DE202022103342U1 - Collaborative transport technology - Google Patents

Abstract

Load-carrying mechanism (30) comprising a fork carriage (31) with a first fork tine (31a) and a second fork tine (31b), a fork carriage guide (33) and a fork drive device (34), characterized in that
- The fork carrier guide (33) enables movement of the fork carrier (31) in a first horizontal direction (x), which runs parallel to the fork tines, whereby
- The load-carrying mechanism (30) has a lifting device (36) with at least one retractable and extendable support means (36a) and is designed to provide force support against the ground on a distal section of at least one fork tine (31a, 31b) in the extended state to be manufactured and removed from the ground when retracted.

Description

The present invention lies in the field of logistics control and cargo transport with autonomous transport robots. It concerns a transport technology, in particular a logistics system, a transport robot and a load-picking mechanism, which enable collaboration, that is, the interaction of a human with a collaborative transport robot.

As far as the term “load” is used below, this term refers to a transported item that can have any design. The term transported goods can include goods in solid form, liquid form or gas form. The load can include a load carrier, which can also be designed in any way, for example as a pallet, box, box, tank, sack, net or hanging frame.

Purely for reasons of simplified presentation, the present disclosure refers below to a load with a load carrier in the form of a pallet (Euro pallet). The disclosure is transferable to any other type of charge.

16 shows a logistics system according to the state of the art in a top view. It comprises a work area in which several loads (60) of goods are to be transported between long-distance logistics vehicles (102) and a transfer zone (Z4) to a storage or production facility. For this purpose, the long-distance logistics vehicles (102) are parked at a goods receiving zone (104). Two essentially separate subsystems are provided for transporting the loads. On the one hand, there are operators (50) who use manually guided pallet trucks (100) to transport the loads (60) back and forth individually between a loading space (103) of a long-distance logistics vehicle (102) and a transfer area (105). On the other hand, there are one or more (partially) autonomous conveyor vehicles (101) which transport the loads (60) from the transfer area (105) to a transfer zone (Z4) at a storage or production facility.

The movement spaces of the operators (50) with the manually guided pallet trucks (100), on the one hand, and the (partially) autonomous conveyor vehicles (101), on the other hand, are generally separated by a zone boundary (ZG). So on the one hand there is a manual zone (Z1) and on the other hand an autonomous or semi-autonomous driving zone (Z3). The transfer area (105) can be part of both zones (Z1, Z3) or form a separate reloading zone (Z2).

The logistics system according to this prior art has various disadvantages. On the one hand, moving the loads (60) involves relatively long distances for the operators (50) and represents a high physical strain, even if the pallet trucks (100) have drive support. The waiting time of the loads in the transfer area (105) creates a long overall throughput time for carrying out goods receipt or goods issue. The very high number of loads that have to be transported in the logistics system during a day creates a high level of mental demand for the operators (50) when it comes to the order of the transport processes and the identification of the loads with the respective transport destination. This quickly causes signs of fatigue, which can lead to incorrect transport and/or further downtime or rework times. Fatigue also increases the risk of accidents.

It is the object of the present invention to demonstrate an improved logistics and transport technology. The task is solved through the features of the independent claims.

The logistics and transport technology according to the present disclosure includes several aspects, each of which can be used alone or in any combination and each individually or in synergy contributes to solving the aforementioned task.

Below, the terms “action” and “transport order” are used as names for machine-readable data objects that are processed in an automated system, in particular in a logistics control or a transport robot control. The term “activity” generally refers to the logical structure of transport activities, regardless of the technical implementation. Within the scope of the present disclosure, activities required in the context of transporting cargo are organized and processed through transport orders and actions in a machine-readable and digitally processable form.

A first aspect of the present disclosure includes a transport robot for transporting a load. The transport robot includes a movement platform, a load receiving area, a drive device, a controller and an external control interface. The external control interface is designed to receive external input. The control is designed to control the drive device of the transport robot twice as part of a self-control mode based on autonomously generated course and temporarily control them within the framework of an external control mode based on course specifications that are generated according to the external input.

The controller is further designed to process a sequence of actions that includes a plurality of actions to fulfill a transport order in a predetermined order. An action is a machine-readable data object and defines a target state at the end of the action as the target state. Furthermore, an action can define a target state of the transport robot at the beginning of the action as an initial state. Each target state preferably includes at least one target position and/or a target loading state.

• ▪ eine autonome Eigen-Aktion, die vorsieht, dass der Transportroboter im Eigen-Steuermodus tätig wird, um autonom in den jeweiligen Ziel-Zustand zu gelangen, insbesondere ausgehend von dem von dem jeweiligen Anfangs-Zustand oder dem momentanen Ist-Zustand; UND
• ▪ eine kollaborative Interaktion, bei der der Transportroboter eine externe Eingabe von einer Bedienperson anfordert und im Fremd-Steuermodus gemäß der externen Eingabe tätig wird.

The actions in the action sequence also include at least two different types of actions:

• ▪ an autonomous self-action, which provides that the transport robot acts in self-control mode in order to reach the respective target state autonomously, in particular starting from the respective initial state or the current current state; AND
• ▪ a collaborative interaction in which the transport robot requests external input from an operator and acts in external control mode according to the external input.

A transport robot according to the above aspect has various advantages. By defining and processing a sequence of actions, the complete transport process between the loading space of a long-distance logistics vehicle and another loading location/unloading location can be mapped and implemented in the control of the transport robot. Planning and organizational activities can therefore be completely mapped in the control of the transport robot, so that an operator is exempt from this.

Furthermore, through the planned involvement of an operator to carry out a collaborative interaction, the transport robot can also be used in those parts of the work area that were previously reserved as a manual zone (Z1). As a result, there is no need for zone separation or the creation of transfer areas.

By defining the at least two types of actions, the task parts that can be carried out autonomously and the task parts that can be carried out with the support of an operator can be planned and carried out as a continuous chain of actions, using the same transport robot. The operators (50) can be called in for activities in which human intelligence is superior to artificial intelligence. This includes, in particular, identifying loads and load carriers, operating in areas where special safety requirements apply, especially within the loading space of a long-distance logistics vehicle, recognizing unforeseen situations and selecting suitable solution and action steps to get the transport robot back into one to bring a situation that is safe and controllable for him.

A further aspect of the present invention relates to a logistics system for transporting loads in a defined work area, the logistics system comprising at least one transport robot and a logistics controller. The transport robot can be designed according to the first aspect of the disclosure or have a different design.

The logistics control is designed to record a plurality of upcoming goods receipts and/or goods issues. A goods receipt or goods issue is preferably assigned a loading location and/or an unloading location in the work area, which is suitable for transporting the goods in question for the fulfillment of the upcoming goods receipt or issue. Alternatively or additionally, the logistics control can be designed to determine and assign a suitable loading location and/or unloading location for an upcoming goods receipt or goods issue.

• ▪ die betroffene Ware einer Ladung zuordnet und
• ▪ die Abholung der Ladung von dem Belade-Ort und/oder die Lieferung der Ladung an den Entlade-Ort definiert.

The logistics control is further designed to define at least one transport order as a machine-readable data object, the transport order

• ▪ assigns the goods concerned to a load and
• ▪ the collection of the load from the loading location and/or the delivery of the load to the unloading location is defined.

• ▪ Einen momentanen Zustand des Transportroboters oder der Transportroboter;
• ▪ Eine momentane Entfernung des Transportroboters oder der Transportroboter zum nächsten Entlade-Ort oder Belade-Ort;
• ▪ Eine Anzahl bereits vorrangig zugeordneter Transport-Aufträge des Transportroboters oder der Transportroboter.

The logistics control is preferably designed to determine a transport robot to carry out a transport order. The determination can be made in any way. The logistics control preferably includes a set of selection rules for determining one or more transport robots. Such selection rules can include specifications regarding:

• ▪ A current state of the transport robot or robots;
• ▪ A current distance of the transport robot or robots to the next unloading location or loading location;
• ▪ A number of transport orders from the transport robot or robots that have already been assigned priority.

In other words, the logistics control is preferably designed to act as a fleet manager, on the one hand, to manage a number of transport orders and, on the other hand, a number of transport robots. The logistics control can also act as a warehouse management system or be connected to a warehouse management system. In this case, the logistics control can manage a plurality of incoming goods and/or outgoing goods and determine suitable unloading locations or loading locations for carrying out the incoming goods and/or outgoing goods.

A goods receipt can, for example, stipulate that a certain number of goods will be delivered to a certain dock in the work area in a long-distance logistics vehicle at a certain time. A goods issue can, for example, stipulate that a certain number of goods will be picked up at a certain dock in the work area by a long-distance logistics vehicle at a certain time. The warehouse management system, in particular the logistics control, can determine a (further internal) unloading location for a goods receipt to which one or more of the goods are to be transported, for example a transfer zone to a storage or production facility. The warehouse management system, in particular the logistics control, can, on the other hand, determine a (further internal) loading location for an outgoing goods from which one or more of the goods is to be picked up, for example a transfer zone to a storage or production facility. On the other hand, it is possible for an incoming goods and an outgoing goods to be directly linked to one another and to provide for a certain number of goods to be delivered to a specific dock in the work area in a long-distance logistics vehicle at a specific time on the one hand and, on the other hand, to be delivered to a specific dock in the work area at a specific time a specific dock in the work area will be picked up by a long-distance logistics vehicle, with direct transport between these docks or the long-distance logistics vehicles there.

The logistics control and/or the transport robot are further designed to plan a sequence of actions that includes a plurality of actions to fulfill a transport order in a predetermined order, with an action being present as a machine-readable data object and a target state at the end of the action as the target. State also provides and prefers a target state of the transport robot at the beginning of the action as an initial state. A target state can include at least a target position and/or a target loading state.

• ▪ Einer autonomen Eigen-Aktion, die vorsieht, dass der Transportroboter in einem Eigen-Steuermodus tätig wird, um selbststätig von dem Anfangs-Zustand in den Ziel-Zustand zu gelangen; UND
• ▪ Eine kollaborative Interaktion, bei der der Transportroboter eine externe Eingabe von einer Bedienperson anfordert und in einem Fremd-Steuermodus gemäß dieser externen Eingabe tätig wird.

The training of the transport robot and/or the logistics control is also designed in such a way that the actions in the action sequence are planned as a compilation of at least two different types of actions:

• ▪ An autonomous self-action, which provides that the transport robot operates in a self-control mode in order to move automatically from the initial state to the target state; AND
• ▪ A collaborative interaction in which the transport robot requests external input from an operator and acts in a third-party control mode according to that external input.

