EP3631591A1

EP3631591A1 - Process control system

Info

Publication number: EP3631591A1
Application number: EP18726810.7A
Authority: EP
Inventors: Andreas Bauer; Horst-Moritz MAUS
Original assignee: KUKA Systems GmbH
Current assignee: KUKA Systems GmbH
Priority date: 2017-06-02
Filing date: 2018-05-25
Publication date: 2020-04-08
Also published as: DE102017005350A1; WO2018219796A1; CN110692024A; US11305937B2; US20200156870A1

Abstract

The invention relates to a process control system (100) for a facility that has a station arrangement comprising at least one at least partially automated working station (10, 20) and a vehicle arrangement comprising at least one at least partially automated transport vehicle (30-33) for transporting material to be conveyed to, in and/or from the station arrangement, said process control system comprising: a process means (110) for planning, implementing and/or observing, particularly monitoring processes of the station arrangement, a fleet means (120) for planning, implementing and/or observing, particularly monitoring movements of the vehicle arrangement, and a working means arrangement with at least one working means (130, 131) for controlling and/or monitoring at least one working station of the station arrangement, the process and fleet means and/or the process means and the working means arrangement and/or the fleet means and the working means arrangement being designed to communicate with each other.

Description

description

process control

The present invention relates to a process control system for a system with at least one workstation and at least one transport vehicle, a system with a system and the process controller for controlling the system, a method for controlling a system using the process controller, and a

Computer program product for carrying out the method.

In-house practice is known as Programmable Logic Controllers ("PLCs") for controlling workstations with robots, and fleet managers are known for directing automated transport vehicles from within the company.

Object of the present invention is to improve a control system with at least one workstation and at least one transport vehicle.

This object is achieved by a process control with the features of claim 1 and a method having the features of claim 9. Claims 8, 15 protect a system having a plant described herein and a process controller for controlling the plant or a computer program product described therein for carrying out a method described here. The subclaims relate to advantageous developments. According to one embodiment of the present invention, a plant has a

Station arrangement with one or more workstations that is (partially) completely or partially automated / works partially or completely automatically / work or is / is set up for this purpose. In one development, the or one or more of the workstation (s) in each case has / have one or more robots and / or will be (partially) automatically or partially automated controlled by means of work or this is set up or used for this purpose , In such robotic systems, the present invention can be used with particular advantage, in particular by such systems or workstations advantageously particularly variable, especially dialing and / or fall or

if necessary, different processes are carried out. According to one embodiment of the present invention, the plant has a

Vehicle arrangement with one or more transport vehicles, which is / are partially or completely automated, or is / are partially or completely automated, or is / are / is / are / is / are set up for this purpose.

is / are used. In one development, the one or more of the

Transport vehicle (e each), in particular rail-bound or -freies suspension, especially wheels, caterpillars or tracked chassis, and / or a vehicle control for at least partially automated steering of the vehicle and / or transported / transported goods, in particular

Starting materials, in particular starting materials and / or semi-finished products, end products and / or tools to, within the) and / or from the

Station arrangement, in particular to, from and / or between the or one or more of the workstation (s) or is / are / is for this purpose used. In one embodiment, the or one or more of the transport vehicle (s) is / are a driverless (acting) vehicle

so-called AGV ("Automatic Guided Vehicle").

In installations with such transport vehicles, the present invention can be used with particular advantage, in particular by such systems or transport vehicles advantageously particularly variable, in particular election and / or case or as needed, different processes are performed.

Accordingly, the system in one embodiment is a so-called matrix system with a plurality of variably usable workstations and one or more material and / or tool bearings, by the vehicle arrangement or their

Transport vehicles interact variably with each other, in particular the

Workstations and / or bearings through the vehicle assembly variable with material and / or tools are supplied from the camps and / or other workstations, or the system is set up for this purpose.

