Method for Ascertaining the Position of a Transport Means of a Conveyor System, and Conveyor System

Abstract

A method for ascertaining a position of at least one transport apparatus includes the step of capturing and ascertaining. The transport apparatus is configured to transport at least one component of a conveyor system. The step of capturing includes capturing at least one marking arranged in an area of a travel path, along which the transport apparatus travels through at least one route section, with an optical capture device of the transport apparatus. The step of ascertaining includes ascertaining a multidimensional position of the transport apparatus in the space with an electronic computing device, as a function of the captured marking.

Claims

1.-10. (canceled)

11. A method for ascertaining a position of at least one transport apparatus configured to transport at least one component of a conveyor system, the method comprising: capturing at least one marking arranged in an area of a travel path, along which the transport apparatus travels through at least one route section, with an optical capture device of the transport apparatus; and ascertaining a multidimensional position of the transport apparatus in the space with an electronic computing device, as a function of the captured marking.

12. The method according to claim 11, wherein at least one barcode is arranged in the area of the travel path is captured by the optical capture device of the transport apparatus as the at least one marking.

13. The method according to claim 11, wherein the marking is captured by the optical capture device, while the transport apparatus travels through the conveyor system.

14. The method according to claim 11, wherein the multidimensional position of the transport apparatus in the space is ascertained by the electronic computing device as a function of a multidimensional reference position, assigned to a reference point (b.sub.A) of the travel path, of the reference point (b.sub.A) in the space.

15. The method according to claim 11, wherein a distance coverable by the transport apparatus on the travel path between the captured marking and a reference point (b.sub.A) is ascertained by the electronic computing device as a function of the captured marking, as a function of which distance the multidimensional position of the transport apparatus in the space is ascertained by the electronic computing device.

16. The method according to claim 11, wherein a rotational position of the transport apparatus in the space is ascertained by the electronic computing device as a function of the captured marking.

17. The method according to claim 11, wherein at least one variable characterizing the marking is captured by the optical capture device, which variable is transferred by a second electronic computing device separately from the electronic computing device, by OPC unified architecture to the electronic computing device.

18. A conveyor system for transporting at least one component, comprising: an optical capture device; at least one transport apparatus that is configured to convey the at least one component through the conveyor system, the conveyor system having a travel path, along which a route section of the conveyor system is traveled by the transport apparatus; and an electronic computing device, wherein at least one marking is arranged in the area of the travel path, which capturable by the optical capture device of the transport apparatus, and a multidimensional position of the transport apparatus in the space is ascertainable by the electronic computing device as a function of the captured marking.

19. The conveyor system according to claim 18, wherein the transport apparatus is configured as a rail-bound transport apparatus.

20. The conveyor system according to claim 19, wherein the conveyor system has at least one rail, on which the conveyor system is traveled by the transport apparatus, and the at least one marking is arranged on a surface of the rail.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0060] FIG. 1 shows a schematic and perspective partial view of a conveyor system according to the disclosure, which is operable by means of a method according to the disclosure; and

[0061] FIG. 2 shows a schematic top view of a conveyor system according to the disclosure; and

[0062] FIG. 3 shows a schematic top view of a travel path of a conveyor system according to the disclosure; and

[0063] FIG. 4 shows a schematic top view of a marking of a conveyor system according to the disclosure; and

[0064] FIG. 5 shows a schematic and perspective partial view of a conveyor system according to the disclosure; and

[0065] FIG. 6 shows a schematic flow chart to illustrate components of a conveyor system according to the disclosure; and

[0066] FIG. 7 shows a schematic diagram to illustrate an ascertainment of a multidimensional position of a transport means, located on a portion of a travel path designed as a straight line, of a method according to the disclosure; and

[0067] FIG. 8 shows a schematic diagram to illustrate an ascertainment of a multidimensional position of a transport means, located on a portion of a travel path designed as a straight line, of a method according to the disclosure; and

[0068] FIG. 9 shows a schematic diagram to illustrate an ascertainment of a multidimensional position of a transport means, located on a portion of a travel path designed as a curve, of a method according to the disclosure; and

[0069] FIG. 10 shows a schematic diagram to illustrate an ascertainment of a multidimensional position of a transport means, located on a portion of a travel path designed as a curve, of a method according to the disclosure; and

[0070] FIG. 11 shows a schematic top view of a conveyor system according to the disclosure according to a further embodiment; and

[0071] FIG. 12 shows a schematic structure of a tag ID; and

[0072] FIG. 13 shows a schematic flow chart to illustrate components of a conveyor system according to the disclosure.

DETAILED DESCRIPTION OF THE DRAWINGS

[0073] In the figures, identical or functionally identical elements are provided with identical reference signs.

[0074] FIG. 1 shows a schematic and perspective partial view of a conveyor system 1 for transporting at least one component 2. The conveyor system 1 has a conveyor device, which comprises at least one transport means 3. The component 2 is arranged on the transport means 3 or held on the transport means 3, due to which the component 2 can be conveyed by means of the transport means 3 through the conveyor system 1. In the exemplary embodiment shown in FIG. 1, the conveyor system 1, in particular the conveyor device, comprises multiple transport means 3, 3a. This means that the conveyor system 1, in particular the conveyor device, comprises the transport means 3, which is in particular designated as the first transport means 3, and further transport means 3a designed separately from the first transport means 3. Multiple components 2, 2a can thus be transported by means of the conveyor system 1. This means that the component 2 designated in particular as the first component 2 is arranged, in particular fastened, on the first transport means 3 and at least one further component 2a is arranged, in particular fastened, on each of the further transport means 3a. For example, the respective transport means 3, 3a has a receptacle device 4 in each case, on which the respective component 2, 2a is fastenable or arrangeable. The respective transport means 3, 3a is designed for conveying the at least one respective component 2, 2a through the conveyor system 1. In the exemplary embodiment shown in FIG. 1, the respective component 2, 2a is designed in each case as a door of a motor vehicle.

