EP2338092A1 - Control for an autonomous conveyer vehicle and method for operating an autonomous conveyer vehicle - Google Patents

Control for an autonomous conveyer vehicle and method for operating an autonomous conveyer vehicle

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Publication number
EP2338092A1
EP2338092A1 EP09769115A EP09769115A EP2338092A1 EP 2338092 A1 EP2338092 A1 EP 2338092A1 EP 09769115 A EP09769115 A EP 09769115A EP 09769115 A EP09769115 A EP 09769115A EP 2338092 A1 EP2338092 A1 EP 2338092A1
Authority
EP
European Patent Office
Prior art keywords
autonomous
cargo
vehicle
freight
property
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP09769115A
Other languages
German (de)
French (fr)
Inventor
Christian Seitz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP2338092A1 publication Critical patent/EP2338092A1/en
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
    • G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0293—Convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31002—Computer controlled agv conveys workpieces between buffer and cell
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31006—Monitoring of vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31008—Cooperation mobile robots, carrying common pallet, object or pushing together
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes

Definitions

  • AGV Autonomous conveyor vehicles
  • autonomous vehicles need a camera-based monitoring to ensure error-free operation. Furthermore, it is necessary to manually configure an autonomous conveyor vehicle in a particular case, if a certain behavior is desired.
  • the autonomous conveyor vehicle In the control for an autonomous conveyor vehicle, the autonomous conveyor vehicle on a loading area, which is loaded with freight.
  • the controller is further configured to control a driving behavior of the autonomous conveyor vehicle in dependence on a property of the cargo.
  • the autonomous conveyor vehicle has such a controller.
  • a controller controls a driving behavior of the autonomous conveyor vehicle depending on a property of the cargo.
  • the control and the method increase the autonomy of the autonomous transport vehicle. This can now adapt its driving behavior to a property of the freight. Due to an increasing variety of products, the cargo will be transported in the future very different types of freight, to which different requirements.
  • the control and method make it possible to adapt the driving behavior to a property of the freight. This ensures optimal handling of the cargo. The effort for a manual configuration of the autonomous transport vehicle or for a camera-based monitoring is reduced or eliminated.
  • FIG. 1 shows an autonomous transport vehicle with a freight and a second transport vehicle with an unstable freight
  • FIG. 2 shows a detailed view of an autonomous transport vehicle
  • Figure 3 shows the common transport of a bulky cargo through two autonomous conveyor vehicles.
  • FIG. 1 shows two scenarios for the operation of an autonomous transport vehicle.
  • An autonomous conveying vehicle 1 is loaded with a freight 3.
  • the cargo 3 has favorable dimensions for transport.
  • FIG. 1 furthermore shows a second autonomous conveying vehicle 2, which is loaded with an unstable freight 4.
  • the favorable dimensions of the cargo 3 allow the autonomous transport vehicle 1 to have a greater braking acceleration than the second autonomous transport vehicle 2. The latter must brake more carefully if loss or damage to the unstable freight 4 is to be avoided.
  • the second autonomous conveying vehicle 2 controls its driving behavior depending on a property of the unstable cargo 4.
  • the property of the unstable cargo 4 here is its instability. Accordingly, the second autonomous conveying vehicle 2 controls its drivability by reducing its deceleration by a required amount.
  • FIG. 2 shows a detailed view of an autonomous conveying vehicle 1.
  • a loading area 6 of the autonomous conveying vehicle 1 is loaded with a freight 3.
  • FIG. 2 also shows a sensor 7, which measures the position or weight of the freight 3.
  • the sensor 7 may for example be designed as a pressure sensor, which is arranged below a loading area of the autonomous conveying vehicle 1 and measures the weight of the entire load.
  • the sensor 7 may also consist of one or more sensors or a sensor array (and optionally in addition to the previously mentioned embodiment) which measures not only the presence of the freight 3 but also its position on the loading area 6.
  • the autonomous conveying vehicle 1 is stopped or a warning message is issued.
  • An operator of the autonomous transport vehicle 1 is thereby signaled that the cargo 3 has slipped or fallen from the loading area 6, so that he can manually place this again correctly on the loading area 6.
  • a control of the autonomous conveying vehicle 1 comprises a wireless
  • the wireless interface 8 receives the property of the cargo 3.
  • a computing unit 9 determined from the property of the cargo 3 limits for acceleration, cornering or deceleration of the autonomous transport vehicle 1, to which slipping or damaging the cargo 3 is excluded.
  • the driving behavior of the autonomous transport vehicle 1 is controlled so that these limits do not be crossed, be exceeded, be passed.
  • braking, acceleration and cornering can be controlled so that no cargo 3 falls from the loading area 6 or is damaged. For example, a transport journey with live animals as cargo 3 with very narrow limits for acceleration, cornering and deceleration can be carried out, so that the animals are transported as gently as possible.
