DE102023202661A1 - Fleet of unmanned autonomous transport vehicles and methods for cooperative transport of objects - Google Patents

Abstract

The invention discloses a flexible transport system from a fleet with differently equipped unmanned autonomous transport vehicles (UAT). For this purpose, the fleet comprises at least two swarms of UATs: The UATs of one swarm each comprise a control processor, an electrical energy storage device, a drive module, a sensor module and a first UAT coupling interface; the UATs of another swarm each comprise a control processor and a second UAT coupling interface and a maximum of two components from a component group comprising an electrical energy storage device, a drive module and a sensor module. The UATs of the two swarms can couple via the corresponding UAT coupling interface, and the UATs with the missing component of the component group can have the functionality of this component provided by the UATs of the other swarm.

Description

Technical area

The present invention relates to a cooperatively acting fleet of unmanned autonomous transport vehicles and a method for the cooperative transport of objects, in particular using a cooperatively acting fleet of unmanned autonomous transport vehicles.

State of the art

Driverless transport systems (FTS) or unmanned autonomous transport vehicles (UAT), also known as “Autonomous Guided Vehicles (AGVs)”, are increasingly being used in industrial manufacturing. Such UATs are used to transport heavy, bulky and/or dangerous objects for human workers, such as workpieces, components or other semi-finished products, within a manufacturing plant.

The document US 2017/0308084 A1 discloses a driverless transport system with several driverless transport vehicles (FTVs) that can be coupled together via mechanical connections to carry a transport item, and each of which has an on-board control system so that one of the FTFs can act as master and control the other FTFs as slaves. The document EN 10 2019 113 257 A1 shows methods and systems for transporting an object with a plurality of transport vehicles in a master-slave relationship. The document EN 10 2017 220 584 A1 discloses a transport system for transporting a vehicle from a starting position to a target position, which has lifting robots for vertically moving the vehicle and a drive robot for horizontally moving the vehicle, wherein the drive robot can be positioned under the vehicle and coupled to the lifting robots. The document DE 20 2011 000 692 U1 shows a self-propelled modular ground transport system with interconnectable transport modules. The document EP 2 062 837 A1 discloses an industrial truck with several similar, autonomously operable transport units that can communicate with each other, identify each other and combine to form a network consisting of several transport units.

The function and design of such transport systems are often based on those of conventional multi-unit transport arrangements, for example with a tractor and wagons. UATs are usually used with individual equipment such as their own energy storage, their own control system, their own transport actuators and their own orientation sensors.

Disclosure of the invention

The present invention provides a cooperatively acting fleet of unmanned autonomous transport vehicles and a method for the cooperative transport of objects with the features of the independent patent claims. Further advantageous embodiments are the subject of the dependent patent claims.

Accordingly, it is envisaged:

A fleet of unmanned autonomous transport vehicles (UAT) comprises a first UAT swarm of UATs, each having a control processor, an electrical energy storage device, a drive module, a sensor module and a first UAT coupling interface, and a second UAT swarm of UATs, each having a control processor and a second UAT coupling interface and a maximum of two components from a component group comprising an electrical energy storage device, a drive module and a sensor module. At least one UAT of the first UAT swarm is designed to couple to the second UAT coupling interface of a UAT of the second UAT swarm via the first UAT coupling interface. The at least one UAT of the first UAT swarm is designed to provide the coupled UAT of the second UAT swarm with the functionality of the respective missing component of the component group.

Furthermore, it is planned:

A method for the cooperative transport of objects, in particular with the aid of a cooperatively acting fleet of unmanned autonomous transport vehicles (UAT) according to the invention. In a first step of the method, a first UAT, which has a control processor, an electrical energy storage device, a drive module and a sensor module, is coupled via a first UAT coupling interface to a second UAT coupling interface of a second UAT, which has a control processor and a maximum of two components from a component group comprising an electrical energy storage device, a drive module and a sensor module. In a second step, the functionality of the missing component of the component group is provided by the first UAT for the second UAT. Finally, the first UAT and the second UAT can act together in a third step for the cooperative transport of an object.