[0075] The respective transport means 3, 3a is preferably designed as a path-bound or route-bound transport means 3, 3a. The respective transport means 3, 3a is particularly preferably designed as a rail-bound transport means 3, 3a. The conveyor system 1, in particular the conveyor device, therefore has at least one rail 5 on which the respective transport means 3, 3a can travel through the conveyor system 1.

[0076] For example, the conveyor system 1 is part of a manufacturing plant which is designed for motor vehicle production. The manufacturing plant is designed, for example, for carrying out at least one assembly process. For example, the respective component 2, 2a, in particular the door, is transported by means of the conveyor system 1 to an assembly location, in particular the manufacturing plant, wherein at least one assembly process is carried out at the assembly location. During the assembly process, the respective component 2, 2a, in particular the respective door, can be fastened or assembled, for example, on a body of the motor vehicle. Alternatively, for example, an element formed separately from the respective component 2, 2a can be fastened or assembled on the respective component 2, 2a, in particular the respective door.

[0077] The conveyor system 1 has at least one travel path 6, along which the respective transport means 3, 3a can travel through at least one route section 7 of the conveyor system 1. In the exemplary embodiment shown in FIG. 1, the respective transport means 3, 3a is designed as a respective hanger. This means that the conveyor device can be designed in particular as an electrified monorail system (EMS). The travel path 6, in particular the route section 7, is at least partially, in particular completely, formed or delimited by the rail 5. The travel path 6, in particular the route section 7, can thus be designed in particular as a rail path.

[0078] The conveyor system 1 is designed to carry out a method for ascertaining a multidimensional, in particular two-dimensional or three-dimensional, position 8, which is current in particular, of the respective transport means 3, 3a of the conveyor system 1 intended to transport the respective at least one component 2, 2a. During the method, the respective transport means 3, 3a travels through at least the route section 7 along the travel path 6.

[0079] FIG. 2 shows the conveyor system 1 according to a further embodiment in a schematic partial view from above, wherein in the exemplary embodiment shown in FIG. 2, the respective component 2, 2a is designed as a respective motor vehicle. The respective motor vehicle may be in a completely produced state or may be in a not completely produced state.

[0080] FIG. 3 shows a schematic diagram to illustrate the travel path 6 or the route section 7. A first spatial direction x is plotted on the abscissa. A second spatial direction y, which is different from the first spatial direction x, is plotted on the ordinate. The travel path 6 is very schematically illustrated in FIG. 3. In particular angles at respective corners or curves are shown particularly schematically in FIG. 3 and can actually deviate, of course, from the representation from FIG. 3. For example, the first spatial direction x is a longitudinal extension direction of the conveyor system 1, in particular the manufacturing plant. For example, the second spatial direction y is a transverse extension direction of the conveyor system 1, in particular the manufacturing plant. The diagram shown in FIG. 3 can therefore be understood in particular as a schematic top view of the conveyor system 1, in particular the travel path 6. In the exemplary embodiment shown in FIG. 3, the travel path 6, in particular the route section 7, comprises three portions 9, 10, 11. A travel direction of the respective transport means 3, 3a in or on the respective portions 9 to 11 is illustrated by means of a respective arrow 12.

[0081] FIG. 4 shows a schematic top view of an, in particular optical, marking 13. The marking 13 is arranged in the area of the travel path 6, in particular the route section 7.

[0082] FIG. 5 shows a schematic and perspective partial view of the conveyor system 1, wherein the area in which the marking 13 is arranged is illustrated by means of an arrow 14 in FIG. 5. In the respective embodiment shown in FIG. 4 and FIG. 5, multiple, in particular optical, markings 13, 13a are provided. This means that in the area of the travel path 6, 7, the marking 13 and further markings 13a, which are different from the marking 13, in particular are spaced apart from the marking 13, are arranged. It is preferably provided here that the marking 13 and the further markings 13a are each arranged in the area of the respective portion 9 to 11.

[0083] In a further embodiment, it is provided that the respective marking 13, 13a is arranged on a surface 15 of the rail 5. This means that the rail 5 is equipped with the respective marking 13, 13a. For example, after each 4 cm, a new number of a progressive number series is coded on the surface 15. The rail 5, in particular the complete rail path, is preferably continuously provided, in particular laminated, with the respective marking 13, 13a. Alternatively, the surface 15 can be formed separately from the rail 5 and in particular can be spaced apart from the rail 5, wherein the surface 15 is preferably arranged close to the rail 5. With respect to the installed position of the surface 15 in the conveyor system 1 shown in FIG. 5, the view of the respective marking 13, 13a shown in FIG. 4 can be understood in particular as a schematic front view.

[0084] In the embodiment shown in FIG. 4, it is provided that the respective marking 13, 13a is designed in each case as a barcode 16, 16a. The markings 13, 13a form a code band 17 designed in particular as an endless barcode. The code band 17 thus comprises the markings 13, 13a, in particular the barcodes 16, 16a, wherein the respective markings 13, 13a, in particular the respective barcodes 16, 16a, are spaced apart from one another. A respective distance between each two adjacent markings 13, 13a is preferably constant.