• Einen Aktions-Steuerabschnitt, der
  • ▪ eine Aktionsfolge verarbeitet, die eine Mehrzahl von Aktionen zur Erfüllung eines Transportauftrags in einer vorgesehenen Reihenfolge umfasst, wobei eine Aktion ein maschinenlesbares Datenobjekt ist und einen Soll-Zustand des Transportroboters zum Ende der Aktion als Ziel-Zustand vorsieht und bevorzugt einen Soll-Zustand zu Beginn der Aktion als Anfangs-Zustand. Bevorzugt kann ein und insbesondere jeder Soll-Zustand zumindest eine Soll-Position und/oder einen Soll-Beladungs-Zustand umfassen. Die Aktionen in der Aktionsfolge umfassen mind. zwei unterschiedliche Aktions-Arten: Eine autonome Eigen-Aktion und eine kollaborative Interaktion; und
  • ▪ auf Basis einer Zustandsauswertung über die Soll-Zustände gemäß den Aktionen und dem Ist-Zustand des Transportroboters Handlungsvorgaben erzeugt.
• Einen Plattform-Steuerabschnitt, der eine Handlungsvorgabe empfängt und
  • ▪ im Falle einer Handlungsvorgabe für die Umsetzung einer autonomen Eigen-Aktion: Einen Eigensteuermodus aktiviert und eine Kurs-Vergabe berechnet, die dazu geeignet ist, den Transportroboter in den Ziel-Zustand zu überführen;
  • ▪ im Falle einer Handlungsvorgabe für die Umsetzung einer kollaborativen Interaktion: Eine Kollaborations-Anforderung ausgibt, einen Fremd-Steuermodus aktiviert und eine Kurs-Vorgabe auf Basis von Steuerbefehlen erzeugt, die gemäß einer externen Eingabe über eine Fremdsteuerschnittstelle empfangen werden.

Yet another aspect of the present disclosure relates to a control method for a transport robot. The transport robot includes a movement platform, a load receiving area, a drive device and an external control interface. The control method includes at least the following sections and steps, which can be carried out in the specified order or in any other order, in particular in an iterative execution:

• An action control section that
  • ▪ processes a sequence of actions that includes a plurality of actions for fulfilling a transport order in a predetermined order, wherein an action is a machine-readable data object and provides a target state of the transport robot at the end of the action as a target state and preferably a target state Start of the action as an initial state. Preferably, one and in particular each target state can comprise at least one target position and/or a target loading state. The actions in the action sequence include at least two different types of actions: an autonomous self-action and a collaborative interaction; and
  • ▪ Action instructions are generated based on a status evaluation of the target states according to the actions and the actual state of the transport robot.
• A platform control section that receives an action instruction and
  • ▪ in the case of an action requirement for the implementation of an autonomous action: Activated a self-steering mode and calculated a course assignment that is suitable for transferring the transport robot to the target state;
  • ▪ in the case of an action instruction for the implementation of a collaborative interaction: Issues a collaboration request, activates a third-party control mode and generates a course instruction based on control commands that are received according to an external input via a third-party control interface.

A traction drive control section that receives a course specification and controls the drive device of the transport robot based on this.

• Einen Transport-Planungsabschnitt, der
  • ▪ mindestens einen bevorstehenden Wareneingang oder Warenausgang erfasst, wobei für den bevorstehenden Wareneingang oder Warenausgang mindestens ein Belade-Ort und/oder ein Entlade-Ort in dem Arbeitsbereich bestimmt ist, der geeignet ist, um die betroffene Ware für die Erfüllung des bevorstehenden Wareneingangs oder Warenausgangs zu transportieren, und
  • ▪ mind. Einen Transport-Auftrag definiert, wobei der Transport-Auftrag ein maschinenlesbares Datenobjekt ist und die zugehörige Ware einer Ladung zuordnet, und weiterhin die Abholung einer Ladung von dem ermittelten Belade-Ort und/oder die Lieferung einer Ladung an den ermittelten Entlade-Ort definiert.
• Einen Aktions-Planungsabschnitt, der
  • ▪ mind. Einen Transport-Auftrag empfängt und eine Aktionsfolge plant, der dazu geeignet ist, den Transport-Auftrag zu erfüllen.

Yet another aspect of the present disclosure relates to a control method for a logistics system. The logistics system includes at least one transport robot and preferably a plurality of transport robots in a work area. The tax procedure includes:

• A transport planning section that
  • ▪ at least one upcoming goods receipt or goods issue is recorded, whereby at least one loading location and/or an unloading location in the work area is designated for the upcoming goods receipt or goods issue, which is suitable for the goods concerned to fulfill the upcoming goods receipt or goods issue to transport, and
  • ▪ at least one transport order is defined, whereby the transport order is a machine-readable data object and assigns the associated goods to a load, and furthermore the collection of a load from the determined loading location and/or the delivery of a load to the determined unloading location Location defined.
• An action planning section that
  • ▪ receives at least one transport order and plans a sequence of actions that is suitable for fulfilling the transport order.

• ▪ Einer autonomen Eigen-Aktion, die vorsieht, dass der Transportroboter in einem Eigen-Steuermodus tätig wird, und
• ▪ einer kollaborativen Interaktion, die vorsieht, dass der Transportroboter eine externe Eingabe von einer Bedienperson anfordert und in einem Fremd-Steuermodus tätig wird.

The actions in the action sequence AS can be defined from at least two different action types:

• ▪ An autonomous self-action, which provides that the transport robot operates in a self-control mode, and
• ▪ a collaborative interaction that involves the transport robot requesting external input from an operator and operating in a third-party control mode.

Yet another aspect of the present disclosure relates to a load-carrying mechanism for an industrial truck, in particular for a transport robot. The load-carrying mechanism includes a fork carriage with a first fork and a second fork and a fork drive device. The fork carriage guide allows the fork carriage to move in a second horizontal direction that is parallel to the forks.

The load-carrying mechanism also has a lifting device with at least one retractable and extendable support means. The support means is designed to provide force support relative to the ground on a distal section of at least one fork in the extended state and to be/be removed from the ground in the retracted state.

A load-carrying mechanism according to the aforementioned design allows the weight of a load to be picked up to be temporarily supported on the ground in the area of the distal ends of the forks and also to be raised using this supporting force. In this way, the tipping moment, which is affected by the load to be picked up on the industrial truck or the transport robot when the fork carriage is in the extended state, is significantly reduced or an additional supporting force acting in the vertical direction is temporarily provided at the distal ends of the forks, which moves forward Prevents the industrial truck or transport robot from tipping over.

In this way, the industrial truck or the transport robot can be designed with a significantly lower weight because the dorsal section of the industrial truck or transport robot does not have to serve as a counterweight to the load to be picked up.

In this way, an industrial truck or transport robot can be formed that achieves similar load capacities to a forklift truck known in practice, but is so light that it can also be used in the loading space of a long-distance logistics vehicle.

The load-carrying mechanism preferably also includes a fork carriage guide. The fork carrier guide is preferably arranged in a second horizontal direction, which runs transversely to the forks, between or next to the forks.

The load-carrying mechanism can preferably be mounted on a trans by means of the fork drive device and/or the fork carriage guide port robot, in particular be arranged on a movement platform of a transport robot.

The present disclosure includes a transport robot with a movement platform and a load-carrying mechanism according to the aforementioned aspect, wherein the transport robot may further have a configuration according to the first aspect or any other configuration.

• ▪ In einem Zustand, in welchem der Gabelträger an einer aufzunehmenden Ladung vorpositioniert ist, sodass die distalen Enden der Gabelzinken vor mindestens einem Kanal angeordnet sind, der innerhalb oder unterhalb der aufzunehmenden Ladung verläuft:
• ▪ Ausfahren des Gabelträgers entlang einer ersten Horizontalrichtung (x), die parallel zu den Gabelzinken verläuft, sodass die Gabelzinken den mindestens einen Kanal durchgreifen. Expansions-Betätigung der Hubeinrichtung, sodass das Stützmittel in einen ausgefahrenen Zustand übergeht, in welchem es auf den Untergrund abgestützt ist, und Anheben des Gabelträgers in einer vertikalen Richtung, sodass die Ladung auf den Gabelträger aufgenommen und vom Untergrund abgehoben wird.
• ▪ Einfahren des Gabelträgers in der ersten Horizontalrichtung unter Mitnahme der aufliegenden Ladung entgegen einer dorsalen Endposition.
• ▪ Kontraktions-Betätigung der Hubeinrichtung, sodass das Stützmittel in einen eingefahrenen Zustand übergeht, in welchen die Abstützung auf dem Untergrund aufgehoben ist.

The transport robot can particularly preferably include a controller with an own control mode and an external control mode. The load-carrying mechanism can be controlled automatically in self-control mode based on an autonomous self-action and in third-party control mode it can be controlled based on an external input received via a third-party control interface of the transport robot or the load-carrying mechanism. Another aspect of the present disclosure relates to a load-carrying method. The load-carrying method can preferably be carried out by controlling the transport robot or the load-carrying mechanism. It preferably includes the following steps:

• ▪ In a state in which the fork carriage is pre-positioned on a load to be picked up so that the distal ends of the forks are arranged in front of at least one channel which runs inside or below the load to be picked up:
• ▪ Extending the fork carriage along a first horizontal direction (x), which runs parallel to the forks, so that the forks pass through the at least one channel. Expansion actuation of the lifting device so that the support means goes into an extended state in which it is supported on the ground, and raising the fork carriage in a vertical direction so that the load is picked up on the fork carriage and lifted off the ground.
• ▪ Retracting the fork carriage in the first horizontal direction, taking the load on it towards a dorsal end position.
• ▪ Contraction actuation of the lifting device so that the support means goes into a retracted state in which the support on the ground is removed.

The present disclosure also includes a computer program product that is stored on a data carrier or received via a data interface, wherein the computer program product is executable on a data processing device and contains instructions that are suitable for executing a control method or a load-bearing method according to the present disclosure to carry out.

Furthermore, the present disclosure includes a data processing device for a transport robot and/or for a logistics system and/or for a load-carrying mechanism according to one aspect of the present disclosure, wherein the data processing device is designed to carry out a control method or a load-carrying method according to the present disclosure.

Further advantageous embodiments of the present invention are specified in the following detailed description, the accompanying drawings and the subclaims.

• 1: ein Logistik-System mit einem Transportroboter und einer Logistiksteuerung im Schrägbild;
• 2: eine schematische Draufsicht auf eine Szene, die einen Arbeitsvorgang zur Erfüllung einer Transportaufgabe erläutert, die mit einer Folge von autonomen Eigen-Aktionen, einer geplanten kollaborativen Interaktion und einer intervenierende Fremdsteuerung umgesetzt wird;
• 3: eine Ablaufillustration für die Verarbeitung einer Aktionsfolge mit zwei autonomen Eigen-Aktionen, einer kollaborativen Interaktion und einer externen Intervention während einer autonomen Eigen-Aktion;
• 4: eine perspektivische Darstellung des Einsatzes von Transportrobotern im Laderaum eines Fernlogistik-Fahrzeugs;
• 5: eine schematische Darstellung einer Logistik-Steuerung und eines zugehörigen Steuerverfahrens mit einem Transport-Planungsabschnitt in Zusammenwirken mit einem Lagerverwaltungs-System;
• 6: eine schematische Darstellung der Arbeitsweise eines Aktions-Planungsabschnitts zur Erzeugung von Aktionsfolgen für die Erfüllung von Transportaufträgen;
• 7: eine schematische Darstellung einer Steuerung für einen Transportroboter und eines zugehörigen Steuerverfahrens mit einem Aktions-Steuerabschnitt und einem Plattform-Steuerabschnitt;
• 8: eine Seitenansicht eines Transportroboters mit einer bevorzugten Ausführungsform eines Lastaufnahme-Mechanismus;
• 9: eine Untersicht des Transportroboters von 1 ;
• 10A-D: Seitenansichten des Transportroboters von 8 und 9 zur Illustration eines Lastaufnahmeverfahrens in vier Ablaufschritten;
• 11: eine Seitenansicht eines Transportroboters während der Durchführung eines Lastaufnahmeverfahrens bei der Aufnahme eines Ladungsträgers in einer ersten Möglichkeit für die Einführung der Gabelzinken;
• 12: eine Darstellung analog zu 12 in einer zweiten Möglichkeit für die Einführung der Gabelzinken;
• 13 u. 14: Schrägbilddarstellungen von zwei bevorzugten Ausführungsvarianten von omnidirektionalen Antriebseinheiten für einen Transportroboter;
• 15: eine schematische Draufsicht auf ein Logistik-System gemäß der vorliegenden Offenbarung;
• 16: eine schematische Draufsicht auf ein Logistik-System gemäß dem Stand der Technik.