Advantages of the invention

The present invention is based on the finding that a fleet of unmanned autonomous transport vehicles (UAT) made up of differently equipped subgroups or swarms of UATs is able to compensate for the missing features of a subgroup of UATs by coupling UATs of another subgroup or swarm with the former UATs via suitable coupling interfaces. This allows coupled UATs to access common resources that only need to be actually activated or present in one of the two UATs.

One idea of the present invention is to dispense with certain features in part of the fleet, such as sensors, actuators, independent drive and/or battery or accumulator, in order to be able to purchase and operate this part more cost-effectively. By coupling UATs from different subgroups, less individual traffic is generated in the spatially limited area of operation of the fleet, so that possible disruptions in operations or waiting times can be reduced overall due to the reduced space and safety area requirements of the fleet. Furthermore, the overall fleet availability can be increased significantly through the targeted temporary sharing of resources.

According to some embodiments, each of the UATs of the first UAT swarm can have an optical data interface and/or a radio data interface. Furthermore, each of the UATs of the second UAT swarm can have an optical data interface and/or a radio data interface. This advantageously enables a wireless and thus more flexible control coupling between two UATs. Furthermore, platooning or an electronic drawbar between two or more UATs can be implemented via the wireless coupling.

According to some further embodiments, the fleet may further comprise a central fleet control device which is designed to coordinate the UATs of the first and second UAT swarms via the optical data interfaces and/or the radio data interfaces. In some of these embodiments, the fleet may further comprise a fleet monitoring device which is coupled to the fleet control device and which is designed to monitor the operating state and the position parameters of each UAT of the first and second UAT swarms and to coordinate the coupling of the UATs of the first UAT swarm with UATs of the second UAT swarm. This is particularly advantageous for finding suitable pairs of free or available UATs and for controlling their desired cooperative action.

According to some further embodiments, at least one UAT of the second UAT swarm may have a drive module and a sensor module and be designed to obtain electrical energy from the electrical energy storage of a UAT of the first UAT swarm via the second UAT coupling interface. Especially during empty trips where the energy requirement is less high, the electrical energy of one UAT may be sufficient to drive two UATs. In addition, electrical energy storage devices are often the heaviest components of a UAT, so that UATs without their own electrical energy storage devices can advantageously be designed to be very light. In addition, more intelligent energy planning can reduce charging times.

According to some alternative embodiments, at least one UAT of the second UAT swarm may have an electrical energy storage device and a sensor module and be designed to be driven by the drive module of a UAT of the first UAT swarm via the second UAT coupling interface. By means of a common drive, UATs can be combined to form a mechanically coupled train, which reduces the coordination effort and the space requirement can advantageously be reduced by reducing the distances between the UATs.

According to some further alternative embodiments, at least one UAT of the second UAT swarm can have a drive module and an electrical energy storage device and can be designed to receive sensor data from the sensor module of a UAT of the first UAT swarm via the second UAT coupling interface. This can, for example, set up a "follow-me" operation in which the following UAT can access the sensor data of the leading UAT without its own sensors in order to detect the environment and any obstacles. By dispensing with UAT-specific sensors in some UATs, the maintenance and setup costs of the entire fleet can advantageously be reduced.

According to some further embodiments, a software instance can be operated on the control processor of at least one UAT of the second UAT swarm, with the aid of which the maximum of two components from the component group can be selectively deactivated. Even if in certain UATs only one or a few components are to be dispensed with in terms of hardware, other components that are physically present can nevertheless be deactivated in terms of software. This allows the degree of passivity of the UATs to be flexibly adjusted in a targeted and resource-saving manner.

The above embodiments and developments can be combined with one another as desired, provided this makes sense. Further embodiments, developments and implementations of the invention also include combinations of features of the invention described above or below with regard to the exemplary embodiments that are not explicitly mentioned. In particular, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic forms of the invention.

Short description of the drawings

• 1: eine Übersichtsskizze einer kooperativ handelnden Flotte von unbemannten autonomen Transportfahrzeugen gemäß einer Ausführungsform;
• 2: ein schematisches Blockschaubild eines beispielhaften unbemannten autonomen Transportfahrzeugs, welches Teil einer Flotte von unbemannten autonomen Transportfahrzeugen sein kann, gemäß einer Ausführungsform; und
• 3: ein schematisches Flussdiagramm von Verfahrensschritten eines Verfahrens zum kooperativen Transport von Objekten gemäß einer weiteren Ausführungsform.

