WO2020025386A1

WO2020025386A1 - Workpiece support, in particular having a 5g air interface

Info

Publication number: WO2020025386A1
Application number: PCT/EP2019/069738
Authority: WO
Inventors: Gunther May; Oliver Scheb
Original assignee: Robert Bosch Gmbh
Priority date: 2018-07-31
Filing date: 2019-07-23
Publication date: 2020-02-06
Also published as: DE102018212723A1

Abstract

The invention relates to a workpiece support (1) comprising a device (2) which is designed to detect the workpiece support's (1) own position, using at least one signal received.

Description

Workpiece carrier, especially with a 5G radio interface

description

The invention relates to a workpiece carrier, a system with a workpiece carrier and a base station, a method for localizing a workpiece carrier and a

Use of a radio signal from a 5 G network.

The progress of the individual should be increasing in industrial production plants

Workpieces are tracked. The background to this is the idea of controlling production systems through the products (i.e. workpieces). The workpiece brings all the information for the individual production steps and the required machines and tools. It is advantageous that a high degree of individualization of the individual products is possible and the production process can be automated further. Automation is intended to avoid errors in the production process and increase product quality. In addition, costs are to be reduced by reducing set-up times and manual interventions. This also enables documentation of the product development process (e.g. as proof of quality).

To track workpieces accordingly, there are currently workpiece carriers in which RFID tags are integrated. Barcodes, often implemented as stickers, are also used. These make it possible to scan the RFID tag or barcode with a

Reading device, a workpiece can be tracked within the production chain. After registering the day, the manufacturing steps can be documented in a central database and used, for example, to optimize the production processes.

For the described tracking based on RFID tags or barcodes, corresponding reading devices are required in the production chain, and manual processes are often also necessary (eg scanning with a hand scanner). Problems associated with this include, in particular, the costs for the corresponding reader and / or personnel costs. In addition, manual processes are usually time-consuming. Furthermore, due to the need for reading devices, tracking is only possible at certain points in a machine or production system.

Proceeding from this, it is an object of the present invention to at least partially solve the problems described with reference to the prior art. In particular, a workpiece carrier, a system with a workpiece carrier and a base station and a method for localizing a workpiece carrier are to be specified, each of which at least contribute to avoiding RFID or barcode readers in the production chain and manual scanning processes and to reducing costs and / or the

Improve manageability. In addition, the widest possible local tracking of workpieces in a machine or production system should be made possible.

These objects are achieved by the features of the independent claims. Further advantageous refinements of the solution proposed here are specified in the dependent claims. It should be pointed out that the features listed individually in the dependent patent claims can be combined with one another in any desired, technologically sensible manner and define further refinements of the invention. In addition, the features specified in the patent claims are specified and explained in more detail in the description, further preferred embodiments of the invention being illustrated.

A workpiece carrier contributes to this, having a device that is set up to use at least one received signal to position itself

To detect workpiece carrier.

The solution presented here advantageously allows the workpiece carrier to actively carry out (own) localization. This contributes in a particularly advantageous manner to the provision of an autonomous and / or intelligent workpiece carrier. The solution proposed here is based in particular on the idea of equipping a workpiece carrier with a device in the form of an active technology which can independently detect or ascertain its own position, in particular in the production chain and / or in a plant. In addition, it is advantageous if the workpiece carrier this

Can communicate its own position via radio to a base station, which is preferably connected to the control system of a (manufacturing) plant. The workpiece carrier is in particular a device that is set up to hold and / or fix a workpiece, such as a semi-finished product.

In addition, the workpiece carrier can be set up to be integrated into a transport and / or transfer system, for example a manufacturing plant. For this purpose, the workpiece holder can have, for example, a transport device which is designed such that the workpiece carrier can be detachably connected to a conveyor belt. Workpiece carriers in particular contribute to improving the handling of workpieces in a complex, for example multi-stage, manufacturing process. In other words, this means in particular that a workpiece carrier can be understood to mean a carrier on which one or more workpieces are fastened in order to transport them from a workpiece conveyor along a production line through several production stations (also referred to here as processing stations). The workpiece can preferably be held on or on the workpiece carrier in such a way that the workpiece can be machined directly on or on the workpiece carrier by machines (such as milling) or workers.

