Autonomously moving transport system and a method for operating such an autonomously moving transport system

Abstract

An autonomously moving transport system comprising a control apparatus, an obstacle recognition device and a drive unit, wherein the drive unit is configured to move the autonomously moving transport system along a travel route with a specific travel parameter. The obstacle recognition device is configured to detect an object in a monitored zone and to transmit corresponding object information to the control apparatus. The control apparatus is configured to divide the monitored zone into a travel corridor and at least one first secondary corridor. The control apparatus is configured to determine, based on the object information, whether the detected object is located in the travel corridor or in the at least one first secondary corridor. The control apparatus is configured to adapt a travel parameter differently when the object is in the first secondary corridor than when the object is located in the travel corridor.

Claims

1. An autonomously moving transport system, comprising a control apparatus, an obstacle recognition device and a drive unit, wherein the drive unit is configured to move the autonomously moving transport system along a travel route with a specific travel parameter, wherein the obstacle recognition device is configured to detect an object in a monitored zone of the autonomously moving transport system and to transmit corresponding object information to the control apparatus, wherein the control apparatus is configured to divide the monitored zone into a travel corridor and at least one first secondary corridor, wherein the travel route runs through the travel corridor, wherein the control apparatus is further configured to determine, based on the object information, whether the detected object is located in the travel corridor or in the at least one first secondary corridor, and wherein the control apparatus is configured to adapt a travel parameter differently when the object is located in the first secondary corridor than when the object is located in the travel corridor.

2. The autonomously moving transport system according to claim 1, wherein the transport system is configured to transport goods.

3. The autonomously moving transport system according to claim 1, wherein the control apparatus is configured to set the travel parameter in the case of a detected object in the travel corridor such that the transport system: a) stops; b) reduces its speed relative to a maximum permitted speed for the current position on the travel route; and/or c) travels at the maximum permitted speed for the current position on the travel route.

4. The autonomously moving transport system according to claim 1, wherein the control apparatus is configured to determine, based on the object information, a distance of the object detected in the travel corridor from the autonomously moving transport system in order, in the event that the distance falls below a first distance value, to set the travel parameter such that the transport system stops and, in the event that the distance falls below a second distance value that is greater than the first distance value, to redefine the travel route and thus the travel corridor such that the detected object is no longer located in the new travel corridor.

5. The autonomously moving transport system according to claim 1, wherein the first secondary corridor directly adjoins the travel corridor towards the side of said travel corridor.

6. The autonomously moving transport system according to claim 5, wherein the first secondary corridor directly adjoins the travel corridor at the left side thereof and wherein the first secondary corridor directly adjoins the travel corridor at the right side thereof.

7. The autonomously moving transport system according to claim 1, wherein the object information is: a) a position of the object in the monitored zone; and/or b) a speed of the object; and/or c) a direction of movement of the object.

8. The autonomously moving transport system according to claim 1, wherein the control apparatus is configured to set the travel parameter based on the object information of an object detected in the first secondary corridor such that the autonomously moving transport system: a) stops; b) reduces its speed relative to a maximum permitted speed for the current position on the travel route; c) travels at the maximum permitted speed for the current position on the travel route.

9. The autonomously moving transport system according to claim 1, wherein the control apparatus, upon detection of an object in the first secondary corridor, is configured to set the travel parameter such that the travel speed of the autonomously moving transport system can be set in dependence on: a) the distance of the detected object from the autonomously moving transport system; and/or b) the speed of the detected object; and/or c) the direction of movement of the detected object.

10. The autonomously moving transport system according to claim 9, wherein the travel speed of the autonomously moving transport system and: a) the distance of the detected object; and/or b) the speed of the detected object; and/or c) the direction of movement of the detected object are linked to one another a linear or non-linear function.

11. The autonomously moving transport system according to claim 10, wherein the linear or non-linear function is a quadratic or logarithmic function.

12. The autonomously moving transport system according to claim 1, wherein the control apparatus, upon detection of an object in the first secondary corridor, is configured to set the travel parameter such that the travel speed of the autonomously moving transport system: a) is higher with an increasing distance of the object from the autonomously moving transport system; and/or b) is lower with an increasing speed of the object in the direction of the travel route of the autonomously moving transport system; and/or c) is higher with an increasing speed of the object away from the travel route of the autonomously moving transport system.

13. The autonomously moving transport system according to claim 1, wherein the control apparatus, upon detection of an object in the first secondary corridor, is configured in the event that: a) a distance between the object and the autonomously moving transport system is smaller than a first distance value, to set the travel parameter such that the autonomously moving transport system stops; b) a distance between the object and the autonomously moving transport system is greater than the first distance value and smaller than a second distance value, to set the travel parameter for the speed of the autonomously moving transport system in dependence on the distance, wherein the speed value is selected as greater as the distance increases; c) a distance between the object and the autonomously moving transport system is greater than the second distance value, to set the travel parameter for the speed of the autonomously moving transport system to a maximum permitted speed value for the current position on the travel route.

