U.S. patent application number 11/884338 was filed with the patent office on 2008-06-26 for method for operating a system, and driver-less transport system.
Invention is credited to Manuel Escuriola Ettingshausen, Stephan Nicklis.
Application Number | 20080154456 11/884338 |
Document ID | / |
Family ID | 36129754 |
Filed Date | 2008-06-26 |
United States Patent
Application |
20080154456 |
Kind Code |
A1 |
Escuriola Ettingshausen; Manuel ;
et al. |
June 26, 2008 |
Method for Operating a System, and Driver-Less Transport System
Abstract
In a method for operating a system, the system includes at least
one path, which includes path sections. Vehicles are able to travel
along the path, and an electronic circuit is included for
controlling at least the speed of the vehicle. Codes are situated
along the path, and the vehicle includes at least one sensor, e.g.,
for detecting the codes, which is connected to the electronic
circuit. A data exchange is implementable between one vehicle or a
plurality of vehicles and at least one stationary unit.
Inventors: |
Escuriola Ettingshausen;
Manuel; (Eltville, DE) ; Nicklis; Stephan;
(Ober-Ramstadt, DE) |
Correspondence
Address: |
KENYON & KENYON LLP
ONE BROADWAY
NEW YORK
NY
10004
US
|
Family ID: |
36129754 |
Appl. No.: |
11/884338 |
Filed: |
January 20, 2006 |
PCT Filed: |
January 20, 2006 |
PCT NO: |
PCT/EP2006/000491 |
371 Date: |
August 13, 2007 |
Current U.S.
Class: |
701/23 ;
701/408 |
Current CPC
Class: |
G05D 2201/0216 20130101;
G05D 1/0282 20130101; G05D 1/0088 20130101 |
Class at
Publication: |
701/23 ;
701/207 |
International
Class: |
G05D 1/02 20060101
G05D001/02 |
Foreign Application Data
Date |
Code |
Application Number |
Feb 12, 2005 |
DE |
10 2005 006 554.6 |
Claims
1-12. (canceled)
13. A method for operating a system, the system including at least
one path having path sections, vehicles travelable along the path,
the system including an electronic circuit configured to control at
least a speed of the vehicle, the vehicle including a position
detection device, a data exchange implementable between one of (a)
a vehicle and (b) a plurality of vehicles and at least one
stationary unit, comprising: loading a table into the electronic
circuit of the vehicle at least during an initial operation;
repeating at time intervals: i) detecting information concerning a
position of the vehicle and forwarding the detected information to
the electronic circuit; ii) determining, using the table, a
particular path section in which the vehicle is located in
accordance with the detected information; iii) receiving a message
from a stationary unit, the message including message portions that
are assigned to particular path sections; iv) executing
instructions included in the message portion that is assigned to
the particular path section; v) storing a particular message
portion assigned to an adjacent path section; vi) repeatedly
detecting the information concerning the position and forwarding
the detected information to the electronic circuit; vii)
determining, using the table, a particular path section in which
the vehicle is located in accordance with the detected information;
viii) if the adjacent path section has been reached, implementing
information assigned to the adjacent path section; ix) repeating
steps iii) to ix) multiple times.
14. The method according to claim 13, wherein the adjacent path
section corresponds to a path section that is to be reached next
according to an advance calculation.
15. The method according to claim 13, wherein the position
detection device is configured to at least one of (a) detect and
(b) read codes affixed along the path and is connected to the
electronic circuit.
16. The method according to claim 13, wherein the data exchange
between the vehicles and the stationary unit is at least partially
implemented contactlessly.
17. The method according to claim 13, wherein the vehicles are
configured to exchange data between each other.
18. A method for operating a system, the system including at least
one path having path sections, vehicles travelable along the path,
the system including an electronic circuit configured to control at
least a speed of the vehicle, the vehicle including a position
detection device, a data exchange implementable between at least
one of (a) a vehicle and (b) a plurality of vehicles and at least
one stationary unit, comprising: storing sequences in a memory of
the electronic circuit at least upon initial operation, each
sequence controllable by the electronic control by influencing the
speed of the vehicle as a function of input signals of sensors of
the vehicle; sending out, by the stationary unit, information that
assigns one of the sequences to each path section to activate
respective information in the corresponding path section.
