EP2319742A1 - Assembly and method for controlling actuation of a driver-less means of transport - Google Patents

Assembly and method for controlling actuation of a driver-less means of transport Download PDF

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Publication number
EP2319742A1
EP2319742A1 EP09013664A EP09013664A EP2319742A1 EP 2319742 A1 EP2319742 A1 EP 2319742A1 EP 09013664 A EP09013664 A EP 09013664A EP 09013664 A EP09013664 A EP 09013664A EP 2319742 A1 EP2319742 A1 EP 2319742A1
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EP
European Patent Office
Prior art keywords
ems
driverless
transport
running light
drive
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Granted
Application number
EP09013664A
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German (de)
French (fr)
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EP2319742B1 (en
Inventor
Oswald Müller
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Siemens AG
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Siemens AG
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Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to PT09013664T priority Critical patent/PT2319742E/en
Priority to ES09013664T priority patent/ES2387237T3/en
Priority to EP09013664A priority patent/EP2319742B1/en
Priority to US12/915,858 priority patent/US20110106363A1/en
Priority to CN201010571823.1A priority patent/CN102069807B/en
Publication of EP2319742A1 publication Critical patent/EP2319742A1/en
Application granted granted Critical
Publication of EP2319742B1 publication Critical patent/EP2319742B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
    • B61L23/08—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only
    • B61L23/14—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only automatically operated
    • B61L23/18—Control, warning, or like safety means along the route or between vehicles or vehicle trains for controlling traffic in one direction only automatically operated specially adapted for changing lengths of track sections in dependence upon speed and traffic density
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control