The workpiece carrier can have, for example, a base body on or on which one or more workpieces can be fixed by means of a workpiece holder of the workpiece carrier. The base body can be shaped, for example, in the manner of a (square) plate. The workpiece holder can be implemented, for example, by means of mechanical and / or magnetic fastening means. The device can be arranged, for example, in or on the base body. The device is preferably at least partially integrated in an interior of the base body. In principle, the workpiece carrier can be driven by a belt or a chain. Alternatively or cumulatively, the workpiece carrier can be equipped with its own drive.

The workpiece carrier has an (active) device, which is set up to use at least one received signal to position itself

Workpiece carrier (active). The device is preferably set up in such a way that it can carry out (active) localization. In other words, this means in particular that the device is preferably an active device for self-localization. This advantageously contributes to the fact that the workpiece carrier can locate or locate itself without external reading stations.

For receiving the signal, the device can have, for example, a radio interface and / or an antenna. The radio interface and / or the antenna can be part a radio module of the facility. For an evaluation of the signal, the

Device have a data processing device or at least access it.

The device can determine the intrinsic position of the workpiece carrier, for example, by determining its position relative to known stationary objects in the vicinity of the workpiece carrier. For this purpose, the device can comprise, for example, a camera, ultrasound and / or radar sensor. Known stationary objects can be, for example, walls, gates, machines, shelves and / or stationary markers specially provided for the purpose of self-localization in a factory hall.

Alternatively or cumulatively, the device can determine the intrinsic position of the workpiece carrier, for example, by determining its position in a local coordinate system and / or in a global coordinate system. A corresponding local coordinate system could, for example, be defined within a workshop. In this context, fixed radio stations (for example integrated in base stations) could be arranged in or on the workshop, the radio signals with the device

change. The device could thus determine its own position in the local coordinate system via a transit time measurement of the radio signals and a triangulation. The radio stations could, for example, be WLAN stations or 5G stations. The device could, for example, have a GPS receiver for localization in a global coordinate system.

According to an advantageous embodiment, it is proposed that the signal be a radio signal of a 5G network. The signal is preferably a 5G radio signal which supplies the device with position information.

The (own) position can be requested at any time within the radio network (from the device or the workpiece holder). For example, the device can be set up to send out a request signal in order to request a signal with position information from the 5 G network. After receiving the signal with the position information, the own position can be acquired on the basis of this, for example by corresponding evaluation of the position information from the received signal. This position information can be generated, for example, by one or more 5G base stations (possibly together) determining the position of the workpiece carrier. This can be done, for example, by one or Several 5G base stations evaluate a property such as, in particular, a signal strength of a radio signal emitted by the device (possibly in the form of a request signal) and infer the position of the workpiece carrier from this. The radio signal that is used to determine the position is usually used by the

Setup of the workpiece carrier sent to the one or more 5G base stations. If several base stations are used, several radio signals can be used accordingly.

Alternatively or cumulatively, the device can be set up to carry out measurements in the 5G network and to determine its position (in a local and / or global coordinate system) on the basis of these measurements. Especially in this

Context, it is provided that the device is preferably not only set up to receive signals, but also to send out signals. A determination of one's own position (self-localization) can take place, for example, by evaluating the received signals from several base stations, for example on the basis of one

Distance estimation by reception field strengths (or signal strengths) and / or

Signal propagation times. In this context, the device is preferably set up in such a way that it can evaluate signals received from a plurality of base stations. Here, the device is particularly preferably set up such that it is a

Can perform distance estimation based on received field strengths (or signal strengths) and / or signal propagation times.

