CN112590783A

CN112590783A - Ground transport vehicle provided for operation without driver's voluntary action

Info

Publication number: CN112590783A
Application number: CN202011050132.7A
Authority: CN
Inventors: A·海姆; F·勒特林; R·斯蒂芬
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2019-10-02
Filing date: 2020-09-29
Publication date: 2021-04-02
Also published as: DE102019215174A1

Abstract

The invention relates to a ground vehicle (1) which is provided for driver-free autonomous operation and has a loading edge (1.2) for a load (2) to be transported, comprising at least: a control system (3) which controls and operates the ground conveyance (1); an evaluation unit (4) for generating a signal for stopping the industrial truck (1), wherein a detection device (5) is provided for detecting a loading region (26) adjacent to the loading edge (1.2) and for detecting objects in the processing region (26), wherein the evaluation unit (4) is provided for comparing an expected reference position of the object and the evaluation unit (4) generates a signal for stopping the industrial truck (1) if the expected reference position of the object deviates.

Description

Ground transport vehicle provided for operation without driver's voluntary action

Technical Field

The invention relates to a ground transport (self-guided transport, AGV) for loads to be transported, which is provided for autonomous operation without a driver. The invention is particularly applicable to robotic vehicles for transporting loads. Liftable ground conveyance and non-stackable lift trucks and corresponding combinations are also included.

Background

With the advancement of automation technology, the operation of the load becomes more and more important.

When autonomous ground transport vehicles are to pass under the load in order to load the load, it is necessary to distinguish between persons on the path and the particular load. The known sensor device designs do not allow reliable differentiation. If necessary, the monitoring of the load transfer area is even completely dispensed with and passenger protection is achieved with reduced force (less than 400 newtons) by means of contact triggering.

Disclosure of Invention

Starting from this, the object of the invention is to provide an industrial truck which is provided for driver-free autonomous operation and which alleviates or even avoids the disadvantages described. In particular, a distinction between persons and loaded goods should be made in a structurally simple manner. Furthermore, in order to prevent collisions, the movement of the ground conveyance should be reliably stopped.

The object is achieved with a ground conveyance according to the independent claim. Further embodiments of the invention are given in the dependent claims. It should be noted that, in particular in connection with the description of the figures, other details and modifications of the invention can be implemented, which can be combined with the features of the claims.

To this end, a ground transport means is proposed which is provided for driver-less autonomous operation and has a loading edge (Ladekante) for a load to be transported, said ground transport means comprising at least:

-a control system which controls and manipulates (lenken) the ground conveyance,

an evaluation unit which generates a signal for stopping the ground conveyance, wherein a detection device is provided for checking a processing region adjacent to the loading edge and for detecting an object in the processing region, wherein the evaluation unit is provided for comparing an expected reference position of the object and the evaluation unit generates a signal for stopping the ground conveyance when a deviation of the expected reference position of the object is detected.

The ground transport means proposed here have the advantage of increased safety, since the protection of persons during the approach to the load is not achieved by a limited contact force, but rather the persons in the travel path are identified without touching them.

A particular advantage is that the person is distinguished from the load by means of a defined geometry of the load or of the load. The geometry of the identified object can be verified by means of the sensor device before passing the load from below. This is done (depending on the geometry), for example, by means of a combination of two (rearwardly directed) lateral warning zones and one (rearwardly directed) central protection zone of the laser scanner. A particular load is involved if two outer warning zones are triggered simultaneously or within a short time window and the middle protection zone remains without object recognition. In all other cases, the control unit judges "person is recognized" and stops the movement. In the case of more complex geometries, the recognition can be carried out, for example, by means of raw data of a laser scanner.

A driverless ground transport may refer to a powered transport intended for active travel, including any trailers, as necessary. For this purpose, the ground vehicle interacts with a guidance system of a predetermined travel path in the ground or in the surroundings.

"load" refers to an object to be manipulated, including its mass, size, condition, and/or arrangement. The load may consist (only) of load goods. The load may also comprise a load and a transport device for loading the load, such as a transport cart, a pallet, a trolley (Bodenroller) or the like. A "load operation" that can be carried out by a ground conveyance is to be understood as, in particular, lifting, lowering, load transfer and/or load handling.

The control system has as its content an automatic device which controls (for example activates/deactivates) and actuates (optionally monitored in a sensory manner) the industrial truck and the associated devices. The system of the driver-less ground conveyance includes a control system that may be part of and/or separate from the ground conveyance. The control system may comprise a computing unit which is arranged in or on the ground conveyance.