According to one embodiment of the present invention, a process controller which controls or is used for this purpose, in particular hardware and / or software, in particular program technology, has a process controller, in particular one

Process control of a system according to an embodiment of the present invention with the plant, on:

a process agent that plans, executes, processes the station arrangement,

in particular commanded, and / or observed, in particular monitored, or for this purpose, in particular hardware and / or software, in particular program technology, is set up or used;

a fleet means which plans movements of the vehicle arrangement executes,

in particular commanded, and / or observed, in particular monitored, or for this purpose, in particular hardware and / or software, in particular program technology, is set up or used; and

- A work equipment arrangement with one or more work equipment, the (or) with the or one or more of the workstation (s) of

Station arrangement communicates / communicate.

Kommandieren a process of the station arrangement can in a

Execution of creating, downloading and / or calling, in particular triggering or starting, a, in particular stored, program for the station arrangement, in particular one or more of their workstations, in particular one or more of its components, in particular robots, for performing this

Process by the plant or its station arrangement include, in particular.

Commanding a movement of a transport vehicle can in one

Execution of a pre- or outputting of target or target positions, in particular one, in particular temporal and / or ordered, sequence of such positions, for

Perform this movement by the vehicle assembly or their

Transport vehicles include, in particular. According to one embodiment of the present invention, the process and the fleet means communicate with each other or are for this purpose, in particular hardware and / or software, in particular program technology, set up.

As a result, planning, execution and / or planning can advantageously be carried out in one embodiment

Observing processes of the station arrangement and planning, executing and / or observing movements of the vehicle arrangement are linked to one another, in particular coordinated with each other, in particular interact with each other.

For example, when scheduling processes different

Workstations considered the provision and / or collection of output products, in particular starting materials and / or semi-finished products, end products and / or tools by transport vehicle of the vehicle arrangement, in particular this planned on the basis of the planned processes and / or

If necessary, processes can be rescheduled accordingly.

Additionally or alternatively, according to an embodiment of the present invention, the process means and the working means arrangement communicate with one another or are set up for this purpose, in particular hardware and / or software, in particular program technology.

As a result, in one embodiment, the process agent can advantageously carry out and / or observe planned processes using the work equipment arrangement or its working means, and in particular monitor and / or accordingly plan accordingly based on feedback by the work equipment arrangement.

Additionally or alternatively communicate according to an embodiment of the present invention, the fleet means and the working means arrangement with each other or are for this purpose, in particular hardware and / or software, in particular programmatically, set up.

As a result, working equipment can advantageously request, direct, actuate and / or observe transport vehicles in one embodiment. In particular, by a communication between process and fleet means and working equipment arrangement within or through the process control, in particular corresponding (communication) interfaces, processes of workstations and transports between them can be coordinated, in particular interconnected controlled and / or monitored in one embodiment, become.

Additionally or alternatively, according to an embodiment of the present invention, process and liquor means and / or process means and work equipment arrangement and / or fleet means and work equipment arrangement with each other, in particular clocked or cyclically synchronized, in particular based on a (in each case) common, in particular (systems) global , Time, or for this purpose, in particular hardware and / or software, in particular program technology, set up.

As a result, in one embodiment, in particular, in comparison with an unscheduled planning of movements of a vehicle arrangement, i. a merely ordered sequence of positions to be approached by their transport vehicles, a

Synchronization of the station arrangement and the vehicle arrangement can be realized or improved.

In an embodiment, the process control has a user means, by which data, in particular parameters, in particular for planning the processes and / or movements, are entered by an operator and / or data, in particular current and / or planned states of the workstations and / or

Transport vehicles, issued to an operator, in particular visualized or displayed graphically, or this, in particular hardware and / or software, in particular programmatically, is set up. In a further development, the user and the process means and / or the user and the fleet means and / or the user means and the communicate

Work equipment arrangement with each other or are for this purpose, in particular hardware and / or software, in particular programmatically, set up.

As a result, in one embodiment, the planning of processes and / or

Movements influenced, in particular parameterized, and / or the implementation of Processes and / or positions, in particular movements, the transport vehicles are displayed.