Definitions

  • the invention relates to an arrangement for controlling a drive of a self-propelled driverless means of transport according to the preamble of patent claim 1, and a method for controlling the drive of a self-propelled driverless transport means according to the preamble of patent claim 6.
  • EHB electric suspended tracks
  • EMS Electrical Monorail Systems - regularly consist of a rail system and the associated, usually hanging, vehicles. These means of transport have their own electric drive and are supplied with electrical power by means of current collectors (grinders) which are routed along a multiphase busbar system.
  • driverless transport means In special driving areas (production areas), work is usually carried out on the products being transported. In such driving areas, it is often required that the driverless means of transport travel at constant speeds and / or at constant distances from each other. This requirement can be met by the fact that the driverless transport means are each provided with a numerical control, which communicate with an external (stationary) control and drive the drive of the driverless transport each such that the driverless Transport means at the predetermined speed and / or synchronously drive each other.
  • each of the driverless means of transport is equipped with a correspondingly powerful controller, for example a microprocessor system.
  • a correspondingly powerful controller for example a microprocessor system.
  • simple drives which are controlled by magnetic control switch firmly attached to the track control elements electromechanically, often only between the states "ride” and "stop” is distinguished, and wherein a collision protection switch the collision of two driverless transport through Shutdown of one or more of the driverless means of transport avoids.
  • a collision protection switch the collision of two driverless transport through Shutdown of one or more of the driverless means of transport avoids.
  • driverless means of transport are therefore already equipped with its own drive, additional input and Auskupplung, the additional drag conveyor, entrainment devices for the driverless transport, an additional power supply for the particular production areas considered etc. are provided.
  • Variable speeds and start / stop functions are controlled by a stationary system control via the speed control of the drive of the drag conveyor (drag chain).
  • the object is achieved in particular by an arrangement for controlling a drive of a self-propelled driverless means of transport, wherein the drive of one or more drives of a plurality of driverless means of transport is or are controlled by means of a stationary control device.
  • the driverless transport means designed as a running light chain of light sources (segments) is arranged, wherein the driverless transport in the direction of movement behind each other at least two optical sensors for scanning the running light are arranged, wherein the at least two sensors in such a way with the drive of the driverless Are interconnected, that the driverless transport means follows a luminous segment of the running light substantially synchronously, and wherein the stationary control means is arranged to control the running light.
  • the object is further achieved by a method for controlling the movement of one or more driverless means of transport along a route, wherein the movement of the one or more driverless means of transport is determined by a stationary control.
  • the steady-state controller controls a chain of light sources designed as a running light along the travel path, the speed and the position of the active light segments of the running light being a target for the driverless means of transport and the running light of at least two optical sensors arranged behind one another in the direction of travel at least one of the driverless means of transport is scanned.
  • the output signals of the at least two optical sensors are used to control a drive of the at least one driverless transport means, wherein the sensors are connected to the drive such that a substantially synchronous movement of the at least one driverless transport means with a luminous segment (light source) of Running light results.
  • the driverless means of transport advantageously has a speed controller, which is controlled by the at least two sensors. It is advantageous in cases where both successively arranged sensors each detect an active light segment, the current driving speed of the driverless transport maintained; it is assumed that synchronous ride. In the case of different states of the output signal of the at least two optical sensors, the speed controller accelerates or brakes accordingly; it is assumed that a non-synchronous ride.
  • the or the driverless means of transport stopped.
  • the output signals of the optical sensors are advantageously subjected to a low-pass filtering.
  • the stationary control for the purpose of acceleration and / or deceleration of the or the driverless means of transport to a variable control of the speed of the running light is set up.
  • the running light can also be divided along the track into different track segments, wherein the speed and the "phase" of the active elements of the light chain in each of the track segments are controlled separately.
  • FIG. 1 is schematically shown a self-propelled driverless transport EMS in an arrangement according to the prior art.
  • the means of transport EMS is connected via slider (pantograph) with a stationary busbar system SCHL, which in addition to the conductors L1, L2, L3, PEN to power supply with two other conductors FRG / QUIT ("release” / "Acknowledgment") and ALM ("Alarm”) is equipped.
  • FRG / QUIT release" / "Acknowledgment”
  • ALM Alarm
  • the stationary conductor of the busbar system SCHL are connected to a control EMS-D ("Electrical Monorail System - Driver") of the driverless transport EMS, which in turn controls a drive ANTR of the means of transport EMS.
  • EMS-D Electro Mechanical Monorail System - Driver
  • the controller EMS-D is connected to the sensors MRS, KLS, wherein the sensors MRS ("magnetic switch”) of stationary actuators (“cams”) are operated on the track by the movement of the means of transport EMS and in a simple way start, stop - and speed commands can record.
  • the sensor KLS (“collision”) switches off the drive ANTR in the event of an imminent collision (“collision") with another means of transport on the same route.
  • the transport EMS moves in such a driving range (special driving range), which requires a uniform and to other transport equidistant movement.
  • the transport EMS in the prior art is connected to a drag conveyor SF via a mechanical connection MV, the drag conveyor SF is connected to a stationary control device CTRG and is controlled by this control CTRL; the drive ANTR is temporarily disabled.
  • the control CTRG is connected to a programming device PRG via a data connection DB.
  • the control CTR specifies the speed (frequency) and the position (phase) of the light sources of the running light LL that are alternately controlled in chronological progression.
  • the active segments AS are arranged periodically and equidistantly in an advantageous embodiment of the invention; However, in other embodiments of the invention, which require a more complex wiring and control of the running light LL, but also, for example, each have its own active segment AS for each considered the means of transport EMS be provided. While in the illustrated solution the two optical sensors OS1, OS2 should each detect the same of the active segments AS, in particular with a periodic design of the running light LL, each of the optical sensors OS1, OS2 can "track" another of the synchronously advancing active segments AS.
  • the optical sensors OS1, OS2 are linked to the EMS-D control of the means of transport EMS, the control EMS-D being equipped with evaluation logic for evaluating the signals output by the optical sensors OS1, OS2.
  • the optical sensors OS1, OS2 each provide a binary output signal; it is only between the states "light” (logical "1") and "no light” (logical "0") distinguished. This leads according to the invention to a better reliability than in other embodiments in which, for example, gray levels (variable brightness values) are detected.
  • the optical sensors OS1, OS2 can be provided with optical filters which, for example, allow only individual spectral components of the light emitted by the active segments AS to pass.
  • spectral regions are used which are not or only to a limited extent emitted by the usual illumination devices of industrial production plants (fluorescent lamps, gas discharge lamps). It is also possible to provide external light scattering the optical sensors OS1, OS2 and the surface of the running light LL with mutually aligned Polfiltern that only a certain plane of polarization (for example, horizontal, vertical or one of the two possible polar directions) of the light happen ,
  • the control EMS-D (here: a power converter with multiple control inputs) of the driverless transport EMS and the evaluation logic contained therein for the optical sensors OS1, OS2 is connected such that the transport EMS follows the moving active segments AS of the running light LL.
  • the functionality of the evaluation logic is for a simple case in the FIG. 3 shown. There is a distinction between four different operating states.
  • the Indian FIG. 3 The case shown at the top results when the running light LL or the active segments AS contained therein and the means of transport EMS with the optical sensors OS1, OS2 permanently with the same speed (synchronously) move and detect the two optical sensors OS1, OS2 each light of an active segment AS. In this case, both optical sensors OS1, OS2 deliver a logic "1" as a binary output signal.
  • the optical sensors OS1, OS2 can deviate from the illustration in FIG. 3 also face different active segments AS of the running light LL;
  • the mounting distance of the optical sensors OS1, OS2 is advantageously an integer multiple of the distance of the active segments AS.
  • the drive energy of the drive ANTR is throttled by the controller EMS-D until the first state described again.
  • the evaluation logic of the controller EMS-D includes a numerical controller (eg PID controller), which is set such that the speed and position ("phase") of the transport EMS on the predetermined by the running light LL setpoint settles ,
  • the segments of the running light LL are not "hard” switched, so not only binary on and off, but regulated quasi-continuous in their brightness.
  • optical sensors OS1, OS2 which provide more detailed information about the detected brightness (for example with a resolution of 4 or 8 bits)
  • the control behavior of the evaluation logic in the EMS-D controller can be improved.
  • the "settling" of the movement of the means of transport EMS when entering such a special manufacturing area in which the running light control is used it can be shortened, and the movement can also be designed with less severe "overshoot".
  • the speed of the running light LL can be adapted to the "autonomous" speed of the means of transport EMS and can then be continuously brought to the set speed. This avoids speed jumps and load peaks.

Abstract

The arrangement has a chain of light sources having a running light (LL) arranged along a route of a driverless transportation device (EMS). A set of optical sensors (OS1, OS2) senses the running light, and is arranged one behind another in a direction of movement on the driverless transportation device. Each optical sensor is connected to a drive (ANTR) of the driverless transportation device such that the driverless transportation device essentially and synchronously follows an illuminated segment of the running light. A stationary control device controls the running light. An independent claim is also included for a method for controlling a movement of a driverless transportation device along a route.