19. The method according to claim 18, wherein the sequence is
controllable by the electronic control by influencing the speed of
the vehicle as a function of the input signals of the sensor of the
vehicle without a data exchange with the stationary unit.
20. The method according to claim 18, wherein a set of the
sequences includes subsets, each type of path section assigned a
subset in an unambiguous manner, the sequences within the subset
differing only by commands to be executed on the path section, the
command chronologically applying to a particular path section being
determined in accordance with information transmitted by the
stationary unit.
21. The method according to claim 18, wherein at least two of the
sequences are assigned to one type of path sections and differ only
by at least one of (a) instructions and (b) commands to be executed
in the type of path section, the command at least one of (a)
activated and (b) deactivated as a function of a received message
portion.
22. The method according to claim 18, wherein at least two of the
sequences are assigned to one type of path sections and differ only
by at least one of (a) instructions and (b) commands to be executed
on the type of path section.
23. The method according to claim 18, wherein one type of path
section includes a section that includes at least one switch, and
another type of path section includes a section that includes a
stopping position.
24. An automated guided transport system, comprising: at least one
path having path sections; and at least one vehicle travelable
along the path and suppliable with energy and information in a
contactless manner, the vehicle including a position-detection
device, the vehicle including an electronic circuit configured to
control at least a speed of the vehicle, a data exchange
implementable between one of (a) the vehicle and (b) a plurality of
vehicles and at least one stationary unit; wherein the system is
configured to perform at least one of (a) a first method and (b) a
second method; the first method including: loading a table into the
electronic circuit of the vehicle at least during an initial
operation; repeating at time intervals: i) detecting information
concerning a position of the vehicle and forwarding the detected
information to the electronic circuit; ii) determining, using the
table, a particular path section in which the vehicle is located in
accordance with the detected information; iii) receiving a message
from a stationary unit, the message including message portions that
are assigned to particular path sections; iv) executing
instructions included in the message portion that is assigned to
the particular path section; v) storing a particular message
portion assigned to an adjacent path section; vi) repeatedly
detecting the information concerning the position and forwarding
the detected information to the electronic circuit; vii)
determining, using the table, a particular path section in which
the vehicle is located in accordance with the detected information;
viii) if the adjacent path section has been reached, implementing
information assigned to the adjacent path section; ix) repeating
steps iii) to ix) multiple times; the second method including:
storing sequences in a memory of the electronic circuit at least
upon initial operation, each sequence controllable by the
electronic control by influencing the speed of the vehicle as a
function of input signals of sensors of the vehicle; sending out,
by the stationary unit, information that assigns one of the
sequences to each path section to activate respective information
in the corresponding path section.
25. The system according to claim 24, wherein the system is at
least one of (a) rail-bound, (b) rail-less, (c) arranged as an
electric suspended conveyor, (d) arranged as a push skid system,
and (e) arranged as a mobile assembly platform.
26. The system according to claim 24, wherein the stationary unit
includes a path controller suppliable with data from a database of
a computer network, the computer network including a display device
configured to display at least one of (a) a state of the system and
(b) state information.
Description
FIELD OF THE INVENTION
[0001] The present invention relates to a method for operating a
system, and to a driver-less transport system. Counted among these
are also rail-bound or railless systems. Mobile assembly platforms
are among them as well.
SUMMARY
[0002] Example embodiments of the present invention provide for
reducing the expense and complexity of a system, e.g., the
technical outlay with regard to the development, setup as well as
the operation, and also the financial cost by increasing the
service life.
