WO2019086409A1

WO2019086409A1 - Transport system, method, computer program, machine-readable storage medium

Info

Publication number: WO2019086409A1
Application number: PCT/EP2018/079637
Authority: WO
Inventors: Steffen Rahn; Claudio Seitz
Original assignee: Robert Bosch Gmbh
Priority date: 2017-11-02
Filing date: 2018-10-30
Publication date: 2019-05-09
Also published as: DE102017219479A1

Abstract

A transport system (1) having: at least one drive unit (11) for moving the transport system (1); at least one sensor (12) for capturing environment information and/or control commands and/or motion sequences (201) of a user (2) of the transport system (1); a unit for ascertaining (13) at least one future path (41, 42) of the user (2) on the basis of the captured environment information and/or control commands and/or motion sequences of the user (2); a unit for determining (14) at least one drive command for the drive unit (11) on the basis of the at least one ascertained future path (42) of the user (2).

Description

Description title

Transport system, procedures, computer program, machine-readable

storage medium

The present invention relates to a transport system, method for operating a transport system, a corresponding computer program and a

machine-readable storage medium.

State of the art

The state of the art for semi-autonomous transport supporting devices includes a variety of applications for wheelchairs, strollers or golf caddies. This drive units are used to reinforce or replace the human force or assist in coping with obstacles or balancing unilateral force (one-handed driving, downhill).

In the automotive sector, environment detection, distance control, braking and traction

Traffic jam assistants already available as serial products. Likewise, increasingly highly automated driving will be further developed and introduced in the coming years.

Disclosure of the invention

Against this background, a transport system is proposed in the present case, which is suitable, outside an ordered system, the automatic sequence or Provide advance function for transport support. That's it

Transport system capable of taking into account environment or path information outside an orderly road system.

The transport system of the present invention detects this by means of suitable sensors environment information, control commands or sequences of motion of a

User. The acquired information, commands or processes are processed by means of a computer and anticipated future future paths of the user or predicted. The most suitable path is through the

Supported transport system such that based on the most suitable path a command sequence for the drive unit of the transport system is determined in order to realize an automatic follow-up or Vorausfahrfunktion the transport system.

The proposed transport system comprises: at least one drive unit for moving the transport system;

at least one sensor for acquiring environmental information or

Control commands or sequences of motion of a user of

Transport system;

a unit for determining at least one future travel path of the user as a function of the detected environment information or

Control commands or movements of the user;

a unit for determining at least one drive command for the

Drive unit as a function of the at least one determined future path of the user.

Under a transport system in the present case is a transport-supporting system, for example. A vehicle such. B. a stroller, a wheelchair, a shopping cart, a sack truck, a suitcase, a golf caddy udgl. to understand.

In the present case, a drive unit is to be understood as meaning a device which is suitable for moving the transport system at least in the horizontal plane, and possibly in the vertical plane. This could, for example, from an engine, preferably from an electric motor, and a control unit, for example. In the form of a control unit and u. U. a steering unit are formed.

Under environment information are present u. a. Understand information that particularly describes the environment of the transport system. This information can be extracted from sensor data or are available as static information, for example in the form of maps.

In this case, a unit for determining a travel path is to be understood as meaning a device which, based on input data as output data, determines at least at least one future travel path of the user of the transport system. Such a device may, for example. From a computer or a

Control unit can be formed with appropriate resources. A drive command herein is a control command or signal directed to the drive unit of the transport system causing it to move the transport system in the intended direction or to stop or generally affect predominant movement (ie, steer , Acceleration, braking, etc.).

Advantageously, such a transport system can be used in the following fields of application:

- Outdoor recreational sports (joggers, inline skating, cycling, etc.) with prams

- Assistance for companion of a railroad driver

- Walking, hiking with baby carriage

- Running with suitcases in the city

- Golf caddies

An embodiment of the transport system according to the present invention has a unit for detecting hazards, which is designed to detect at least one risk as a function of the detected surroundings information or control commands or sequences of movement of the user. According to this embodiment The unit for determining determines the at least one drive command alternatively or additionally as a function of the at least one identified dangers.