  • the autonomous conveying vehicle 1 is equipped with an acceleration sensor in a development. On the basis of measured values of the acceleration sensor, the driving behavior of the autonomous transport vehicle 1 is controlled such that the stated limit values are not exceeded.
  • the wireless interface 8 is used to read out RFID tags applied to the freight 3, which indicate the property of the freight 3.
  • a type of goods living animals, electrical appliances, etc.
  • other property of the cargo such as instability, dimensions, bulkiness, etc.
  • the control of the autonomous conveying vehicle 1 receives information about the property of the freight 3 via the wireless interface 8.
  • the wireless interface 8 receives this information as part of a transport request, which is transmitted, for example, from a control center or a mobile terminal of a user.
  • the freight 3 can consist of different freight items which have different properties and requirements with regard to maximum acceleration, cornering or deceleration, an analysis of the collected data by a computing unit 9 is required at this point. As part of the analysis, all loaded freight because the minimum of their maximum acceleration values is selected as the limit value for the driving behavior of the autonomous transport vehicle 1.
  • FIG. 3 shows a further scenario for the use of the autonomous transport vehicle 1.
  • a bulky cargo 5 is to be transported, for which the autonomous transport vehicle 1 is not dimensioned sufficiently large.
  • a second autonomous conveying vehicle 2 is called in to transport the bulky cargo 5 together.
  • the autonomous conveying vehicle 1 and the second autonomous conveying vehicle 2 each have a wireless communication interface to communicate with each other and to synchronize their driving behavior so that the bulky cargo 5 can be transported. In the course of this
  • Synchronization measured values are continuously exchanged while driving, for example, the sensor 7 shown in Figure 2 or the aforementioned acceleration sensor.
  • the property of the cargo 3 requires special environmental conditions.
  • it can be chilled goods, such as frozen food, or a cargo 3, which must not be exposed to sunlight, excessive humidity or frost.
  • the autonomous conveyor vehicle 1 plans in a first variant, a track on which the required environmental conditions are always given.
  • a storage space is selected for the cargo 3, at which the required environmental conditions are met, and planned a route to this parking space.
  • the autonomous conveyor vehicle 1 receives via its wireless interface 8 information from a sensor network comprising sensors that are installed in an environment of the autonomous conveyor vehicle 1 and environmental conditions (such as humidity, temperature, solar radiation, etc.). ) measure up. Based on the information from the sensor network, the route or the parking space for the autonomous conveyor vehicle 1 is now planned. In this way, requirements of the cargo 3 can be met even better.
  • a sensor network comprising sensors that are installed in an environment of the autonomous conveyor vehicle 1 and environmental conditions (such as humidity, temperature, solar radiation, etc.). ) measure up.
  • environmental conditions such as humidity, temperature, solar radiation, etc.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Manufacturing & Machinery (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Quality & Reliability (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

A sensor-based controller permits an autonomous conveyer vehicle to carry out an intelligent driving behaviour which takes into account individual properties of the freight or cargo which is to be conveyed. For example, the acceleration behaviour and braking behaviour of the autonomous conveyer vehicle can be selected as a function of the stability of the freight or cargo. A route or a parking place at which particular environmental conditions (for example temperature or air humidity) occur can be planned using sensor measured values of a sensor network. The relatively high intelligence of the autonomous conveyer vehicle optimizes the handling of the freight or cargo and obviates the need for camera-based monitoring. For example, the loss of the freight or cargo from the loading area can be detected by sensor and signalled automatically.

Description

Beschreibungdescription
Steuerung für ein autonomes Förderfahrzeug und Verfahren zum Betrieb eines autonomen FörderfahrzeugsControl for an autonomous transport vehicle and method for operating an autonomous transport vehicle
Autonome Förderfahrzeuge (im Englischen bezeichnet als "Auto- nomous Guided Vehicle", AGV) transportieren selbständig Waren. Dies bedeutet, dass kein Fahrzeugführer benötigt wird.Autonomous conveyor vehicles (AGV) autonomously transport goods. This means that no driver is needed.
Bisher benötigen autonome Förderfahrzeuge eine Kamerabasierte Überwachung, um einen fehlerfreien Betrieb zu gewährleisten. Weiterhin ist es erforderlich, ein autonomes Förderfahrzeug manuell im Einzelfall zu konfigurieren, sofern ein bestimmtes Verhalten gewünscht ist.So far, autonomous vehicles need a camera-based monitoring to ensure error-free operation. Furthermore, it is necessary to manually configure an autonomous conveyor vehicle in a particular case, if a certain behavior is desired.
Es stellt sich somit die Aufgabe, eine Steuerung für ein autonomes Förderfahrzeug und ein Verfahren zum Betrieb eines autonomen Förderfahrzeugs anzugeben, bei dem ein Aufwand für Kamera-basierte Überwachung oder manuelle Konfiguration redu- ziert wird.It is therefore the object to provide a controller for an autonomous conveyor vehicle and a method for operating an autonomous conveyor vehicle, in which a cost for camera-based monitoring or manual configuration is reduced.