The invention is shown by way of example and schematically in the drawings. These show:

• 1 : a logistics system with a transport robot and a logistics control in an oblique view;
• 2 : a schematic top view of a scene that explains a work process for fulfilling a transport task, which is implemented with a sequence of autonomous self-actions, a planned collaborative interaction and an intervening external control;
• 3 : a flow illustration for processing an action sequence with two autonomous self-actions, a collaborative interaction and an external intervention during an autonomous self-action;
• 4 : a perspective view of the use of transport robots in the hold of a long-distance logistics vehicle;
• 5 : a schematic representation of a logistics control and an associated control method with a transport planning section in cooperation with a warehouse management system;
• 6 : a schematic representation of the operation of an action planning section for generating sequences of actions for the fulfillment of transport orders;
• 7 : a schematic representation of a control for a transport robot and an associated control method with an action control section and a platform control section;
• 8th : a side view of a transport robot with a preferred embodiment of a load-carrying mechanism;
• 9 : a bottom view of the transport robot from 1 ;
• 10A-D : Side views of the transport robot from 8th and 9 to illustrate a load lifting procedure in four steps;
• 11 : a side view of a transport robot while carrying out a load-picking process when picking up a load carrier in a first option for introducing the forks;
• 12 : a representation analogous to 12 in a second possibility for the introduction of the forks;
• 13 u . 14: Oblique image representations of two preferred embodiment variants of omnidirectional drive units for a transport robot;
• 15 : a schematic top view of a logistics system according to the present disclosure;
• 16 : a schematic top view of a logistics system according to the state of the art.

A logistics system according to the present disclosure is in 15 shown. It comprises a work area and at least one, preferably a plurality, of transport robots (1). The transport robots are designed according to one aspect of the present disclosure and have a controller that temporarily autonomously generates course specifications (KV) as part of a self-control mode (STE) and thus controls the drive device (12) of the respective transport robot (1). On the other hand, within the framework of an external control mode (STF), the control can control the drive device (12) on the basis of course specifications (KV) which are generated according to an external input (EE, EE*), which are transmitted via an external control interface (21). of the transport robot (1).

The transport robots (1) can move essentially freely in the work area (72).

The work area (72) can have any training. For example, it can be the floor area of a logistics center, which can be partially located inside or outside one or more buildings. Preferably, the work area (72) for the various control systems according to the present disclosure is known by a digital map, so that localization of the transport robots (1) and the goods (60) in the work area (72) is possible.

The work area (72) can also extend into the cargo space (103) of a long-distance logistics vehicle (102), which may be temporarily stationed at a suitable dock (104), in particular a goods receiving zone. Top right in the work area (72) of 15 A loading or unloading process is illustrated in which at least one transport robot (1) and an operator (50) enter the loading space (103). 4 shows an oblique view of this situation with a view of the cargo hold (103). As an example, it is assumed that a transport order (LT), when carried out, the top right in 15 as in 4 The situation shown occurs, comprises a chain of activities that include autonomous action by at least one transport robot (1) and a planned interaction with interaction between the transport robot (1) and the operator (50). These activities are represented in the control systems according to the present disclosure by machine-readable data objects so that they are accessible for the performance and possible reorganization of the activities by one or more data processing devices.

A transport request (LT) and an action sequence (AF) represent particularly important machine-readable data objects, the creation and processing of which is explained in greater detail below.

6 shows three variants of a transport order (LT) on the left as an example.

The transport order (LT) in the top line defines that a specific load (60) is to be picked up from a loading location (O*) and delivered to an unloading location (O').

This transport order (LT) can be divided into two parts according to the lines below, on the one hand a collection order (LTa) and on the other hand a delivery order (LTb). The pickup order (LTa) thus determines that a load (60) that is not yet specified or a predetermined load (60) should be picked up at a loading location (O*). A delivery order (LTb) can accordingly define that a load (60), which is loaded on a transport robot (1) and is preferably recognized as a specific load (60), is delivered to an unloading location (O').

• ▪ Anfahrt zum spezifizierten Belade-Ort (O*), Position zu Beginn der Aktion: Momentaner Aufenthaltsort des Transportroboters (1), beispielsweise Ladestation für elektrisches Aufladen, oder anderer spezifizierter Start-Ort; Ziel-Ort: eine grob oder detailliert vorbestimmbare Position am Belade-Ort (O*);
• ▪ Vorpositionierung an Ladung: Start-Ort = Ziel-Ort der vorhergehenden Aktivität; Neuer Ziel-Ort =Adhoc zu bestimmende Position im Zugriffsbereich vor der aufzunehmenden Ladung (60), kann ggf. durch Bedienperson (50) genauer spezifiziert werden;
• ▪ Aufnehmen der Last: Start-Ort = Ziel-Ort der vorhergehenden Aktion; Ziel-Ort: Stabile Transportlage unter der angehobenen Ladung (kann mit Start-Position übereinstimmen oder davon abweichen, je nach Art des Beladungsvorgangs);
• ▪ Rangierfahrt: Start-Ort = Ziel-Ort der vorhergehenden Aktion; Ziel-Ort = Übergangsbereich zu einer Fahrzone mit freien und geräumigen Fahrwegen;
• ▪ Transportfahrt: Start-Ort = Ziel-Ort der vorhergehenden Aktion; Ziel-Ort: grob oder detailliert spezifizierte Position am Entlade-Ort (O');
• ▪ Vorpositionieren: Start-Ort = Ziel-Ort der vorhergehenden Aktion; Ziel-Ort: Abstellposition für die aufgenommene Ladung (60) oder eine Zugriffsposition davor (kann ggf. durch Bedienperson (50) spezifiziert werden);
• ▪ Abladevorgang: Start-Ort = Ziel-Ort der vorhergehenden Aktion; Ziel-Ort = Zugriffsposition neben Abstellort der Ladung (60);
• ▪ Rangierfahrt: Start-Ort = Ziel-Ort der vorhergehenden Aktion; Ziel-Ort = Übergangsbereich zu einer Fahrzone mit freien und geräumigen Fahrwegen;
• ▪ Einrückfahrt: Start-Ort = Ziel-Ort der vorhergehenden Aktion; Ziel-Ort = Ruhe-Position für Transportroboter (1) während Einsatzpause, beispielsweise Ladestation oder Bereitschafts-Stellplatz in verkehrsgünstiger Lage im Arbeitsbereich.

For complete execution from the perspective of a transport robot (1), a transport order (LT) can include, for example, the following sub-activities, which can be reproduced as machine-readable data objects by associated actions (Ai) in an action sequence (AF):

• ▪ Directions to the specified loading location (O*), position at the start of the action: Current location of the transport robot (1), for example charging station for electrical charging, or other specified starting location; Target location: a roughly or detailed predeterminable position at the loading location (O*);
• ▪ Prepositioning on load: Start location = destination location of the previous activity; New target location = position to be determined ad hoc in the access area in front of the load to be picked up (60), can if necessary be specified more precisely by the operator (50);
• ▪ Picking up the load: Start location = destination location of the previous action; Destination location: Stable transport position under the lifted load (may correspond to or deviate from the start position, depending on the type of loading process);
• ▪ Shunting trip: Start location = destination location of the previous action; Destination location = transition area to a driving zone with free and spacious routes;
• ▪ Transport trip: Start location = destination location of the previous action; Target location: roughly or detailed specified position at the unloading location (O');
• ▪ Prepositioning: Start location = destination location of the previous action; Target location: parking position for the picked up load (60) or an access position in front of it (can be specified by the operator (50) if necessary);
• ▪ Unloading process: Start location = destination location of the previous action; Target location = access position next to where the load is placed (60);
• ▪ Shunting trip: Start location = destination location of the previous action; Destination location = transition area to a driving zone with free and spacious routes;
• ▪ Retraction: Start location = destination location of the previous action; Target location = rest position for transport robots (1) during breaks in use, for example charging station or standby parking space in a convenient location in the work area.

All of the aforementioned locations and positions can be located within the work area (72). The work area can also extend into a loading space of a long-distance logistics vehicle.

The locations and positions can be determined in any form. In particular, it is possible to determine the locations with different levels of detail. The determination/specification of a location or a position can, for example, be predetermined qualitatively or quantitatively. A qualitative determination of locations and positions allows sufficient detail at the level of planning transport orders and activities to coordinate a variety of transport operations in the work area. On the other hand, it leaves enough freedom to carry out detailed planning “on site” according to local conditions, which can change dynamically. On the other hand, the qualitative determination allows or even provides for a selection decision to be made by an operator.

A qualitative predetermination can be, for example: “Access position in front of the load with load identification (ABC 123)” or “Open space with at least 3 m distance to the loading space and 1 m distance to the intended main traffic route”. Such qualitative predeterminations can be further specified during the execution of the transport order or an action by a further activity within the control of the transport robot or by an activity by the operator. For example, a qualitative location information such as “access position in front of load with load identifier ABC 123 can be displayed on the display of a transport robot during the execution of a transport order. An operator can read this information, locate the load with load identifier ABC 123, determine a suitable access position in front of it and control the transport robot to reach this position. On the other hand, for example, the definition of an “open space with at least 3 m distance from the loading space and 1 m distance from the intended main traffic route” can be done by the first transport robot in a group of transport robots that are sent together to a loading location. This first transport robot can use its environment detection device to determine which open space areas are present overall and define a part of it as the open space that is then defined as the specific target location.

A quantitative consolidation, on the other hand, can form a clear and precisely specified specification that must be adhered to by the transport robots and/or operators, for example by specifying point coordinates and/or a target orientation in the work area (72). Quantitative determinations can be useful, for example, where the load is to be transferred to another automated system or where a specific macro-structure of the work area (72) is desired. For example, a (possibly temporary and purely virtual) stopping zone can be defined for one or more currently idle transport robots, preferably at a location that will not be needed for journeys or charging processes in the foreseeable future, for example by defining a temporary standby zone as the destination of an engagement trip.