This embodiment provides an additional security aspect to

Transport system according to the present invention.

An embodiment of the transport system according to the present invention comprises a unit for communicating with the user, in particular for bidirectional communication, in particular by means of visual or tactile

Means of communication, on.

This embodiment increases the Ease-of-Use of a transport system according to the present invention, since, for example. A control of the transport system is possible without the hands to create transport system. It is conceivable, for example, the control by gestures via visual communication means, in particular a camera, or by voice over auditory communication means, in particular a microphone or loudspeaker.

In addition, the possibility of controlling the transport system has the advantage that if one of the paths to be taken is unclear (for example, when driving ahead to an unknown intersection), for example, by means of voice / gesture or visual control signals via corresponding receiver the vehicle will be transmitted.

As possible communication with the transport system, various options are conceivable for controlling the motion desired by the user, such as:

Gesture control

Mobile Device (App)

voice control

Physical communication unit on the stroller (eg emergency stop,

Touchscreen, joystick ...)

Pressure sensor (strength of the pressure on the handlebar for

Cruise Control) According to one embodiment of the transport system according to the present invention, the at least one sensor is a radar or video or ultrasound or Nahfeldbzw. Acceleration or position sensor.

Another aspect of the present invention is a method of operating a transport system according to an embodiment of the present invention. The method comprises the steps:

Recording environment information or control commands or

Movements of a user of the transport system;

Determining at least one future path of the user;

Determining at least one drive command for the drive unit in

Dependence on the at least one determined future route of the user.

An embodiment of the method according to the present invention has the additional step of recognizing at least one hazard. According to this embodiment, in the step of determining the at least one drive command is determined alternatively or additionally as a function of the at least one determined risk.

This embodiment provides an additional security aspect to

Transport system according to the present invention.

According to an embodiment of the method according to the present invention, in the step of determining the at least one drive command is determined such that the transport system is in front of the user relative to the movements of the user.

This embodiment increases the joy of use of a transport system according to the present invention, since u. U. valuable goods or occupied with an occupant transport system, eg. B. in the design of a baby carriage, are in the view of the user of the transport system. According to an embodiment of the method according to the present invention, in the step of determining the at least one drive command is determined such that the transport system is behind the user relative to the movements of the user.

This embodiment enhances the comfort aspect of a transportation system according to the present invention. In particular, when this embodiment with the

Combined embodiment is used, according to the transport system in the determination of the at least one drive command a recognized hazard

considered, this embodiment achieves particularly high comfort performance, since on the one hand, the transport system is not in front of the user and possibly there leads to movement restrictions or distractions. And on the other hand, the user does not have to pay attention to recognize and respond accordingly to dangers that are not relevant to the user but may become relevant for the subsequent transport system.

Especially when it comes to the users of the transport system itself to restricted users, for example, motion-inhibited people, such as.

Wheelchair user acts, a method for operating the transport system according to the preceding or subsequent embodiment, particularly great advantages.

According to one embodiment of the method according to the present invention, in the step of determining the at least one drive command is determined such that the transport system remains within a predetermined radius around the user.

This embodiment has the advantage that the transport system on the one hand receives more opportunities to determine drive commands to realize a Vorausfahr- or follow-up function and on the other hand does not leave a certain radius around the user, so that the user the transport system and thus the Transport goods can be found in an acceptable for the user distances. According to one embodiment of the method according to the present invention, in the step of determining the at least one future travel path is determined by means of machine learning.

This embodiment is based on the fact that typical movement patterns or popular distances are detected and stored. Based on the stored motion patterns and distances, trajectories can be used for one

be anticipated user-oriented foreshortening, which then to corresponding drive commands for the drive unit of the transport system according to the

lead present invention.

Another aspect of the present invention is another method for

Operating a transport system according to an embodiment of the present invention, wherein the transport system is operated in such a way, in particular the drive unit is driven such that the transport system oscillates back and forth.