The evaluation unit can be connected to the sensor system (e.g., the detection device), preferably in an electrically conductive and data-conducting manner, and is provided for processing its signals. The evaluation unit is provided in particular for evaluating the data of the detection device, so that the person, object (in the area behind the surface vehicle) can be detected or determined unambiguously with regard to the position/position of the person, object in the machining area. The position determined in the evaluation unit can be set or influenced using predefined (e.g. stored and/or set) parameters, wherein the control signals are then also transmitted to the control device and the operation of the ground conveyance can be influenced by the evaluation unit. The evaluation unit can be a separate (electronic) device, but it can also be part of a control system for controlling the ground transportation vehicle itself. The (at least) one data-conducting connection between the evaluation unit and the controller and the sensor system can be realized by wire or wirelessly.

The detection device is provided for generating a signal which represents the machining region, in particular the (rearward) surrounding region of the (rear) loading edge of the ground conveyance. This signal can be interpreted by the evaluation unit and causes a command to the control system, by means of which the ground conveyance can be stopped by means of the brake system under predefined operating conditions, in particular before a predefined safety distance from the (recognized, predefined) object is undershot. The detection device for detecting persons and/or objects located in the (rearward) driving path is connected to the evaluation unit and/or the control device.

The detection device is provided in particular for monitoring a protected area and/or an alarm area, i.e. for detecting persons, objects, etc. entering the ground transportation vehicle during (backward) travel. Depending on the driving direction, the speed and/or the steering deflection, differently predefined regions can be monitored. Each predefined area may consist of an alarm zone and a protection zone, wherein a plurality of alarm zones and/or protection zones may also be predefined if necessary. If one of the alarm zones is interrupted, the evaluation unit can cause the ground conveyance to (only) reduce the speed (without directly stopping it). If a protective zone is interrupted, the evaluation unit triggers a braking function (automatically, i.e. in particular without active action by a person and/or directly on the basis of an indication from the evaluation unit), wherein, for example, the drive is separated from the voltage supply (torque (STO) is reliably switched off). If the protected area is no longer interrupted, the drive of the industrial truck can be activated again and thus automatically continue to travel after, for example, 2 seconds.

The detection device is provided for checking the machining region and for detecting objects in the machining region. For this purpose, the evaluation unit can compare the data obtained by the detection device with the expected reference position of the object and generate a signal for stopping the ground conveyance if a deviation from the expected reference position of the object is to be detected from the data.

The reference position of the object may be predefined and stored in the evaluation unit and/or the control system. Here, typical wheel spacings and/or typical widths of loads, load carriers, transport vehicles, warehouse racks, etc. are listed by way of example. If the data determined by the detection device correspond to the reference position of the object, the ground transport vehicle continues its travel according to the predefined travel route. However, if, for example, a data record is to be evaluated which cannot be assigned to a previously known and/or expected reference position of the object (for example because of a change in the environment and/or the additional presence of obstacles or persons there), the evaluation unit (without delay and/or automatically) emits a signal for stopping the ground transportation means.

Preferably, the control system comprises a control unit for a desired direction of travel and speed, a control unit for movement and a control unit for safety of the ground conveyance. A first Control Unit (a manipulator Control Unit, a Robot Control Unit, RCU), a second Control Unit (a Motion Control Unit, an MCU), and a third Control Unit (a security Control Unit, a Safety Control Unit, an SCU) are components of the Control system.

Advantageously, the detection means comprise a laser scanner. The laser scanner scans a predetermined peripheral area with laser light. In this case, a laser beam is emitted by the scanner, which is then reflected again by the surroundings, objects or obstacles and received again by the receiving optics. The laser light can be deflected by a pivoted deflection mirror. The operating time of the laser from the scanner to the reception again is determined and evaluated, wherein the distance to obstacles (persons, objects, etc.) in the scanning area can be inferred therefrom. An "image" may also be generated having a plurality of detected objects oriented relative to one another. More complex analyses of the surroundings are thus also possible.

The laser scanner is preferably arranged at the rear of the ground conveyance.

Suitably, the control system comprises an evaluation unit. Advantageously, the evaluation unit is integrated into the control system.

Preferably, the laser scanner is connected to a third control unit (SCU).

Advantageously, a second control unit (MCU) and a third control unit (SCU) are provided for checking obstacles in the surroundings by means of a predefined protection zone and alarm zone of the laser scanner.

Preferably, a plurality of protection and/or alarm zones are predefined in the laser scanner or evaluation unit.

Suitably, a third control unit (SCU) is provided for activating and/or deactivating the protection zone.

Preferably, the laser view of the laser scanner includes a narrow laser view as a protection area and a wide laser view as an alarm area.