The various activities and associated actions can be separated by predetermining a change in the position and/or the loading status of the transport robot (1) at the boundary between two actions. During the approach, pre-positioning before loading, maneuvering after unloading and during the approach journey, the target loading status can be defined at the beginning and end of the activity/action as: “Unloaded”. During the transport journey and pre-positioning for unloading, the target loading status can be defined as: “Load picked up”. For a loading process, the target loading state at the beginning can be defined as: “Unloaded” and the target loading state at the end as: “Load taken in”. Accordingly, conversely, the target loading conditions can be defined at the beginning and end of the unloading process.

It may be sufficient to just define target states. Furthermore, it may be sufficient to only define a target position if it changes during the action to be carried out, or to only define a target loading state if it changes during the action to be carried out.

For loading or unloading a plurality of goods that are assigned to a specific goods receipt or goods issue or a group of goods receipts or group of goods issues, several loads may have to be transported. For example, a group of goods receipts can provide that a total of 260 packages arrive at a specific goods receiving zone (104), which are packed as boxes (61) and in turn grouped into groups on load carriers (62). In this case, a load (60) consists of (at least) one load carrier (62) with the boxes (61) arranged on it. It will often already be known via a warehouse management system which identifiable goods are present in what form in an equally identifiable load, in which case the load (60) in particular can be identified by an identification means such as a barcode, a shipment number, etc. However, it is often unknown in which order or distribution the identifiable loads are to be found in the cargo space (103) of a long-distance logistics vehicle (102).

In order to carry out unloading as quickly and therefore efficiently as possible and also to carry out goods handling as efficiently as possible, it can be advantageous to first remove the loads (60) from the cargo space (103) in any order and, for example, only after they have been moved out of the cargo space (103 ) to identify the load that has been loaded onto the respective transport robot (1). Such identification can be carried out in particular with greater freedom, without hindering the pre-positioning, loading or maneuvering of another transport robot or the movements of operators (50).

According to the explanations above, it can be advantageous to predetermine a charge to be picked up only qualitatively or quantitatively. A qualitative predetermination can be, for example: “A pallet from goods receipt number HIJ 567”. However, a quantitative definition of a load can be: “Consignment number ABK743928, recognizable by pallet number ABC123”.

The logistics and transport technology according to the present disclosure is suitable for both mapping the complete transport process in terms of control technology and organizing it independently, as well as independently dividing the activities to be carried out to carry out these transport orders into machine-readable and autonomously processable actions, as well as the transport orders on one or more transport robots (1) to distribute. The transport robots (1) in turn are designed to independently process a sequence of actions which, on the one hand, is suitable for fulfilling an associated transport order and, on the other hand, can include additional components, such as planning a journey or carrying out an engagement journey.

The logistics control (71) and/or the control (20) of a transport robot (1) comprises an action planning section (APA), which is designed to receive a transport order (LT), which is present as a data object and which Collection of a load (60) from a loading location (O*) and / or the delivery of a load (60) to an unloading location (O ') and further plans a sequence of actions (AF) that is suitable for this Transport order (LT) to be fulfilled. It is also possible to provide an action planning section (APA) in both controls, i.e. both in the logistics control (71) and in the control (20) of the transport robot.

5 shows a schematic representation of a logistics system (70), which includes a logistics control (71) and a plurality of transport robots (1) in a work area (72) (not shown here). The logistics control (71) records a large number of goods, each with an assigned one current positions and a plurality of upcoming goods receipts and/or goods issues. The incoming and outgoing goods are managed, for example, by a warehouse management system (WEAS). The warehouse management system (WEAS) is also optionally part of the logistics system (71).

Based on 5 the implementation of a control procedure for the logistics system (70) is illustrated. The logistics control (71) records an incoming or outgoing goods. Capture can be done in any way. For example, a message can be received from a warehouse management system (WEAS). Alternatively, a data record can be read from a data carrier or input can be made via a user interface.

In the example shown, the logistics control (71) includes a transport planning section (TPA) and an action planning section (APA). The transport planning section (TPA) defines a transport order (LT) that assigns the associated goods to a load (60), and further defines the collection (LTa) and/or the delivery (LTb).

If necessary, the transport planning section (TPA) additionally determines a loading location (O*) and an unloading location (O') in the work area (72) for an upcoming goods receipt or goods issue. The incoming goods or outgoing goods can, for example, only include a predetermined loading location or only a predetermined unloading location, with the transport planning section (TPA) supplementing the other location. Alternatively or additionally, delayed planning of collection (LTa) and (LTb) is possible. For example, a goods receipt can only indicate that a specific product will arrive at a specific area at a specific time with a long-distance logistics vehicle (102), this area being defined as the loading location (O*). However, it may still be unclear where the delivered goods are to be transported. The specification of an unloading location (O') can be left open at the time of initial planning of a transport order (LT). For example, only one pickup order (LTa) can initially be planned, which takes over the defined loading location (O*) from the goods receipt. At a later point in time, for example when the load has been picked up on a transport robot (1), the transport planning section (TPA) can inquire what should happen next with this load (60) or the goods it contains and for this purpose a transport plan. Send feedback (LR) to the warehouse management system (WEAS). As soon as a transport destination is known, an associated delivery order (LTb) can be generated, so that the complete transport order (LT) is now defined.

6 explains the procedure of the action planning section (APA). The action planning section (APA) receives at least one transport order (LT, LTa, LTb) and plans an action sequence (AF) that is suitable for fulfilling the transport order (LT). The transport order (LT) can be a pure pick-up order (LTa), a pure delivery order (LTb) or a combined pick-up and delivery order.

Within the scope of the present disclosure, at least two different types of actions can be defined for planning a sequence of actions (AF), namely, on the one hand, an autonomous self-action (A_e), which provides that the transport robot (1) is in a self-control mode (STE). is active, and on the other hand a collaborative interaction (A_k), which provides that the transport robot (1) requests an external input (EE) from an operator (50) (KA) and acts in an external control mode (STF).

Planning autonomous actions is suitable and useful for those activities that experience shows that an autonomous transport robot (1) can handle quickly and efficiently without any problems. This includes, for example, the planning and execution of the journey, the transport of a load between the loading location and the unloading location and the arrival journey. Simply picking up a load (60) by activating a load-picking mechanism (30) when the transport robot (1) is already in a suitable access position can also be an autonomous action.

The planning of a collaborative interaction can, for example, be intended for activities in which experience shows that autonomous robots are confronted with situational conditions that are unknown to them and that they cannot (yet) carry out with their artificial intelligence or can only carry out with moderate efficiency. This includes, in particular, the recognition and localization of a (specific) load or a (specific) load carrier (61), the pre-positioning of the transport robot (1) in front of such a load carrier (61) as well as maneuvering in unknown or externally controlled spaces, in particular in the cargo space ( 103) of a long-distance logistics vehicle (102). It may also be the case that the long-distance logistics vehicle (102) is not or cannot be subject to the control and/or organizational requirements of the operator of the logistics system and that, purely for this reason, an autonomous action of a transport robot (1) in the loading space ( 103) should not be permitted. Typical examples of activities that can be carried out with the help of a Operator (50) should be carried out, and correspondingly assigned actions are the pre-positioning of the transport robot in the access area of a (possibly not yet identified) load in the loading space (103) and a shunting trip. The support of an operator (50) when maneuvering can be helpful in order to remove the transport robot (1) from the loading space (103) quickly and on a conveniently chosen route, without unduly imposing on the activities of other transport robots (1) or operators (50). disturb.

By providing at least two types of actions for planning the sequence of actions (AF), it can be ensured that at the overall organizational level for the execution of a transport order (LT) and in particular for the execution of a large number of such transport orders (LT) a complete digital image is available. At the same time, one or more operators (50) can be called in to efficiently carry out the difficult positioning and identification tasks within the transport order (LT).

In this way, a logistics system is created that combines the special advantages of human intelligence and artificial intelligence as well as the mental and physical resilience of technical systems and people in a particularly favorable way. As a result, goods handling in a logistics system can be carried out with a massive increase in efficiency and at the same time with a significant reduction in the meter rate.

The drive device (12) of the transport robot (1) can basically be designed in any way. However, it has particular advantages if the drive device is designed as an omnidirectional drive device, i.e. is suitable for carrying out an omnidirectional movement in the plane.

• ▪ Eine Translation in einer ersten Horizontalrichtung (x), insbesondere Vorwärts-Rückwärts-Richtung.
• ▪ Eine Translation in einer zweiten Horizontalrichtung (y), die zur ersten Horizontalrichtung (x) unterschiedlich und bevorzugt orthogonal ist, bevorzugt Seitwärts- Richtung;
• ▪ Eine Rotation um eine Hochachse.

An omnidirectional movement in the plane includes three degrees of freedom:

• ▪ A translation in a first horizontal direction (x), in particular a forward-backward direction.
• ▪ A translation in a second horizontal direction (y), which is different from the first horizontal direction (x) and preferably orthogonal, preferably sideways direction;
• ▪ A rotation around a vertical axis.

An omnidirectional drive device supports, for example, straight-ahead travel, diagonal travel, rotation while stationary and any cornering. It is therefore to be distinguished from merely steerable drive means, which only include two degrees of freedom (forward travel, rotation around the vertical axis). Steerable drive means only support straight-ahead travel and cornering, but not sideways travel and, as a rule, no rotation when stationary.

It is furthermore advantageous if the drive device (12) of the transport robot (1) is designed to act as an intrinsically safe drive, which in particular includes a passive redriving function and/or a controlled evasion function.

The movement spaces of the operators (50) with the manually guided pallet trucks (100), on the one hand, and the (partially) autonomous conveyor vehicles (101), on the other hand, are usually separated by a zone boundary (ZG). So on the one hand there is a manual zone (Z1) and on the other hand an autonomous or semi-autonomous driving zone (Z3). The transfer area (105) can be part of both zones (Z1, Z3) or form a separate reloading zone (Z2).

The omnidirectional mobility of a transport robot provides a great simplification for the autonomous planning of action sequences (AF), because there are generally no boundary conditions that would limit or exclude the planning of a movement course (course specification) by which the transport robot (1) from the start -location to the target location.

The intrinsically safe design of the drive device (12) ensures that the transport robots (1) can also be used in a confined space together with one or more operators (50), i.e. in particular in the loading space (103) of a long-distance logistics vehicle (102).

Requesting a collaboration (KA) to perform a collaborative interaction (A_K) can be done in any way. The transport robot (1) preferably comprises an output interface with a connection (direct or indirect) to a display device (13). The display device (13) can have any design. It can be arranged on the transport robot (1) and/or be a remote display device. One or more display devices (13) can also be provided on the transport robot (1). In the example of 1 The transport robot (1) has, for example, a display (13a), an acoustic signaling device (13b), several light signaling devices (13c) and / or one or more projectors (13d).

The display (13a) can be designed to convey complex information with changing graphic or textual content. For example, a collaboration request (KA) can be implemented by a text message such as: “Next step: pre-positioning the transport robot (1) in front of the load with pallet identifier ABC123”.

A corresponding message could alternatively or additionally be issued via this acoustic signaling device (13b). The light signaling devices (13c) can be used, for example, to indicate through colored signal emission and/or pulsed signal emission that the transport robot (1) is in a certain state, for example "waiting for collaborative interaction" or "active in autonomous self-control mode" or “waiting state without active action”, which can each be identified by different colors and/or pulse coding.