[0085] FIG. 6 shows a schematic flow chart of components of the conveyor system 1. The conveyor system 1 has an electronic computing device, designated in particular as the first electronic computing device 18. For example, the first electronic computing device 18 is spaced apart from the conveyor device. The first electronic computing device 18 can in particular be at a remote location from the conveyor device and can be connected or coupled to the respective transport means 3, 3a to transmit data, for example, by means of a network connection. The electronic computing device 18 can therefore be designated in particular as an external electronic computing device. Alternatively, the first electronic computing device 18 may not be part of the conveyor system 1.

[0086] The conveyor system 1 comprises a second electronic computing device 19 designed separately from the first electronic computing device 18. The second electronic computing device 18 is preferably designed as a programmable logic controller (PLC). For example, the second electronic computing device 19 is provided for controlling the conveyor system 1. Alternatively, the second electronic computing device 19 can be designed, for example, as an RFID reader. In the exemplary embodiment shown in FIG. 6, the second electronic computing device 19 is connected or connectable in a data-transmitting manner to the respective transport means 3, 3a. The first electronic computing device 18 is connected or connectable in a data-transmitting manner to the second electronic computing device 19. This means that the first electronic computing device 18 can be coupled or is coupled in a data-transmitting manner via the second electronic computing device 19 with the respective transport means 3, 3a.

[0087] To be able to ascertain the multidimensional position 8 of the respective transport means 3, 3a in the space 20 with particularly little effort and particularly precisely, it is provided that the respective transport means 3, 3a has an optical capture device 21 in each case, by means of which the respective marking 13, 13a arranged in the area of the travel path 6 can be captured, wherein the multidimensional position 8, which is current in particular, of the respective transport means 3, 3a in the space 20 is ascertainable by means of the first electronic computing device 18 as a function of the captured respective marking 13, 13a. This means that in the method the respective marking 13, 13a is captured by means of the optical capture device 21 of the respective transport means 3, 3a and the multidimensional, in particular two-dimensional or three-dimensional position 8, which is current in particular, of the respective transport means 3, 3a in the space 20 is ascertained by means of the first electronic computing device 18 as a function of the respective captured marking 13, 13a. The space 20 can be understood in particular as a space of the conveyor system 1, in particular the manufacturing plant, wherein the travel path 6 can be arranged in the space 20. In particular, the space 20 can be understood as a multidimensional environment of the travel path 6. This means that the multidimensional position 8 does not relate to a travel route of the travel path 6, but rather to the environment of the travel path 6. In the exemplary embodiment shown in FIG. 3, the multidimensional position 8 is a two-dimensional position 8 with respect to the two spatial directions x, y. Alternatively, the multidimensional position 8 can be a three-dimensional position, which relates to three spatial directions. The multidimensional position 8 can be designated in particular as a multidimensional spatial position. For example, at least one variable 21a characterizing the respective marking 13, 13a is captured by means of the optical capture device 21.

[0088] By means of the method, the respective multidimensional position 8 of the respective transport means 3, 3a in the space 20 can be produced with particularly little effort and in particular particularly cost-effectively, in particular in relation to a conventional method based on radio triangulation. Furthermore, the respective multidimensional position 8 can be ascertained particularly precisely and particularly reliably or with particularly little susceptibility to interference, in particular in relation to radio triangulation.

[0089] For example, a respective barcode value is captured using the optical capture device 21 upon the capture of the respective barcode 16, 16a, wherein the barcode values are different from one another.

[0090] It is preferably provided that the respective marking 13, 13a is captured by means of the optical capture device 21, while the respective transport means 3, 3a travels through the conveyor system 1, in particular the travel path 6 or the route section 7 or the space 20. This means that the respective transport means 3, 3a moves relative to the rail 5 upon the capture of the respective marking 13, 13a.

[0091] It is provided in the exemplary embodiment that geometric properties of the travel path 6, in particular the rail path, to ascertain the current multidimensional position 8 of the respective transport means 3, 3a on the basis of the captured respective marking 13, 13a, which is current in particular, in particular on the basis of a current barcode value. The rail path can be broken down into geometric basic components in the form of straight lines and curves. This is illustrated in FIG. 3 in the form of the portions 9 to 11. A first of the portions 9 is designed as a curve. A second of the portions 10 is designed as a straight line. The third of the portions 11 is designed as a curve. Curves are implemented in the exemplary embodiment as circular arcs. Alternatively, an elliptical arc can be provided instead of each of the curves. A function is now sought which assigns each of the markings 13a, 13, in particular each barcode 16, 16a or the respective barcode value, a respective location vector {right arrow over (v)} of a corresponding respective point on the corresponding geometric basic component. The respective basic component can be understood in particular as a respective geometry component. The respective multidimensional position 8 of the respective transport means 3, 3a in the space 20 can be described by the respective location vector {right arrow over (v)}. This is initially explained by way of example on the basis of a straight line hereinafter.

[0092] FIG. 7 shows a schematic diagram to illustrate the travel path 6, in particular the route section 7. The first spatial direction x is plotted on the abscissa. A third spatial direction z is plotted on the ordinate. The second spatial direction y is plotted on the applicate.