In one embodiment, the process and the fleet means and / or the process means and the work equipment arrangement and / or the fleet means and the work equipment arrangement communicate and / or the user and the process means and / or the user and the fleet means and / or the user means and the

Work equipment arrangement on the basis of a, in particular service-oriented, protocol, in particular an OPC protocol ("Open Platform Communications"), an OPC UA protocol ("OPC Unified Architecture"), in particular according to IEC 62541, or an OPC UA-like protocol, in particular an MQTT protocol

("Message Queue Telemetry Transport"), or the like.

As a result, in one embodiment, a particularly advantageous communication within the process control realized and / or their means are particularly advantageous linked together. In one embodiment, the process means plans processes of the station arrangement, in particular the or one or more of their workstations and / or one or more of their components, in particular robots, based on

Starting products, in particular starting materials and / or semifinished products, and / or end products and / or process step sequences, in particular temporally, in particular (time) deterministic or with deterministic or, in particular, reliable, predictable time (points) and / or backward and / or or while the station arrangement performs processes, or is for this purpose, in particular hardware and / or software, in particular program technology, set up.

In one embodiment, the starting products and / or end products and / or process steps are at least partially predetermined, in particular in the form of lists and / or by an operator, partially or fully automated production planning, a partially or fully automated goods management system or the like. As a result, processes in one embodiment can advantageously be planned at least partially automated by specifying the corresponding output products, end products or process step sequences.

For example, in one embodiment, the process agent may schedule assembly of a vehicle door at a workstation if the vehicle door (front / rear, left / right, etc.) and / or the vehicle (series, paint, etc.) and / or the

Assembly sequence (gripping, placing, fastening, etc.). be specified.

By backward tarpaulin, i. Beginning with a time later, in particular last, process, especially production step and then continuing, in particular-progressing, with or at a time earlier, in particular (respectively) preceding process or production step can be reduced in one embodiment, the risk of planning blind alley ,

Generally, in one embodiment, the process agent schedules processes of

Station arrangement temporally, in particular (time) deterministic or with

deterministic or, in particular, reliable, predictable time (point) or is for this purpose, in particular hardware and / or software, in particular program technology, set up. Additionally or alternatively, in one embodiment, the fleet means schedules movements of the vehicle arrangement temporally, in particular (time) deterministically or with deterministic or, in particular, reliable, predictable

Time (point) en, or is for this purpose, in particular hardware and / or software, in particular program technology, set up.

Temporal scheduling in one embodiment generally involves scheduling

certain or defined times, in particular for reaching or

Presence of a process state, in particular success or progress, and / or time periods, in particular for performing process steps, and / or with specific or defined times, in particular for reaching, holding and / or leaving a position, and / or Time periods, in particular for a stay at and / or a transfer between predetermined places of the plant, in particular nodes of a network or graph. In one embodiment, scheduling includes scheduling future processes, movements, and / or times or durations. As a result, in one embodiment, individual processes and / or movements can be synchronized and / or at least partially parallelized.

Thus, in one embodiment, the process control can control the positions of individual

Plan transport vehicles at certain future times and / or take into account in the process planning and / or the states of the individual

Workstations to, in particular the same and / or others, plan certain future times and / or in the motion planning for the

Consider transport vehicles. Generally, in one embodiment, process and / or fleet resources schedule (time) deterministically or with deterministic or, in particular, reliable, predictable time (points).

By planning, while the station arrangement is (already) carrying out processes, in one embodiment (subsequent) processes (dynamic) can be planned in advance and / or processes currently being carried out (dynamically) can be rescheduled.

Planning in one embodiment generally also includes optimizing or planning to reduce, in particular minimize, a one- or multi-dimensional quality criterion.

As a result, in one embodiment, the (planned) processes and / or

Movements are each improved, in particular be planned quickly and / or timely.