Using the one or more projectors (13d), a transport robot (1) can, for example, display a movement to be expected in the near future and/or the boundaries of a defined target location, for example by projecting lines or symbols on the floor.

The aforementioned examples are purely illustrative and can be combined or swapped in any way and can be supplemented or replaced by other forms of information transfer. For the execution of a collaborative interaction (A_K), the transport robot preferably outputs explanatory information about the collaborative interaction (A_K) via the output interface (23), in particular the defined target state (S1) and the defined initial state (S0).

The controller (20) of the transport robot (1) is preferably designed to monitor the actual state of the transport robot (1), in particular the actual position and the actual loading state of the transport robot (1). Accordingly, the Action Tax Section (ASA) (cf. 7 ) preferably include a status evaluation (ZA), which in particular detects deviations and correspondences between the actual state and the target states. The Action Control Section (ASA) can exchange information with the Platform Control Section (PSA) in any way. In the example of 7 Action instructions (HV) are generated by the action control section (ASA), which define instructions for the implementation of an autonomous action (A_e) or a collaborative interaction (A_k). The action instructions (HV) can, for example, specify whether the external control mode (STF) or the internal control mode (STE) is to be carried out and which target location is for an action to be carried out. An action feedback (HR) can, for example, include information about what actual position and/or what actual loading status the transport robot (1) currently has and/or whether in the platform control section (PSA) or a lower control level, for example in the traction drive control section (FSA) deviations or exceptions occur, which will be discussed further below.

Processing the sequence of actions (AF) can be done in any way. The controller (20) is preferably designed to carry out the majority of actions (Ai) in the action sequence (AF) according to the order. In particular, it can be provided that the execution of a next pending action (Ai) is initiated when the current actual state of the transport robot (1) matches the start state (S0) according to this action (Ai). Alternatively or additionally, it can be provided that the completion of a currently executed action (Ai) is requested when the current actual state of the transport robot (1) matches the target state (S1).

A target state, in particular an initial state (S0) and a target state (S1), can include at least a target position and/or a target loading state.

If the completion of a currently executed action (Ai) has been detected, the next pending action (Ai) can be identified and in particular it can be determined whether the actual state of the transport robot (1) again corresponds to the initial state (S0). .

The controller (20) can preferably be designed to automatically plan new actions (Ai) or to request a new or changed sequence of actions (AF) from the logistics controller (71). Such a new planning or request can occur in particular if the condition monitoring (ZA) detects an impermissible deviation, in particular a deviation that exceeds the tolerance framework, between the actual state of the transport robot (1) and the currently relevant target states (S0, S1).

A replanning can, for example, stipulate that an activity originally planned as an autonomous action (A_e) is replaced by a newly planned collaborative interaction (A_a). Such rescheduling can occur, for example, if the speed of execution is inadmissibly below the planned speed or if errors or exceptions are detected. A re-planning and re-planning On the other hand, this may become necessary if, in the course of executing an autonomous action, an obstacle is detected in the route that cannot be avoided independently within the framework of the currently valid action instructions (HV).

Particularly preferably, the control of the transport robot (1) is further designed to receive an unplanned external input (EE*) via the external control interface (21) during the execution of an autonomous action (A_e), and then to carry out the execution of the autonomous action. Interrupt action (A_e) and act in external control mode (STF) according to the external input (EE*).

3 explains the possible changes between the types of action autonomous own actions (Ae), planned collaborative interactions (Ak) and (unplanned) external interventions (Ae). The actions refer to the in 2 illustrated transport process.

A first action (A1) is planned as an autonomous self-action (Aa) in the action sequence (AF). At the beginning of the action it is determined that the transport robot (1) is in a rest position and is in an unloaded state, which corresponds to the initial state (S0). The target state (S1) of the action (A1) provides that the target position of the transport robot (1) is at a predefined intermediate target location (OW) in the work area (72) and in the vicinity of a defined loading location (O *) should lie.

Based on 7 The implementation of this action is explained as an example.

The control (20) of the transport robot (1), in particular the action control section (ASA), determines that the actual position of the transport robot (1) and/or the actual loading state corresponds to the defined initial state (S0) and begins with the implementation of the action (A1). The aforementioned determination can be carried out in particular by the status evaluation (ZA) of the controller (20) or the action control section (ASA).

If within an action sequence (AF) a first action (A1) is recorded as completed and no initial state is defined in the next pending action (A2), or the initial state matches the target state of the previous action (A1) corresponds, the condition check may be omitted.

The action control section (ASA) generates an action specification (HV), which contains specifications for the platform control section (PSA), in particular the target position to be approached at the end of the action (A1) and the specification that the action (A1) is carried out in Self-control mode (STE) must be carried out.

Based on the action specification, the platform control section (PSA) now autonomously generates a course specification for the control of the drive unit, in particular for passing on to the traction drive control section (FSA). The course specification can be any combination of parameters; in particular, it can define via points and, if necessary, target speeds for the movement. The course specification may be updated iteratively or in a closed loop based on position evaluation (PA) and course feedback received from the traction control section.

The traction drive control section (FSA) can have any design. It preferably includes a movement guidance section (BFA) that supports one or more functions. On the one hand, a collision avoidance section (KFA) can be provided, which is designed to convert the course specification (KV) into a possibly adapted movement specification (BV), which is passed on to a platform movement control (PBR), which in turn is in control or regulating connection with the drive units (12a, 12b, 12c) of the preferably omnidirectional drive device (12). The collision avoidance section preferably obtains information about the driving environment. This information can be obtained from any and possibly multiple sources. At least one environment detection device (14) is preferably present, which is also preferably a component of the transport robot (1). For example, distances to detected obstacles and/or localization and identification data about stationary or moving foreign objects in the driving environment can be obtained from the environment detection device (14). For example, the collision avoidance section can plan a movement path that maintains a certain minimum distance from foreign objects in order to get to the next via point or the position defined via the target state (S1).

The related information about the driving environment can also include data about a current and/or a planned movement of one or more other vehicles, in particular one or more other transport robots (1), which are received, for example, via vehicle-to-vehicle communication. On the basis of such data, the movement specifications (BV) of a transport robot (1) can be coordinated with the current or planned movement of a third-party vehicle. The coordination can in particular stipulate that a fall below one of the above The minimum distance seen by the transport robot (1) in a definable future time period, calculated from the current time, is avoided.

Alternatively or additionally, a traffic jam avoidance section can be provided which coordinates the entry and exit of transport robots (1) in sections of the work area (72) with a high traffic density, for example by coordinating average driving speeds and/or a row formation with collinear alignment of movement paths a group of transport robots operating close together (1).

The movement control section (BFA) can transmit course feedback (KR) to the platform control section (PSA), which includes, for example, a current speed, currently applied own forces and / or moments as well as any external forces and external moments that may be detected acting on the transport robot. In particular, the platform movement control can determine that an external reactive force is acting on the transport robot (1) and can automatically avoid this external force by correspondingly changing the control of the drive units (12a, 12b, 12c). In other words, the platform motion control preferably includes compliance control. Preferably, the one or more external forces can be determined qualitatively and/or quantitatively with respect to several parameters, for example with regard to the strength, direction and possibly the duration and/or rate of change of the external force.

The external force that is determined as part of the compliance control is usually not a force that is applied to a haptic control device (16) by an operator (50); such forces are usually referred to as external input ( EE, EE*) recorded and received by the external control interface (21). Rather, the external forces are those that are applied anywhere else on the transport robot and/or the load, for example to clear a danger zone, to enable escape or simply because a person is on a transport robot (1 ) wants to push past or clear a path through a group of transport robots (1).

In the example of 2 At the end of the action (A1), the transport robot (1) reaches the intermediate destination location (OW), ie the actual position or the actual state of the transport robot (1) corresponds to the defined target state (S1). It is thus detected that the action (A1) has been completed and the controller (20), in particular the action control section (ASA), continues processing the next action (A2). In the example shown, this next action (A2) is defined as a collaborative interaction (A_k). In the example shown, the initial state (S0) is defined with a target position at the intermediate destination location (OW) and, if necessary, with the target loading state “unloaded”. The target state (S1) provides a target position at the loading location (O*) and the target loading state “load taken”. In this example, for reasons of simplification, the pre-positioning for loading and the execution of a loading process were combined in a joint action. Alternatively, these activities can also be planned as separate actions.

The actual state of the transport robot (1) again corresponds to the initial state (S0). The controller (20) begins executing the action (A2). Since this is a collaborative interaction (A_k), the transport robot (1) requests external input (EE) from an operator (50). The controller (20) continues to switch to the external control mode (STF) so that the transport robot (1) and in particular the movement platform (10) and any load-carrying mechanism (30) act according to the external input (EE).

In the representation of 3 It is explained that when changing from an autonomous action (A_a) to a planned collaborative interaction (A_k), a collaboration request (KA) is usually generated and further movement control only begins when an external input (EE) is detected.

According to the representation 7 The action control section (ASA) generates an action specification, which in turn defines the action in the external control mode (STF) and at least defines the new target state (S1) and in particular the target position at the loading location (O*). In external control mode (STF), the platform control section (PSA) receives one or more control commands (SB) from the external control interface (21), which in turn receives an external input (EE) (directly or indirectly) from an operator (50). receives. In the example of 1 the external control interface (21) is connected in terms of signals to a haptic input device (16), which in the present example is arranged on the transport robot (1). Alternatively or additionally, the external control interface (21) can be communicatively connected to any other input means, for example to a remote control.

The external input (EE) received via the external control interface preferably defines control specifications for the execution of an omnidirect ational movement in the plane. It therefore preferably includes signal components that refer to target specifications for a movement with a first horizontal translation, a different second horizontal translation and a rotation about the vertical axis.

Even in the external control mode (STF), the controller (20) and particularly preferably the platform control section (PSA) generates a course specification (KV) for the control of the drive device (12). The course specification (KV) may have a different definition in the external control mode than in the own control mode (STE). For example, it can include a target force, a target torque, a target speed in the translation direction and/or a target angular velocity. The aforementioned target parameters for force, torque and/or speed can be present in the form mentioned or alternatively as an integral value or differential value. They can also be present in any subcombination and in particular be combined in one or more vectors.

The travel drive control section (FSA) preferably receives the course specification (KV) and calculates a movement specification (BV) from it. This calculation can be done in any way. The traction drive control section (FSA) preferably comprises a collision avoidance section (KVA) which is designed to preferably carry out a potential field method to avoid collisions with detected obstacles or foreign objects when the external control mode (STF) is present. The potential field method can provide that the course specification is superimposed with one or more force vectors, which represent a virtual repulsive force, which points away from a detected obstacle or a foreign object and increases in amount depending on the distance of the transport robot to the obstacle or foreign object.

Such a potential field method ensures that a higher operating force must be applied by the operator (50) for the transport robot to approach an obstacle or a foreign object.

In other words, the movement specification (BV) is calculated on the basis of a received course specification (KV) and based on information about obstacles, foreign objects and/or foreign vehicles in order to avoid collisions.

