CN111800900A - Method for operating a rail guidance system - Google Patents

Abstract

A method for operating a rail guide system, which in particular comprises at least one (“smart”) floor element, the method having at least the following steps: a) Predetermining at least one floor element on the at least one floor element A target point of an object, b) tracking the movement of said at least one object, c) transmitting movement information to at least another object or to a ("smart") floor element.

Description

Method for operating a rail guidance system

technical field

The invention relates to a method for operating a rail guide system comprising at least one floor element on which objects can be moved along a predeterminable rail . In particular, the invention relates to a method of operation of a double floor element for a double floor and an operation of objects (vehicles and in particular unmanned transport systems = FTS) on said double floor method. The double floor element is in particular equipped with integrated additional functions. The invention also includes the arrangement of a plurality of double floor elements. In particular, the present invention relates to a dynamic track guidance system for an unmanned transport system.

Background technique

In particular in industrial construction a floor construction commonly referred to as "double floor" is used. In the case of double floors, slabs are arranged above existing floor slabs or over heavy slabs, which can be implemented for example by concrete, which are placed on supports. Reference is made by way of example to DE 20 2007 017236 U1 for a further explanation of the general structure of such a double floor. The support has essentially a floor, which rests on the lower floor or on the slab. Double Flooring - Slabs are removable. With the aid of the double floor, the building can be easily equipped and retrofitted with lines for communication technology and electricity in a demand-oriented manner, since the lines can be laid in the gaps existing between the base plate and the floor of the building. The lines are led out of the voids through cable glands arranged on the base plate.

Modern industrial production systems must be universal. This means that, in order to manufacture products economically and market-oriented, the production systems generally have to be changed in their mutual configuration, but also in their spatial position. Here, the problem is not only present in production environments ("brownfields") that have been in use for many years, but also in new facilities ("greenfields"). As a result, the entire infrastructure supplying the production system has to be adapted to the new configuration. Typically, for this today, existing supplies are dismantled to a certain extent, production facilities are moved, and new media supplies are established. The problem of disassembly and rebuilding is particularly disadvantageous for production systems with defined variables (power, weight, size) and function.

Such double floor elements can be equipped with integrated additional functions, especially for use in industrial environments. The advantage of this is that in addition to the actual function, which provides a space under said double floor that can be accessed from anywhere, other additional functions are integrated. It is particularly advantageous that the double floor element does not need to be laid in a constructively elegant manner during a production changeover, but the double floor element can remain in its place and only the double floor needs to be changed The function of the functional element in the element or on the double floor element. This makes it possible to flexibly convert the production plant. Another particular advantage is that the time and effort required for recombination production is significantly minimized.

A double floor element for a double floor preferably comprises an upper base plate, a limited free space adjoining said upper base plate downwards, at least two functional elements (at least one of which can be actuated by a control device) and a connection for connecting At least one connecting element to at least one further double floor element.

Here, the upper base plate can form the flat termination of the double floor element, which upper base plate is particularly suitable and designed for use as a walkway, a carriageway for vehicles and/or a floor space for machines. The substrate may be at least partially transparent.

In particular, rail guidance systems for (unmanned) vehicles (FTS=unmanned transport system) can be provided here. In particular, a method for decentralized route generation and route optimization for autonomous mobile units should be described.

Rail guidance systems can be equipped with optical sensors and can be designed for use in industrial environments.

Depending on the space conditions and/or the number or density of travel motions on such a floor, collisions may occur which may pose a hazard to the vehicle, the vehicle's transported goods and/or persons.

The FTS may, for example, follow the route of the FTS along a line laid on the floor. Generally, rail guidance systems constructed in this way are less demanding on hardware and software and work robustly. However, since track changes can only be done by removing and re-laying the wire, pre-laid wire on the floor is inflexible.

Here, it is helpful that the described double floor elements for double floors (hereinafter also referred to as "smart" floors or "smart" floor elements) can for example dynamically generate and display LED lines (cf. example). The FTS can drive along the lines generated on the "smart" floor, finding its way through the room. In this case, the driving commands required to control the FTS can be transmitted by means of radio from the higher-level control unit to the respective FTS. The FTS has a largely independent driving control, which only requires the coordinates of the starting point and the target from the higher-level system. However, it is also assumed here that the routes are predefined.