[0003] In a method according to an example embodiment of the
present invention, a system includes at least one path, which is
made up of path sections, vehicles are able to travel on the path,
and an electronic circuit is included for controlling at least the
speed of the vehicle, codes are situated along the path, the
vehicle including at least one sensor, e.g., for detecting the
codes, which is connected to the electronic circuit, a data
exchange is implementable between one vehicle or a plurality of
vehicles and at least one stationary unit, the method including:
[0004] a table is loaded into the electronic circuit of the vehicle
at least during initial operation; [0005] the following steps are
repeated at time intervals: [0006] i) the information concerning
the codes is detected and forwarded to the electronic circuit of
the vehicle; [0007] ii) using the table, the particular path
section in which the vehicle is located is determined with the aid
of the detected information; [0008] iii) a message from a
stationary unit is received, the message including message portions
that are assigned to particular path sections; [0009] iv) the
message portion that is assigned to the particular path section is
utilized, and the instructions included therein are executed;
[0010] v) the particular message portion that is assigned to an
adjacent path section, e.g., the path section that is to be reached
next according to an advance calculation, is stored; [0011] vi) the
information concerning the codes is detected repeatedly and
forwarded to the electronic circuit of the vehicle; [0012] vii)
using the table, the particular path section in which the vehicle
is located is determined with the aid of the detected information;
[0013] viii) if the adjacent path section has been reached, the
information, such as instructions, assigned to the new path section
is implemented; [0014] ix) points iii) through ix) are repeated
multiple times.
[0015] Upon initial operation, the vehicle may receive for storing
information such that, having knowledge of its path section in
which it is located, it is able to extract the portions of the
message sent to all, and implement the portions intended for the
particular path section. The simplicity of the method is also to be
seen in that the message is always sent to all vehicles, and the
path controller may, but need not, take the position at which the
vehicle is located into account.
[0016] Sensors along the path may be able to be dispensed with
since the vehicle is detecting the position on its own.
[0017] The transmission of energy and/or information may reduce the
complexity by the implementation of a contactless transmission.
This also extends the operating time, i.e., the service life, since
no wear components are required.
[0018] According to example embodiments of the present invention:
[0019] i) sequences (P1, P2, P3, . . . PN) are stored in a memory
of the electronic circuit at least upon initial operation, each
sequence being controllable by the electronic control by
influencing the speed of the vehicle as a function of the input
signals from the sensors of the vehicle, e.g., without a data
exchange with the stationary unit; [0020] the stationary unit sends
out information that assigns one of the sequences (P1, P2, P3, . .
. PN) to each path section, so that it is activated in this path
section.
[0021] There may be no need to transmit software associated with
the sequences during operation of the system. Instead, only the
assignment information may need to be transmitted, in the form of
parameters, for example. This saves time and thereby allows the
implementation of applications that are critical as to time.
[0022] It is possible to transmit more information per second. The
vehicles may have a memory of sufficient size so that the software
in connection with all possible aforementioned sequences is able to
be loaded into the memory upon initial operation. In contrast, only
one parameter, which includes the activation or deactivation of the
sequence to be executed in each case, is left to be transmitted
during operation. As a consequence, only a small data stream is
required, and therefore a rapid repeat rate of the information
transmission.
[0023] The data exchange between the vehicles and the stationary
unit may be at least partially implemented in a contactless manner.
No components may be required that are subject to wear.
[0024] The vehicles may also exchange data among themselves. This
may provide that collisions of the vehicles are able to be
avoided.
[0025] The vehicles may be supplied with energy and information in
a contactless manner. This may provide that no components are
required that are subject to wear, and the same primary conductor
is able to be utilized for the supply with energy as well as
information modulated upon at a higher frequency.
[0026] The stationary unit may have a path controller, which is
able to be supplied with data from a database of a computer
network, the computer network having a display device which make it
possible to display the state of the system or the essential state
information. This may provide for allowing a well-structured, i.e.,
rapidly and easily comprehensible, visualization, which makes it
possible to influence the operating method of the entire
system.
[0027] Example embodiments of the present invention may be provided
in connection with an electric suspended conveyor having a
multitude of vehicles or in an automated guided transport system if
the vehicles are supplied with energy and information in a
contactless manner. This may produce less friction and thus also
less wear, and it is possible to increase the operating time and/or
the speed of the vehicles. But even at these higher speeds and the
related shorter response times, example embodiments of the present
invention make it possible for the system to function.
LIST OF REFERENCE CHARACTERS
[0028] 1 path designer [0029] 2 database [0030] 3 path controller
[0031] 4 decentralized unit [0032] 5 decentralized unit without
path controller [0033] 6 router [0034] 7 SPS [0035] 8 computer
network [0036] 9 vehicles with rail [0037] 10 switch [0038] a: path
[0039] b: path region [0040] c: vehicle [0041] d: message [0042] e:
message portion for a path region [0043] f: response of the vehicle
for a path region [0044] g: path controller
[0045] Example embodiments of the present invention are described
in greater detail below with reference to the appended Figures.