Diese Aufgabe wird durch die unabhängigen Patentansprüche gelöst. Weiterbildungen der Erfindung sind in den abhängigen Ansprüchen definiert.This object is solved by the independent claims. Further developments of the invention are defined in the dependent claims.
Bei der Steuerung für ein autonomes Förderfahrzeug weist das autonome Förderfahrzeug einen Ladebereich auf, der mit Frachtgut beladbar ist. Die Steuerung ist ferner dazu eingerichtet, ein Fahrverhalten des autonomen Förderfahrzeugs in Abhängigkeit von einer Eigenschaft des Frachtgut zu steuern.In the control for an autonomous conveyor vehicle, the autonomous conveyor vehicle on a loading area, which is loaded with freight. The controller is further configured to control a driving behavior of the autonomous conveyor vehicle in dependence on a property of the cargo.
Das autonome Förderfahrzeug besitzt eine solche Steuerung.The autonomous conveyor vehicle has such a controller.
Bei dem Verfahren zum Betrieb eines autonomen Förderfahrzeugs wird ein Ladebereich des autonomen Förderfahrzeugs mitIn the method for operating an autonomous transport vehicle is a loading area of the autonomous transport vehicle with
Frachtgut beladen. Anschließend steuert eine Steuerung ein Fahrverhalten des autonomen Förderfahrzeugs in Abhängigkeit einer Eigenschaft des Frachtguts. Die Steuerung und das Verfahren erhöhen die Selbständigkeit des autonomen Förderfahrzeugs. Dieses kann nun sein Fahrverhalten an eine Eigenschaft des Frachtguts anpassen. Aufgrund zunehmender Produktvielfalt werden als Frachtgut zukünftig sehr verschiedenartige Frachtstücke transportiert, an die unterschiedliche Anforderungen gestellt werden. Die Steuerung und das Verfahren ermöglichen es, das Fahrverhalten an eine Eigenschaft des Frachtguts anzupassen. Hierdurch wird eine optimale Behandlung des Frachtguts sichergestellt. Der Aufwand für eine manuelle Konfiguration des autonomen Förderfahrzeugs oder für eine Kamera-basierte Überwachung wird reduziert oder entfällt.Cargo loaded. Subsequently, a controller controls a driving behavior of the autonomous conveyor vehicle depending on a property of the cargo. The control and the method increase the autonomy of the autonomous transport vehicle. This can now adapt its driving behavior to a property of the freight. Due to an increasing variety of products, the cargo will be transported in the future very different types of freight, to which different requirements. The control and method make it possible to adapt the driving behavior to a property of the freight. This ensures optimal handling of the cargo. The effort for a manual configuration of the autonomous transport vehicle or for a camera-based monitoring is reduced or eliminated.
Es folgt eine Erläuterung von Ausführungsbeispielen der Erfindung anhand der Figuren 1 bis 3. Es zeigen:The following is an explanation of embodiments of the invention with reference to Figures 1 to 3. It shows:
Figur 1 ein autonomes Förderfahrzeug mit einem Frachtgut und ein zweites Förderfahrzeug mit einem instabilen Frachtgut,FIG. 1 shows an autonomous transport vehicle with a freight and a second transport vehicle with an unstable freight,
Figur 2 eine Detailansicht eines autonomen Förderfahrzeugs,FIG. 2 shows a detailed view of an autonomous transport vehicle,
Figur 3 den gemeinsamen Transport eines sperrigen Frachtguts durch zwei autonome Förderfahrzeuge.Figure 3 shows the common transport of a bulky cargo through two autonomous conveyor vehicles.
Figur 1 zeigt zwei Szenarien für den Betrieb eines autonomen Förderfahrzeugs. Ein autonomes Förderfahrzeug 1 ist mit einem Frachtgut 3 beladen. Das Frachtgut 3 weist für den Transport günstige Abmessungen auf. Figur 1 zeigt weiterhin ein zweites autonomes Förderfahrzeug 2, welches mit einem instabilen Frachtgut 4 beladen ist. Die günstigen Abmessungen des Frachtguts 3 erlauben dem autonomen Förderfahrzeug 1 eine stärkere Bremsbeschleunigung als dem zweiten autonomen För- derfahrzeug 2. Letzteres muss vorsichtiger abbremsen, sofern ein Verlust oder eine Beschädigung des instabilen Frachtguts 4 vermieden werden soll. Das zweite autonome Förderfahrzeug 2 steuert sein Fahrverhalten in Abhängigkeit von einer Eigenschaft des instabilen Frachtguts 4. Die Eigenschaft des instabilen Frachtguts 4 ist hier dessen Instabilität. Dementsprechend steuert das zweite autonome Förderfahrzeug 2 sein Fahrverhalten, indem es seine Bremsbeschleunigung um ein erforderliches Maß reduziert.FIG. 1 shows two scenarios for the operation of an autonomous transport vehicle. An autonomous conveying vehicle 1 is loaded with a freight 3. The cargo 3 has favorable dimensions for transport. FIG. 1 furthermore shows a second autonomous conveying vehicle 2, which is loaded with an unstable freight 4. The favorable dimensions of the cargo 3 allow the autonomous transport vehicle 1 to have a greater braking acceleration than the second autonomous transport vehicle 2. The latter must brake more carefully if loss or damage to the unstable freight 4 is to be avoided. The second autonomous conveying vehicle 2 controls its driving behavior depending on a property of the unstable cargo 4. The property of the unstable cargo 4 here is its instability. Accordingly, the second autonomous conveying vehicle 2 controls its drivability by reducing its deceleration by a required amount.