With the floor-based transport means proposed here, a distinction is advantageously made between transport carriage (slide carriage, Dolly) and persons by means of the protective and warning areas of the laser scanner. In this case, a "drive to load" driving situation is achieved.

The ground transport vehicle can therefore also be designed with a system for data processing, which comprises means for carrying out the above-described method steps with the aid of the detection device. In particular, the system is provided for determining persons and/or objects located in a travel path by means of a detection device, in particular using an evaluation unit, wherein

-the evaluation unit is arranged for comparison with an expected reference position of the object, and

-causing the ground conveyance to stop running (without delay) when a (predeterminable) impermissible change is determined (when a deviation in the expected reference position of the object is detected).

As a precaution, it should be noted that elements having numbers ("first", "second", …) are often named merely for distinction, and the relevance and order of the elements need not be given in advance. In the case of sensors, this means, for example, that their installation (fixed, following) and/or position (on a support, a clamp, etc.) can be freely selected independently of the name or according to the technical environment.

Drawings

The invention and the technical field are explained in detail below with the aid of the figures. Here, the same members are identified by the same reference numerals. The drawings are schematic and are not provided to illustrate scale. The explanations set forth in the individual details with reference to one drawing are extractable and can be freely combined with the explanations from the other drawings or the preceding description, unless other results must be derived or such combinations are explicitly forbidden to the person skilled in the art. Shown schematically in the drawings:

fig. 1 shows a top view of a driver-less autonomous ground vehicle with a control system and a detection device;

FIG. 2 shows a block diagram with a control system to which the laser scanner and drive motor are connected;

fig. 3 shows a side view of the industrial truck according to fig. 1 with a loaded load and a laser scanner; and is

Fig. 4 shows a plan view of the industrial truck according to fig. 3 with a laser scanner and with an alarm zone and a protective zone.

Detailed Description

Fig. 1 shows a top view of a driverless autonomous ground vehicle 1 with a control system 3, a load sensor 6 (azimuth sensor) and a laser scanner 8.

The industrial truck 1 proposed here, which has a loading area 1.1 for a load 2 to be transported (see fig. 3), comprises at least a control system 3 for controlling and actuating the industrial truck 1 and an evaluation unit 4 (see fig. 2) for generating a signal for stopping the industrial truck 1. A detection device 5 (see fig. 2) is used to detect the arrangement of the load 2 and is connected to the control system 3, wherein the detection device 5 comprises an inductive sensor as a load sensor 6 and a laser scanner 8. The control system 3 comprises a first control unit 9 for the desired direction of travel and speed, a second control unit 10 for the movement and a third control unit 11 for the safety of the industrial truck 1. A first motor for the driving movement of the industrial truck 1 is denoted by 12 and a second motor for the height adjustment of the lifting device 14 (see fig. 2) is denoted by 13. The first rotation inductor (nominal rotation speed) is denoted by 15 and the second rotation inductor, e.g. a SIL-2 rotation inductor, is denoted by 16. The direction of movement is indicated at A, B. The ground conveyance 1 may be an Active Shuttle (AS). The machining region adjacent to the loading edge 1.2 is denoted by 27.

Fig. 2 shows a block diagram with a control system 3 for the ground conveyance 1 proposed here. The load sensor 6 and the laser scanner 8 are connected to the electronic control system 3 via the evaluation unit 4 via a data-conducting connection 17. The second control unit 10 is connected to the first motor 12 via a first rotational speed sensor 15 (nominal rotational speed). The second rotational speed sensor 16 is connected to the third control unit 11. The brake system 18 is connected to a control system 3 which can generate a signal to the first motor 12 to stop the industrial truck 1. The braking system 18 can also act on the ground conveyance 1 alone or in combination with the first motor 12. Furthermore, a second motor 13 for driving the lifting device 14 is connected to the control system 3. The detection device 5 can likewise be used to detect the position of the lifting unit 14. The memory element is denoted by 19.

Fig. 3 shows a side view of the industrial truck 1 according to fig. 1 with a loaded load 2 and shows an inductive sensor, for example an inductive proximity sensor, as the load sensor 6. The load cell 6 is mounted on the rear side of the loading surface 1.1 of the industrial truck 1 and is oriented in the direction of the load 2. The load 2 is composed of a load 21 and a transport vehicle 22, and the load 21 can be transported by the transport vehicle. The wheels of the industrial truck 1 are designated 20.1, 20.2 and 20.3. The wheels of the feed carriage 22 are denoted by 23.1 and 23.2. The laser scanner 8 is mounted at the rear of the ground conveyance 1. The laser field of view 8.1 is directed away from the ground conveyance 1. The load cell (orientation sensor) is indicated with 6.