According to an advantageous embodiment, it is proposed that the device comprises a 5G radio interface. In particular, the workpiece carrier is thus a 5G network subscriber and can be provided with position information from the 5G network in a particularly advantageous manner. The device preferably comprises a 5G radio module.

According to an advantageous embodiment, it is proposed that the workpiece carrier also have a (digital) data processing device. In the

The data processing device can in particular be a microcontroller. The data processing device can in particular contribute to evaluating the received signals and determining the own position. Thus, the

Data processing device also form part of the device. In addition, the data processing device can, for example, be part of a control unit of the

Form workpiece carrier, which can use captured own position information to to control a sequence of production steps (transport, processing, intermediate storage, quality control, etc.).

Furthermore, the workpiece carrier can have a (digital) memory which the data processing device can access. This advantageously enables data on the workpiece, e.g. its "history" through an integrated memory

document. The latter is often referred to as "digital twin". However, this functionality should be designed optionally.

In addition, the workpiece carrier can optionally be equipped with additional sensors. For example, the workpiece carrier can include one or more of the following sensors: acceleration sensors, temperature sensors, air humidity sensors and / or weight sensors.

According to a further aspect also contributes to the solution of the task (s) mentioned

Workpiece carrier with a data processing device such as a

Microcontroller and a 5G radio interface, such as a 5G radio module is equipped. A workpiece carrier with a data processing device and a 5G radio interface represents a further aspect of the solution presented here, which in particular is also independent of the one proposed according to claim 1

Workpiece carriers can contribute to the solution of the stated task. The data processing device or the microcontroller is preferably actively set up for this purpose

Perform localization using 5G radio signals. Alternatively or cumulatively, the data processing device or the microcontroller can be set up to request position information from the 5G network.

The details, features and advantageous configurations discussed in connection with the proposed workpiece carrier (in particular according to claim 1) can accordingly also occur in the workpiece carrier presented here and vice versa. In this respect, full reference is made to the explanations given there for the more detailed characterization of the features.

According to a further aspect, a system is proposed, comprising at least one workpiece carrier according to one of the preceding claims and a base station. The system is preferably part of an infrastructure in a (manufacturing) plant. The base station is furthermore preferably connected to a (factory) control center or a control system. The base station is preferably also a 5G network subscriber and can thus exchange information about the 5G network with the workpiece carrier. The base station can preferably receive position information about the 5G network from the workpiece carrier.

Furthermore, the system can have at least one processing station, such as one

mechanical processing machine (milling machine, lathe, etc.) include. The

Processing station is preferably also 5G network subscriber and can therefore

Exchanging information about the 5G network with the workpiece carrier. For example, if the workpiece carrier has been detected by the processing station, its presence, a more precise position specification and / or a work step carried out by the

Processing station via the 5G network to the workpiece carrier, especially the

Data processing device and / or the product data memory are transmitted in the workpiece carrier. This can advantageously contribute to comprehensive documentation of as many processing steps as possible.

In addition, the system can, for example, in a (factory) control center

Control unit include. The control unit is preferably set up to

Position information (s) of the workpiece carrier to use to run a

Control production steps (transport, processing, intermediate storage, quality control, etc.).

According to a further aspect, a method for localizing a workpiece carrier is proposed, comprising at least the following steps:

a) receiving at least one signal,

b) detecting an intrinsic position of the workpiece carrier using the signal received in step a),

c) sending information about the own position recorded in step b) to a base station;

the steps a) to c) being carried out on the workpiece carrier side.

The specified sequence of process steps a), b) and c) generally results from a regular operating sequence. The method can in particular be carried out with a workpiece carrier proposed here. In other words, this means in particular that the method for localizing one proposed here

Workpiece carrier can serve. Furthermore, the workpiece carrier proposed here can be set up to carry out a method proposed here. At least one signal is received in step a). The signal can be, for example, a radio signal, optical signal and / or acoustic signal (such as an ultrasound signal). According to an advantageous embodiment, it is proposed that the signal be a radio signal of a 5 G network.