Description

Die Erfindung betrifft eine Anordnung zur Steuerung eines Antriebes eines selbstfahrenden fahrerlosen Transportmittels gemäß dem Oberbegriff des Patentanspruchs 1, und ein Verfahren zur Steuerung des Antriebes eines selbstfahrenden fahrerlosen Transportmittels gemäß dem Oberbegriff des Patentanspruchs 6.The invention relates to an arrangement for controlling a drive of a self-propelled driverless means of transport according to the preamble of patent claim 1, and a method for controlling the drive of a self-propelled driverless transport means according to the preamble of patent claim 6.

Im Zuge der fortschreitenden Automatisierung von Transportaufgaben, insbesondere im Bereich der Fertigung von Automobilen und anderen Gütern, werden häufig fahrerlose Transportmittel eingesetzt. Beispielsweise werden für Fertigungslinien der Automobilindustrie Elektro-Hänge-Bahnen (EHB) für den Transport von Karosserien und Anbauteilen benutzt. Diese Transportmittel - oft auch EMS = Electrical Monorail Systems genannt - bestehen regelmäßig aus einem Schienensystem und den dazugehörigen, meist hängenden, Fahrzeugen. Diese Transportmittel verfügen über einen eigenen elektrischen Antrieb und werden mittels Stromabnehmern (Schleifern), die an einem mehrphasigen Stromschienen-System entlang geführt werden, mit elektrischer Energie versorgt.In the course of the progressive automation of transport tasks, in particular in the field of manufacturing of automobiles and other goods, often driverless means of transport are used. For example, for production lines of the automotive industry, electric suspended tracks (EHB) are used for the transport of bodies and attachments. These means of transport - often called EMS = Electrical Monorail Systems - regularly consist of a rail system and the associated, usually hanging, vehicles. These means of transport have their own electric drive and are supplied with electrical power by means of current collectors (grinders) which are routed along a multiphase busbar system.

In speziellen Fahrbereichen (Fertigungsbereichen) werden üblicher Weise Arbeiten an den jeweils beförderten Produkten durchgeführt. In solchen Fahrbereichen ist oft gefordert, dass die fahrerlosen Transportmittel mit konstanten Geschwindigkeiten und/oder mit konstanten Abständen zueinander fahren. Diese Anforderung kann dadurch erfüllt werden, dass die fahrerlosen Transportmittel jeweils mit einer numerischen Steuerung versehen sind, welche mit einer externen (stationären) Steuerung kommunizieren und den Antrieb der fahrerlosen Transportmittel jeweils derart ansteuern, dass die fahrerlosen Transportmittel mit der vorgegebenen Geschwindigkeit und/oder synchron zueinander fahren.In special driving areas (production areas), work is usually carried out on the products being transported. In such driving areas, it is often required that the driverless means of transport travel at constant speeds and / or at constant distances from each other. This requirement can be met by the fact that the driverless transport means are each provided with a numerical control, which communicate with an external (stationary) control and drive the drive of the driverless transport each such that the driverless Transport means at the predetermined speed and / or synchronously drive each other.