[0046] The system includes a path a, such as a rail system, this
path a being made up of path regions b.
[0047] Vehicles (c, 9) are able to travel on path a. They are
provided with drives having an electronic control system. In
different exemplary embodiments, it is possible for the drive to be
regulated with the aid of the electronic control system, or also to
be switched on and off only, i.e., be controllable. The electronic
control system exchanges data with a stationary, decentralized unit
(4, 5), which is connected to additional computers such as an SPS,
a computer network 8, etc., for the purpose of exchanging data.
Each data exchange is implemented in a contactless manner or via
electrical lines. The contactless transmission from the stationary
to the movable component, i.e., the vehicle(s), may be considered
advantageous since only little interference occurs. A contactless
transmission is provided via electromagnetic waves, e.g., in the
MHz or GHz range. In one variant, a slotted coaxial conductor is
installable along the path, the vehicle guiding an antenna along
the region of the slot, i.e., in the nearfield. In another variant,
it is also possible to fill the space with radio waves, i.e., to
utilize the farfield, the vehicle having a correspondingly
configured antenna in this case. In another exemplary embodiment,
the vehicle is to be electrically supplied from an extended primary
conductor in an inductive manner, via a secondary coil; in
addition, the information is modulated upon at a higher
frequency.
[0048] The described system is illustrated in FIG. 3. References is
also made to FIG. 1. Physical path a with its path sections b is
mapped in computer network 8, and each path section is assigned its
function. One path section b, for instance, is a straight piece or,
as an alternative, a section having a switch. A program, which is
also referred to as path designer 1 in the following text, is used
for this purpose on one of the computers of computer network 8. It
is connected to a database 2. The supply of one path controller 3
or a plurality of path controllers 3, which is/are part of
decentralized unit 4, is implemented from there. Furthermore, an
SPS may optionally be connected to this decentralized unit. A
switch 10, an access point 20 or a router 6 may also be
interconnected. The SPS is not essential, however, and may also be
omitted. It may be required only for peripheral units or
functions.
[0049] That is to say, a path designer 1, a database 2, a path
controller 3, one vehicle or a plurality of vehicles 9 are
provided. The path topology and additional data are graphically
input into path designer 1, which stores this information in the
database. Based on these data, path controller 3 is able to
coordinate path a and thus the vehicles (9, c) located on path
a.
[0050] In other exemplary embodiments of the present invention,
path controller 3 is able to be equipped with a display device,
such as a graphics display using touch, touch screen, etc. This
allows a diagnosis and manual operation.
[0051] In additional exemplary embodiments, path controller 3 is
electronically connected to these combined display and input
device(s) such that a diagnosis and manual operation are able to be
executed remotely.
[0052] FIG. 3 also shows a decentralized unit 5 without a path
controller, which supplies a different path section b than
decentralized unit 4 having path controller 3. Instead, path
controller 3 is configured so as to be able to supply decentralized
unit 5 with information as well. In this exemplary embodiment, path
controller 3 is therefore arranged to supply two path sections.
[0053] The configuration and method of functioning of the data
telegrams is illustrated in FIG. 2. Vehicle c is located in one of
path sections b of path a. At time intervals, path controller g
transmits a message, i.e., a data telegram, message d including
message portions e, which include information meant for a
particular path section in each case.
[0054] The messages are transmitted regularly or as the need
arises. The vehicle is provided with a sensor, which reads an
identification, i.e., a code, situated along the path, and thereby
records an item of position information. Upon initial operation,
the vehicle receives from the path controller a table with whose
aid it is able to identify the path section associated with the
item of position information.
[0055] That is to say, the vehicle receives entire message d and
extracts the particular message component e that is intended for
the path section in which the vehicle happens to be located. The
vehicle implements the included information items, such as
instructions, etc. Driving up to a position is one example. The
vehicle is able to return data telegrams f to the path controller,
as a response, for instance. Status information such as the
position and/or the speed are transmitted in the process.