Figur 2 zeigt eine Detailansicht eines autonomen Förderfahrzeugs 1. Ein Ladebereich 6 des autonomen Förderfahrzeugs 1 ist mit einem Frachtgut 3 beladen. Figur 2 zeigt ferner einen Sensor 7, welcher Lage oder Gewicht des Frachtguts 3 misst. Der Sensor 7 kann beispielsweise als Drucksensor ausgestaltet sein, welcher unterhalb einer Ladefläche des autonomen Förderfahrzeuges 1 angeordnet ist und das Gewicht der gesamten Ladung misst. Der Sensor 7 kann aber auch (und gegebenenfalls zusätzlich zu der zuvor genannten Ausführung) aus einem oder mehreren Sensoren beziehungsweise einem Sensor-Array bestehen, welcher nicht nur das Vorhandensein des Frachtguts 3, sondern auch dessen Position auf dem Ladebereich 6 misst. So- bald eine Auswertung der Signale des Sensors 7 ergibt, dass das Frachtgut 3 verrutscht oder vom Ladebereich 8 herabgefallen ist, wird das autonome Förderfahrzeug 1 angehalten oder eine Warnmeldung ausgegeben. Einem Betreiber des autonomen Förderfahrzeugs 1 wird dadurch signalisiert, dass das Fracht- gut 3 verrutscht oder vom Ladebereich 6 gefallen ist, so dass er dieses manuell wieder richtig auf dem Ladebereich 6 platzieren kann.FIG. 2 shows a detailed view of an autonomous conveying vehicle 1. A loading area 6 of the autonomous conveying vehicle 1 is loaded with a freight 3. FIG. 2 also shows a sensor 7, which measures the position or weight of the freight 3. The sensor 7 may for example be designed as a pressure sensor, which is arranged below a loading area of the autonomous conveying vehicle 1 and measures the weight of the entire load. However, the sensor 7 may also consist of one or more sensors or a sensor array (and optionally in addition to the previously mentioned embodiment) which measures not only the presence of the freight 3 but also its position on the loading area 6. As soon as an evaluation of the signals of the sensor 7 shows that the cargo 3 has slipped or fallen off the loading area 8, the autonomous conveying vehicle 1 is stopped or a warning message is issued. An operator of the autonomous transport vehicle 1 is thereby signaled that the cargo 3 has slipped or fallen from the loading area 6, so that he can manually place this again correctly on the loading area 6.
In einer Variante dieses Ausführungsbeispiels umfasst eine Steuerung des autonomen Förderfahrzeugs 1 eine drahtloseIn a variant of this embodiment, a control of the autonomous conveying vehicle 1 comprises a wireless
Schnittstelle 8, die ebenfalls in Figur 2 abgebildet ist. Die drahtlose Schnittstelle 8 empfängt die Eigenschaft des Frachtguts 3. Eine Recheneinheit 9 ermittelt aus der Eigenschaft des Frachtguts 3 Grenzwerte für eine Beschleunigung, Kurvenfahrt oder Abbremsung des autonomen Förderfahrzeugs 1, bis zu denen ein Verrutschen oder Beschädigen des Frachtguts 3 ausgeschlossen ist. Das Fahrverhalten des autonomen Förderfahrzeugs 1 wird so gesteuert, dass diese Grenzwerte nicht überschritten werden. Dies erlaubt in besonderem Maße eine Anpassung des Fahrverhaltens an das Frachtgut 3. Je nach Stabilität des Frachtguts 3 können Brems-, Beschleunigungsvorgänge und Kurvenfahrten so geregelt werden, dass kein Fracht- gut 3 vom Ladebereich 6 fällt oder beschädigt wird. Beispielsweise kann eine Transportfahrt mit lebenden Tieren als Frachtgut 3 mit sehr engen Grenzwerten für Beschleunigung, Kurvenfahrt und Abbremsung durchgeführt werden, so dass die Tiere möglichst schonend befördert werden.Interface 8, which is also shown in Figure 2. The wireless interface 8 receives the property of the cargo 3. A computing unit 9 determined from the property of the cargo 3 limits for acceleration, cornering or deceleration of the autonomous transport vehicle 1, to which slipping or damaging the cargo 3 is excluded. The driving behavior of the autonomous transport vehicle 1 is controlled so that these limits do not be crossed, be exceeded, be passed. Depending on the stability of the cargo 3, braking, acceleration and cornering can be controlled so that no cargo 3 falls from the loading area 6 or is damaged. For example, a transport journey with live animals as cargo 3 with very narrow limits for acceleration, cornering and deceleration can be carried out, so that the animals are transported as gently as possible.