Voraussetzung für die Anwendung eines solchen Vorgehens ist dabei, dass jedes der fahrerlosen Transportmittel mit einer entsprechend leistungsfähigen Steuerung, beispielsweise einem Mikroprozessorsystem, ausgestattet ist. Dies ist jedoch bei vielen einfachen fahrerlosen Transportsystemen oft nicht der Fall; hierbei kommen oft einfache Antriebe zum Einsatz, welche über Magnetrastschalter durch fest am Fahrweg angebrachte Steuerungselemente elektromechanisch gesteuert werden, wobei oft nur zwischen den Zuständen "Fahrt" und "Stopp" unterschieden wird, und wobei ein Auffahrschutz-Schalter die Kollision von zwei fahrerlosen Transportmitteln durch Abschaltung eines oder mehrerer der fahrerlosen Transportmittel vermeidet. Um die aufwendige Ausstattung aller fahrerlosen Transportmittel mit jeweils einer alphanumerischen Steuerung o.ä. zu vermeiden, ist es im Stand der Technik bekannt, in den speziellen Fahrbereichen, in denen eine synchrone und/oder konstante Fahrt der fahrerlosen Transportmittel gefordert ist, einen mechanischen Schleppförderer vorzusehen, der beispielsweise als umlaufende Kette ausgebildet ist. In diesen speziellen Fertigungsbereichen wird dann der eigene Antrieb der fahrerlosen Transportmittel ausgekuppelt, und die fahrerlosen Transportmittel werden an den mechanischen Schleppförderer starr angekuppelt, so dass alle angekuppelten fahrerlosen Transportmittel synchron und äquidistant bewegt werden. Am Ende der speziellen Fertigungsbereiche werden dann die fahrerlosen Transportmittel wieder vom Schleppförderer abgekuppelt und nehmen ihren autonomen Betrieb wieder auf. Nachteilig an dieser Lösung ist, dass für jeden der speziellen Fahrbereiche ein separater Antrieb in Gestalt des Schleppförderers vorgesehen werden muss. Obwohl die fahrerlosen Transportmittel also bereits mit einem eigenen Antrieb ausgestattet sind, müssen für die betrachteten speziellen Fertigungsbereiche zusätzlich Ein- und Auskuppelstationen, der zusätzliche Schleppförderer, Mitnahmevorrichtungen für die fahrerlosen Transportmittel, eine zusätzliche Energieversorgung usw. vorgesehen werden. Variable Geschwindigkeiten und Start-/Stoppfunktionen werden dabei von einer stationären Anlagensteuerung über die Geschwindigkeitsregelung des Antriebes des Schleppförderers (Schleppkette) gesteuert.The prerequisite for the application of such a procedure is that each of the driverless means of transport is equipped with a correspondingly powerful controller, for example a microprocessor system. However, this is often not the case with many simple driverless transport systems; In this case, often simple drives are used, which are controlled by magnetic control switch firmly attached to the track control elements electromechanically, often only between the states "ride" and "stop" is distinguished, and wherein a collision protection switch the collision of two driverless transport through Shutdown of one or more of the driverless means of transport avoids. To the elaborate equipment of all driverless means of transport with an alphanumeric control o.ä. To avoid, it is known in the art, to provide a mechanical drag conveyor, which is formed for example as a revolving chain in the special driving areas in which a synchronous and / or constant ride of the driverless transport is required. In these special production areas then the own drive the driverless means of transport is disengaged, and the driverless means of transport are rigidly coupled to the mechanical drag conveyor, so that all coupled driverless means of transport are moved synchronously and equidistantly. At the end of the special production areas then the driverless means of transport are disconnected again from the drag conveyor and resume their autonomous operation. A disadvantage of this solution is that for each of the special driving areas a separate drive in the form of the drag conveyor must be provided. Although the driverless means of transport are therefore already equipped with its own drive, additional input and Auskupplung, the additional drag conveyor, entrainment devices for the driverless transport, an additional power supply for the particular production areas considered etc. are provided. Variable speeds and start / stop functions are controlled by a stationary system control via the speed control of the drive of the drag conveyor (drag chain).

Es ist eine Aufgabe der vorliegenden Erfindung, eine konstruktiv einfache und sichere Steuerung für fahrerlose Transportmittel in solchen speziellen Fertigungsbereichen vorzuschlagen.It is an object of the present invention to propose a structurally simple and safe control for driverless means of transport in such special production areas.

Die Aufgabe wird durch eine Anordnung nach Patentanspruch 1 und durch ein Verfahren nach Patentanspruch 6 gelöst.The object is achieved by an arrangement according to claim 1 and by a method according to claim 6.

Es ist dabei eine zentrale Idee der erfindungsgemäßen Lösung, dass anstelle des mechanischen Schleppförderers, also die Kopplung der fahrerlosen Transportmittel an eine mechanische Mitnahmevorrichtung, ein optisches "Mitnahmesignal" in Form von Licht eines in die Laufschiene montierten Lauflichtschlauches o.ä. realisiert wird. Die Fahrgeschwindigkeit und die Start-/Stoppfunktionen werden über die Ansteuerung der Lichtsequenz(en) des Lichtschlauches gesteuert. Auf Seite des fahrerlosen Transportmittels oder der fahrerlosen Transportmittel erfolgt die Auswertung der Lichtsignale des Lauflichtschlauches über eine entsprechende einfache Sensorik, die z.B. einen ohnehin vorhandenen Stromrichter des Antriebes ansteuert.It is a key idea of the solution according to the invention that instead of the mechanical drag conveyor, ie the coupling of the driverless transport means to a mechanical entrainment device, an optical "driving signal" in the form of light of a mounted in the running track running light tube o.ä. is realized. The driving speed and the start / stop functions are controlled by controlling the light sequence (s) of the light tube. On the side of the driverless means of transport or the driverless means of transport, the evaluation of the light signals of the running light tube via a corresponding simple sensors, which, for example. drives an already existing converter of the drive.