14. The autonomously moving transport system according to claim 1, wherein the control apparatus is configured to also divide the monitored zone at least into a second secondary corridor, wherein the first secondary corridor is arranged between the travel corridor and the second secondary corridor, and wherein the control apparatus is configured, on a detection of an object in the second secondary corridor that comprises the same distance from the autonomously moving transport system and/or the same speed and/or the same direction of movement as an object that is detected in the first secondary corridor, to adapt a travel parameter such that the speed at which the autonomously moving transport system moves is higher if such an object is detected in the second secondary corridor than if it is detected in the first secondary corridor.

15. The autonomously moving transport system according to claim 1, wherein the control apparatus is configured to adapt the travel parameter also in dependence on an intensity value of the obstacle recognition device and/or a noise of the obstacle recognition device and/or a reflector recognition of the obstacle recognition device and/or a fog recognition by the obstacle recognition device.

16. The autonomously moving transport system according to claim 15, wherein the travel parameter is a speed.

17. The autonomously moving transport system according to claim 1, wherein the control apparatus is configured to transmit at least the travel corridor to the obstacle recognition device.

18. The autonomously moving transport system according to claim 1, wherein the obstacle recognition device comprises at least one ToF sensor, one lidar sensor, one FMCW sensor, one 3D camera, one radar sensor and/or one ultrasonic sensor.

19. A method for operating an autonomously moving transport system, comprising a control apparatus, an obstacle recognition device and a drive unit, having the following method steps: moving the autonomously moving transport system along a travel route with a specific travel parameter; detecting an object in a monitored zone of the autonomously moving transport system and transmitting object information to the control apparatus; dividing the monitored zone into a travel corridor and at least one first secondary corridor, wherein the travel route runs through the travel corridor; determining, based on the object information, whether the detected object is located in the travel corridor or in the at least one first secondary corridor; adapting the travel parameter differently depending on whether the object is located in the first secondary corridor or in the travel corridor.

Description

[0065] The invention will be described purely by way of example with reference to the drawings in the following. There are shown:

[0066] FIG. 1: an embodiment example of the autonomously moving transport system according to the invention;

[0067] FIG. 2: a monitored zone of the autonomously moving transport system according to the invention that is divided into a travel corridor and at least one first secondary corridor;

[0068] FIG. 3: a possibility of how a travel parameter of the autonomously moving transport system is adapted differently upon detection of different objects in at least one first secondary corridor;

[0069] FIG. 4: a monitored zone of the autonomously moving transport system according to the invention that is divided into a travel corridor, at least one first secondary corridor and one second secondary corridor; and

[0070] FIG. 5 a flowchart that describes a method for operating the autonomously moving transport system.

[0071] FIG. 1 shows an embodiment example of an autonomously moving transport system 1 according to the invention that is configured in the form of a lift truck in this case. The autonomously moving transport system 1 serves to transport goods 2 that are e.g. arranged on pallets 3 and/or pallet cages. To pick up the pallets 3 and/or pallet cages, the lift truck 1 preferably comprises two forks 4.

[0072] The autonomously moving transport system 1 comprises a drive unit 5. It is preferably an electrical drive unit 5 that is, for example, supplied with electrical energy inductively (e.g. via at least one conductor path in the ground) or via a rechargeable battery. The drive unit 5 is configured to drive all the wheels 6 or only the front wheels or only the rear wheels of the autonomously moving transport system 1.

[0073] The autonomously moving transport system 1 furthermore comprises a control apparatus 7 and an obstacle recognition device 8. The obstacle recognition device 8 is configured to detect an object 10 in a monitored zone 9 of the autonomously moving transport system 1 and to transmit corresponding object information to the control apparatus 7.

[0074] FIG. 2 shows the monitored zone 9 of the autonomously moving transport system 1 according to the invention. In this embodiment example, the monitored zone 9 extends by 180 around the autonomously moving transport system 1 and faces with its center in the direction of travel of the autonomously moving transport system 1.

[0075] The drive unit 5 is configured to move the autonomously moving transport system 1 along a travel route 11 with a specific travel parameter.

[0076] The control apparatus 7 is configured to divide the monitored zone 9 into a travel corridor 12 and at least one first secondary corridor 13. The travel route 11 runs through the travel corridor 12.

[0077] The first secondary corridor 13 directly adjoins the travel corridor 12 at its left and right side.

[0078] In this embodiment example, the travel corridor 12 and the at least one first secondary corridor 13 do not extend over the entire length of the monitored zone 9 that is formed by the range of the obstacle recognition device 8. However, it would also be possible for the travel corridor 12 and/or the at least one first secondary corridor 13 to extend over the entire length of the monitored zone 9.