Zur besseren Steuerung des Fahrverhaltens wird in einer Weiterbildung das autonome Förderfahrzeug 1 mit einem Beschleunigungssensor ausgestattet. Anhand von Messwerten des Beschleunigungssensors wird das Fahrverhalten des autonomen Förderfahrzeugs 1 so gesteuert, dass die genannten Grenzwerte nicht überschritten werden.For better control of the driving behavior, the autonomous conveying vehicle 1 is equipped with an acceleration sensor in a development. On the basis of measured values of the acceleration sensor, the driving behavior of the autonomous transport vehicle 1 is controlled such that the stated limit values are not exceeded.
Die drahtlose Schnittstelle 8 wird in einem weiteren Szenario dazu genutzt, um auf dem Frachtgut 3 aufgebracht RFID-Tags auszulesen, welche die Eigenschaft des Frachtguts 3 angeben. Beispielsweise kann auf den RFID-Tags eine Warenart (Lebende Tiere, Elektrogeräte usw.) oder eine andere Eigenschaft des Frachtguts 3 wie Instabilität, Abmessungen, Sperrigkeit usw. gespeichert sein. Auf diese Weise erhält die Steuerung des autonomen Förderfahrzeugs 1 über die drahtlose Schnittstelle 8 eine Information über die Eigenschaft des Frachtguts 3.In a further scenario, the wireless interface 8 is used to read out RFID tags applied to the freight 3, which indicate the property of the freight 3. For example, a type of goods (living animals, electrical appliances, etc.) or other property of the cargo 3, such as instability, dimensions, bulkiness, etc., may be stored on the RFID tags. In this way, the control of the autonomous conveying vehicle 1 receives information about the property of the freight 3 via the wireless interface 8.
Alternativ empfängt die drahtlose Schnittstelle 8 diese Information im Rahmen eines Transportauftrages, welcher bei- spielsweise von einem Kontrollzentrum oder einem mobilen Endgerät eines Benutzers übermittelt wird.Alternatively, the wireless interface 8 receives this information as part of a transport request, which is transmitted, for example, from a control center or a mobile terminal of a user.
Da das Frachtgut 3 aus unterschiedlichen Frachtstücken bestehen kann, welche unterschiedliche Eigenschaften und Anforde- rungen in Bezug auf maximale Beschleunigung, Kurvenfahrt oder Abbremsung aufweisen, ist an dieser Stelle eine Analyse der gesammelten Daten durch eine Recheneinheit 9 erforderlich. Im Rahmen der Analyse wird für alle geladenen Frachtstücke je- weils das Minimum ihrer maximalen Beschleunigungswerte als Grenzwert für das Fahrverhalten des autonomen Förderfahrzeugs 1 gewählt.Since the freight 3 can consist of different freight items which have different properties and requirements with regard to maximum acceleration, cornering or deceleration, an analysis of the collected data by a computing unit 9 is required at this point. As part of the analysis, all loaded freight because the minimum of their maximum acceleration values is selected as the limit value for the driving behavior of the autonomous transport vehicle 1.
Figur 3 zeigt ein weiteres Szenario für den Einsatz des autonomen Förderfahrzeugs 1. In diesem Szenario soll ein sperriges Frachtgut 5 befördert werden, für welches das autonome Förderfahrzeug 1 nicht ausreichend groß dimensioniert ist. Aus diesem Grund wird ein zweites autonomes Förderfahrzeug 2 hinzugezogen, um das sperrige Frachtgut 5 gemeinsam zu transportieren. Hierbei verfügen das autonome Förderfahrzeug 1 und das zweite autonome Förderfahrzeug 2 jeweils über eine drahtlose Kommunikationsschnittstelle, um miteinander zu kommunizieren und ihr Fahrverhalten so zu synchronisieren, dass das sperrige Frachtgut 5 befördert werden kann. Im Zuge dieserFIG. 3 shows a further scenario for the use of the autonomous transport vehicle 1. In this scenario, a bulky cargo 5 is to be transported, for which the autonomous transport vehicle 1 is not dimensioned sufficiently large. For this reason, a second autonomous conveying vehicle 2 is called in to transport the bulky cargo 5 together. Here, the autonomous conveying vehicle 1 and the second autonomous conveying vehicle 2 each have a wireless communication interface to communicate with each other and to synchronize their driving behavior so that the bulky cargo 5 can be transported. In the course of this
Synchronisation werden während der Fahrt kontinuierlich Messwerte beispielsweise des in Figur 2 gezeigten Sensors 7 oder des zuvor genannten Beschleunigungssensors ausgetauscht.Synchronization measured values are continuously exchanged while driving, for example, the sensor 7 shown in Figure 2 or the aforementioned acceleration sensor.