Additionally or alternatively, in one embodiment, the process means allocates different workstations of the station arrangement for carrying out processes of the station arrangement, in particular those planned by the process means, and / or

in particular by communication with the fleet means, transport vehicles of the vehicle arrangement for carrying out, in particular by the process means planned processes of the station arrangement, in particular for providing and / or picking up of output products, in particular starting materials and / or semi-finished products, end products and / or tools at workstations by transport vehicles , in particular while the station arrangement performs processes, or is for this purpose, in particular hardware and / or software, in particular program technology, set up. Thus, for example, in the aforementioned example, the process means for a planned installation of a vehicle door allocate a suitable, for the assembly time (still) free, workstation and at the appropriate times still free AGVs for transporting the door (s), fasteners or the like. As a result, in one embodiment, the process means can advantageously plan the processes, in particular optimally utilize existing resources.

In one embodiment, the fleet means communicates with the vehicle arrangement via one or more fleet managers, in a development with the or one or more transport vehicles alternatively via a (selected) of several (provided, in particular existing) fleet managers and / or with at least a first of the Transport vehicles via a (first) fleet manager and with at least a second of the transport vehicles via another (second) fleet manager or is for this purpose, in particular hardware and / or software, in particular program technology, set up. A fleet manager directs, in particular controls and / or monitors, in one embodiment transport vehicles and / or communicates, in particular for this purpose, with these, in one embodiment directly and / or wirelessly or by wire.

As a result, in one embodiment, the process controller can advantageously use different fleet managers and thus be adapted to different boundary or operating conditions. Additionally or alternatively, other means of the

Process control, in particular their process means and / or their user agent and / or the or one or more work equipment their work equipment arrangement (respectively) - on the or the fleet manager - with transport vehicles

communicate. In this way, for example, a, in particular programmable memory, station control for controlling and / or monitoring a workstation of the station assembly on the communicating with her work equipment, with this communicating fleet means and communicating with this fleet manager with a communicating with the fleet manager transport vehicle at the Workstation communicate, in particular this trigger and / or detect its position.

Additionally or alternatively, in one embodiment, the fleet means plans stays of transport vehicles of the vehicle arrangement at different predetermined locations, in particular workstations, in particular different positions within the workstations, and / or charging stations, in particular for charging transport vehicles of the vehicle arrangement with electrical energy and / or fuel Installation, in particular in terms of time, in particular (time) deterministically or with deterministic or, in particular, reliable, predictable time (points), and / or while the station arrangement is carrying out processes, or for this purpose, in particular hardware and / or software , in particular programmatically, set up.

The squares are in an execution node of a graph. Scheduling stays of transport vehicles at predetermined locations or nodes, in one embodiment, involves allocating or reserving timeslots at the appropriate location or node for the corresponding transport vehicles.

In this way, in one embodiment, the path planning of the vehicle arrangement can be advantageously carried out by the liquor means of the process control and, in particular, coordinated with or on the process planning thereof and / or independently of the fleet manager (s) used.

In one embodiment, the one or more communicates

Working means of the working means arrangement (in each case) with one, in particular

Programmable and / or this work equipment, in particular temporarily, assigned, station control, in particular therefore a PLC and / or a robot controller, for controlling and / or monitoring (respectively) one or more workstation (s) of the station arrangement, in particular one or more of its components, in particular while the station arrangement performs processes, or is / are for this purpose, in particular hardware and / or software, in particular

programmatically, set up. As a result, in one embodiment existing, in particular conventional, station controllers can be used by the process control for execution and / or monitoring and assigned to them by means of working equipment of the working means arrangement assigned to them. In particular, the process control, in particular its process means, can set up work programs via the work equipment arrangement

Transmit station controls and / or select in this and / or start, in particular based on process control or process means planned processes. Additionally or alternatively, in one embodiment, station controllers can communicate with transport vehicles via the work equipment arrangement and the fleet means, in particular by issuing and / or monitoring commands (start and / or stop), in particular taking into account their position (s).