In step b) an own position of the workpiece carrier is recorded using the signal received in step a). Preferably, the own position of the workpiece carrier is determined and / or determined (calculated) using the signal received in step a). The detection particularly preferably comprises a plurality of signal transit time measurements and / or a triangulation. Alternatively or cumulatively, the detection can also include receiving position information from the 5 G network.

In step c) information about the information recorded in step b) is sent

Own position at a base station. It is then preferably forwarded to a (factory) control center.

According to an advantageous embodiment, it is proposed that at least one signal is also sent in step a). In step a), a signal is particularly preferably received from the device which was generated on the basis of or based on a signal previously sent by the device (for example by a communication partner, such as at least one base station). For example, the device can send out a request signal in order to request a signal with position information from the 5G network.

According to an advantageous embodiment, it is proposed that, in a step d), a sequence of production steps is influenced using information about the own position recorded in step b). This is preferably done

Connection of controlling a sequence of production steps by a (factory) control center or on the workpiece carrier side (for example by the data processing device) using information about the own position recorded in step b).

According to a further aspect, the use of a radio signal of a 5G network for determining a position of a workpiece carrier is proposed. A 5G radio interface of a workpiece carrier is preferably used for the active detection or determination of an own position of the workpiece carrier. The 5G- is also preferred. Radio signal from the workpiece carrier used to carry out an active self-localization.

Alternatively or cumulatively, one or more 5G base stations (possibly together) can determine the position of the workpiece carrier. This can be done, for example, by one or more 5G base stations evaluating a property, such as, in particular, a signal strength of the radio signal and from this on the position of the workpiece carrier

draw conclusions. The radio signal that is used to determine the position is usually sent from the workpiece carrier to the one or more 5G base stations. If several base stations are used, several radio signals can be used accordingly. (Position) information about the position determined in this way can in turn be sent to the

Workpiece carriers and / or a (factory) control center can be sent.

The details, features and advantageous configurations discussed in connection with the workpiece carriers can accordingly also occur in the system, the method and / or the use presented here and vice versa. In this respect, full reference is made to the explanations given there for the more detailed characterization of the features.

The solution presented here and its technical environment are explained in more detail below with reference to the figures. It should be pointed out that the invention is not intended to be limited by the exemplary embodiments shown. In particular, unless explicitly stated otherwise, it is also possible to extract partial aspects of the facts explained in the figures and to combine them with other components and / or knowledge from other figures and / or the present description. They show schematically:

1: an embodiment of a workpiece holder presented here,

2: an exemplary sequence of a method presented here, and FIG. 3: an illustration of a system presented here.

1 schematically shows an embodiment of a workpiece carrier 1 presented here. The workpiece carrier 1 has a device 2 which is set up for this purpose Using at least one received signal to detect an intrinsic position of the workpiece carrier 1.

In the example shown in FIG. 1, the device 2 comprises a 5G radio interface 3 and a localization element 10. The 5G radio interface 3 is implemented here by way of example with a 5G radio module 8. The 5G radio module 8 can have an external or integrated antenna 9.

The radio module 8 is preferably implemented here using the

Mobile Technology "5G". On the one hand, a radio interface 3 is thus available, and on the other hand 5G supports the (own) localization of the workpiece holder 1. Other technologies such as WLAN / WiFi, Bluetooth, other mobile radio systems, Ultra Wide Band (UWB), etc. are also conceivable here.

The localization element 10 is only optional. Localization solutions are already included in some wireless technologies, such as 5G. If this is not the case and / or the accuracy is not sufficient for a specific application, the

Localization can also be realized using another integrated technology (e.g. based on GPS, Ultra Wide Band (UWB), ultrasound, etc.). Thus, when using a 5G radio module 8, the localization element 10 is only optional or can be omitted. In particular when using another radio module that works with a technology that does not include or permit a localization solution, the localization element 10 can be provided and set up using at least one received signal

Detect own position of the workpiece holder 1. For this purpose, the localization element 10 can comprise, for example, a GPS, ultra wide band and / or ultrasound receiver.