[0093] FIG. 8 shows a schematic diagram to illustrate a portion 10 of the travel path 6 designed as a straight line. The first spatial direction x is plotted on the abscissa. The second spatial direction y is plotted on the ordinate. The respective portion 9 to 11 has in each case two reference points b.sub.A, b.sub.E, wherein in the exemplary embodiment a first of the reference points b.sub.A is a start or a starting point of the respective portion 9 to 11 and the second reference point b.sub.E is an end or an end point of the respective portion 9 to 11. A first, in particular optical, reference marking 13b is arranged in the area of the first reference point b.sub.A, in particular at the first reference point b.sub.A. A second reference marking 13c, which is different from the first reference marking 13b, is arranged in the area of the second reference point b.sub.E, in particular at the second reference point b.sub.E. The respective reference marking 13b, 13c is preferably designed as a barcode or as a reference barcode 16b, 16c in each case. The respective reference marking 13b, 13c is preferably arranged on the surface 15.

[0094] A respective multidimensional, in particular two-dimensional or three-dimensional, reference position 22, 23 in the space 20 is assigned in each case to the respective reference point b.sub.A, b.sub.E. This means that a first multidimensional reference position 22, which can be described by a location vector {right arrow over (v)}.sub.A, is assigned to the respective first reference point b.sub.A. A second multidimensional reference position 23, which can be described by a location vector {right arrow over (v)}.sub.E, is assigned to the second reference point b.sub.E. In the respective diagram shown in FIG. 7 and FIG. 8, the respective transport means 3, 3a is located in the portion 10, in particular with respect to the travel path 6, at a position b. The position b is assigned the location vector {right arrow over (v)}, by means of which the multidimensional position 8 of the respective transport means 3, 3a in the space 20 can be described. The marking 13, in particular the barcode 16, is arranged in the area of the position b. This means that the marking 13, in particular the barcode 16, is captured by the respective transport means 3, 3a when the respective transport means 3, 3a is currently located at the position b on the respective portion 9 to 11. Therefore, a function is initially sought which supplies the location vector {right arrow over (v)} for the current multidimensional position 8 of the respective transport means 3, 3a as a function of the marking 13 captured by means of the optical capture device 21 of the respective transport means 3, 3a located at the position b, and in particular as a function of a respective type of the geometry component.

[0095] For a ratio between a distance 24 of a route section of the respective portion 9 to 11, covered by the respective transport means 3, 3a upon the capture of the respective marking 13, and a total length 25 of the respective portion 9 to 11, in particular if the respective markings 13, 13a are arranged linearly on the portion 10 designed as a straight line, the following relationship applies:

[00001]$\frac{.Math.\stackrel{.Math.}{v}-{\stackrel{.Math.}{v}}_A.Math.}{.Math.{\stackrel{.Math.}{v}}_E-{\stackrel{.Math.}{v}}_A.Math.}=\frac{b-b_A}{b_E-b_A}=$

[0096] Therefore, the ratio , which is designated in particular as a factor, describes a fraction of the total length 25 of the respective portion 10 already covered by the respective transport means 3, 3a. The distance 24 can be understood in particular as a distance 24 to be covered or already covered by the respective transport means 3, 3a on the travel path 6, in particular on the portion 10, between the captured marking 13 and the first reference point b.sub.A.

[0097] The location vector {right arrow over (v)} can be described by a compression of a vector {right arrow over (g)} by the factor :

[00002]$\stackrel{.Math.}{g}={\stackrel{.Math.}{v}}_E-{\stackrel{.Math.}{v}}_A$$\stackrel{.Math.}{v}={\stackrel{.Math.}{v}}_A+\stackrel{.Math.}{g}={\stackrel{.Math.}{v}}_A+\left({\stackrel{.Math.}{v}}_E-{\stackrel{.Math.}{v}}_A\right).$

[0098] The following relationship follows therefrom for the location vector 1 by insertion and rearrangement:

[00003]$\stackrel{.fwdarw.}{v}={\stackrel{.Math.}{v}}_A+\left(\frac{b-b_A}{b_E-b_A}\right)\left({\stackrel{.Math.}{v}}_E-{\stackrel{.Math.}{v}}_A\right)={\stackrel{.Math.}{v}}_A+\stackrel{.Math.}{g}\left(\frac{1}{b_E-b_A}\right)\left(b-b_A\right)$

[0099] The multidimensional position 8 of the respective transport means 3, 3a in the space 20 can therefore be ascertained or calculated by means of the electronic computing device 18 as a function of the multidimensional first reference position 22, assigned to the first reference point b.sub.A, of the first reference point b.sub.A in the space 20, and in particular as a function of the multidimensional second reference position 23, assigned to the second reference point b.sub.E, of the second reference point b.sub.E in the space 20. Furthermore, the distance 24 to be covered or already covered by the respective transport means 3, 3a on the travel path 6, in particular on the portion 10, between the captured marking 13 and the first reference point b.sub.A can be ascertained or calculated by means of the electronic computing device 18 as a function of the captured marking 13, as a function of which distance the multidimensional position 8 of the respective transport means 3, 3a in the space 20 can be ascertained or calculated by means of the electronic computing device 18.

[0100] In particular the term

[00004]$\stackrel{.Math.}{g}\left(\frac{1}{b_E-b_A}\right)$

is known in the portion 10 or in the travel path 6, due to which a pre-calculation is possible. Thus, for example, a computing time for ascertaining the multidimensional position 8 by means of the electronic computing device 18 can be kept particularly short. Therefore, for example, to ascertain the location vector {right arrow over (v)} and thus the multidimensional position 8, only a multiplication of this term with a difference of b and b.sub.A and a subsequent vector addition with the location vector {right arrow over (v)} can be necessary.