A means in the sense of the present invention may be designed in terms of hardware and / or software, in particular a data or signal-connected, preferably digital, processing, in particular microprocessor unit (CPU) and / or a memory and / or bus system or multiple programs or program modules. The CPU may be configured to execute instructions implemented as a program stored in a memory system, to capture input signals from a data bus, and / or

Output signals to a data bus. A storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media. The program may be such that it is capable of embodying or executing the methods described herein, so that the CPU may perform the steps of such methods, and thus, in particular, control the system. In one embodiment, a computer program product may have, in particular, a storage medium for storing a program or a program stored thereon, in particular non-volatile memory, wherein execution of this program causes a system or a controller, in particular a computer, to perform a described here Execute method or one or more of its steps. In one embodiment, one or more, in particular all, steps of

Method completely or partially automated, in particular by the process control or their (e) means.

In one embodiment, a means, in particular the processing means, the liquor and / or the or one or more of the working means of the working means arrangement (in each case) have an interface, in particular, in particular

Fleet means an interface for communication with the fleet manager (s) and / or a working means an interface for communication with the station controller assigned to it, in particular temporarily or permanently. With particular advantage, the present invention can be used in the body shop or the process control system or system or the method or system can be used for this purpose.

In one embodiment, in particular, the process agent is superior to the liquor agent and / or the working fluid arrangement. This can do it in one

Execution of the plant primary or superior (process) control, where

Flottenmittel and / or work equipment arrangement (in contrast) are subordinate or subordinate, in particular act.

As a result, the system can be particularly advantageous in one embodiment

(Process) controlled, in particular optimized processes and / or the communication and / or synchronization of process and fleet means and / or process means and working equipment arrangement and / or fleet means and working equipment arrangement can be improved.

Additionally or alternatively, in one embodiment, the process agent centralizes processes from two or more of the workstations of the station assembly,

in particular jointly and / or in one instance or unit, in particular a computer, plan, execute, in particular command, and / or observe, in particular monitor, or for this purpose, in particular hardware and / or software, in particular program technology, be set up or . be used. In this way, in one embodiment, in comparison to a de-centralized, in particular autonomous, planning, executing or monitoring of processes

Station arrangement security and / or increased efficiency.

Additionally or alternatively, in one embodiment, the process agent may plan, execute, in particular command, monitor, especially monitor, or monitor processes of the station arrangement using, in particular, artificial intelligence (AI) In particular, in one embodiment, the (process) control of the system can be (further) improved, in particular in combination with the higher-level and / or centralized acting). Processes of the station arrangement are optimized and / or better coordinated with the transport of conveyed goods.

Further advantages and features emerge from the subclaims and the exemplary embodiments. This shows, partially schematized, the only:

Fig. 1: a part of a system with a plant and a process controller for controlling the plant according to an embodiment of the present invention.

Fig. 1 shows a part of a system with a plant and a process controller 100 for controlling the plant according to an embodiment of the present invention.

The plant has a station arrangement with - in the exemplary embodiment exemplarily two - workstations 10, 20 and a vehicle arrangement with - in

Embodiment exemplified three - automated transport vehicles in the form of AGVs 30, 31 and 32 for the transport of goods to and from, in particular between the workstations 10, 20 of the station assembly and bearings 50 of the system. The workstations 10, 20 in the exemplary embodiment each have a robot 1 1 or 21 and a PLC 12 or 22 for controlling and / or monitoring the

Workstation, in particular of the respective robot.

In non-illustrated modifications, of course, more and / or different workstations and / or transport vehicles may be present and controlled by the process controller 100. Additionally or alternatively, for example, a PLC can also control several robots.

The process control 100 has a process means 110 for centralized planning, execution and / or monitoring, in particular monitoring, of processes of the station arrangement 10, 20, of a subordinate fleet means 120 for planning, executing and / or monitoring, in particular monitoring, of

Movements of the vehicle assembly 30-32 and a working means arrangement with a working means 130 for communicating with the associated workstation 10 and a working means 131 for communicating with its associated

Workstation 20, which is also subordinate to the process means 110.