[0056] That is to say, all vehicles receive the message of the path
controller, and every vehicle filters out only the information
meant for itself as a function of the path section in which it is
located.
[0057] The path controller also checks the received data in a
logical manner and uses the attained status and the further items
of information to generate the next data telegram, which it
transmits.
[0058] The vehicles are not served by an SPS individually, i.e.,
send their status and the SPS only then transmitting an instruction
for the vehicle, but the vehicle also receives instructions that
are meant for another path section. The vehicle is able to store
the information for the next adjacent section and implement this
information upon reaching next path section b. Example embodiments
of the present invention therefore allow a path-focused
communication that is not critical with respect to time. The
vehicle simply executes the most recently received information for
the next section.
[0059] In exemplary embodiments, it is also possible for a
plurality of vehicles c to be located in a path region b, provided
they communicate with one another. In the case of especially large
paths, one or a plurality of path controller(s) may also send a
plurality of telegrams. If required, they may be sealed off from
each other, so that vehicles receive only the telegrams that are
relevant to the own region.
[0060] Example embodiments of the present invention may be used for
electric suspended conveyors, driverless transport systems (FTS,
BTS, etc.), push skid systems, similar systems, etc.
[0061] FIG. 4 shows an example of a system according to an example
embodiment of the present invention, in which path sections b are
separated by solid lines, each of which is oriented perpendicular
to the path. The arrows indicate a stopping position where the
vehicle is to stop if it did not receive any pass-information.
[0062] The vehicle has a memory, which includes sequences P1, P2,
P3, etc. Each sequence corresponds to a method of operation for
different types of path sections. For instance, there is a straight
section or a path section having a switch. Which sequence is to be
activated for which particular path section is determined by the
message sent by the path controller. As a result, one sequence,
i.e., an unambiguous functional sequence, is assigned to each path
section at all times.
[0063] FIG. 5, by way of example, shows the functional sequence for
a path section with a switch, which is illustrated in FIG. 6a. Path
section b1 includes a position that has been marked by an arrow.
Path section b2 includes a switch. Path section b3 and b4 each
include a straight section. A vehicle 9 entering in front of path
section b1 is illustrated in FIG. 6b. Under item 57, the
instruction "drive up to position" is executed, as illustrated in
FIG. 6c. At the very latest when the vehicle has reached the
position will the configuration be checked under item 58. If it is
possible to query the switch position from a local database, this
will be done under item 59. If the switch position is able to be
queried from a superposed database, this will take place under item
510. The switch is set under item 511, and a wait takes place until
an item of information that includes the OK feedback of the switch
has been received. Under item 512, the "pass through" instruction
will be executed, as illustrated in FIG. 6d. Given sufficient size
of the system, it is possible for the vehicle to pass through
without stopping, since the instruction for passing through the
switch is transmitted faster than the vehicle is able to reach the
stopping position marked by the arrow. A wait then takes place
under item 513 until the vehicle has left the path section.
[0064] In exemplary embodiments, it is possible that at least two
of the sequences (P1, P2, P3, . . . PN) are assigned to one type of
path sections in each case and that they differ only in the
instructions, i.e., commands, to be implemented in this type of
path section. Upon initial startup, it is storable in the vehicle
which particular subset of sequences is assigned to which path
section, each of these sequences of the subset relating to the same
type of path, for instance, a section having a switch. The
difference between the sequences within the subset consists only of
the type of commands to be executed. Items of information that
select this command are transmitted to the vehicle during operation
by the stationary unit. The sequence of the subset that applies at
any given time is therefore able to be adapted in a flexible manner
during the operation. In contrast, the path type is fixedly
stored.
[0065] It is also possible that the sequences (P1, P2, P3, . . . ,
PN) are assigned to one type of path sections, and differ only by
the instructions, i.e., commands to be executed in this type of
path section, the command being activated or deactivated as a
function of the received message portion.
[0066] An example for a type of path section is a section that
includes at least one switch. Another example is a section that
includes a stopping position.
[0067] Paths and path sections may be utilized for rail-bound or
railless systems, thus, e.g., for transport systems that require no
driver, i.e., automated guided transport systems. Examples are an
electric suspended conveyor, push skid system or other mobile
assembly platforms.
* * * * *