[0101] For a complete orientation of an object which moves on a straight line, an intrinsic coordinate system of the object can be necessary. This can be generated as follows, for example: The location vector {right arrow over (v)} in the form of a tangential vector can be used as the new x axis. A plane is now observed which is spanned by {right arrow over (v)} and a projection of {right arrow over (v)} on a x-y plane. A new z axis is in this plane and arises by rotation of {right arrow over (v)} by 90. The new z axis can be described by a normal vector of this plane. If {right arrow over (v)} extends parallel to the x axis, a projection of {right arrow over (v)} on the x-y plane can disappear. For this case, a further geometry element provided in addition to the respective straight line and the respective curve can be created, which can be designated in particular as an elevator. A calculation of the respective location vector {right arrow over (v)} can be carried out in the elevator analogously to the straight line. The elevator can therefore be understood in particular as a further straight line which extends diagonally or perpendicularly to the straight line, wherein the further straight line comprises a vertical component. The elevator can therefore be understood in particular as a special case of the straight line, which extends vertically upward, for example.

[0102] FIG. 9 shows a schematic diagram of an illustration of the respective portion 9, 11 of the travel path 6 designed as a curve. The first reference point b.sub.A thus corresponds to a starting point of the curve in FIG. 9 and the second reference point b.sub.E corresponds to an end point of the curve. M is a center point of the curve. {right arrow over (v)}.sub.M is a location vector of the center point M. FIG. 10 shows a schematic top view of the respective portion 9, 11 designed as a curve in a plane designated in particular as a curve plane.

[0103] Analogously to the example already explained on the basis of the straight line, a function is sought which supplies the location vector {right arrow over (v)} and thus the multidimensional position 8 of the respective transport means 3, 3a for the respective barcode value captured at the position b or for the captured marking 13. The ratio can be ascertained as follows for the curve analogously to the exemplary embodiment explained on the basis of the straight line:

[00005]$=\frac{}{}=\frac{b-b_A}{b_E-b_A}$$=\mathrm{arc}\cos =\frac{\stackrel{.fwdarw.}{{\mathrm{Mb}}_E}.Math.\stackrel{.fwdarw.}{{\mathrm{Mb}}_A}}{.Math.\stackrel{.fwdarw.}{{\mathrm{Mb}}_E}.Math..Math.\stackrel{.fwdarw.}{{\mathrm{Mb}}_A}.Math.}$

[0104] A fraction of the already covered total length 25 for the respective transport means 3, 3a located at b can thus be described by . Therefore, corresponds to an already covered angle and corresponds to a total angle of the curve.

[0105] A base {{right arrow over (e)}.sub.1, {right arrow over (e)}.sub.2, {right arrow over (e)}.sub.3} can be constructed, with the aid of which a plane can be described, within which the curve is located. The unity vector {right arrow over (e)}.sub.1 can be described as follows by scaling:

[00006]${\stackrel{.Math.}{e}}_1=\frac{\stackrel{.fwdarw.}{{\mathrm{Mb}}_A}}{.Math.\stackrel{.fwdarw.}{{\mathrm{Mb}}_A}.Math.}=\frac{\stackrel{.fwdarw.}{{\mathrm{Mb}}_A}}{r}$

[0106] The following results therefrom for Mb:

[00007]$\stackrel{.fwdarw.}{\mathrm{Mb}}=r\left({\stackrel{.Math.}{e}}_1\cos +{\stackrel{.Math.}{e}}_2\sin \right)$$=\frac{\left(b-b_A\right)}{b_E-b_A}$

[0107] The following applies for the unity vectors {right arrow over (e)}.sub.2, {right arrow over (e)}.sub.3:

[00008]${\stackrel{.Math.}{e}}_3=\frac{\stackrel{.Math.}{n}}{.Math.\stackrel{.Math.}{n}.Math.}=\frac{{\stackrel{.Math.}{e}}_1\stackrel{.fwdarw.}{{\mathrm{Mb}}_E}}{.Math.{\stackrel{.Math.}{e}}_1\stackrel{.fwdarw.}{{\mathrm{Mb}}_E}.Math.}$${\stackrel{.Math.}{e}}_2={\stackrel{.Math.}{e}}_3{\stackrel{.Math.}{e}}_1$

[0108] The following follows therefrom for the location vector {right arrow over (v)} by insertion and rearrangement:

[00009]$\stackrel{.Math.}{v}={\stackrel{.Math.}{v}}_M+r\left({\stackrel{.Math.}{e}}_1\cos +{\stackrel{.Math.}{e}}_2\sin \right)$$=\frac{\left(b-b_A\right)}{b_E-b_A}.$

[0109] Alternatively, for example, it is possible to approximate the respective curve by way of multiple straight lines, in particular a large number of straight lines. A respective computing time can thus be kept particularly short, for example. However, this can have a disadvantageous effect on the accuracy. In contrast, in the exemplary embodiment described on the basis of FIG. 9 and FIG. 10, the multidimensional position 8 of the respective transport means 3, 3a can be ascertained particularly precisely.

[0110] FIG. 11 shows the conveyor system 1 according to a further embodiment in a schematic partial view from above. In the embodiment shown in FIG. 11, it is provided that a respective rotational position 26a to e of the respective transport means 3, 3a is changed while the respective transport means is located on the route section 7 of the travel path 6, in particular while the respective transport means 3, 3a travels through the conveyor system 1.

[0111] FIG. 11 shows the respective transport means 3, 3a at five positions 8a to e different from one another in the space 20. At a first of the positions 8a, the respective transport means 3, 3a is in a first of the rotational positions 26a. At a second of the positions 8b, the respective transport means 3, 3a is in a second of the rotational positions 26b. At a third of the positions 8c, the respective transport means 3, 3a is in a third of the rotational positions 26c. In a fourth of the positions 8d, the respective transport means 3, 3a is in a fourth of the rotational positions 26d. In the fifth of the positions 8e, the respective transport means 3, 3a is in the sixth of the rotational positions 26e. In the exemplary embodiment shown in FIG. 11, the rotational positions 26a to e are different from one another.