Die Aufgabe wird insbesondere durch eine Anordnung zur Steuerung eines Antriebes eines selbstfahrenden fahrerlosen Transportmittels gelöst, wobei der Antrieb eines oder die Antriebe mehrerer fahrerloser Transportmittel mittels einer stationären Steuerungseinrichtung gesteuert wird oder werden. Dabei ist entlang eines Fahrweges des fahrerlosen Transportmittels eine als Lauflicht ausgestaltete Kette von Lichtquellen (Segmenten) angeordnet, wobei an dem fahrerlosen Transportmittel in Bewegungsrichtung hintereinander zumindest zwei optische Sensoren zur Abtastung des Lauflichtes angeordnet sind, wobei die zumindest zwei Sensoren derart mit dem Antrieb des fahrerlosen Transportmittels verschaltet sind, dass das fahrerlose Transportmittel einem leuchtenden Segment des Lauflichtes im Wesentlichen synchron folgt, und wobei die stationäre Steuerungseinrichtung zur Steuerung des Lauflichtes eingerichtet ist. Mit einer derartigen Anordnung können deutliche Einsparungen im Anlagenbau für Anordnungen mit fahrerlosen Transportmitteln, beispielsweise in der Fertigung von Automobilen, erzielt werden. Durch einen verhältnismäßig geringen Aufwand an elektrischen Komponenten können die zusätzlichen Schleppförderer komplett eingespart werden. Zusätzliche Ent- und Verriegelungsstationen (Ein- und Auskuppelstationen) können ebenfalls eingespart werden. Der technische Aufwand seitens der fahrerlosen Transportmittel ist ebenfalls gering, da lediglich die (meist binären) Signale der Lichtsensoren ausgewertet werden müssen; dadurch ist der Einsatz von einfachen Steuerungen, beispielsweise einfachen "Frequenzumrichtern" mit binärer Hilfs-Logik als Fahrzeugsteuerung, möglich.The object is achieved in particular by an arrangement for controlling a drive of a self-propelled driverless means of transport, wherein the drive of one or more drives of a plurality of driverless means of transport is or are controlled by means of a stationary control device. In this case, along a travel path of the driverless transport means designed as a running light chain of light sources (segments) is arranged, wherein the driverless transport in the direction of movement behind each other at least two optical sensors for scanning the running light are arranged, wherein the at least two sensors in such a way with the drive of the driverless Are interconnected, that the driverless transport means follows a luminous segment of the running light substantially synchronously, and wherein the stationary control means is arranged to control the running light. With such an arrangement, significant savings in plant construction can be achieved for arrangements with driverless means of transport, for example in the manufacture of automobiles. By a relatively low cost of electrical components, the additional drag conveyor can be completely saved. Additional unlocking and locking stations (coupling and decoupling stations) can also be saved. The technical effort on the part of the driverless means of transport is also low, since only the (mostly binary) signals of the light sensors must be evaluated; This makes it possible to use simple controls, for example simple "frequency converters" with binary auxiliary logic as vehicle control.

Die Aufgabe wird weiter durch ein Verfahren zur Steuerung der Bewegung eines oder mehrerer fahrerloser Transportmittel entlang eines Fahrweges gelöst, wobei die Bewegung des einen oder der mehreren fahrerlosen Transportmittel durch eine stationäre Steuerung vorgegeben wird. Dabei wird durch die stationäre Steuerung eine entlang des Fahrweges als Lauflicht ausgestaltete Kette von Lichtquellen angesteuert, wobei die Geschwindigkeit und die Position der aktiven Lichtsegmente des Lauflichtes eine Sollvorgabe für das oder die fahrerlosen Transportmittel darstellt und das Lauflicht von zumindest zwei in Fahrtrichtung hintereinander angeordneten optischen Sensoren zumindest eines der fahrerlosen Transportmittel abgetastet wird. Dabei werden die Ausgangssignale der zumindest zwei optischen Sensoren zur Steuerung eines Antriebs des zumindest einen fahrerlosen Transportmittels verwendet, wobei die Sensoren derart mit dem Antrieb verschaltet sind, dass sich eine im Wesentlichen synchrone Bewegung des zumindest einen fahrerlosen Transportmittels mit einem leuchtenden Segment (Lichtquelle) des Lauflichtes ergibt. Durch die Anwendung dieses Verfahrens können die Vorteile der erfindungsgemäßen Anordnung realisiert werden.The object is further achieved by a method for controlling the movement of one or more driverless means of transport along a route, wherein the movement of the one or more driverless means of transport is determined by a stationary control. The steady-state controller controls a chain of light sources designed as a running light along the travel path, the speed and the position of the active light segments of the running light being a target for the driverless means of transport and the running light of at least two optical sensors arranged behind one another in the direction of travel at least one of the driverless means of transport is scanned. The output signals of the at least two optical sensors are used to control a drive of the at least one driverless transport means, wherein the sensors are connected to the drive such that a substantially synchronous movement of the at least one driverless transport means with a luminous segment (light source) of Running light results. By the application This method can realize the advantages of the arrangement according to the invention.

Vorteilhafte Ausgestaltungen der erfindungsgemäßen Anordnung sind in den abhängigen Patentansprüchen angegeben. Die dabei beschriebenen Merkmale und Vorteile gelten sinngemäß auch für das erfindungsgemäße Verfahren.Advantageous embodiments of the arrangement according to the invention are specified in the dependent claims. The features and advantages described here apply mutatis mutandis to the inventive method.

Vorteilhaft weist das fahrerlose Transportmittel einen Geschwindigkeitsregler auf, der von den zumindest zwei Sensoren angesteuert wird. Dabei wird vorteilhaft in den Fällen, in denen beide hintereinander angeordnete Sensoren jeweils ein aktives Lichtsegment detektieren, die derzeitige Fahrgeschwindigkeit des fahrerlosen Transportmittels beibehalten; es wird von synchroner Fahrt ausgegangen. Bei unterschiedlichen Zuständen des Ausgangssignals der zumindest zwei optischen Sensoren beschleunigt oder bremst der Geschwindigkeitsregler entsprechend; es wird von nicht-synchroner Fahrt ausgegangen. Vorteilhaft wird in den Fällen, in denen keiner der Sensoren ein Lichtsignal detektiert, das oder die fahrerlosen Transportmittel gestoppt. Insbesondere in den Fällen, in denen die Segmente jeweils aus mehreren einzelnen Lichtquellen bestehen und die einzelnen Lichtquellen der Segmente einen signifikanten Abstand zueinander aufweisen, werden die Ausgangssignale der optischen Sensoren vorteilhaft einer Tiefpass-Filterung unterzogen.The driverless means of transport advantageously has a speed controller, which is controlled by the at least two sensors. It is advantageous in cases where both successively arranged sensors each detect an active light segment, the current driving speed of the driverless transport maintained; it is assumed that synchronous ride. In the case of different states of the output signal of the at least two optical sensors, the speed controller accelerates or brakes accordingly; it is assumed that a non-synchronous ride. Advantageously, in cases where none of the sensors detect a light signal, the or the driverless means of transport stopped. In particular, in the cases in which the segments each consist of a plurality of individual light sources and the individual light sources of the segments have a significant distance from each other, the output signals of the optical sensors are advantageously subjected to a low-pass filtering.