By swinging back and forth a weighing function is realized. This weighing function can, for example, be used to help babies and toddlers fall asleep or sleep.

Another aspect of the present invention is a computer program configured to execute all steps of an embodiment of one of the methods according to the present invention.

Another aspect of the present invention is a machine-readable one

Storage medium on which the computer program according to the present invention is stored.

Details and embodiments of the invention will be explained in more detail with reference to figures. Show it:

1 is a schematic representation of a deployment scenario of a partially automated operated transport system according to the prior art;

2 is a schematic representation of a deployment scenario of a

Transport system according to the present invention;

3 is a block diagram of a transport system according to the present invention

Invention;

4 is a flow chart of an embodiment of the method according to FIG

present invention;

5 is a flowchart of a method according to another aspect of the present invention;

FIG. 1 shows a schematic representation of an application scenario of a

semi-automated operated transport system 1 according to the prior art. In the illustrated scenario, the transport system 1 is a golf caddy. The transport system 1 can be operated in such a way that it follows coordinates 101, which essentially correspond to the movement sequence 201 of the user 2. Obstacles or general dangers, such as the tree 3, which the user 2 bypasses, also bypasses the partially automated transport system.

FIG. 2 shows a schematic representation of an application scenario of a

Transport system according to the present invention. In the illustrated scenario, the transport system 1 is a stroller. The transport system 1 in the illustrated embodiment precedes the user 2. By means of corresponding sensor systems, the transport system 1 detects the movement sequence 201 of the user 2, obstacles or general dangers, such as a static obstacle in the form of a tree 31 or a dynamic obstacle in the form of another person 32. The drive unit of the transport system will be controlled in this way in that it bypasses the dangers accordingly. Furthermore, the transport system detects

Routes 41, 42. Based on the typical motion patterns 201 of the User 2 and the stored distances, the transport system 1 anticipates the distance 42 and ignores the distance 41. Further sources of information which the transport system 1 uses to determine the future travel paths of the user 2 and to determine drive commands for the drive unit of the transport system 1 are position information on Satellite navigation systems 51 or

Wireless communication systems 52. Also conceivable are near-field communication systems that are used directly between the transport system 1 and the user 2. An example of such a near field communication system is Bluetooth.

FIG. 3 shows a block diagram of a transport system 1 according to the present invention.

The transport system 1 has at least one drive unit 11. In that

Block diagram, the drive unit 11 is shown by two diagrammatically illustrated wheels. The drive unit 11 is not limited to two wheels. In principle, it is possible to drive transport systems with any number of wheels. Conceivable and possible are transport systems with only one wheel. Furthermore, not all wheels of a transport system must necessarily include the drive unit. It is also conceivable that a transport system 1 has driven and non-driven wheels. Also conceivable is a configuration in which the

Transport system 1 has driven and steerable wheels. Also, the must

Drive unit 11 should not be configured as wheels. Also conceivable are chains, rollers udgl.

The drive unit need only be able to controllably move the transport system.

Furthermore, the transport system 1 has at least one sensor 12 for detecting surroundings information or control commands or sequences of movement of a user 2 of the transport system 1. Sensor types include the following sensors: radar video - ultrasound

Nahfeldsensorik

accelerometer

(high accuracy) position sensors satellite-based position sensors

Furthermore, the transport system 1 has a unit for determining 13 of a future travel path 41, 42 of the user 2. In the unit for determining 13, an evaluation of the surroundings information or control commands or sequences 201 of the user 2 detected via the at least one sensor 12 is carried out to determine a future travel path 41, 42 of the user 2. This unit 13 can be implemented in the form of a computer , More efficient in terms of energy consumption is an appropriately designed control unit. Furthermore, an embodiment in the form of an application-specific integrated circuit (ASIC) is also conceivable.

Furthermore, the transport system 1 has a unit for determining 14 at least one drive command for the drive unit 11. In determining unit 14, at least one drive command is determined based on the determined future path 42 of the user 2. As a rule, not only a drive command is determined but a series of drive commands, which are adapted to the drive unit 11 of the transport system 1 to control such that the transport system 1, depending on the future path of the user 2 implements an at least partially automated Vorausfahr- or follow-up function. FIG. 4 shows a flow chart of an embodiment of the method 400 according to the present invention.