In the illustration of 2 It is assumed that the operator (50) controls the transport robot (1) using the external input (EE) via the haptic input device (16) in such a way that it is moved towards a load (60) and picks up the load. At the end of the action (A2), the actual position of the transport robot (1) is at the loading location (O*) and the actual loading status is “load picked up”. Thus, the controller (20) determines that the action (A2) is completed and continues processing the next action (A3).

According to the illustration in 3 The action (A3) is an autonomous self-action. The actual state of the robot again corresponds to the defined initial state (S0), ie position = loading location (O*) and loading state is “load taken”.

In a preferred embodiment, the operator (50) can use a technical input means to record which specific load (60) has been picked up on the transport robot (1), for example by entering a shipment number or by scanning a load identifier. As soon as the picked-up load is identified, the control (20) and in particular the action control section (ASA) or the transport planning section (TPA) can determine whether a change or specification of the following delivery order (LTb) and/or the target -States of one or more next required to process pending actions (A3). In this example it is assumed that the load picked up corresponds exactly to the load planned to be picked up. Thus, no change is necessary and the action control section can continue executing the next scheduled action (A3), which provides a position at an unloading location (O') as the target state. The definition of the target loading state is no longer discussed in the present example; it can be analogous to the aforementioned example or according to an example described further below.

According to the illustration by 2 and analogous to the above explanations for implementing an autonomous action (A_a), the transport robot (1) begins a transport journey according to an autonomously generated course specification (KV). In the example of 2 The case now arises that an operator (50) makes or generates an (unplanned) external input (EE*) during the execution of the autonomous action (A_e), which is received via the external control interface (21). 3 illustrates further processing. Now the execution of the autonomous own action (A_e) is interrupted and the controller (20) switches to acting in the external control mode (STF) according to the external input (EE*).

The detection of the (unplanned) external input (EE*) and the implementation of the action interruption can be implemented in the controller (20) in any way.

In the example of 7 The platform control section (PSA) can detect that an external input (EE*) is detected via the external control interface (21) during the presence of a self-control mode (STE). In a preferred embodiment, an autonomous action (A_e) is immediately interrupted when an operator (50) takes hold of the haptic operating device (16). Furthermore, the controller (20) preferably switches to the external control mode (STF) if an external input (EE*) is detected via the external control interface (21) during the execution of an autonomous action (A_e).

The movement of the transport robot (1) is now carried out in the external control mode (STF) analogous to the above statements. In the illustration of 2 It is assumed that the operator (50) moves the transport robot (1) to a movement path adjacent to the original movement path.

• ▪ ob die unterbrochene autonome Eigen-Aktion (A_e) fortgesetzt wird; oder
• ▪ ob eine neue autonome Eigen-Aktion (A_e) geplant und ausgeführt wird, welche die unterbrochene Aktion ersetzt; oder
• ▪ ob eine neue kollaborative Interaktion (A_k) geplant und ausgeführt wird.

The controller (20) of the transport robot (1) is preferably designed to check, after completion of the unplanned external input (EE*), whether the then existing actual state of the transport robot (1) corresponds to the target state (S1) according to interrupted autonomous self-action (A_e), and to decide automatically on the basis of this check and with regard to the subsequent actions (Ai) in the action sequence (AF) or with regard to the associated transport task (LT),

• ▪ whether the interrupted autonomous self-action (A_e) is continued; or
• ▪ whether a new autonomous self-action (A_e) is planned and executed, which replaces the interrupted action; or
• ▪ whether a new collaborative interaction (A_k) is planned and executed.

The completion of an unplanned external input (EE*) can be determined in any way. For example, an operator (50) can do so as shown in 3 an external confirmation of completion (EB) can be issued. This can be done, for example, using a button, a button or any other suitable control element provided for this purpose. Alternatively or additionally, the completion of an unplanned external input (EE*) can be recorded if no external input (EE*) has been received at the external control interface (21) for a certain period of time.

The automatic decision on how to proceed can be made in any way. According to a preferred embodiment, a tolerance range can be defined up to which a deviation between the current actual state and a target state of the transport robot (1), in particular a deviation between the actual state and an initial state (S0) or a Target state (S1), is still understood as a tolerated agreement. If this tolerance is exceeded, for example the action control section (ASA) and in particular the status evaluation (ZA) can determine that in the current action sequence (AF) there is either an already planned future action (Ai) that leads to the current actual state of the transport robot (1) and continue processing this action (A_e), or, if there is no suitable action (Ai), send an action feedback (AR) to the transport planning section (TPA). The action feedback (AR) can in particular include information about the current status of the transport robot (1) and any load (60) that has been picked up. The controller (20) and/or the logistics controller (71) can subsequently generate one or more new actions (Ai) which replace the interrupted action (A_e) and any subsequent actions (Ai). Depending on the actual state of the transport robot (1), these can again be selected as a planned collaborative interaction (A_k) or as an autonomous action (A_e).

As can be seen from the synopsis of the 5 and 7 As can be seen, a transport planning section (TPA) and an action planning section (APA) can either be part of a logistics control (71) or part of the control of a transport robot (1). It is also possible for an action planning section (APA) to exist multiple times, on the one hand in the logistics control (71) and on the other hand in the control (20) of a transport robot (1).

The logistics system (70) and in particular the logistics control (71) are preferably designed to have a loading location (O*) and/or an unloading location (O') in the loading space (103) of a long-distance logistics vehicle (102 ) can be defined, in particular in the loading space of a truck that is temporarily parked at a dock (104) in or at the work area (72).

Alternatively or additionally, a loading location (O*) and/or an unloading location (O') can be defined in the transfer area of a storage or production facility.

The logistics system and in particular the logistics control (71) and/or the control (20) of the transport robot (1) can therefore do this be designed that a transport order (LT) is generated, which provides that a load (60) is transferred directly between a loading space (103) of a first long-distance logistics vehicle (102) and a loading space of a further long-distance logistics vehicle or a transfer area Storage or production facility is transported.

The control (20) of the transport robot (1) and also the control method can provide that a course specification (KV) defines an omnidirectional movement of the transport robot (1) in the plane. Likewise, a movement specification (BV) can define a (collision-avoiding) omnidirectional movement of the transport robot (1) in the plane. All of the above-mentioned process steps, sections of the control process and the transmitted machine-readable data objects and signals can be part of a computer program product. The computer program product is preferably stored on a data carrier or received via a data interface. It can be executed on a data processing device, in particular the controller (20) of the transport robot (1) and/or a logistics controller (71), and receives instructions that are suitable for carrying out one or more of the above-mentioned control methods when executing.

A data processing device for a transport robot (1) and/or a logistics system (20), in particular the controller (20) and/or the logistics controller (71), is preferably designed to carry out at least one of the control methods described above. For this purpose, it can be equipped with the computer program product temporarily or permanently.

1 and 8th until 14 explain further preferred embodiments of a transport robot (1), a load-carrying mechanism (30) and an omnidirectional drive device (12).

The load-carrying mechanism (39) shown is preferably provided one or more times on a transport robot (1). It comprises a fork carrier (31) with a first fork tine (31a) and a second fork tine (31b), as well as a fork carrier guide (33) and a fork drive device (34).

The fork carrier guide (33) enables the fork carrier (31) to move in a first horizontal direction (x), which runs essentially parallel to the fork arms. Along this first horizontal direction (x), an orientation pointing outwards, i.e. away from the body of the transport robot (1) is defined as a “distal” direction, and an orientation opposite to this and pointing towards the body of the transport robot (1) is defined as a “dorsal” direction. Direction.

The fork carrier guide (33) is preferably arranged between or next to the at least two fork tines (31a, 31b).

The fork carrier (31) and possibly also the fork drive device (34) are preferably connected to the transport robot (1) and in particular to the movement platform (10) via the fork carrier guide (33). Particularly preferably, the transport robot (1) and in particular the movement platform (10) have a boom section (22) which extends essentially in the first horizontal direction (x) and has a low and elongated design. The boom section (22) can in particular form a body area of the transport robot (1) or the movement platform (10), which is arranged essentially below the load receiving area (11) on which the load (60) is to be picked up for a transport journey.

The fork carrier (33) can be connected to the fork carrier guide (33) directly or via the fork drive device (34). In the examples shown, the fork carrier (33) is mounted on the fork drive device (34) in a controllably movable manner in the vertical direction (z) and the fork drive device (34) is mounted on the fork carrier guide (33) in a controllably movable manner (in the first horizontal direction x). An alternative embodiment (not shown) can provide that the fork carrier (33) is mounted on the fork carrier guide (33) in a controllably movable manner in the first horizontal direction (x) and the fork carrier guide (33) in turn is mounted in a controllably movable manner in the vertical direction (z). Fork drive device (34) is mounted.

The load-carrying mechanism (30) has a lifting device (36) with at least one retractable and extendable support means (36a). The load-carrying mechanism (30) and in particular the extendable support means (36a) is designed to provide force support relative to the ground on a distal section of at least one fork tine (31 a, 31 b) in the extended state and to be away from the ground in the retracted state will be.

The support means (36a) can have any physical configuration. At least two support means (36a) are preferably present, in particular one each on the first fork (31a) and the second fork (31b). In the figures, the support means (36a) is designed as a pivotable arm, at the end of which a roller can optionally be provided. Alternatively, a telescopic arm or a scissor joint can be provided.

The fork drive device (34) is preferably designed to support and lift the fork carrier (31) on a dorsal section.

Particularly preferably, the load-carrying mechanism (30) is designed to hold the fork carrier (31) in an extended state, in which the fork carrier (31) is extended along the first horizontal direction (x), by a combined actuation of the lifting device (36) and to raise the fork drive device (34) so that lifting forces act on the fork carrier (33) both on the distal section and on the dorsal section. As a result, the weight of the load (60), which may temporarily act on the fork carriage (31), can be supported in the first horizontal direction (x) in front of and behind the center of gravity (SP) of the cantilevered mass (of the fork carriage and load).

The fork carrier (31) has two distinguishable states with regard to its mobility in the first horizontal direction, on the one hand a retracted state in which the fork carrier (31) is retracted along the first horizontal direction (x), and an extended state in which the Fork carrier is extended along the first horizontal direction (x) in the distal direction.

The load-carrying mechanism (30) is preferably designed to additionally support the fork carriage (31) in the retracted state in a vertical direction (z) exclusively by the fork drive device (34) and/or the fork carriage guide (33).

In the retracted state, no additional support via the lifting device (36) and in particular the at least one support means (36a) is required.

The present disclosure includes a transport robot (not shown), with any physical and/or control-technical training, which is equipped with or includes at least one load-carrying mechanism (30) according to the present disclosure.

A transport robot (1) is preferably provided which includes a controller (20) with a self-control mode (STE) and a third-party control mode (STF). The load-carrying mechanism (30) is further preferably designed to operate in a self-control mode (STE) by the control (20) of the transport robot (1) and/or by a separate control (35) of the load-carrying mechanism (30). To be controlled automatically based on an autonomous action and to be controlled in external control mode on the basis of an external input (EE, EE*), which is via an external control interface (21) of the transport robot (1) or a separate external control interface of the load pickup -Mechanism (30) is received.

It can preferably also be provided that an autonomous own action (A_e) provides a target state at the end of the action (Ai) as a target state (S1) and optionally also a target state of the load-carrying mechanism (30). Start of the action (Ai) as initial state (S0). The target state preferably includes at least one target loading state.