Vorteilhaft ist die stationäre Steuerung zum Zwecke der Beschleunigung und/oder Abbremsung des oder der fahrerlosen Transportmittel zu einer variablen Steuerung der Geschwindigkeit des Lauflichtes eingerichtet. Dabei kann das Lauflicht auch entlang des Fahrweges in unterschiedliche Fahrweg-Segmente unterteilt sein, wobei die Geschwindigkeit und die "Phasenlage" der aktiven Elemente der Lauflichtkette in jedem der Fahrweg-Segmente separat angesteuert werden.Advantageously, the stationary control for the purpose of acceleration and / or deceleration of the or the driverless means of transport to a variable control of the speed of the running light is set up. In this case, the running light can also be divided along the track into different track segments, wherein the speed and the "phase" of the active elements of the light chain in each of the track segments are controlled separately.

Ein Ausführungsbeispiel für eine erfindungsgemäße Anordnung wird nachfolgend anhand der Zeichnungen erläutert. Dies dient gleichzeitig der Erläuterung eines erfindungsgemäßen Verfahrens.An embodiment of an inventive arrangement will be explained below with reference to the drawings. This serves at the same time the explanation of a method according to the invention.

Dabei zeigen:

Figur 1
in schematischer Darstellung ein fahrerloses Trans- portmittel mit einem mechanischem Schleppförderer in einer Anordnung gemäß dem Stand der Technik,
Figur 2
in schematischer Darstellung ein fahrerloses Trans- portmittel mit einer erfindungsgemäßen Steuerung mittels einer Lauflicht-Anordnung, und
Figur 3
in schematischer Darstellung vier verschiedene Be- triebszustände der Relation zwischen aktiven Seg- menten der Lauflichteinrichtung und zumindest zwei optischen Sensoren.
Showing:
FIG. 1
1 shows a schematic illustration of a driverless transport means with a mechanical drag conveyor in an arrangement according to the prior art,
FIG. 2
a schematic representation of a driverless transport means with a control according to the invention by means of a running light arrangement, and
FIG. 3
in schematic representation, four different operating states of the relation between active segments of the running light device and at least two optical sensors.

In der Figur 1 ist schematisch ein selbstfahrendes fahrerloses Transportmittel EMS in einer Anordnung gemäß dem Stand der Technik dargestellt. Das Transportmittel EMS ist dabei über Schleifer (Stromabnehmer) mit einem stationären Stromschienen-System SCHL verbunden, welches neben den Leitern L1, L2, L3, PEN zu Energieversorgung mit zwei weiteren Leitern FRG/QUIT ("Freigabe"/"Quittierung") und ALM ("Alarm") ausgestattet ist. Über Schleifkontakte sind die stationären Leiter des Stromschienensystems SCHL mit einer Steuerung EMS-D ("Electrical Monorail System - Driver") des fahrerlosen Transportmittels EMS verbunden, welche wiederum einen Antrieb ANTR des Transportmittels EMS steuert. Weiter ist die Steuerung EMS-D mit den Sensoren MRS, KLS verbunden, wobei die Sensoren MRS ("Magnetrastschalter") von stationären Betätigungseinrichtungen ("Nocken") am Fahrweg durch die Bewegung des Transportmittels EMS betätigt werden und auf einfache Weise Start-, Stopp- und Geschwindigkeits-Befehle aufnehmen können. Der Sensor KLS ("Kollision") schaltet den Antrieb ANTR bei einer drohenden Kollision ("Auffahren") mit einem anderen Transportmittel desselben Fahrweges ab. Im vorliegenden Ausführungsbeispiel wird davon ausgegangen, dass sich das Transportmittel EMS in einem solchen Fahrbereich (spezieller Fahrbereich) bewegt, der eine gleichmäßige und zu anderen Transportmitteln äquidistante Bewegung erfordert. Zu diesem Zweck ist das Transportmittel EMS im Stand der Technik mit einem Schleppförderer SF über eine mechanische Verbindung MV verbunden, wobei der Schleppförderer SF mit einer stationären Steuerungseinrichtung STRG verbunden ist und von dieser Steuerung STRG angesteuert wird; der Antrieb ANTR ist dabei temporär außer Funktion gesetzt. Die Steuerung STRG ist über eine Datenverbindung DB mit einem Programmiergerät PRG verbunden.In the FIG. 1 is schematically shown a self-propelled driverless transport EMS in an arrangement according to the prior art. The means of transport EMS is connected via slider (pantograph) with a stationary busbar system SCHL, which in addition to the conductors L1, L2, L3, PEN to power supply with two other conductors FRG / QUIT ("release" / "Acknowledgment") and ALM ("Alarm") is equipped. About sliding contacts, the stationary conductor of the busbar system SCHL are connected to a control EMS-D ("Electrical Monorail System - Driver") of the driverless transport EMS, which in turn controls a drive ANTR of the means of transport EMS. Further, the controller EMS-D is connected to the sensors MRS, KLS, wherein the sensors MRS ("magnetic switch") of stationary actuators ("cams") are operated on the track by the movement of the means of transport EMS and in a simple way start, stop - and speed commands can record. The sensor KLS ("collision") switches off the drive ANTR in the event of an imminent collision ("collision") with another means of transport on the same route. In the present Embodiment is assumed that the transport EMS moves in such a driving range (special driving range), which requires a uniform and to other transport equidistant movement. For this purpose, the transport EMS in the prior art is connected to a drag conveyor SF via a mechanical connection MV, the drag conveyor SF is connected to a stationary control device CTRG and is controlled by this control CTRL; the drive ANTR is temporarily disabled. The control CTRG is connected to a programming device PRG via a data connection DB.