In addition, the process controller 100 includes user means 140 for inputting data 40 by an operator and outputting data 41 to an operator.

Process means 1 10, liquor 120, work equipment 130 131 and

User means 140 communicate with each other, as indicated in phantom in Fig.1.

A means 1 13 of the process means 1 10 plans processes of the station arrangement 10, 20 on the basis of lists of starting and / or end products 1 11 and

Process Step Sequences 1 12. If, for example, doors and windows are to be mounted in the body shop, the means 1 13 can do so on the basis of the bodies and doors and windows to be mounted on them (basic products) or on the bodies to be created with doors and windows (end products) and the steps necessary for this, in particular in terms of time, for example, the workstation 10, the door assembly and the workstation 20, in particular temporally coordinated, assign window installation and also the process in the individual workstations, especially in time, plan, for example, the sequence of doors to be mounted or windows and / or the sequence of this each necessary steps, such as gripping the corresponding component, arranging on the body and then attaching it.

For this purpose, a means 1 14 of the processing means 110 allocates the corresponding ones

Workstations or they each reserved for certain periods, the duration and sequence of which results from the process planning of the means 1 13. A means 1 15 of the processing means 1 10 allocates according to the process planning of the means 1 13 transport vehicles 30 - 32 for delivering or collecting the

corresponding parts to or from the corresponding workstations at the appropriate times and / or for positioning and / or moving the

corresponding parts in the appropriate workstations. In particular, the (means 1 14) of the process agent (s) 110 communicates with the fleet means 120, in particular its means 121, which stays from

Transport vehicles of the vehicle arrangement schedules at different predetermined locations.

As indicated schematically in FIG. 1, the means 121 reserves time windows for the various transport vehicles 30 - 32 at different nodes of a graph or network.

If the means 121 determines that the times required by means 114 are the

Transport vehicles 30 - 32 are not feasible at the corresponding workstations, it reports this, then reschedule means 1 13, 1 14 accordingly. In addition to the means 121, the fleet means 120 comprises means 122 which communicates with the vehicle arrangement 30-32 via fleet managers 300, 310.

In the exemplary embodiment, fleet manager 300 controls this example

Vehicles 30, 31 and fleet manager 310 vehicle 32. This is intended only the Illustrate the power of process control. In modifications not shown, only a fleet manager, in particular either one of

various fleet managers, are used.

The exemplary embodiment also illustrates that the planning and commanding of the movement of the transport vehicles of the vehicle arrangement by (means 121 of the) fleet means (s) 120 which communicates through the means 122 with the fleet managers 300, 310, which in turn the transport vehicles 30-32 direct control.

Means 121 may also plan the on-demand start of charging stations 60 for electrical charging and / or refueling the transport vehicles (a) in the planning. A means 1 16 of the process means 1 10 now executes the planned processes by the work programs created by means 1 13, for example, to grasp the corresponding component, arranging on the body and then

Attach it to specific attachment points via which work equipment 130, 131 transmits to the corresponding PLC 12 or 22 or selects and activates programs already stored therein.

This also illustrates the power of the process control, as alternative and / or additional PLC and / or other station, in particular robot controls can be easily integrated by appropriate, associated with them work equipment. The exemplary embodiment also illustrates that conversely the PLC 12, 22 via the process control 100, namely on their associated work means 130 and 131 and the fleet means 122, in particular its means 122, and the

Fleet managers 300 and 310 can command and / or monitor the transport vehicles, for example, by SPS 12 an arrival of

Transport vehicle 30 reports to the fleet manager 300 and / or its Einbzw. Continue in the or the workstation 10 triggers.

In addition, a means 1 17 of the processing means 1 10 monitor the processes carried out by the workstations 10, 20 and communicate accordingly with their PLCs 12, 22 via the working means 130 or 131 assigned to them, as described above that it can reschedule, for example re-sort and / or postpone further processes as needed.