The controller (20) of the transport robot (1) and/or a separate controller (35) of the load-carrying mechanism (30) is preferably designed to process an action sequence (AF) that includes a plurality of actions (Ai) to fulfill a Transport order (LT) in a specified order, and wherein the action sequence (AF) can further define a collaborative interaction (A_k) in addition to an autonomous own action (A_e). In the collaborative interaction (A_k), it is preferably provided that the transport robot (1) and/or the load-carrying mechanism (30) requests an external input (EE) from an operator (50) (KA) and in external control mode (STF ) takes action according to the external input (EE).

It can also preferably be provided that the controller (20) of the transport robot (1) and/or a separate controller (35) of the load-carrying mechanism (30) is designed to be designed to perform an autonomous action (A_e). Unplanned external input (EE*) is received via an external control interface (21) of the control (20) of the transport robot (1) or a separate control (35) of the load-carrying mechanism (35) and then the execution of the autonomous own action ( A_e) interrupts and acts in the external control mode (STF) according to the external input (EE*).

• ▪ ob die unterbrochene autonome Eigen-Aktion (A_e) fortgesetzt werden kann; oder
• ▪ ob eine neue autonome Eigen-Aktion (A_e) geplant und ausgeführt werden kann, welche die unterbrochene Aktion ersetzt; oder
• ▪ ob eine neue kollaborative Interaktion (A_k) geplant und ausgeführt werden soll.

Furthermore, the control (20) of the transport robot (1) and/or a separate control (35) of the load-carrying mechanism (30) is preferably designed to check after completion of an unplanned external input (EE*) whether the input is then present -state matches the target state (S1) according to the interrupted autonomous self-action (A_e), and to decide on the basis of this check,

• ▪ whether the interrupted autonomous self-action (A_e) can be continued; or
• ▪ whether a new autonomous self-action (A_e) can be planned and executed to replace the interrupted action; or
• ▪ whether a new collaborative interaction (A_k) should be planned and executed.

Furthermore, the transport robot can have the same design in all features that has been explained in the aforementioned aspects.

The transport robot (1) and in particular the movement platform (10) can preferably comprise a rigid boom section (22) which extends in an area which is in the second horizontal direction (y) between two forks (31 a, 31 b) or just next to it one of the forks (31 a, 31 b) runs. At a distal end of the boom section (22), at least one (omnidirectional) drive unit (12c) is preferably arranged, which forms support against the ground.

The boom section (22) is preferably designed as a substantially flat body which has the lowest possible height above the ground. In particular, it can have a receiving section for the fork carrier guide (33) of the load-carrying mechanism (30) on a top side and/or at least one outside lying in the second horizontal direction (y). The height of the boom section (22) can preferably be less than 25cm, more preferably less than 17cm. The fork carrier (31) of the load-carrying mechanism (30) can preferably be lowered in the vertical direction (Z) to a height at which the top side has at least one fork tine (31 a, 31 b), more preferably at least two fork tines (31 a, 31 b) is below the height of the boom section (22), for example at an altitude of less than 25cm, in particular less than 10cm above the ground.

10A until 10D and 11 and 12 illustrate the load-carrying mechanism (30) and the transport robot (1) while carrying out a load-carrying procedure. 10A shows a state in which the fork carrier (31) - and thus preferably also the transport robot (1) - is pre-positioned on a load (60) to be picked up. The pre-positioning is in particular such that the distal ends of the forks (31a, 31b) are arranged in front of at least one channel (63, 64) which runs within or below the load (60) to be picked up. Such a channel (63,64) can be designed in any way. According to the illustration in 11 For example, there may be a channel (63) that has a cross-section that is half-open at the bottom, as is the case, for example, with the longitudinal channels of Euro pallets.

Alternatively, there may be a channel (64), as in 12 shown, which has a closed cross section. This can in particular be a transverse channel that is common with Euro pallets.

After or when the aforementioned state is reached, in which the fork carrier (31) - and thus preferably also the transport robot (1) - is pre-positioned on a load (60) to be picked up, the step is preferably carried out: extending (41) of the fork carrier (31) along the first horizontal direction (x), so that the forks (31a, 31b) pass through at least one channel (63, 64).

10B shows a state at the end or after the fork carriage (31) has been extended. This is now followed by an expansion actuation (42) of the lifting device (36), so that the support means (36a) changes to an extended state in which it is supported on the ground, and the fork carriage (31) is raised in a vertical direction ( Z), so that the load (60) is picked up on the fork carriage (31) and lifted off the ground.

The expanded support means (36a) ensures that there is no risk of tipping over for the transport robot (1) and the load-carrying mechanism (30) as a result of the load to be picked up, i.e. the load (60).

10c illustrates a subsequent state. The step follows: retraction (42) of the fork carriage (31) in the first horizontal direction (x) while taking the load (60) on it with it.

According to an optional step, the movement platform (10) can execute a countermovement (45) in the horizontal direction (x) during the retraction movement of the fork carriage (31), the movement platform (10) being moved in the opposite direction to the retraction movement of the fork carriage (31).

The countermovement (45) can take place in particular with a speed profile that is opposite and has the same magnitude as the retraction movement (43) of the fork carriage (31). If this is the case, the fork carriage (31) and the load (60) taken with it remain in place in absolute coordinates, while the transport robot (1) or the movement platform (10) moves distally in the direction of the load (60) in absolute coordinates ) or in the first horizontal direction (x). In other words, the movement platform (10), in particular with the boom section (22), slides under the raised load (60) and/or the raised fork carriage (31).

10d illustrates a state at the end or after completion of the feed movement (43).

At this point in time or before, a contraction actuation (44) of the lifting device (36) can be carried out so that the support means (36b) changes to a retracted state in which the support on the ground is removed.

Such retraction of the support means (36b) can take place in any case if the overall center of gravity of the transport robot (1) with the load picked up is in the first horizontal direction (x) dorsal to a contact point of the drive device (12) on the ground, this Contact point (K) is formed in particular by the most distal part of the drive device (12) in the horizontal direction (x), in particular by the third drive unit (12c).

In other words, a contraction actuation of the lifting device (36) during a retraction movement (43) of the fork carriage (31) along the first horizontal direction (x) in the loaded state can preferably be triggered at the earliest when the tilting moments are above a contact point (K). Drive device (12) is present in such a way that the sum of the moments on masses that project distally beyond this contact point (K) are less than the sum of the moments from masses that are located dorsal to the contact point (K).

The load-carrying method can preferably provide that the fork carrier (31) is lowered in the vertical direction (z) at the end or after completion of the retraction movement (43) until the load (60) is at least partially on a load-receiving area (11) of the transport robot (10). , for example rests on a surface of the boom section (22).

• ▪ Optionaler Schritt in einem Zustand, in welchem die aufgenommene Ladung zumindest anteilig auf einem Ladeaufnahmebereich des Transportroboters abgestützt ist: Anheben des Gabelträgers bis die Ladung ausschließlich durch den Gabelträger (31) gestützt ist;
• ▪ Expansions-Betätigung der Hubeinrichtung, sodass das Stützmittel (36a) in einen ausgefahrenen Zustand übergeht, in welchem es auf dem Untergrund abgestützt ist;
• ▪ Ausfahren des Gabelträgers (31) in distaler Orientierung entlang der ersten Horizontalrichtung (x), sodass die Gabelzinken (31a, 31b);
• ▪ Absenken des Gabelträgers (31) in einer vertikalen Richtung (y), sodass die Ladung (60) auf dem Untergrund abgesetzt wird und der Gabelträger (31) von der Ladung (60) entlastet wird;
• ▪ Kontraktions-Betätigung der Hubeinrichtung (36), sodass das Stützmittel (36b) in einen eingefahrenen Zustand übergeht, in welchem die Abstützung auf dem Untergrund aufgehoben ist;
• ▪ Einfahren des Gabelträgers (31) in der ersten Horizontalrichtung (x) in dorsaler Orientierung.

The load can be placed in the reverse order to the load pick-up procedure described. In particular, it can include the following steps, which are in reverse order to the states of 10A until 10D are understandable:

• ▪ Optional step in a state in which the load picked up is at least partially supported on a load receiving area of the transport robot: lifting the fork carriage until the load is supported exclusively by the fork carriage (31);
• ▪ Expansion actuation of the lifting device so that the support means (36a) changes to an extended state in which it is supported on the ground;
• ▪ Extending the fork carrier (31) in a distal orientation along the first horizontal direction (x), so that the fork tines (31a, 31b);
• ▪ Lowering the fork carriage (31) in a vertical direction (y) so that the load (60) is placed on the ground and the fork carriage (31) is relieved of the load (60);
• ▪ Contraction actuation of the lifting device (36), so that the support means (36b) changes to a retracted state in which the support on the ground is removed;
• ▪ Retract the fork carriage (31) in the first horizontal direction (x) in dorsal orientation.

During the extension of the fork carriage, the movement platform (10) can in turn carry out a countermovement, in which the movement platform (10) is moved in the horizontal direction (x) in the opposite direction to the retraction movement of the fork carriage (31), in particular with a speed profile in the opposite direction and the same amount Retraction movement of the fork carriage.

The transport robot (1) according to the present disclosure preferably comprises an omnidirectional drive device (12).

This drive device (12) can in turn preferably comprise a plurality of drive units (12a, 12b, 12c), which are also preferably designed as omnidirectional drive units.

13 and 14 show two preferred designs of such an omnidirectional drive unit (80).

This each comprises a flange area (81), via which the drive unit (80) can be attached to the movement platform (10). It further comprises a swivel wheel carrier (82) which is rotatable and in particular freely rotatable relative to the flange region (81) about a substantially vertically oriented swivel axis (84).

At least two separately controlled drive wheels (86) are provided on the swivel wheel carrier and have a common wheel axle (83). The wheel axle (83) is arranged at an angle to the pivot axis (84) in a horizontal direction (x,y) by a caster offset (85). In this way it is achieved that in the de-energized state, the swivel wheel carrier (82) aligns itself automatically as a result of a force applied from the outside to the transport robot (1) or the movement platform (10), particularly the flange area (81). The drive wheels (86) are particularly preferably designed to be self-locking and can optionally be braked electronically or can be driven separately at any speed.

The present disclosure also includes a computer program product that can be stored on a data carrier or received via a data interface, the computer program product being executable on a data processing device, in particular on a controller (20) of the transport device (1). and/or a separate control (35) of the load-carrying mechanism (30), and wherein the computer program product contains instructions suitable for carrying out a load-carrying method in accordance with the explanations above when executed.

Furthermore, a data processing device, in particular a controller (20) for a transport robot and/or a separate controller (35) for a load-carrying mechanism (30), is a component of the present disclosure, wherein the data processing device is designed to implement a load-carrying method according to the above explanations to carry out.

In 7 In the upper section, a possible interaction of a control method for the disclosed transport robot (1) and a load-carrying method according to the present disclosure is illustrated.