Further features and advantages of the invention are explained below with reference to the figures.

• 1 : an overview sketch of a cooperatively acting fleet of unmanned autonomous transport vehicles according to an embodiment;
• 2 : a schematic block diagram of an exemplary unmanned autonomous transport vehicle, which may be part of a fleet of unmanned autonomous transport vehicles, according to an embodiment; and
• 3 : a schematic flow diagram of method steps of a method for the cooperative transport of objects according to another embodiment.

Description of embodiments

1 shows an overview sketch of a cooperatively acting fleet 100 of unmanned autonomous transport vehicles (UAT) 1 or 4 according to an embodiment. The fleet 100 can be used, for example, in a spatially limited industrial manufacturing plant 30 to transport loads or other load-bearing goods 80 from one location to another in confined conditions, to change the position of the loads or load-bearing goods 80 in a targeted manner or to precisely position the loads or load-bearing goods 80 at a destination.

The load-bearing goods 80 can, for example, comprise workpieces, components, loaded component carriers such as pallets or containers or similar goods to be transported within the manufacturing plant 30.

The fleet 100 basically comprises at least two subgroups or swarms 10 and 20 of UATs 1 and 4 respectively. 1 The number of swarms 10 and 20 shown is two, but any other number of swarms can also be used in the fleet 100. In addition, the number of swarms shown in 1 illustrated number of UATs 1 and 4 within swarms 10 and 20 is two, but any other number of UATs 1 and 4 within swarms 10 and 20 may be implemented. In particular, the number of UATs within one swarm may differ from the number of UATs within another swarm.

The fleet 100 may include one or more charging stations 70 that can be controlled by the UATs 1 or 4 in order to recharge an energy storage device of the UATs 1 or 4 with energy, for example with electrical energy.

The fleet 100 can also have a central fleet control device 40, which is designed to coordinate the UATs 1 and 4. For this purpose, the UATs 1 and 4 can each have optical data interfaces 2 and 5 and/or radio data interfaces 3 and 5, with which the central fleet control device 40 can communicate using a wireless communication interface 41.

The central fleet control device 40 can be coupled to a configuration memory 50, which can be programmed or set, for example, via a configuration interface 42 by a remote control device 90, for example via the Internet. The remote control device 90 can, for example, be a server of a fleet operator of the fleet 100, which is located outside the industrial manufacturing plant 30.

The fleet 100 can also have a fleet monitoring device 60 coupled to the fleet control device 40. This fleet monitoring device 60 can have means with which the operating state and the position parameters of each UAT 1 or 2 can be monitored. In addition, the time- and location-resolved monitoring of the fleet monitoring device 60 enables coordination of the coupling of UATs within the swarms 10 or 20 or of UATs 1 and 4 of different swarms 10 or 20.

Details and examples for the structure of UATs 1 and 4 are shown in the schematic block diagrams of the 2 and 3 shown and explained.

A fully equipped UAT 1 of the first swarm 10 - as in 2 illustrated by way of example - comprises, in addition to the optical data interface 2 and the radio data interface 3, a control processor 11, an electrical energy storage device 12, a drive module 13, a sensor module 14 and a first UAT coupling interface 15. The control processor 11 controls the UAT-internal operating parameters of the connected components and can communicate with other UATs or with the central fleet control device 40 via the optical data interface 2 and/or the radio data interface 3.

The first UAT coupling interface 15 serves to couple the UAT 1 with other UATs of the same type or of a different type. The UAT 1 can transmit and receive data, such as control data from the control processor 11 and the drive module 13 or sensor data from the sensor module 14, as well as electrical energy, for example from the electrical energy storage device 12, via the first UAT coupling interface 15.

Alternatively or additionally, the UAT 1 can also communicate with other UATs of the same type or of a different type via the optical data interface 2 and/or the radio data interface 3 and coordinate joint actions. In particular, it may be possible for a UAT 1 to act as a primary UAT in a hierarchical control structure compared to one or more other UATs 1 or 4, and for the one or more other UATs 1 or 4 to receive subordinate access to shared resources as secondary UATs. The secondary UATs can behave passively and subordinate themselves to the control and management of the primary UAT with regard to autonomous movement and sensor data evaluation. This can significantly reduce the coordination effort for control and data transmission and reduce the space requirement because safety distances are no longer necessary.