By communicating with process means 110 and fleet means 120

User means 140, an operator on the one hand enter data 40, for example, to parameterize processes or the like. In addition, the user means 140 can display data 41 to him, in particular current and / or planned states of the processes and / or workstations 10, 20 and / or positions of transport vehicles 30 - 32 display.

So far as means of process control 100 have been explained with reference to FIG. 1, the corresponding elements of FIG. 1 may equally represent process steps performed by these means, eg, 113, 14, and 15 likewise scheduling processes, allocating Accordingly, FIG. 1 represents in a compact manner the process controller 100 as well as a method performed by it for controlling the plant according to an embodiment of the present invention.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible. It should also be noted that it is the exemplary

The explanations are merely examples of the scope of protection

Applications and the structure should in no way limit. Rather, the expert is by the preceding description a guide for the

Implementation of at least one exemplary embodiment given, wherein various changes, in particular with regard to the function and arrangement of the described components, can be made without departing from the scope, as it is apparent from the claims and these equivalent

Feature combinations results. LIST OF REFERENCES

10; 20 workstation

1 1; 21 robots

12; 22 PLCs

30-32 AGVs

40; 41 input / output data

50 (Material / Intermediate / End Product / Tool) bearings

60 charging station

100 process control

1 10 process agents

1 1 1 List of starting and end products

1 12 List of work steps

1 13 (means for) scheduling processes

1 14 (Means for) Allocating workstations

1 15 (Means for) Allocation of transport vehicles

1 16 (Means to) Perform processes

1 17 (means for) monitoring processes

120 fleet funds

121 (Means for) Planning stays of transport vehicles

122 (Means for) communication with transport vehicles

130, 131 work equipment (arrangement)

140 user agents

300, 310 fleet managers

Claims

claims

Process control (100) for a plant, the

a station arrangement with at least one at least partially

automated workstation (10, 20); and

a vehicle arrangement with at least one at least partially automated transport vehicle (30-33) for transporting conveyed goods to, in and / or from the station arrangement

wherein the process control comprises:

a process means (1 10) for planning, executing, in particular commanding, and / or observing, in particular monitoring, processes of

Station assembly;

a fleet means (120) for scheduling, executing, in particular commanding, and / or observing, in particular monitoring, movements of the vehicle arrangement; and

a working means arrangement having at least one working means (130, 131) for communicating with at least one workstation of the station arrangement; wherein process and liquor and / or process means and

Working means arrangement and / or fleet means and working means arrangement for communication and / or synchronization are set up with each other.

Process control (100) according to claim 1, characterized by a

User means (140) for inputting and / or outputting data (40, 41) by or to an operator, wherein user and process means and / or user and fleet means and / or user means and work equipment arrangement for

Communication are set up with each other.

Process control (100) according to one of the preceding claims, characterized in that process and liquor and / or process means and work equipment arrangement and / or fleet means and working equipment arrangement and / or user and process means and / or user and fleet means and / or user means and work equipment arrangement for communication with one another on the basis of a, in particular service-oriented, protocol, in particular an OPC protocol, an OPC-UA protocol or an OPC-UA-like protocol. Process control (100) according to one of the preceding claims, characterized in that at least one workstation of the station arrangement comprises at least one robot (1 1, 21).

Process control (100) according to one of the preceding claims, characterized in that the processing means (1 10)

Means (1 13) for, in particular temporal and / or reverse, planning processes of the station arrangement on the basis of starting and / or end products (11) and / or process step sequences (12),

in particular, while the station arrangement is performing processes, and / or means (1 14) for allocating different workstations

Station arrangement for carrying out processes of the station arrangement, in particular while the station arrangement carries out processes, and / or means (1 15) for allocating transport vehicles of the vehicle arrangement for carrying out processes of the station arrangement, in particular while the station arrangement carries out processes,

and / or

for centrally scheduling, executing, in particular commanding, and / or observing, in particular monitoring, processes of at least two at least partially automated workstations (10, 20) of the

Station arrangement and / or

for planning, executing, in particular commanding, and / or observing, in particular monitoring, set up processes of the station arrangement using artificial intelligence and / or

is superior to the fleet means and / or the working equipment arrangement.