Exploratory measures to detect the shortest route between the origin and the destination point are not supported.

SUMMARY OF THE INVENTION

Proceeding from this, the task of the present invention is to alleviate or even avoid the mentioned disadvantages. In particular, an improved track guidance system should be described.

In particular, a method for decentralized route generation and/or route optimization for autonomous mobile units or objects should be described.

These tasks are solved with a method for operating a rail guidance system according to independent claim 1 . Further configurations of the invention are specified in the dependent claims. It should be pointed out that the description, in particular in conjunction with the drawings, tells further details and developments of the invention, which can be combined with features from the claims.

In particular, a communication method based on the position binding of a double floor element for a double floor and an autonomous mobile unit, preferably an unmanned transport system, is described here for detecting and optimizing driving routes.

This task is facilitated by a method for operating a rail guide system, which in particular comprises at least one ("smart") floor element, comprising at least the following steps:

a) predetermining the target point of the at least one object on the at least one floor element,

b) tracking (Nachhalten) the movement of said at least one object,

c) Transmission of motion information at least to further objects or to ("smart") floor elements.

The specification of the (at least one) target point can take place manually or (preferably) automatically or computer-generated. The target point may be a coordinate in space or on a surface. The target point can be determined in a higher-level control unit and transmitted to the at least one object. For this purpose, the object can have a suitable communication unit and/or data processing unit. The object can move ground bound (on the floor) and/or ground unbound (above the floor). This object is specifically a ground bound FTS. Thus, the target point can be positioned on or above the floor element.

The floor element is preferably "smart", wherein the floor element preferably has its own energy distribution unit, communication unit and/or data processing unit. In particular, the floor element can communicate with other floor elements and/or with higher-level controls and/or objects.

If an object moves over the at least one floor element, the movement of the object can be tracked. That is, for example, there is a positioning system to detect the movement of the object on/over the floor element. The positioning system can be constructed partly in the floor element and/or in the object. Data describing the (current and/or previous) movement of the at least one object may be generated and provided. Trajectories and/or motion trajectories can be determined or tracked. In particular, the actual (currently) realized movement is tracked (and preferably, planned or calculated trajectories and/or motion trajectories are not tracked). The movement information can be temporarily stored in local control devices (eg control devices of objects and/or floor elements) and/or transmitted to a central control device. The motion information may be determined by sensors. It is possible that said movement information is not (only) temporarily stored and processed or evaluated.

The (determined and/or stored) movement information can then be transmitted to at least one (further) object and/or (other) floor element. The object or the floor element can be designed such that it adapts or changes its (current) behavior based on or due to the motion information obtained. For the floor element, this may mean adapting activatable markings. For the object, this may mean that the (current or predetermined) route to the target point is to be modified.

It is possible for at least one object to be provided with multiple routes from the start of its movement to a predetermined target, or for at least one object to have multiple routes available from the start of its movement to a predetermined target. In particular, the plurality of routes may involve passing through different floor elements. It is possible that multiple routes are provided to the object, and the object can choose one of them if necessary. It is also possible that there are multiple routes available to the object, and then one of these routes is selected from the outside. The motion information generated by the above method may be considered to provide and/or select a route (from a large number of potential possible routes if necessary).

The movement of the at least one object to the predetermined target may be influenced by a plurality of local control centers. The control device of the floor elements can be used as a control center, wherein each floor element forming a floor can have a control center, if necessary. The control center may communicate one-way and/or two-way with the object. The control center may collect, process and/or forward movement information. If necessary, the control center can transmit instructions to the object (via a higher-level control device, if necessary) to adapt and/or precisely control movements in the area of the local control center.

Data communication can take place between at least one object and at least one floor element. The data communication preferably takes place "wireless" or contactless. Preferably, the data communication takes place via radio. The data communication can be configured to be unidirectional or (at least temporarily) bidirectional.