The method 400 begins with step 401. In this step, the detection of surroundings information and / or control commands or sequences 201 of a user 2 of the transport system 1 takes place.

In step 402, at least one future travel path 42 of the user 2 is determined.

The method 400 ends with step 403. In this step, at least one drive command for the drive unit 11 is determined as a function of the at least one determined future travel path 42 of the user 2.

FIG. 5 shows a flowchart of a method 500 according to another aspect of the present invention.

The method 500 includes the one step 501. In this step, the

Drive unit 11 is driven such that the transport system 1 oscillates back and forth. By this control of the drive unit 11 of the transport system 1, a weighing movement can be generated. In particular, in the transport system 1 in the embodiment as a stroller can thereby a

Comfort function for an occupant of the stroller, therefore, a baby or toddler, as well as for the user 2 of the stroller, so a parent or a caregiver for the baby or toddler are provided.

Claims

claims

1. transport system (1) 1 having

at least one drive unit (11) for moving the

Transport system (1);

at least one sensor (12) for detecting surroundings information and / or control commands and / or sequences of motion (201) of a user (2) of the transport system (1);

a unit for determining (13) at least one future travel path (41, 42) of the user (2) as a function of the detected environment information and / or control commands and / or

Movements of the user (2);

a unit for determining (14) at least one drive command for the drive unit (11) as a function of the at least one determined future travel path (42) of the user (2).

2. Transport system (1) according to claim 1, comprising a unit for

Danger detection, which is designed to detect at least one hazard (31, 32) as a function of the detected environment information and / or control commands and / or motion sequences (201) of the user (2), wherein the unit for determining (14) the at least one Drive command depending on the at least one detected dangers (31, 32) determined.

3. Transport system (1) according to claim 1 or 2 comprising a unit for

Communication with the user (2), in particular for bidirectional

Communication, in particular by means of visual and / or auditory and / or tactile means of communication.

4. Transport system (1) according to one of the preceding claims, wherein the at least one sensor (12) has a radar and / or video and / or ultrasound and / or near field and / or acceleration and / or

Positioning sensor is.

5. A method (400) for operating a transport system (1) according to one of

Claims 1 to 4, with the steps:

Capturing (401) environment information and / or control commands and / or motion sequences of a user (2) of the

Transport system (1);

Determining (402) at least one future travel path (41, 42) of the user (2);

Determining (403) at least one drive command for the

Drive unit (11) in dependence on the at least one determined future path (42) of the user (2).

6. Method (400) according to claim 5 with the additional step of recognizing at least one hazard (31, 32), wherein in the step of determining (403) the at least one drive command is determined as a function of the at least one determined hazard (31, 32) becomes.

7. The method (400) according to any one of claims 5 or 6, wherein in the step of

Determining (403) that the at least one drive command is determined such that the transport system (1) is located in front of the user (2) relative to the movements (201) of the user (2).

8. The method (400) according to any one of claims 5 or 6, wherein in the step of

Determining (403) the at least one drive command is determined such that the transport system (1) is located behind the user (2) relative to the movements (201) of the user (2).

9. The method (400) according to any one of claims 5 to 8, wherein in the step of

Determining (403) the at least one drive command is determined such that the transport system (1) remains within a predetermined radius around the user (2).

The method (400) of any of claims 5 to 9, wherein in the determining step (402), the at least one future travel path (41, 42) is determined by machine learning techniques.

11. Method (500) for operating a transport system (1) according to one of

Claims 1 to 4, wherein the transport system (1) is operated in such a way, in particular the drive unit (11) is driven such that the transport system (1) moves oscillating back and forth.

A computer program configured to perform all the steps of one of the methods (400, 500) of any one of claims 5 to 11.

13. A machine-readable storage medium on which the computer program according to claim 12 is stored.