In einem weiteren Einsatzszenario erfordert die Eigenschaft des Frachtguts 3 spezielle Umgebungsbedingungen. Beispielsweise kann es sich um gekühlte Ware handeln, etwa Tiefkühlkost, oder um ein Frachtgut 3, welches keiner Sonnenbestrahlung, keiner zu hohen Luftfeuchte oder keinem Frost ausge- setzt werden darf. In diesem Szenario plant das autonome Förderfahrzeug 1 in einer ersten Variante einen Fahrweg, auf dem die erforderlichen Umgebungsbedingungen immer gegeben sind. In einer zweiten Variante wird für das Frachtgut 3 ein Abstellplatz gewählt, an dem die geforderten Umgebungsbedingun- gen erfüllt sind, sowie ein Fahrweg zu diesem Abstellplatz geplant .In another application scenario, the property of the cargo 3 requires special environmental conditions. For example, it can be chilled goods, such as frozen food, or a cargo 3, which must not be exposed to sunlight, excessive humidity or frost. In this scenario, the autonomous conveyor vehicle 1 plans in a first variant, a track on which the required environmental conditions are always given. In a second variant, a storage space is selected for the cargo 3, at which the required environmental conditions are met, and planned a route to this parking space.
Um den Fahrweg oder den Abstellplatz zu finden, empfängt das autonome Förderfahrzeug 1 über seine drahtlose Schnittstelle 8 Informationen aus einem Sensornetzwerk, welches Sensoren umfasst, die in einer Umgebung des autonomen Förderfahrzeugs 1 installiert sind und Umgebungsbedingungen (wie etwa Luftfeuchte, Temperatur, Sonneneinstrahlung usw.) messen. Anhand der Informationen aus dem Sensornetzwerk wird nun der Fahrweg beziehungsweise der Abstellplatz für das autonome Förderfahrzeug 1 geplant. Auf diese Weise können Anforderun- gen des Frachtguts 3 noch besser erfüllt werden.To find the driveway or the parking space, the autonomous conveyor vehicle 1 receives via its wireless interface 8 information from a sensor network comprising sensors that are installed in an environment of the autonomous conveyor vehicle 1 and environmental conditions (such as humidity, temperature, solar radiation, etc.). ) measure up. Based on the information from the sensor network, the route or the parking space for the autonomous conveyor vehicle 1 is now planned. In this way, requirements of the cargo 3 can be met even better.
Alle beschriebenen Ausführungsbeispiele, Varianten und Szenarien lassen sich beliebig kombinieren. All described embodiments, variants and scenarios can be combined as desired.

Claims

Patentansprüche claims
1. Steuerung für ein autonomes Förderfahrzeug (1), bei der das autonome Förderfahrzeug einen Ladebereich (6) aufweist, der mit Frachtgut (3) beladbar ist, und dazu eingerichtet, ein Fahrverhalten des autonomen Förderfahrzeugs (1) in Abhängigkeit von einer Eigenschaft des Frachtguts (3) zu steuern.A control for an autonomous conveying vehicle (1), wherein the autonomous conveying vehicle has a loading area (6) which can be loaded with freight (3) and is adapted to control a driving behavior of the autonomous conveying vehicle (1) in dependence on a property of the Cargo (3) to control.
2. Steuerung nach Anspruch 1, mit einem Sensor (7), mit welchem Lage oder Gewicht des2. Control according to claim 1, with a sensor (7), with which position or weight of
Frachtguts (3) messbar sind, und mit Mitteln zum Anhalten des autonomen Förderfahrzeugs (1) oder zum Ausgeben einer Warnmeldung, wenn die Sensormes- sung ein Verrutschen oder Herabfallen des Frachtguts (3) anzeigt .Cargoes (3) are measurable, and with means for stopping the autonomous conveyor vehicle (1) or to issue a warning message when the sensor measurement indicates a slipping or falling of the cargo (3).
3. Steuerung nach Anspruch 1, mit einer drahtlosen Schnittstelle (8) zum Empfang der Ei- genschaft des Frachtguts (3) , bei der die Steuerung eine Recheneinheit (9) aufweist, mit welcher aus der Eigenschaft des Frachtguts (3) Grenzwerte für eine Beschleunigung, Kurvenfahrt oder Abbremsung des autonomen Förderfahrzeugs (1) ermittelbar sind, wobei bis zu den Grenzwerten ein Verrutschen oder Beschädigen des Frachtguts (3) ausgeschlossen ist, und dazu ausgelegt, das Fahrverhalten des autonomen Förderfahrzeugs (1) so zu steuern, dass die Grenzwerte nicht überschritten werden.3. Control according to claim 1, comprising a wireless interface (8) for receiving the property of the freight (3), in which the control comprises a computing unit (9) with which from the property of the cargo (3) limit values for a Acceleration, cornering or deceleration of the autonomous conveyor vehicle (1) can be determined, up to the limits of slipping or damaging the cargo (3) is excluded, and designed to control the driving behavior of the autonomous support vehicle (1) so that the limits not be exceeded.