The at least one floor element can be equipped with marking elements or display elements, which are actuated as a function of the data communication with the at least one object and/or an evaluation of the data communication with the at least one object. the display element. The marking elements may for example define (together) definable areas on the floor elements. Said marking elements may for example be light emitting elements, eg LEDs (emitting ultraviolet, infrared and/or visible light). The display elements can be, for example, predeterminable signals, such as patterns, symbols, frequency-modulated signals and/or (color) codes. The display elements may be, for example, imaging elements or image-generating elements, such as LED matrices, LED strips, monitors, or the like. Marking elements and/or display elements are particularly suitable for providing (automatically) "readable" information to machines, in particular objects.

Double floor elements are preferably used for double floors, in particular designed to carry out the method shown here, comprising at least an upper base plate, at least one functional element actuatable by a control device and for connection to at least one further double floor At least one connecting element of a floor element, wherein the functional element is a row or matrix of activatable markings with which areas can be displayed on the double floor element.

The activatable label preferably comprises a light-emitting body. A large number of illuminants are preferably provided, which together can display different tracks, patterns and/or codes. These illuminants can preferably emit light in the visible, infrared and/or ultraviolet range.

The double floor element preferably has as functional element at least one sensor, which is designed in particular for detecting objects and particularly preferably for detecting movements of objects. The sensor can be implemented as a proximity sensor and, for example, recognizes predetermined components of the object itself or interacts with these predetermined components. This can be an optical sensor, a radio sensor, a camera, etc. The sensor is preferably arranged below the floor formed with the double floor element, so that, in particular, a position detection through the floor can be achieved, if necessary also with floor transparency for the sensor.

The double floor element advantageously has at least one energy supply module for supplying energy to the at least one activatable marker and, if necessary, also other functional elements of the double floor element. In particular, the at least one energy supply module is designed to supply the activatable marker with energy in a targeted manner based on a specification of the control device, so that the activatable marker can be changed according to the explanation here. The energy supply module itself is preferably connected to a central energy store from which a plurality of double floor elements are supplied.

According to yet another aspect, a double floor is proposed, comprising at least two double floor elements, in particular designed to operate a track guide system according to the invention. This means in particular that several or even a large number of such double floor elements are connected to each other (in a modular manner) and can interact harmoniously with each other. Thus, a "smart" floor is thus created, on which the FTS can move within the space.

Expediently, the double floor has a higher-level control device (if necessary also as a center console and/or a control center) for carrying out the method proposed here. The control device can in particular be designed such that it can coordinate the operation of markings of a plurality of floor elements and/or can perform position detection of at least one object (relative to the floor element).

Particularly preferred implementation variants of the system proposed here are explained below.

Optoelectronic rail guidance systems for unmanned transport systems (FTS) and their physical manipulation devices and algorithms for application in industrial settings help to solve this task.

In the "factory of the future", various mobile robot swarms will undertake a large number of different logistics tasks. It is difficult to achieve route planning for all robots by central control taking into account the different driving kinematics, safety distances, etc. in a convertible factory.

Here, distributed, decentralized approaches are useful, which can better account for the different requirements of various systems and/or exhibit more robust behavior in the presence of error conditions. Such an approach is, for example, the so-called ant algorithm (English: ant colony optimization, "ant colony optimization" (ACO)).

ACO is inspired by the pheromone-based behavior of real ants:

Ants constantly expel pheromones as they look for food, and these pheromones form tracks along the path they travel. Other ants then tend to follow such pheromone tracks. Roads leading to food on the shortest path are traversed faster and therefore more frequently than longer roads, whereby over time the pheromone concentration is higher on the shortest path and the shortest path is established (see Figure 2). Characteristic ant streets are produced.

Now, mobile units (objects) should imitate this behavior to find and track efficient routes within the plant independently, especially without a pre-determination of central control. Therefore, the mobile units are designed so that they can leave "tracks" on the floor of the factory.

As exemplarily shown in Fig. 3, the mobile unit (object) communicates continuously with the smart floor below it via infrared diodes during the time it follows the LED strip (activatable marking of the floor element). During this process, the mobile unit informs the floor of the individual identifier.

The floor tracks the tracks traversed by the mobile unit by means of which of the embedded infrared diodes have been used for communication. Now if another mobile unit drives over the floor in another crossing and communicates using the same identifier, the floor can "play" the previously traversed track. Various mechanisms can be used in this process, such as:

1. The route to be tracked is communicated directly to the mobile unit (object), including information on route guidance and frequency of use,

2. Color the respective LEDs belonging to the route, and/or

3. Change the luminous frequency of the respective LEDs belonging to the route to a specific value detectable by the mobile unit.