[0112] In a further embodiment, it is provided that the respective rotational position 26a to e, which is current in particular, of the respective transport means 3, 3a in the space 20 is ascertained, in particular by means of the first electronic computing device 18. It is provided here, for example, that the respective rotational position 26a to e, which is current in particular, of the respective transport means 3, 3a in the space 20 is ascertained by means of the electronic computing device 18 as a function of the captured respective marking 13, 13a.

[0113] It is preferably provided that the variable 21a characterizing the respective marking 13, 13a is transferred from the second electronic computing device 19 by means of OPC unified architecture (OPC-UA) to the first electronic computing device 18. This means that the variable 21a and thus a position, designated in particular as a 1D position, of the respective transport means 3, 3a on the route section 7 is provided via OPC-UA by the second electronic computing device 19 to the first electronic computing device 18, in particular for position processing. Alternatively or additionally, the variable 21a can be transferred or transmitted by means of DB fetching and/or by means of an RFC 1006 telegram from the second electronic computing device 19 to the first electronic computing device 18. The transfer from the second electronic computing device 19 to the first electronic computing device 18 can thus be possible via various protocols. DB fetching can be understood in particular as a retrieval, designated as fetching, from a data module, in particular an S7 data module. Alternatively, the transfer can be carried out by means of further protocols, such as Kafka or MQTT.

[0114] This can be understood in particular as follows: The conveyor system 1, in particular the respective transport means 3, 3a, can be controlled via the second electronic computing device 19, wherein this can provide different connection options, for example. It can therefore be advantageous, independently of a design or a version of the second electronic computing device 19, to forward the barcode data. It is therefore advantageous to provide a system which can provide different protocols for application. Ideally, the second electronic computing device 19 can be a respective electronic computing device which can provide an OPC-UA server, can send RFC 1006 telegrams, and/or can provide a content of a data module via the Siemens S7 protocol. For example, it can be possible to be able to connect further protocols. It can be presumed that in particular a communication of the PLC or of PLCs can be subject to continuous development. A connection of further protocols can therefore be possible, such as MQTT or Kafka, in particular by cloud connections.

[0115] In the exemplary embodiment shown in FIG. 6, the manufacturing plant comprises a third electronic computing device 27 designed separately from the electronic computing devices 18, 19. The third electronic computing device 27 can be part of the conveyor system 1 or can be designed separately from the conveyor system 1. The third electronic computing device 27 can be designated in particular as a PS-i. The third electronic computing device 27 is connected or connectable in a data-transmitting manner to the first electronic computing device 18, in particular directly. For example, it is provided that the respective multidimensional position 8 of the respective transport means 3, 3a ascertained by means of the first electronic computing device 18 is transferred, in particular as a respective SLMF message, for example as a standardized SLMF message, from the first electronic computing device 18 to the third electronic computing device 27, in particular for further processing. The SLMF message can be understood in particular as an SLMF message according to ISO/IEC 24730-1:2014.

[0116] The respective multidimensional position 8 of the respective transport means 3, 3a in the space 20 is transmitted from the first electronic computing device 18 to the third electronic computing device 27. This means that occurring items of location information are fed into the IPS-i. The items of location information or the respective multidimensional position 8 can be processed by means of the third electronic computing device 27. The respective multidimensional position 8 of the respective transport means 3, 3a can be linked, for example, to at least one further item of information in each case. The respective further information can be, for example, an identification number of the respective transport means 3, 3a and/or the respective component 2, 2a or the respective motor vehicle. The identification number can therefore be, for example, a vehicle identification number (VIN). It can thus be known, in particular in real time, where the respective transport means 3, 3a, in particular the respective component 2, 2a or the respective motor vehicle, is located. Different applications, designated in particular as use cases, can thus be carried out in particular by means of the third electronic computing device 27. In particular during the assembly process, for example, employees can thus be informed or warned when rarely built models are approaching. Errors during the assembly can thus be avoided, due to which in particular the quality of the produced motor vehicles can be increased in particular. This can be designated in particular as an exotic alarm. Alternatively or additionally, at least one important item of information for carrying out the assembly process can be displayed to the employees, for example, in particular per cycle. The important information can relate, for example, to whether the respective motor vehicle is designed as a right-hand drive or as a left-hand drive. An overview of the respective employee of the assembly process can thus especially be increased in particular. Errors can thus be avoided in particular, for example, and the quality of the produced motor vehicles can be increased in particular. Alternatively or additionally, it can be possible to only operate at least one device of the manufacturing plant when this is required for the respective assembly process. The device can thus be protected, for example, when it is not actually required. A power consumption can thus be kept particularly low, for example. The respective device can be, for example, a camera or a scanner. Alternatively or additionally, in the respective assembly process, for example, a tool can be set or adapted, in particular automatically, for the respective assembly process. For example, a screwing device can automatically select a correct torque when a specific motor vehicle approaches for the assembly process. The quality of the produced motor vehicles can thus be increased in particular, for example.

[0117] For example, if a motor vehicle enters an assembly hall fully painted, at least one item of information about the motor vehicle can be linked in an automated manner with its position in the space 20 by means of the third electronic computing device 27. This information can be, for example, the identification number, a destination country, and/or a vehicle type of the motor vehicle. A specific process can thus be carried out deliberately, for example, in particular in an automated manner, when a motor vehicle of a defined vehicle type having a defined destination country is located at the corresponding position. The process can be, for example, an assembly process and/or switching on the device, which can be designed in particular as a scanner.