4. Steuerung nach Anspruch 3, mit einem Beschleunigungssensor, und dazu ausgelegt, anhand von Messwerten des Beschleunigungssensors das Fahrverhalten des autonomen Förderfahrzeugs (1) so zu steuern, dass die Grenzwerte nicht überschritten werden . 4. Control according to claim 3, with an acceleration sensor, and designed to control, based on measured values of the acceleration sensor, the driving behavior of the autonomous conveyor vehicle (1) such that the limit values are not exceeded.
5. Steuerung nach Anspruch 3, bei der die drahtlose Schnittstelle (8) zur Auslesung auf dem Frachtgut (3) aufgebrachter RFID-Tags ausgelegt ist, welche eine Angabe zur Eigenschaft des Frachtguts (3) ent- halten.5. Control according to claim 3, wherein the wireless interface (8) is designed for reading on the cargo (3) applied RFID tags containing an indication of the property of the cargo (3).
6. Steuerung nach Anspruch 3, bei der die drahtlose Schnittstelle (8) zum Empfang eines Transportauftrags ausgelegt ist, welcher die Eigenschaft des Frachtguts (3) angibt.6. Control according to claim 3, wherein the wireless interface (8) is designed to receive a transport order, which indicates the property of the freight (3).
7. Steuerung nach Anspruch 3, bei der die drahtlose Schnittstelle (8) zur Kommunikation mit anderen autonomen Förderfahrzeugen ausgelegt ist, und - bei der die Steuerung dazu ausgelegt ist, das Fahrverhalten des autonomen Förderfahrzeugs (1) unter Nutzung der drahtlosen Schnittstelle (8) mit mindestens einem zweiten autonomen Förderfahrzeug (2) so zu synchronisieren, dass ein sperriges Frachtgut (5) gemeinsam mit dem zweiten au- tonomen Förderfahrzeug (2) beförderbar ist.7. A controller according to claim 3, wherein the wireless interface (8) is adapted to communicate with other autonomous conveyor vehicles, and - wherein the controller is adapted to control the handling of the autonomous conveyor vehicle (1) using the wireless interface (8). with at least one second autonomous conveyor vehicle (2) to synchronize so that a bulky cargo (5) together with the second autonomous conveyor vehicle (2) is conveyed.
8. Steuerung nach Anspruch 1, mit einer drahtlosen Schnittstelle (8) zum Empfang von Informationen aus einem Sensornetzwerk, welches Sensoren um- fasst, die in einer Umgebung des autonomen Förderfahrzeugs (1) installiert sind und Umgebungsbedingungen messen, bei der die Eigenschaft des Frachtguts (3) Umgebungsbedingungen angibt, die das Frachtgut (3) benötigt, und dazu ausgelegt, anhand der Informationen aus dem Sensor- netzwerk einen Fahrweg oder Abstellplatz für das autonome Förderfahrzeug (1) zu planen, auf dem die von dem Frachtgut (3) benötigten Umgebungsbedingungen eingehalten werden .8. A controller according to claim 1, comprising a wireless interface (8) for receiving information from a sensor network comprising sensors installed in an environment of the autonomous conveyor vehicle (1) and measuring environmental conditions at which the property of the cargo (3) indicates the environmental conditions required by the cargo (3) and is designed to use the information from the sensor network to plan a route or parking space for the autonomous transport vehicle (1) on which the cargo (3) is required Environmental conditions are met.
9. Autonomes Förderfahrzeug (1), mit einer Steuerung nach einem der vorangegangenen Ansprüche. 9. Autonomous conveyor vehicle (1), with a controller according to one of the preceding claims.
10. Verfahren zum Betrieb eines autonomen Förderfahrzeugs10. Method for operating an autonomous transport vehicle
(D, bei dem ein Ladebereich (6) des autonomen Förderfahrzeugs (1) mit Frachtgut (3) beladen wird, - bei dem eine Steuerung ein Fahrverhalten des autonomen(D, in which a loading area (6) of the autonomous transport vehicle (1) is loaded with freight (3), - in which a control of a driving behavior of the autonomous
Förderfahrzeugs (1) in Abhängigkeit von einer Eigenschaft des Frachtguts (3) steuert.Handling vehicle (1) in response to a property of the cargo (3) controls.
11. Verfahren nach Anspruch 10, - bei dem ein Sensor (7) Lage oder Gewicht des Frachtguts (3) misst, bei dem die Steuerung das autonome Förderfahrzeug (1) anhält oder eine Warnmeldung ausgibt, wenn die Sensormessung ein Verrutschen oder Herabfallen des Frachtguts (3) an- zeigt.11. The method of claim 10, wherein a sensor (7) measures the position or weight of the cargo (3) at which the controller stops the autonomous conveyor vehicle (1) or issues a warning if the sensor measurement indicates a slipping or falling of the cargo (3) shows.