In order to achieve the desired orbital guidance of the method proposed here, a combination of mechanisms 2 and 3 above can be directly communicated and/or selected here. The shape or type of the track is conveyed by frequency changes and differentiated from possible other tracks, while the intensity (ie the frequency at which the track was selected in the past) is represented by gradual color development. In the simplest case, you can completely turn off the unused track LEDs if only the unique tracks are displayed.

Therefore, here the vehicle (object) first drives autonomously according to a track finding algorithm not described in detail. During this process, the vehicle leaves virtual tracks on the tiles of the smart floor (eg, stored in a central floor control device/control and/or in individual tiles or individual floor elements). These virtual tracks can be displayed to subsequent vehicles to optimize their track finding. It makes sense that the identifier of the target should be saved along with the track.

Example of technology implementation

Smart floors can be equipped with colored LEDs and light sensors arranged in pairs (see Figure 3, left area: smart floor with LEDs and light sensors). To match this, the mobile unit can be equipped with a sensor array and LEDs. Here, the sensor array is designed such that there is always at least one LED of the smart floor remaining within the reception range of the sensor array (see eg Fig. 3, area on the right: sensor group of the mobile unit).

If the mobile unit is placed on the smart floor, the mobile unit will detect the LEDs that emit the highest orbital intensity. This directly generates the trajectory to be tracked (see also eg FIG. 4 : Behavior of the mobile unit on the smart floor and the resulting trajectory), along which the mobile unit travels.

If the mobile unit has reached the target LED, the mobile unit emits a corresponding track signal via its own LED, which is detected by the associated light sensor.

Repeat the above process with the LEDs that are now within the measurement range. A general route is thus generated from the links of the individual trajectories.

Other applications

In addition to the decentralized route creation and route optimization by means of robot swarms, simpler application situations can also be realized by the method described. Here, a first mobile unit, which may be a human, a software algorithm and/or an FTS, sets a trajectory, which subsequent mobile units can follow directly. In this way, both fleet scenarios (such as digitally coupled milk carts) and follow-me scenarios of FTS in which workers guide autonomous work are possible. Depending on the desired application, the generated route can then be retained and reused, or the generated route can also be rejected again directly.

The (if necessary abstract) method steps presented herein can be implemented as a computer-implemented method. It is thus also possible to implement a system for data processing with means for carrying out the (if necessary abstract) method steps presented here.

Description of drawings

The invention and the technical environment are also explained in more detail below on the basis of the accompanying drawings. Here, the same components are designated by the same reference numerals. The figures are schematic and are not intended to show dimensional relationships. Explanations described with reference to individual details of one drawing can be extracted and freely combined with facts from other drawings or the above description, unless otherwise mandatory for those skilled in the art or where Such combinations are expressly prohibited. Schematically shown:

Figure 1: Smart floor with photoelectric track guidance system, as an example of a double floor consisting of several double floor elements;

Figure 2: Schematic diagram of the route tracking mechanism and the subsequent route pre-setting mechanism;

Figure 3: Arrangement of coloured LEDs and light sensors in the case of a "smart" floor; and

Figure 4: Possibilities for optoelectronic tracking of object movement.

Detailed ways

Figure 1 shows an embodiment of a smart floor with a photovoltaic track guiding system. The double floor element 1 of the double floor 6 is shown, which has an upper base plate 7 resting at the corners on frame elements 13 constructed with (metal) supports, through which the base plate 7 passes. Said support is supported above a floor slab 15, eg made of concrete. The base plate 7 is arranged at a distance from the floor blank 15 by means of the support, so that a free space 14 (gap) is formed between the floor blank and the base plate 7 .

A "smart" floor can be a double floor 7 made of individual tiles or elements (floor element 1 ) with integrated additional functions, such as embedded LEDs as a visualization function or activatable with marking elements 4 Mark 11. Depending on the level of disassembly chosen, the LEDs can here be organized into LED strips and/or LED matrices (see Figure 1). The main function of the LED is to mark the road, route, etc. on the one hand. Furthermore, these LEDs can be used as a dynamic track guidance system for object 2, in particular a track-guided unmanned transport system (FTS). The activatable marker 7 is used in particular to transmit control information to the FTS.