Furthermore, the workpiece carrier 1 here includes, for example, a voltage source 11. Here, operation by means of an integrated, replaceable battery is preferred. Charging via a contactless technology such as induction loops would be advantageous. In addition, a notification of the battery status to a base station 5 (not shown here, cf. FIG. 3) can be provided so that impending failures can be detected early. A so-called “lifetick” would be particularly advantageous in this context, so that the workpiece carrier 1 regularly reports to the base station 5 or a control system. If this feedback is not received after a timeout period, the base station 5 can issue an error message with the last known position of the Output workpiece holder 1. In this way, suddenly breaking voltage or defects of the workpiece carrier 1 can be dealt with in an advantageous manner.

Furthermore, the workpiece holder 1 here includes an (optional)

Product data memory 12. In the product data memory 12, data for the planned production steps and / or about the steps actually carried out and / or any measurement values recorded thereby can be documented. These can optionally be kept centrally for the entire production. In the case of decentralized data storage in the workpiece holder 1, these data are generally also transferred to a central database for evaluation and archiving.

Furthermore, the workpiece carrier 1 here includes (optional) sensors 13 as examples. Here, for example, acceleration sensors, temperature sensors,

Humidity sensors, etc. are installed to monitor the conditions during the

Record production processes and, if necessary, the test sequence (e.g. temperature tests, vibrations, etc.). A sensor system for detecting the weight of the workpiece would also be advantageous.

In addition, the workpiece carrier 1 or the device 2 has one here

Data processing device 4, for example in the manner of a microcontroller.

1, the data processing device 4 with the

Radio module 3, the voltage source 11, the product data memory 12, the (optional) localization element 10 and the (optional) sensor system 13 are connected.

In the data processing device 4, for example, the data of a workpiece 6 can be managed and / or data of the localization solution and the optional sensor system 13 can be processed. Furthermore, the data processing device 4 can

Control radio transmission to base station 5 and / or from this data via the

Take the production process and the workpiece 6.

A workpiece 6 can on a base body 20 of the

Workpiece carrier 1 must be fixed. The workpiece holder 7 can be formed, for example, in the manner of a mechanical fastening device for the workpiece 6. Alternatively or cumulatively, magnetic fasteners would be conceivable. Examples are the 5G radio module 8, the data processing device 4, the (optional) localization element 10, the voltage source 11, the product data memory 12 and the (optional) sensor system 13 are integrated in the base body 10.

In addition, it is illustrated in FIG. 1 that the workpiece carrier 1 is a

Transport device 13 can have. This is arranged here on an underside of the base body 10 as an example. The transport device 13 can have rollers or skids, for example. Alternatively or cumulatively, the transport device 13 can be shaped in the manner of a receptacle for a transport means firmly connected to a transport system, such as an assembly line.

2 schematically shows an exemplary sequence of a method presented here. The method is used to localize a workpiece carrier. The sequence of process steps a), b) and c) shown with blocks 110, 120 and 130 generally results from a regular operating sequence. In block 110, at least one signal is received. In block 120, an intrinsic position of the workpiece carrier is detected using the signal received in step a). In block 130, information about the own position recorded in step b) is sent to a base station. Steps a) to c) with blocks 110, 120 and 130 are carried out on the workpiece carrier side.

3 schematically shows an illustration of a system presented here. The system comprises several of the workpiece carriers 1 presented here and a base station 5. The illustration according to FIG. 3 illustrates an exemplary infrastructure in a plant 14 in which the solution presented is used. The base station 5 is generally a base station for the radio interface of the workpiece carrier 1.