For example, there may be an action control section (ASA) which, as part of a status evaluation (ZA), manages both actual and target states with regard to the position of the transport robot (1) and with regard to the loading status of the transport robot (1), which can depend on the state of the load-carrying mechanism (30). The action control section (20) can in particular transmit action instructions (HV) to the platform control section on the one hand and, on the other hand, action instructions (HV*) to a control of the load-carrying mechanism (30). The control of the load-carrying mechanism (30) can be part of the control (20) of the transport robot (1) or a separate control.

On the other hand, the action control section (ASA) can receive action feedback (HR) from the platform control section and action feedback (HR*) from the control of the load-carrying mechanism (30) and thus the activities of the platform control section as well as the downstream control levels and the activities for control of the load-carrying mechanism (30) coordinate with each other.

The movement platform mentioned in the present disclosure as well as the omnidirectional drive device and the drive units can preferably be according to the disclosure in DE 20 2020 101 616 be trained. The haptic operating device (16) can preferably be used according to the disclosure in DE 20 2020 104 319.6 be trained.

Modifications of the invention are possible in various ways. In particular, all features disclosed for the methods can be training features of the named devices and in particular the controls, and vice versa. The features disclosed or claimed for the individual aspects and exemplary embodiments can be combined or replaced with one another in any way.

Reference symbols

1

Transport robots

1a

First transport robot

1b

Second transport robot

1c

Third transport robot

10

Movement platform

11

Load receiving area

12

Omnidirectional drive device

12a

First drive unit

12b

Second drive unit

12c

Third drive unit

13

Display device

13a

display

13b

Acoustic signaling device

13c

Light signaling device

13d

projector

14

Environment detection device

15

manipulator

16

Haptic input device

17

Safety switch / emergency stop

20

Control / control device / data processing device

21

External control interface

22

Boom section

23

Output interface

30

Pallet manipulator

31

Fork carrier

31a

First fork

31b

Second fork

32

Lifting device (on fork arm)

33

Fork carriage guide

34

Fork drive device

35

Load-bearing mechanism

36

Lifting device

36a

Support agents

36b

Support agent actuator

37

Insertion direction

41

Extension movement fork carriage (horizontal)

42

Expansion actuation lifting device (vertical)

43

Feed-in movement fork carriage (horizontal)

44

Contraction actuation of lifting device (vertical)

45

Counter-movement of the movement platform (horizontal)

46

Lowering movement fork carriage (vertical)

50

Operator

60

charge

60a

First cargo

60b

Second cargo

61

Box/carton

62

Load carrier (Euro pallet)

63

Channel, cross-section half-open towards the bottom

64

Channel, closed cross section

70

Logistics system

71

Logistics control

72

Workspace

80

Omnidirectional drive unit

81

flange area

82

Swivel wheel carrier

83

wheel axle

84

Pivot axis

85

Caster offset

86

Drive wheel (can be driven separately)

100

Manually operated pallet truck

101

(Partially) autonomous conveyor vehicle

102

Long distance logistics vehicle/truck

103

cargo space

104

Dock / goods receiving area

105

Handover area

A_a

Planned autonomous action

A_k

Collaborative interaction

A_e

External intervention

AF

Sequence of actions

APA

Action planning section

AR

Action feedback

ASA

Action Control Section

BFA

Motion guidance section

BV

Movement specification

BR

Motion feedback

E.B

External confirmation of completion

EE

External input (planned/requested interaction)

EE*

External input (unplanned / external intervention)

HE

Input feedback

FSA

Traction drive control section

HV

Action specification platform control

HV*

Action specification manipulator

MR

Action feedback platform control

MR*

Action feedback manipulator

K

Contact point (most distal)

KA

Collaboration requirement

KW

Course specification

KR

Course feedback

KVA

Collision avoidance section

LC1

First load carrier

LC2

Second load carrier

LR

Transport feedback

LT

Transport order

LTa

Collection order

LTb

Delivery order

NRA

Compliance Control Section

O*

Loading location

O'

Unloading location

OW

Interim destination location

P.A

Position monitoring (self-position monitoring)

PPE

Platform control section

PBR

Platform motion control

S0

Initial state

S1

Target state

SB

Control commands

SP

Center of gravity of cantilevered mass/fork carrier and load

SP'

Center of gravity counterweight / movement platform

STE

Self-control mode

STF

Foreign control mode

TPA

Transportation planning section

RCS

Robot control

WEAS

Warehouse management system / goods receipt and goods issue system

ZA

Condition evaluation

Z1

Autonomous / semi-autonomous driving zone

Z2

Transshipment zone

Z3

Manual zone

Z4

Transfer zone to storage or production facility

ZG

Zone boundary

a

First horizontal distance / lever arm cantilevered mass

b

Second horizontal distance / lever arm counterweight

x

First horizontal direction / forward-backward direction

y

Second horizontal direction / sideways direction

e.g

Vertical direction

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 202020101616 [0174]
• DE 202020104319 [0174]

Claims (21)

Load-carrying mechanism (30) comprising a fork carrier (31) with a first fork tine (31a) and a second fork tine (31b), a fork carrier guide (33) and a fork drive device (34), characterized in that - the fork carrier guide (33) a Movement of the fork carrier (31) in a first horizontal direction (x), which runs parallel to the forks, wherein - the load-carrying mechanism (30) has a lifting device (36) with at least one retractable and extendable support means (36a) and moreover is designed to provide force support relative to the ground on a distal section of at least one fork tine (31a, 31b) in the extended state and to be removed from the ground in the retracted state. Load-carrying mechanism according to the preceding claim, wherein the fork drive device (34) is further adapted to raise the fork carriage (31) at a dorsal portion. Load-carrying mechanism according to one of the preceding claims, wherein the fork carrier guide (33) is arranged next to or between the at least two fork arms (31a, 31b) in a second horizontal direction (y), which runs transversely to the forks. Load-carrying mechanism according to one of the preceding claims, wherein the fork carrier (33) is connected to the fork carrier guide (33) directly or via the fork drive device (34). Load-carrying mechanism according to one of the preceding claims, wherein the load-carrying mechanism (30) is designed to move the fork carriage (31) in an extended state in which the fork carriage (31) is extended along the first horizontal direction by a combined operation the lifting device (36) and the fork drive device (34) so that lifting forces act on the fork carrier (33) on the distal section and on the dorsal section. Load-carrying mechanism according to one of the preceding claims, wherein the load-carrying mechanism is designed to move the fork carriage (31) in a vertical direction (z) in a retracted state in which the fork carriage (31) is retracted along the first horizontal direction. to be supported exclusively by the fork drive device (34) and/or the fork carrier guide (33). Transport robot (1) comprising a movement platform (10) and a load-carrying mechanism (30) according to one of the preceding claims. Transport robot according to the preceding claim, wherein the transport robot comprises a controller (20) with a self-control mode (STE) and a third-party control mode (STF), and wherein the controller (20) is designed to control the load-carrying mechanism (30). in self-control mode (STE) based on an autonomous self-action (Ai, A_e) and in external control mode (STF) on the basis of an external input (EE, EE*), which is controlled via an external control interface (21) is received. Transport robot according to the preceding claim, wherein the autonomous own action (Ai, A_e) provides a target state at the end of the action (Ai) as a target state (S1). Transport robot according to one of the preceding claims, wherein the controller (20) is designed to process an action sequence (AF) which comprises a plurality of actions (Ai) for fulfilling a transport order (LT) in a predetermined order, and wherein the action sequence (AF) in addition to an autonomous own action (A_e) also defines a collaborative interaction (A_k), in which the transport robot (1) requests an external input (EE) from an operator (KA) and in external control mode (STF) according to the external input (EE) takes effect. Transport robot according to one of the preceding claims, wherein the controller (20) is designed to receive an unplanned external input (EE*) via the external control interface (21) during the execution of an autonomous action (A_e), and then the execution of the to interrupt autonomous own action (A_e) and to act in external control mode (STF) according to the external input (EE*). Transport robot according to the preceding claim, wherein the controller (20) is designed to check after completion of the unplanned external input (EE*) whether the then existing actual state corresponds to the target state (S1) in accordance with the interrupted autonomous properties. Action (A_e) matches, and based on this check to decide - whether the interrupted autonomous self-action (A_e) can be continued or - whether a new autonomous self-action (A_e) can be planned and executed, which replaces the interrupted action, or - whether a new collaborative interaction (A_k) should be planned and executed. Transport robot according to the preceding claim, wherein the transport robot has an omnidirectional drive device (12). Transport robot according to one of the preceding claims, wherein the movement platform comprises a rigid boom section (22) which extends in a region extending in the second horizontal direction (y) between two forks (31a, 31b) or next to one of the forks (31a, 31b) runs, and a drive unit (12c) is arranged at a distal end of the boom section (22), which forms support against the ground. Transport robot according to the preceding claim, wherein the fork guide (33) is arranged on the boom section (22) and/or extends along the boom section (22). Transport robot according to one of the preceding claims, wherein the transport robot (1) or the load-picking mechanism (30) has a controller (20,35) which is designed to carry out a load-picking method with the following steps: - In a state in which the fork carrier (31) is pre-positioned on a load (60) to be picked up, so that the dorsal ends of the forks (31a, 31b) are arranged in front of at least one channel (63, 64) which is within or below the The load (60) to be picked up runs: extending (41) the fork carrier (31) along the first horizontal direction (x), so that the forks (31a, 31b) pass through the at least one channel (63, 64); - Expansion actuation (42) of the lifting device (36), so that the support means (36a) changes to an extended state in which it is supported on the ground, and lifting the fork carriage (31) in a vertical direction (y), so that the load (60) is picked up on the fork carriage (31) and lifted off the ground; - Retracting (42) of the fork carriage (31) in the first horizontal direction (x) while taking the load (60) on it; - Contraction actuation (44) of the lifting device (36), so that the support means (36b) changes to a retracted state in which the support on the ground is removed. Transport robot according to one of the preceding claims, wherein the load-carrying method provides that a contraction actuation of the lifting device (36) during a retraction movement of the fork carriage (31) along the first horizontal direction (x) in the loaded state is triggered at the earliest when the tilting moments exceed a contact point of the drive device (12), which is located most distally in the first horizontal direction (x), such that the sum of the moments from masses that project over this contact point is less than the sum of the moments from masses that are located dorsal to the point of contact. Transport robot according to one of the preceding claims, wherein the load-carrying method provides that the movement platform (10) carries out a countermovement during a retraction movement of the fork carriage (31), in which the movement platform (10) in the horizontal direction (x) is opposite to the retraction movement of the fork carriage (31 ) is moved, in particular with a speed profile in the opposite direction and the same amount as the retraction movement of the fork carriage. Transport robot according to one of the preceding claims, wherein the load-carrying method provides that the fork carrier (31) is lowered in the vertical direction (z) at the end or after completion of the retraction movement (43) until the load (60) is at least partially on a load-receiving area (11 ) rests on the movement platform (10), in particular on the at least one boom section (22). Computer program product, stored on a data carrier or received via a data interface, the computer program product being executable on a data processing device and containing instructions which are suitable for carrying out a load-carrying method according to one of the preceding claims when executed. Data processing device for a transport robot (1) and/or a load-carrying mechanism (30) according to one of the preceding claims, wherein the data processing device is designed to carry out a load-carrying method according to one of the preceding claims.

Images