[0118] For example, it can be recognized, in particular automatically, whether the assembly process which is to be carried out or has been carried out involves the respective correct component 2, 2a. For example, an automatic acknowledgment, in particular an automatic scanning, of a successfully carried out assembly process can be carried out as a function of the respective position 8. A quality of the produced motor vehicles can thus be increased in particular, for example. In particular, errors can be avoided. Furthermore, an expenditure of the motor vehicle production can be kept particularly low.

[0119] The first electronic computing device 18 is capable of obtaining knowledge about the location of the respective transport means 3, 3a in the space 20 from the currently captured barcode value for the respective transport means 3, 3a. This can take place with higher precision than is possible using a conventional system based on radio triangulation. An inaccuracy of the respective ascertained multidimensional position 8 is, for example, less than 30 cm.

[0120] The respective transport means 3, 3a is in particular a moving object. This can move along, for example, with a main belt or another belt of the conveyor system 1 and/or the manufacturing plant. In particular in the area of the main belt, the respective transport means 3, 3a can have a velocity of one cycle per 57 seconds. The cycle can have a length of 6 m, for example. In particular a velocity of, for example, 10 cm/s can follow therefrom for the respective transport means 3, 3a. If one were to locate an object having this velocity once in three seconds, for example, an inaccuracy of 30 cm would result therefrom, which can correspond, for example, to the inaccuracy of the conventional system based on radio triangulation. To be even more accurate, a localization per object thus has to be carried out more often than every three seconds. A frequency of 1 Hz or more is ideal, for example. An inaccuracy in the range of 10 cm or less would follow therefrom, for example.

[0121] For example, the first electronic computing device 18 is capable of subscribing to value changes on nodes of the OPC-UA server. This is provided for those nodes, for example, in which current barcode values of the respective motor vehicle are stored. Furthermore, for example, processing of lifting height and current orientation is possible. In particular when new barcode values are transferred from the OPC-UA server, the first electronic computing device 18 can calculate the corresponding spatial coordinates as a function of the transferred barcode values and transfer them in particular to the third electronic computing device 27. For example, the first electronic computing device 18 is capable of establishing a TCP connection to the second electronic computing device 19 and receiving RFC 1006 telegrams. In particular if the electronic computing device 18 receives an RFC 1006 telegram having new barcode values, the electronic computing device 18 can calculate the corresponding spatial coordinates and transfer them to the third electronic computing device 27. For example, the first electronic computing device 18 is capable of reading a data module of the second electronic computing device 19 via the Siemens S7 protocol. The barcode values can be read cyclically from the data module, converted by means of the first electronic computing device 18 into spatial coordinates, and then transferred to the third electronic computing device 27.

[0122] For example, the input device 29 is provided, which can be designated in particular as an input system. The input device 29 can be understood in particular as an interface, for example a user interface. By means of the input device 29, for example, a connection of the second electronic computing device 19 to the third electronic computing device 27 can be configured and/or monitored, in particular manually. Alternatively or additionally, for example, the travel path 6, in particular the rail path, can be specified or adapted by means of the input device 29. Alternatively or additionally, master data in the system can be manually changed, in particular during running operation, by means of the input device 29. For example, an error robustness of the system can be increased in particular or the system can be autonomously operated by the monitoring.

[0123] For example, a database 30 is provided. For example, access data to the second electronic computing device 19 and/or data characterizing the travel path 6, in particular geometry data of the rail path, can be stored in the database 30. The database 30 is connected or connectable in a data-transmitting manner to the electronic computing device 18, due to which, for example, the data stored in the database 30 can be retrieved by the electronic computing device 18. Furthermore, it can be provided that the data stored in the database 30 can be parameterized or adapted, in particular manually, by means of the input device 29.

[0124] It is preferably provided that the ascertainment of the multidimensional position 8 of the respective transport means 3, 3a is configurable, in particular dynamically. This means that, for example, changes or adaptations of the travel path 6, in particular the rail path, can be carried out, for example by means of the input device 29, in particular manually. Furthermore, for example, input data, in particular of the first electronic computing device 18, are flexibly designed, which means, for example, that modules for further protocols can be added particularly easily. This means that the method can be carried out using a modular, expandable geometry driver.

[0125] In order that the third electronic computing device 27 can identify the respective transport means 3, 3a or the respective component 2, 2a, it can be provided that a unique identification is assigned to the respective transport means 3, 3a or the respective component 2, 2a, which can be designated in particular as a tag ID 31. The tag ID 31 can be understood in particular as a fixed identification number which can be transferred to the third electronic computing device 27.

[0126] FIG. 12 shows an example of such a tag ID 31 in a schematic representation. To be able to ensure that no tag ID 31 is assigned twice, i.e. that all tag IDs 31 are different from one another, the respective tag ID can be structured as follows, for example, in particular hierarchically: The first 24 bits (positions 63 to 40) are fixed and can therefore be designated in particular as a fixed value 32. Therefore, 40 bits can be made available for all objects to be located, due to which, for example, approximately 1.1 billion objects can be distinguished from one another. Each instance 33 receives, for example, a 16-bit prefix (positions 39 to 24). 2.sup.16 (65 536) different instances 33 are thus possible. In particular if multiple second electronic computing devices 19, in particular multiple PLCs or multiple RFID readers, are provided, each of the second electronic computing devices 19, in particular each PLC or each RFID reader which is assigned to the respective instance 33 can have an 8-bit prefix (positions 23 to 16) assigned, which can be designated in particular as the computing device value 34. In this way, 256 of the second electronic computing devices 19 are possible per instance 33. The remaining 16 bits are provided, for example, for object consecutive numbering and can therefore be designated in particular as the consecutive numbering 35. In this way, for example, 65 536 objects can be located per second electronic computing device 19.