The base station 5 is connected to a (factory) control point 15. There can be several

Base stations 5 are present, each of which is connected to the (same) control point 15. Furthermore, the (each) base station 5 is connected to an antenna 9, by means of which it is an exemplary 5G network subscriber here. In the plant 14 there is for example a quality control 17 and an intermediate storage 18, in which workpiece carriers can be located in each case. Furthermore, a transporter 16 can move in the factory, for example, which can transport one or more workpiece carriers 1. In addition, there is at least one processing station 19 in the plant 14. This is also an example 5G network subscriber. The workpiece carriers 1 and the control system or control center 15 can communicate with one another via the base station. In particular, a device is provided in the control center which has a counterpart to the functionality of the workpiece holder 1, ie offers one or more of the following functionalities:

• Provision of the planning data for the production of the workpiece,

• Evaluation of the position of the workpiece carrier or the workpiece, and / or

• Evaluation and archiving of the manufacturing data after completion of the manufacturing.

For example, a control unit in the (factory) control center 15 or in the

Data processing device 4 of the workpiece carrier 1 use the position information to carry out a sequence of production steps (transport, processing, intermediate storage,

Quality control, etc.). The position of a workpiece carrier 1 can be requested at any time within the radio network. It is therefore advantageously not necessary to have fixed reading stations for determining the position, as would be required, for example, in the case of a passive system in which workpiece carriers are identified by RFID or another (passive) short-range radio technology.

The processing station 19 is also a 5G network subscriber here. Among other things, this allows the advantage that the workpiece carrier 1 and the processing station 19 can communicate with one another (without additional communication means). For example, if the workpiece carrier 1 was detected by the processing station 19, its presence, a more precise position specification and / or a work step carried out by the

Processing station 19 via the 5G network to the workpiece holder 1, in particular the data processing device 4 and / or the product data memory 12 in the workpiece holder 1.

In particular, the solution presented here contributes to one or more of the following advantages:

• Independence from reading devices;

• More precise localization, also possible within a machine (where generally no readers can be placed);

• Misdirected or "lost" workpieces can be located and found even if there is no reader nearby;

• More precise temporal resolution possible because of the documentation of individual

Production steps do not have to wait for the next reading process; • Easier retrofitting of the production process; no reassembly of readers required;

• machine independence; A workpiece can be accessed at any location within a production plant (or across locations).

LIST OF REFERENCE NUMBERS

1 workpiece carrier

2 establishment

3 5G radio interface

4 data processing device

5 base station

6 workpiece

7 workpiece holder

8 radio module

9 antenna

10 localization link

11 voltage source

12 Product data storage 13 Sensor technology

13 Transport device

14 plant

15 control center

16 transporters

17 Quality control

18 interim storage facilities

19 processing station

20 basic bodies

Claims

Expectations

1. workpiece carrier (1), comprising a device (2), which is set up using at least one received signal an intrinsic position of the

To record workpiece carrier (1).

2. Workpiece carrier according to claim 1, wherein the signal is a radio signal of a 5G network.

3. Workpiece carrier according to claim 1 or 2, wherein the device (2) comprises a 5G radio interface (3).

4. Workpiece carrier according to one of the preceding claims, further comprising a data processing device (4).

5. workpiece carrier (1), comprising a data processing device (4) and a 5G radio interface (3).

6. System comprising at least one workpiece carrier (1) according to one of the preceding claims and a base station (5).

7. A method for localizing a workpiece carrier (1), comprising at least the following steps:

a) receiving at least one signal,

b) detecting an intrinsic position of the workpiece carrier (1) using the signal received in step a),

c) sending information about the own position recorded in step b) to a base station (5);

the steps a) to c) being carried out on the workpiece carrier side.

8. The method according to claim 7, wherein the signal is a radio signal of a 5 G network.

9. The method of claim 7 or 8, wherein in step a) at least one signal is sent.

10. The method according to any one of claims 7 to 9, wherein in step d) influencing a sequence of production steps takes place using information about the own position recorded in step b).

11. Use of a radio signal of a 5G network to determine a position of a workpiece carrier (1).