Process control (100) according to one of the preceding claims, characterized in that the liquor means (120)

Means (122) for communicating with the vehicle arrangement via at least one fleet manager (300, 310), in particular while the

Stations arrangement performs processes, and / or

Means (121) for, in particular temporal, planning stays of

Transport vehicles of the vehicle arrangement at different

predetermined places, in particular workstations (10, 20) and / or Charging stations (60) of the system, in particular while the station arrangement performs processes,

having.

7. Process control (100) according to one of the preceding claims, characterized

in that at least one working means (130, 131) of the

Work equipment arrangement for communication with a, in particular

programmable station controller (12, 22) for controlling and / or monitoring at least one work station of the station arrangement,

especially while the station arrangement is performing processes.

8. System with a system comprising a station arrangement with at least one

at least partially automated workstation (10, 20) and a

Vehicle arrangement with at least one at least partially automated transport vehicle (30-32) for transporting conveyed goods to, in and / or from the station arrangement, and with a process controller (100) for controlling the installation according to one of the preceding and / or following claims.

9. A method for controlling a plant according to the preceding claim,

characterized in that process and liquor means (110, 120) and / or process means (110) and work equipment arrangement (130, 131) and / or liquor means (120) and work equipment arrangement (130, 131) with each other, in particular on the basis of In particular service-oriented, protocol, in particular an OPC protocol, an OPC UA protocol or an OPC UA-like protocol, communicate and / or synchronized with each other. 10. The method according to the preceding claim, characterized in that

User and process means (140, 110) and / or user and fleet means (140, 120) and / or user means (140) and work equipment arrangement (130, 131) with each other, in particular based on a, in particular service-oriented, protocol, in particular an OPC protocol, an OPC UA protocol or an OPC UA-like protocol.

1 1. A method according to any one of the preceding claims, characterized by at least one of the steps:

-, in particular temporal and / or backward, planning of

Processes of the station arrangement based on output and / or end products (1 11) and / or process steps (1 12) by the

Process means (1 10);

- Allocate from different workstations (10, 20) of the

Station arrangement for performing processes of

Station arrangement by the process means (1 10); and or

- Allokieren of transport vehicles (30-32) of the vehicle assembly for

Performing processes of the station arrangement by the processing means (1 10),

especially while the station arrangement is performing processes.

12. The method according to any one of the preceding claims, characterized by at least one of the steps:

- Communication with the vehicle arrangement via at least one

Fleet manager (300, 310) by the fleet resource (120); and or

-, in particular temporal, planning stays of

Transport vehicles (30-32) of the vehicle arrangement at different predetermined locations, in particular work stations (10, 20) and / or

Charging stations (60) of the plant, by the fleet means (120),

especially while the station arrangement is performing processes.

13. The method according to any one of the preceding claims, characterized in that at least one working means (130, 131) of the working means arrangement with a, in particular programmable memory, station control (12, 22) for controlling and / or monitoring at least one workstation (10, 20) of

Stations arrangement, communicates, especially during the

Stations arrangement performs processes.

14. The method according to any one of the preceding claims, characterized in that the processing means (1 10) Processes of at least two at least partially automated work stations (10, 20) of the station arrangement are planned, executed, in particular commanded, and / or observed, in particular monitored, and / or

Processes of the station arrangement using artificial intelligence plans, executes, in particular commands, and / or observes, in particular monitors, and / or

- is superior to the fleet means and / or the working equipment arrangement.

A computer program product having a program code stored on a computer readable medium for carrying out a method according to any one of the preceding claims.