[0079] In this embodiment example, the monitored zone 9 is not completely divided into the travel corridor 12 and the at least one first secondary corridor 13 either. For example, there are regions of the monitored zone 9 that belong neither to the travel corridor 12 nor to the first secondary corridor 13. However, it would generally also be conceivable that the monitored zone 9 is completely divided into either the travel corridor 12 or the at least one first secondary corridor 13.

[0080] Five objects 10a, 10b, 10c, 10d, 10e are shown as examples in FIG. 2 that were detected at different positions in the monitored zone 9 by the obstacle recognition device 8.

[0081] The control apparatus 7 is configured to determine, based on the object information, whether the detected object 10a, 10b, 10c, 10d, 10e is located in the travel corridor 12 or in the at least one first secondary corridor 13. The object information is, for example, the position and/or the speed and/or the direction of movement of the object 10a, 10b, 10c, 10d, 10e.

[0082] A first object 10a is arranged in the first secondary corridor 13 and moves at a certain speed, which is represented by the length of the arrow, in the direction of the travel route 11, wherein the direction of the first object 10a is represented by the direction of the arrow.

[0083] A second object 10b is arranged in a stationary manner in the first secondary corridor 13. It does not move.

[0084] A third object 10c is arranged in the first secondary corridor 13 and moves away from the travel route 11 at a certain speed that is represented by the length of the arrow, wherein the direction of the third object 10c is represented by the direction of the arrow. In this case, the third object 10c moves more slowly than the first object 10a, which is symbolized by the length of the arrow.

[0085] A fourth object 10d is located in the travel corridor 12. It is arranged in a stationary manner.

[0086] A fifth object 10e is located outside the travel corridor 12 and outside the first secondary corridor 13. However, the fifth object 10e will be located in the travel corridor 12 at some point as the autonomously moving transport system 1 continues to move.

[0087] The control apparatus 7 is configured to adapt a travel parameter, such as the speed and/or a steering angle, differently when the object 10a, 10b, 10c, 10d, 10e is located in the first secondary corridor 13 than when the object 10a, 10b, 10c, 10d, 10e is located in the travel corridor 12.

[0088] On the detection of the first object 10a in at least one first secondary corridor 13, a stopping of the autonomously moving transport system 1 takes place since the first object 10a moves at a high speed in the direction of the autonomously moving transport system 1 and there is a risk of collision.

[0089] On the detection of the second object 10b in at least one first secondary corridor 13, a reduction of the speed of the autonomously moving transport system 1 takes place. However, the autonomously moving transport system 1 is not stopped.

[0090] On the detection of the third object 10c in at least one first secondary corridor 13, no reduction of the speed of the autonomously moving transport system 1 takes place since the third object 10c is located far enough away from the travel corridor 12 and furthermore moves away from the travel corridor 12.

[0091] On the detection of the fourth object 10d in the travel corridor 12, a stopping of the autonomously moving transport system 1 takes place since there is a risk of collision in the near future.

[0092] On the detection of the fifth object 10e in the monitored zone 9, which may be located in the travel corridor 12 in the future, a further definition of the travel route 11 and thus of the travel corridor 12 takes place, and indeed such that the fifth object 10e will not be located in the new travel corridor. The autonomously moving transport system 1 will drive around the fifth object 10e by means of a curve. Such an evasion is also possible if an object 10 is indeed located in the travel corridor 12, but the distance from the autonomously moving transport system 1 is sufficiently large, i.e. larger than a threshold value, to be able to safely perform an evasive maneuver.

[0093] FIG. 3 describes a possibility of how a travel parameter of the autonomously moving transport system 1 is adapted differently, in particular adaptively, on the detection of different objects 10a, 10b, 10c in at least one first secondary corridor 13.

[0094] The control apparatus 7 is configured to set the travel parameter based on the object information of the object 10a, 10b, 10c detected in the first secondary corridor 13 such that the autonomously moving transport system 1 stops, or reduces its speed relative to a maximum permitted speed for the current position on the travel route 11, or travels at the maximum permitted speed for the current position on the travel route 11.

[0095] The measured object distance in meters (m) from the autonomously moving transport system 1 or the obstacle recognition device 8 is shown on the X axis. The hatching represents a travel parameter to be set for the autonomously moving transport system 1, in the form of the speed in m/s for the autonomously moving transport system 1. Regions with the same hatching cause the selection of the same travel parameter. Of course, the regions can be graded finer or coarser; i.e. there can be more or less hatching. Detected objects 10a that move in the direction of the autonomously moving transport system 1 are drawn in the region above the X axis. Detected objects 10c that move away from the autonomously moving transport system 1 are drawn in the region below the X axis. Objects 10b arranged in a stationary manner are drawn on the X axis.

