly detected in an area of the system, the identification device 8 can also compare the position in the position database in order to determine that none of the reference marks is arranged in this position in which the image of the potential reference mark was captured. The capture can then be marked as an error capture. For this purpose, a maximum distance can be defined by the identification device 8, whereby if the maximum distance is exceeded, an error detection can be assumed and otherwise the correct detection of one of the reference marks 7-7" can be checked for plausibility or verified.

The transport system 1 has several options available to determine its position. The transport system 1 can, for example, use position detection on the part of the transport vehicle 2, which can possibly be present anyway for the movement of the transport vehicle 2, for example autonomous driving of the transport vehicle 2. Likewise, for example image-based data from the detection device 6 can be used to verify or determine the position. For example, the transport vehicle 2 has a safety detection device 10, which can be designed to detect obstacles. The safety detection device 10 can have distance sensors or proximity sensors, which can also be used to determine position. Furthermore, the position determination can also take place based on other structures of the system detected by means of the detection device 6, for example landmarks, markings or the like.

In principle, a comparatively rough determination of the position of the transport system 1 is sufficient to identify the reference marks 7-7", since the distance between the reference marks 7-7" is significantly larger than would be required to determine the position of the transport system 1. Advantageously, the reference marks 7-7" are spaced so far apart that when an image is captured of one of the reference marks 7-7", the reference mark 7, 7" can be clearly assigned to the position of the transport system 1 during image capture.

Reference symbol list

1

driverless transport system

2

driverless transport vehicle

3

Construction

4

Support surface

5

wing

6

Detection device

7-7"

Reference mark

8th

Identification device

9-9"

Distance

10

Security detection device

Claims (10)

Driverless transport system (1), comprising a driverless transport vehicle (2), in particular a mobile transport robot, and a structure (3) which is coupled to the transport vehicle (2) in a transport state of the transport vehicle (2) and which is supported by the transport vehicle (2) in the transport state ) can be transported, characterized by an identification device (8) which is designed to establish a reference mark (7-7") in the surroundings of the transport vehicle (2), in particular in a system, based on at least one by means of a detection device (6) of the Transport system (1) recorded image and a position database of the identification device (8), which position database includes spatial positions of at least two reference marks (7-7"). Driverless transport system (1) according to Claim 1 , characterized in that the identification device (8) is designed to detect the reference mark (7-7") using the image of the detection device (6) and the detected reference mark (7-7") based on a distance (9-9 ") and/or a position of the transport system (1) in which the image was captured from the position database. Driverless transport system (1) according to Claim 1 or 2 , characterized in that the transport system (1) is designed to determine position, the identification device (8) being designed to identify a detected reference mark (7-7") as the reference mark (7-7") of the position database with the smallest distance ( 9-9") to identify the position of the transport vehicle (2) during image capture. Driverless transport system (1) according to Claim 2 or 3 , characterized in that the transport system (1) is designed to determine the position by means of a position detection device of the transport vehicle (2) or by means of the detection device (6) of the structure (3). Driverless transport system (1) according to one of the preceding claims, characterized in that the transport system (1) is designed to determine the position based on a detection of a third object whose position is known, in particular stored in the position database. Driverless transport system (1) according to one of the preceding claims, characterized in that the transport system (1) is designed to check the plausibility of a detected reference mark (7-7") based on distance. Driverless transport system (1) according to one of the preceding claims, characterized in that the transport system (1) is designed to define a maximum distance and a detection of a potential reference mark (7-7") outside a maximum distance of one of those stored in the position database To determine reference marks (7-7") as error detection. Structure (3) for a driverless transport system (1) according to one of the preceding claims, which structure (3) is coupled to the transport vehicle (2) in a transport state of the transport vehicle (2) and can be transported by the transport vehicle (2), characterized by a Identification device (8), which is designed to create a reference mark (7-7") in the surroundings of the transport vehicle (2), in particular in a system, based on at least one image recorded by means of a detection device (6) of the transport system (1) and a position database of the identification device (8), which position database includes spatial positions of at least two reference marks (7-7"). Driverless transport vehicle (2) for a driverless transport system (1) according to one of Claims 1 until 7 , which transport vehicle (2) is designed to transport a structure (3) coupled to the transport vehicle (2) in a transport state of the transport vehicle (2), characterized by an identification device (8) which is designed to provide a reference mark (7 -7") in the surroundings of the transport vehicle (2), in particular in a system, based on at least one image recorded by means of a detection device (6) of the transport system (1) and a position database of the identification device (8), which position database is spatial positions of at least two reference marks (7-7"). Method for operating a driverless transport system (1), in particular a driverless one Transport system (1) according to one of the Claims 1 until 7 , comprising a driverless transport vehicle (2), in particular a mobile transport robot, and a structure (3) coupled to the transport vehicle (2) in a transport state of the transport vehicle (2), which can be transported by the transport vehicle (2) in the transport state, thereby characterized in that by means of an identification device (8) a reference mark (7-7") in the surroundings of the transport vehicle (2), in particular in a system, based on at least one image recorded by means of a detection device (6) of the transport system (1) and one Position database of the identification device (8) is recorded, which position database includes spatial positions of at least two reference marks (7-7").

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