Im Folgenden wird anhand der Figur 2 erläutert, in welcher Weise der mechanische Schleppförderer SF und die mechanische Verbindung MV durch eine Lauflichteinrichtung LL und optische Sensoren OS1, OS2 ersetzt wird. Dabei bezeichnen identische Bezugszeichen der drei Figuren jeweils dieselbe technische Einrichtung.The following is based on the FIG. 2 explains in which way the mechanical drag conveyor SF and the mechanical connection MV by a running light device LL and optical sensors OS1, OS2 is replaced. In this case, identical reference numerals of the three figures indicate the same technical device.

Das in der Figur 2 dargestellte Lauflicht LL mit den leuchtenden, aktiven Segmenten AS wird durch die stationäre Steuerung STRG gesteuert. Die Steuerung STRG gibt dabei die Geschwindigkeit (Frequenz) und die Position (Phase) der in zeitlichem Verlauf wechselweise angesteuerten Lichtquellen des Lauflichtes LL vor. Wie in der Figur 2 dargestellt, sind in einer vorteilhaften Ausgestaltung der Erfindung die aktiven Segmente AS periodisch und äquidistant angeordnet; in anderen Ausgestaltungen der Erfindungen, die eine komplexere Verdrahtung und Steuerung des Lauflichtes LL erfordern, kann jedoch auch beispielsweise jeweils ein eigenes aktives Segment AS für jedes betrachtete der Transportmittel EMS vorgesehen sein. Während bei der dargestellten Lösung die beiden optischen Sensoren OS1, OS2 jeweils dasselbe der aktiven Segmente AS erfassen sollen, kann insbesondere bei einer periodischen Auslegung des Lauflichtes LL jeder der optischen Sensoren OS1, OS2 ein anderes der sich synchron fortbewegenden aktiven Segmente AS "verfolgen".That in the FIG. 2 illustrated running light LL with the luminous, active segments AS is controlled by the stationary control CTRL. In this case, the control CTR specifies the speed (frequency) and the position (phase) of the light sources of the running light LL that are alternately controlled in chronological progression. Like in the FIG. 2 illustrated, the active segments AS are arranged periodically and equidistantly in an advantageous embodiment of the invention; However, in other embodiments of the invention, which require a more complex wiring and control of the running light LL, but also, for example, each have its own active segment AS for each considered the means of transport EMS be provided. While in the illustrated solution the two optical sensors OS1, OS2 should each detect the same of the active segments AS, in particular with a periodic design of the running light LL, each of the optical sensors OS1, OS2 can "track" another of the synchronously advancing active segments AS.

Die optischen Sensoren OS1, OS2 sind mit der Steuerung EMS-D des Transportmittels EMS verknüpft, wobei die Steuerung EMS-D mit einer Auswertelogik zur Auswertung der von den optischen Sensoren OS1, OS2 ausgegebenen Signale ausgestattet ist. In der vorliegenden vorteilhaften Ausgestaltung liefern die optischen Sensoren OS1, OS2 jeweils ein binäres Ausgangssignal; es wird also nur zwischen den Zuständen "Licht" (logisch "1") und "kein Licht" (logisch "0") unterschieden. Dies führt erfindungsgemäß zu einer besseren Funktionssicherheit als bei anderen Ausgestaltungen, in denen beispielsweise Graustufen (variable Helligkeitswerte) erfasst werden. In weiteren vorteilhaften Ausgestaltungen können die optischen Sensoren OS1, OS2 mit optischen Filtern versehen sein, die beispielsweise nur einzelne spektrale Anteile des von den aktiven Segmenten AS emittierten Lichtes passieren lassen. Vorteilhaft werden dabei solche spektralen Bereiche verwendet, die von den üblichen Beleuchtungseinrichtungen industrieller Fertigungsanlagen (Leuchtstofflampen, Gasentladungslampen) nicht oder nur in geringem Maße emittiert werden. Ebenso ist es möglich, zur Ausfilterung externen Streulichtes die optischen Sensoren OS1, OS2 und die Oberfläche des Lauflichtes LL mit zueinander ausgerichteten Polfiltern zu versehen, die nur eine bestimmte Polarisationsebene (beispielsweise horizontal, vertikal oder eine der beiden möglichen polaren Richtungen) des Lichtes passieren lassen.The optical sensors OS1, OS2 are linked to the EMS-D control of the means of transport EMS, the control EMS-D being equipped with evaluation logic for evaluating the signals output by the optical sensors OS1, OS2. In the present advantageous embodiment, the optical sensors OS1, OS2 each provide a binary output signal; it is only between the states "light" (logical "1") and "no light" (logical "0") distinguished. This leads according to the invention to a better reliability than in other embodiments in which, for example, gray levels (variable brightness values) are detected. In further advantageous embodiments, the optical sensors OS1, OS2 can be provided with optical filters which, for example, allow only individual spectral components of the light emitted by the active segments AS to pass. Advantageously, spectral regions are used which are not or only to a limited extent emitted by the usual illumination devices of industrial production plants (fluorescent lamps, gas discharge lamps). It is also possible to provide external light scattering the optical sensors OS1, OS2 and the surface of the running light LL with mutually aligned Polfiltern that only a certain plane of polarization (for example, horizontal, vertical or one of the two possible polar directions) of the light happen ,