[0096] In this case, the first secondary corridor 13 is divided into three different regions 15, 16, 17. In a first region 15, which can also be designated as a stopping region, a stopping of the autonomously moving transport system 1 takes place in dependence on the object information, i.e. in particular the object speed and object distance. The first object 10a from FIG. 2 moves at a high speed in the direction of the autonomously moving transport system 1. For this reason, it is also drawn above the X axis. There is therefore a high risk of collision and the control apparatus 7 defines the travel parameters such that a stopping takes place. If the object 10 moves at a small distance from the autonomously moving transport system 1, away from the autonomously moving transport system 1, the speed of the object 10 must pass a limit of the object speed away from the transport system 1 (downwards in FIG. 3) so that no stopping of the autonomously moving transport system 1 is triggered.

[0097] In a second region 16, which can also be designated as an adaptive travel region, a constant change of the travel parameter, in particular of the speed at which the autonomously moving transport system 1 travels, takes place in dependence on the continuously detected object information. In the second region 16, the speed at which the autonomously moving transport system 1 moves is greater than zero but less than a speed permitted for the current position on the travel route 11 and/or less than the maximum speed of the autonomously moving transport system 1. The second object 10b from FIG. 2, which is arranged in a stationary manner, is drawn in this second region 16. Depending on the object information, i.e. depending on the position and/or speed of the second object 10b, a reduction of the travel speed of the autonomously moving transport system 1 takes place.

[0098] In a third region 17, which can also be designated as a normal travel region, the autonomously moving transport system 1 moves at the maximum permitted speed for the current position on the travel route 11. The third object 10c from FIG. 2, which moves away from the autonomously moving transport system 1 at a speed, is shown in this third region 17 below the X axis.

[0099] FIG. 4 shows a monitored zone 9 of the autonomously moving transport system 1 according to the invention that is divided into a travel corridor 12, at least one first secondary corridor 13 and one second secondary corridor 14. The first secondary corridor 13 is arranged between the travel corridor 12 and the second secondary corridor 14. The control apparatus 7 is configured, on a detection of an object 10 in the second secondary corridor 14 that comprises the same distance from the autonomously moving transport system 1 and/or the same speed and/or the same direction of movement as an object 10 that is detected in the first secondary corridor 13, to adapt a travel parameter such that the speed at which the autonomously moving transport system 1 moves is higher if such an object 10 is detected in the second secondary corridor 14 than if it is detected in the first secondary corridor 13.

[0100] The same statements as for the first secondary corridor 13 can apply to the second secondary corridor 14. Thus, the second secondary corridor 14 can also have a first region that can also be designated as a stopping region, a second region that can also be designated as an adaptive travel region, and a third region that can also be designated as a normal travel region.

[0101] FIG. 5 shows a flowchart that describes a method according to the invention for operating the autonomously moving transport system 1. In a first method step S.sub.1, the autonomously moving transport system 1 moves along a travel route 11 with a specific travel parameter. In a second method step S.sub.2, an object 10 is detected in a monitored zone 9 of the autonomously moving transport system 1 and corresponding object information, which preferably at least comprises the position of the object 10, is transmitted to the control apparatus 7. In a third method step S.sub.3, the monitored zone 9 is divided into a travel corridor 12 and at least one first secondary corridor 13, wherein the travel route 11 runs through the travel corridor 12. An order with respect to the third method step S.sub.3 is not predefined. The third method step S.sub.3 can also be performed as the second or first method step S.sub.1, S.sub.2. In a fourth method step S.sub.4, it is determined based on the object information whether the detected object 10 is located in the travel corridor 12 or in the at least one first secondary corridor 13. In a fifth method step S.sub.5, the travel parameter is adapted differently, and indeed in dependence on whether the object 10 is located in the first secondary corridor 13 or in the travel corridor 12.

[0102] The invention is not restricted to the embodiment examples described. Within the scope of the invention, all the described and/or drawn features can be combined with one another in any desired manner.

REFERENCE NUMERAL LIST

[0103] autonomously moving transport system 1 [0104] goods 2 [0105] pallet 3 [0106] forks 4 [0107] drive unit 5 [0108] wheels 6 [0109] control apparatus 7 [0110] obstacle recognition device 8 [0111] monitored zone 9 [0112] object 10, 10a, 10b, 10c, 10d, 10e [0113] travel route 11 [0114] travel corridor 12 [0115] first secondary corridor 13 [0116] second secondary corridor 14 [0117] regions for the travel speed of the 15, 16, 17 [0118] transport system of the secondary corridor [0119] method steps S.sub.1, S.sub.2, S.sub.3, S.sub.4, S.sub.5