Fig. 4 shows a plan view of the industrial truck 1 according to fig. 3, which has a laser scanner 8 with a narrow protection zone 24 and a wide warning zone 25. The protection area 24 and the warning area 25 are located in the space between the fixed transport carriages 22.1, 22.2 and 22.3 and the ground conveyance 1. A walkway 26 is also shown.

To this end, the basic flow logic may be summarized as follows:

1. the first control unit 9 transmits the desired direction of travel and speed to the second control unit 10.

2. The second control unit 10 further transmits the desired direction of travel to the third control unit 11, calculates the nominal rotational speed and transmits it to the motor.

3. The third control unit 11 recognizes when the protective zone 24 of the rear laser scanner 8 is triggered (person recognition) and sets the speed v to 0 mm/s for this long time by the second control unit 10 until the protective zone 24 is empty again. (the nominal speed of the third control unit 11 takes precedence over the desired speed of the first control unit 9.)

4. The third control unit 11 recognizes that, when the two warning regions 25 of the rear laser scanner 8 are triggered (slide carriage recognition), the laser scanner 8 is switched to the narrower protection region 24 and the loading process is continued.

The driver-free autonomous floor transport 1 (AGV) proposed here is preferably used, for example, in factories, warehouses, supermarkets or hospitals. Collision (in particular collision with persons and/or objects) and/or disorientation are avoided on the basis of sensors, such as laser scanners, inductive proximity sensors, ultrasonic sensors and/or 3D cameras. For example, pallets, boxes, racks, parts or small load-bearing Stands (KLTs) with or without transport carriages 22 ("slide carriages").

List of reference numerals

1 ground transport means

1.1 Loading area

1.2 Loading edge

2 load

3 control system

4 evaluation unit

5 detecting device

6 load sensor

7 sensor system

8 laser scanner

8.1 laser field of view

9 first control unit

10 second control unit

11 third control unit

12 first motor

13 second motor

14 lifting device

15 first rotary inductor

16 second rotary inductor

17 connection for conducting data

18 brake system

19 memory element

20.1, 20.2, 20.3 wheels for ground vehicles

21 load goods

22 transport vehicle

22.1, 22.2, 22.3 fixed delivery wagon

23.1, 23.2 wheels of delivery wagon

24 protective zone

25 alarm zone

26 pavement

27 machining area

A. B direction of motion.

Claims

1. A ground vehicle (1) which is provided for driver-less autonomous operation and has a loading edge (1.2) for a load (2) to be transported, having at least:

a control system (3) which controls and operates the ground conveyance (1),

an evaluation unit (4) which generates a signal for stopping the ground conveyance (1),

wherein the detection device (5) is provided for checking a processing region (27) adjacent to the loading edge (1.2) and for detecting objects in the processing region (27), wherein the evaluation unit (4) is provided for comparing an expected reference position of an object and the evaluation unit (4) generates a signal for stopping the industrial truck (1) when a deviation of the expected reference position of the object is detected.

2. A ground conveyance (1) according to claim 1, wherein the control system (3) comprises a control unit (9) for a desired direction of travel and speed, a control unit (10) for movement, and a control unit (11) for safety of the ground conveyance (1).

3. An industrial truck (1) as claimed in claim 1 or 2, wherein the detection device (5) comprises a laser scanner (8).

4. An industrial truck (1) as claimed in claim 3, wherein the laser scanner (8) is arranged at the rear of the industrial truck (1).

5. A ground conveyance (1) according to any of the preceding claims, wherein the control system (3) comprises an evaluation unit (4).

6. An industrial truck (1) as claimed in any one of the preceding claims, wherein the laser scanner (8) is connected to a third control unit (11).

7. A ground conveyance (1) according to any of the preceding claims, wherein a second control unit (10), a third control unit (11) are provided to check obstacles in the surroundings by means of pre-given protection and alarm areas (24, 25) of the laser scanner (8).

8. A ground conveyance (1) as claimed in any preceding claim, wherein a plurality of protection zones (24) are predefined in the laser scanner (8).

9. A ground conveyance (1) according to any of the preceding claims, wherein the third control unit (11) is arranged to activate or deactivate the protection zone (24).

10. A ground conveyance (1) according to any of the preceding claims, wherein the protection and alarm areas (24, 25) are formed by a sensor field of view (8.1) of the laser scanner (8).

11. A ground conveyance (1) according to claim 10, wherein the sensor field of view (8.1) comprises a wide laser field of view as a protection zone (24) and a narrow laser field of view as an alarm zone (25).