[0127] Software for operating the first electronic computing device 19 is preferably modularly designed. This is schematically outlined in FIG. 13. A first connector 36, designated in particular as a PLC connector or as an RFID reader connector, is provided, for example, for communicating with the second electronic computing device 19. The respective barcode values can thus be read from the second electronic computing device 19, for example, via the various protocols. A second connector 37, designated in particular as an IPSI connector, is provided for communicating with the third electronic computing device 27. The respective ascertained multidimensional position 8 is transferred, for example, from the first connector 36 to the second connector 37 and is transferred by means of the second connector 37, for example, in particular via SLMF message, to the third electronic computing device 27. A tracing module 38 is provided in the exemplary embodiment shown in FIG. 13. By means of the tracing module 38, for example, a data connection can be provided between the first electronic computing device 18 and the input device 29. Data or information can be transferred, for example, between the tracing module 38 and the first connector 36, which can be, for example, tracing information and/or tracing commands.

[0128] In summary, spatial positions can be calculated by means of the method from endless barcode values by means of the first electronic computing device 18 and these can be transmitted, for example, to the third electronic computing device 27 for further processing. The barcode values can be read from the second electronic computing device 19, which can control the respective transport means 3, 3a. The respective transport means 3, 3a travel via rails, on which the respective barcode 16, 16a can be arranged. Therefore, a functioning position data source for the third electronic computing device 27 can be provided by means of the method. This means that position data for rail-bound objects can be provided, in particular independently of the presence of an RTLS radio coverage. Correct data are delivered to the third electronic computing device 27, i.e. a conversion of barcode values into spatial points is functional. In particular, three types of connection per OPC-UA server, fetching of the data from a data module of the second electronic computing device 19, and receiving the data in RFC 1006 telegrams are furthermore functional in particular. In particular a connection of older programmable logic controllers can thus be made possible, which can, for example, still not be OPC-UA capable. In particular a localization in the space 20, where no RTLS radio evaluation system is available, can therefore be enabled by means of the method. In particular the accuracy of the ascertained multidimensional position 8 is higher than in the case of the radio coverage. In addition, in particular data can be ascertained which a conventional RTLS system cannot provide, for example lifting height and/or pivot angle.

[0129] In other words, markings 13, 13a, in particular endless barcode values, can be read by means of the method, wherein spatial positions of the respective transport means 3, 3a can be calculated therefrom with knowledge of the travel path 6, in particular a rail system, and these positions can be fed for further processing into a position data processing system, in particular into the third electronic computing device 27. In particular, RTLS radio coverage is not required. Data characterizing the respective markings 13, 13a can be input, for example, via OPC-UA by means of the first electronic computing device 18 from the second electronic computing device 19. In particular in the presence of an older programmable logic controller without OPC-UA support, alternatively a data module can be read or RFC 1006 telegrams can be received. Software for operating the electronic computing device 18 and thus for carrying out the method is preferably modularly constructed and in particular is expandable. This means that a communication via new protocols can be retrofitted particularly easily. The accuracy of the ascertained multidimensional positions 8 is in particular higher than in the case of RTLS systems. In particular, in the method the lifting height and/or orientation of the respective transport means 3, 3a or the respective component 2, 2a can be ascertained and transferred, for example, to the third electronic computing device 27.

LIST OF REFERENCE SIGNS

[0130] 1 conveyor system [0131] 2 component [0132] 2a further component [0133] 3 transport means [0134] 3a further transport means [0135] 4 receptacle device [0136] 5 rail [0137] 6 travel path [0138] 7 route section [0139] 8 multidimensional position [0140] 8a first position [0141] 8b second position [0142] 8c third position [0143] 8d fourth position [0144] 8e fifth position [0145] 9 first portion [0146] 10 second portion [0147] 11 third portion [0148] 12 arrow [0149] 13 marking [0150] 13a further marking [0151] 13b first reference marking [0152] 13c second reference marking [0153] 14 arrow [0154] 15 surface [0155] 16 barcode [0156] 16a further barcode [0157] 16b first reference barcode [0158] 16c second reference barcode [0159] 17 code band [0160] 18 first electronic computing device [0161] 19 second electronic computing device [0162] 20 space [0163] 21 optical capture device [0164] 21a variable [0165] 22 first reference position [0166] 23 second reference position [0167] 24 distance [0168] 25 total length [0169] 26a first rotational position [0170] 26b second rotational position [0171] 26c third rotational position [0172] 26d fourth rotational position [0173] 26e fifth rotational position [0174] 27 third electronic computing device [0175] 29 input device [0176] 30 database [0177] 31 tag ID [0178] 32 fixed value [0179] 33 instance [0180] 34 computing device value value [0181] 35 consecutive numbering [0182] 36 first connector [0183] 37 second connector [0184] 38 tracing module [0185] b.sub.A first reference point [0186] b.sub.E second reference point [0187] {right arrow over (v)} location vector [0188] {right arrow over (v)}.sub.A location vector [0189] {right arrow over (v)}.sub.E location vector [0190] x first spatial direction [0191] y second spatial direction [0192] z third spatial direction