As in 3 As shown, the UATs 4 of the second swarm 20 or the second subgroup can also have a control processor 11, an optical data interface 5 and a radio data interface 6. In addition, the control processor 11 is coupled to a second UAT coupling interface 17, via which the UATs 4 can connect to other UATs of the same type or of a different type. The functionality of the control processor 11, the optical data interface 5 and the radio data interface 6 of the UAT 4 are basically similar to that of the corresponding components of the UAT 1.

Unlike the UATs 1 of the 2 The UATs 4 of the 3 each have a maximum of two components from a component group comprising an electrical energy storage device 12, a drive module 13 and a sensor module 14. The electrical energy storage device 12, the drive module 13 and the sensor module 14 can - if present - basically be designed in the same way or in a similar way to the electrical energy storage device 12, the drive module 13 and the sensor module 14 of the UAT 1 of the 2 For example, a UAT 4 may only have an electrical energy storage 12 and a drive module 13, but no sensor module 14. In another example, a UAT 4 may only have an electrical energy storage 12 and a sensor module 14, but no drive module 13. In another example, a UAT 4 may only have a drive module 13 and a sensor module 14, but no electrical energy storage 12.

Depending on which component of the component group the UAT 4 is not equipped with, the UAT 4 can use the functionality of the missing component of a UAT coupled via the second UAT coupling interface 17. For example, the UAT 4 can obtain electrical energy from the electrical energy storage device 12 of a UAT 1 of the first UAT swarm 10 via the second UAT coupling interface 17. It may also be possible for the UAT 4 to be driven by the drive module 13 of a UAT 1 of the first UAT swarm 10 via the second UAT coupling interface 17. This makes it possible to form a convoy of coupled UATs 1 or 4, the operation of which is secured using electrical energy from only some of the UATs in the convoy and/or which is only driven by some of the UATs in the convoy, i.e. a train of UATs.

Furthermore, it can be arranged that the UAT 4 receives sensor data from the sensor module 14 of a UAT 1 of the first UAT swarm 10 via the second UAT coupling interface 17. The sensor data of the UAT 1 can be used by the UAT 4 for orientation and collision avoidance.

On the control processor 11 of the UAT 4 of the 3 a software instance 16 can also be operated, with the help of which other components can be selectively deactivated. A UAT 4 with a drive module 13 and a sensor module 14 can, for example, be controlled in such a way that the drive module 13 is temporarily deactivated if, for example, a UAT 1 is coupled to the UAT 4, which can not only provide electrical energy from its electrical energy storage device 12, but can also drive the UAT 4 with its own drive module 13. This allows resources to be saved flexibly if only those components are actively operated in the UAT 4 that are actually needed in a certain operating mode.

4 shows a flow chart of a method 200 for the cooperative transport of objects, for example of load-bearing goods 80 in an industrial manufacturing plant 30 as exemplified in 1 illustrative The method 200 can be used, for example, with a fleet 100 of UATs 1 and 4 as described in connection with 2 and 3 shown and explained.

The method 200 comprises, in a first step 201, coupling a first unmanned autonomous transport vehicle, UAT 1, which has a control processor 11, an electrical energy storage device 12, a drive module 13 and a sensor module 14, via a first UAT coupling interface 15 to a second UAT coupling interface 17 of a second UAT 4, which has a control processor 11 and a maximum of two components from a component group comprising an electrical energy storage device 12, a drive module 13 and a sensor module 14. In a second step 202, the functionality of the missing component of the component group is provided by the first UAT 1 for the second UAT 4. UATs 1 and 4 coupled in this way can then act together in a third step 203 to transport an object 80.