12. Verfahren nach Anspruch 10, bei dem über eine drahtlose Schnittstelle (8) die Eigenschaft des Frachtguts (3) empfangen wird, - bei dem eine Recheneinheit (4) aus der Eigenschaft des12. The method of claim 10, wherein the property of the freight (3) is received via a wireless interface (8), - in which a computing unit (4) from the property of
Frachtguts (3) Grenzwerte für eine Beschleunigung, Kurvenfahrt oder Abbremsung des autonomen Förderfahrzeugs ermittelt, wobei bis zu den Grenzwerten ein Verrutschen oder Beschädigen des Frachtguts (3) ausgeschlossen ist, - bei dem das Fahrverhalten des autonomen Förderfahrzeugs (1) so gesteuert wird, dass die Grenzwerte nicht überschritten werden.Cargoes (3) Determines limits for acceleration, cornering or deceleration of the autonomous support vehicle, excluding slipping or damaging of the cargo (3) up to the limit values, - Controlling the handling of the autonomous support vehicle (1) such that: the limits are not exceeded.
13. Verfahren nach Anspruch 12, - bei dem Messwerte eines Beschleunigungssensors genutzt werden um das Fahrverhalten des autonomen Förderfahrzeugs (1) so zu steuern, dass die Grenzwerte nicht überschritten werden .13. The method according to claim 12, - are used in the measured values of an acceleration sensor to the driving behavior of the autonomous conveyor vehicle (1) to control so that the limits are not exceeded.
14. Verfahren nach Anspruch 12, bei dem über die drahtlose Schnittstelle (8) auf dem Frachtgut (3) aufgebrachte RFID-Tags ausgelesen werden, welche die Eigenschaft des Frachtguts (3) enthalten. 14. The method of claim 12, wherein on the wireless interface (8) on the cargo (3) applied RFID tags are read, which contain the property of the cargo (3).
15. Verfahren nach Anspruch 12, bei dem über die drahtlose Schnittstelle (8) ein Transportauftrag empfangen wird, welcher die Eigenschaft des Frachtguts (3) angibt.15. The method of claim 12, wherein via the wireless interface (8) a transport order is received, which indicates the property of the freight (3).
16. Verfahren nach Anspruch 12, bei dem das Fahrverhalten des autonomen Förderfahrzeugs16. The method of claim 12, wherein the driving behavior of the autonomous transport vehicle
(1) durch Kommunikation über die drahtlose Schnittstelle (8) mit mindestens einem zweiten autonomen Förderfahrzeug(1) by communication via the wireless interface (8) with at least one second autonomous conveyor vehicle
(2) so synchronisiert wird, dass ein sperriges Frachtgut (5) gemeinsam mit dem zweiten autonomen Förderfahrzeug (2) beförderbar ist.(2) is synchronized so that a bulky cargo (5) is transportable together with the second autonomous conveying vehicle (2).
17. Verfahren nach Anspruch 10, bei dem Informationen aus einem Sensornetzwerk empfangen werden, welches Sensoren umfasst, die in einer Umgebung des autonomen Förderfahrzeugs (1) installiert sind und Umgebungsbedingungen messen, - bei dem aus der Eigenschaft des Frachtguts (3) Umgebungsbedingungen abgeleitet werden, die das Frachtgut (3) benötigt, bei dem anhand der Informationen aus dem Sensornetzwerk ein Fahrweg oder Abstellplatz für das autonome Förderfahr- zeug (1) geplant wird, auf dem die von dem Frachtgut (3) benötigten Umgebungsbedingungen eingehalten werden.17. The method of claim 10, wherein information is received from a sensor network comprising sensors installed in an environment of the autonomous mining vehicle (1) and measuring environmental conditions, - wherein environmental conditions are derived from the property of the cargo (3) that requires the freight (3) in which, based on the information from the sensor network, a route or parking space for the autonomous conveyor vehicle (1) is planned on which the environmental conditions required by the freight (3) are met.
18. Computerlesbarer Datenträger, auf dem ein Computerprogramm gespeichert ist, welches das Verfahren nach einem der Ansprüche 10 bis 17 ausführt, wenn es in einem Computer abgearbeitet wird.18. A computer-readable medium on which a computer program is stored, which executes the method according to any one of claims 10 to 17, when it is processed in a computer.
19. Computerprogramm, welches in einem Computer abgearbeitet wird und dabei das Verfahren nach einem der Ansprüche 10 bis 17 ausführt. 19. Computer program which is processed in a computer and thereby carries out the method according to one of claims 10 to 17.
EP09769115A 2008-06-27 2009-06-09 Control for an autonomous conveyer vehicle and method for operating an autonomous conveyer vehicle Withdrawn EP2338092A1 (en)

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US20110106362A1 (en) 2011-05-05
WO2009156266A1 (en) 2009-12-30

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