FIG. 2 should show by way of example how the method can be operated in the form of an electro-optical rail guidance system for an unmanned transport system (FTS). On the left side of FIG. 2 , it is shown that the object selects or is prescribed a number of routes 17 or paths in order to reach a target point 19 from a starting point 18 . During this process, depending on the direction of movement (see directional arrows a, b in the figure), the starting point can also be a target point for (another) object. In the middle of FIG. 2 it is shown that the exercise intensity and/or the frequency of use is detected and, if necessary, analyzed. The outcome of this process can be tracked and notified to the control center and/or directly to the subject so that the subject will choose a particularly preferred route 17 the next time he travels from the starting point 18 to the target point 19 (for example, because shortest), see right side in Figure 2.

FIG. 3 shows the left part of the smart floor 1 , 6 which can be equipped with colored LEDs and light sensors 12 arranged in pairs as marking elements 4 . In accordance with this, the object 2 can be equipped with a sensor array 20 and LEDs as marking elements 4 (shown on the right). The sensor array 20 is here designed such that at least one LED of the smart floor 1 , 6 remains in the receiving area or monitoring area 21 of the sensor array at all times. If an object 2 is placed on the smart floor 1, 6, the object detects the LED emitting the highest orbital intensity. From this, the trajectory to be tracked, along which the object (eventually) travels, which is shown by way of example in FIG. 4 , is obtained directly.

FIG. 4 shows the behavior for selecting a preferred route according to the path with the highest track strength (see (+)) and the resulting trajectory of the object on the smart floor 1 , 6 . Here, the object 2 is located on or above the floor of the corresponding equipment. If the object has reached the target LED, the object emits a corresponding track signal via its own LED, which track signal is detected by the associated light sensor 12 on the floor. Repeat the above process with the LEDs now within the measurement range. A general route is thus generated from the links of the individual trajectories.

List of reference signs

1 Floor element

2 objects

3 Control Center

4 Marking components

5 Display elements

6 Double floors

7 Substrate

8 functional elements

9 Control equipment

10 Connection elements

11 Activable markers

12 sensors

13 Frame elements

14 Free space

15 Floor Blanks

16 Controls

17 routes

18 starting point

19 target points

20 sensor array

21 Surveillance area

22 tracks.

Claims (8)

1. Method for operating a rail guide system, in particular comprising at least one floor element (1), having at least the following steps:

a) specifying a target point of at least one object (2) on the at least one floor element (1),

b) tracking the motion of the at least one object (2),

c) the movement information is transmitted at least to the further object (2) or to the floor element (1).

2. The method according to claim 1, wherein a plurality of routes from the start of its movement to a predefined target are provided to the at least one object (2) or a plurality of routes from the start of its movement to a predefined target are available to the at least one object (2).

3. The method according to any of the preceding claims, wherein the movement of the at least one object (2) to a predetermined target is influenced by a plurality of local control centers (3).

4. The method according to any of the preceding claims, wherein data communication is performed between the at least one object (2) and at least one floor element (1).

5. Method according to any of the preceding claims, wherein the at least one floor element (1) is provided with a marking element (4) or a display element (5), the marking element (4) or the display element (5) being manipulated depending on data communication with the at least one object (2) or evaluation of the data communication with the at least one object (2).

6. Double-layer floor element (1) for a double-layer floor (6), in particular designed to carry out the method shown here, comprising at least an upper substrate (7), at least one functional element (8) which can be actuated by a control device (9), and at least one connecting element (10) for connecting to at least one further double-layer floor element (1), wherein the functional element (8) is a row or matrix of activatable markings (11) with which an area can be displayed on the double-layer floor element (1).

7. The double-layered floor element (1) according to claim 6, wherein the activatable marking (11) comprises a light.

8. The double-layered floor element (1) according to claim 6 or 7, having at least one sensor (12) as a functional element (8), which is in particular designed for detecting an object (2) and particularly preferably for detecting a movement of the object (2).

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