In summary, the present invention relates to a flexible transport system consisting of a fleet of differently equipped UATs, the implementation of which is significantly more cost-effective, requires less maintenance and is more versatile in practical operation by dispensing with maximum equipment, without having to forego essential parts of the functionality in relation to the entire fleet. The coupling options between differently equipped UATs generate less individual traffic with a constant flow of materials, so that the susceptibility of the transport system to failure can be reduced and waiting times can be shortened. Furthermore, the precisely equipped UATs require less storage space overall and can be moved at a shorter distance thanks to the coupling capability, which means that the free space to be kept available within a production plant with such a transport system can be considerably smaller. Finally, charging and reconditioning times of the UATs can be significantly reduced through intelligent (temporary) shared energy use, which significantly increases the overall availability of the fleet.

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• US 20170308084 A1 [0003]
• DE 102019113257 A1 [0003]
• DE 102017220584 A1 [0003]
• DE 202011000692 U1 [0003]
• EP 2062837 A1 [0003]

Claims (10)

Fleet (100) of unmanned autonomous transport vehicles, UAT (1; 4), with: a first UAT swarm (10) of UATs (1), each having a control processor (11), an electrical energy storage device (12), a drive module (13), a sensor module (14) and a first UAT coupling interface (15); and a second UAT swarm (20) of UATs (4), each of which has a control processor (11) and a second UAT coupling interface (17) and a maximum of two components from a component group comprising an electrical energy storage device (12), a drive module (13) and a sensor module (14), wherein at least one UAT (1) of the first UAT swarm (10) is designed to couple to the second UAT coupling interface (17) of a UAT (4) of the second UAT swarm (20) via the first UAT coupling interface (15) and to provide the coupled UAT (4) of the second UAT swarm (20) with the functionality of the respective missing component of the component group. Fleet (100) to Claim 1 , wherein each of the UATs (1) of the first UAT swarm (10) has an optical data interface (2) and/or a radio data interface (3). Fleet (100) to Claim 2 wherein each of the UATs (4) of the second UAT swarm (20) has an optical data interface (5) and/or a radio data interface (6). Fleet (100) to Claim 3 , further comprising a central fleet control device (40) which is designed to coordinate the UATs (1, 4) of the first and second UAT swarms (10, 20) via the optical data interfaces (2, 5) and/or the radio data interfaces (3, 6). Fleet (100) to Claim 4 , further comprising a fleet monitoring device (60) which is coupled to the fleet control device (40) and which is designed to monitor the operating state and the position parameters of each UAT (1, 4) of the first and second UAT swarms (10, 20) and to coordinate the coupling of the UATs (1) of the first UAT swarm (10) with UATs (4) of the second UAT swarm (20). Fleet (100) after one of the Claims 1 until 5 , wherein at least one UAT (4) of the second UAT swarm (20) has a drive module (13) and a sensor module (14) and is designed to obtain electrical energy from the electrical energy storage device (12) of a UAT (1) of the first UAT swarm (10) via the second UAT coupling interface (17). Fleet (100) after one of the Claims 1 until 5 , wherein at least one UAT (4) of the second UAT swarm (20) has an electrical energy storage device (12) and a sensor module (14) and is designed to be driven by the drive module (13) of a UAT (1) of the first UAT swarm (10) via the second UAT coupling interface (17). Fleet (100) after one of the Claims 1 until 5 , wherein at least one UAT (4) of the second UAT swarm (20) has a drive module (13) and an electrical energy store (12), and is designed to receive sensor data from the sensor module (14) of a UAT (1) of the first UAT swarm (10) via the second UAT coupling interface (17). Fleet (100) after one of the Claims 1 until 8 , wherein a software instance (16) can be operated on the control processor (11) of at least one UAT (4) of the second UAT swarm (20), by means of which the maximum of two components from the component group can be selectively deactivated. Method (M) for the cooperative transport of objects (80), comprising the steps: Coupling (201) a first unmanned autonomous transport vehicle, UAT (1), which has a control processor (11), an electrical energy storage device (12), a drive module (13) and a sensor module (14), via a first UAT coupling interface (15) to a second UAT coupling interface (17) of a second UAT (4), which has a control processor (11) and a maximum of two components from a component group comprising an electrical energy storage device (12), a drive module (13) and a sensor module (14); Providing (202), by the first UAT (1), the functionality of the respective missing component of the component group for the second UAT (4); and Joint action (203) of the first UAT (1) and the second UAT (4) to transport an object (80).

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