Die Steuerung EMS-D (hier: ein Stromrichter mit mehreren Steuerungseingängen) des fahrerlosen Transportmittels EMS und die darin enthaltene Auswertelogik für die optischen Sensoren OS1, OS2 ist derart verschaltet, dass das Transportmittel EMS den sich bewegenden aktiven Segmenten AS des Lauflichtes LL folgt. Die Funktionsweise der Auswertelogik ist für einen einfachen Fall in der Figur 3 dargestellt. Dabei wird zwischen vier verschiedenen Betriebszuständen unterschieden. Der in der Figur 3 ganz oben dargestellte Fall ergibt sich, wenn sich das Lauflicht LL bzw. die darin enthaltenen aktiven Segmente AS und das Transportmittel EMS mit den optischen Sensoren OS1, OS2 dauerhaft mit derselben Geschwindigkeit (synchron) bewegen und die beiden optischen Sensoren OS1, OS2 jeweils Licht eines aktiven Segmentes AS detektieren. In diesem Fall liefern beide optischen Sensoren OS1, OS2 als binäres Ausgangssignal eine logische "1". Wie bereits erläutert, können die optischen Sensoren OS1, OS2 abweichend von der Darstellung in der Figur 3 auch verschiedenen aktiven Segmenten AS des Lauflichtes LL gegenüberstehen; in diesem Fall beträgt der Montageabstand der optischen Sensoren OS1, OS2 vorteilhaft ein ganzzahliges Vielfaches des Abstandes der aktiven Segmente AS.The control EMS-D (here: a power converter with multiple control inputs) of the driverless transport EMS and the evaluation logic contained therein for the optical sensors OS1, OS2 is connected such that the transport EMS follows the moving active segments AS of the running light LL. The functionality of the evaluation logic is for a simple case in the FIG. 3 shown. There is a distinction between four different operating states. The Indian FIG. 3 The case shown at the top results when the running light LL or the active segments AS contained therein and the means of transport EMS with the optical sensors OS1, OS2 permanently with the same speed (synchronously) move and detect the two optical sensors OS1, OS2 each light of an active segment AS. In this case, both optical sensors OS1, OS2 deliver a logic "1" as a binary output signal. As already explained, the optical sensors OS1, OS2 can deviate from the illustration in FIG FIG. 3 also face different active segments AS of the running light LL; In this case, the mounting distance of the optical sensors OS1, OS2 is advantageously an integer multiple of the distance of the active segments AS.

Ausgehend von dem zuvor beschriebenen "eingeschwungenen" Fall, bei dem von einer identischen Geschwindigkeit des Transportmittels EMS und des Lauflichtes LL ausgegangen wird, ist im zweiten dargestellten Fall die Position des Transportmittels EMS hinter die Position des aktiven Segmentes AS leicht zurückgefallen, was darin resultiert, dass der optischen Sensor OS1 nicht mehr von dem aktiven Segment AS mit Licht beaufschlagt wird und somit eine binäre "0" ausgibt. Die Auswertelogik der Steuerung EMS-D erkennt dies und erhöht den Strom des Antriebes ANTR, um die Geschwindigkeit des Transportmittels EMS soweit zu steigern, dass sich der zuerst beschriebene Zustand wieder einstellt. An dritter Stelle der Figur 3 ist analog dazu der umgekehrte Fall dargestellt, bei dem das Transportmittel EMS dem aktiven Segment AS vorauseilt. In einem solchen Fall wird die Antriebsenergie des Antriebes ANTR durch die Steuerung EMS-D so lange gedrosselt, bis sich wieder der zuerst beschriebene Zustand einstellt. In einer vorteilhaften Ausgestaltung enthält die Auswertlogik der Steuerung EMS-D einen numerischen Regler (z.B. PID-Regler), der derart eingestellt ist, dass sich die Geschwindigkeit und Lage ("Phase") des Transportmittels EMS auf die durch das Lauflicht LL vorgegebene Sollgröße einschwingt.Starting from the previously described "settled" case, in which an identical speed of the means of transport EMS and the running light LL is assumed, in the second case illustrated, the position of the means of transport EMS has fallen slightly behind the position of the active segment AS, which results in that the optical sensor OS1 is no longer acted upon by the active segment AS with light and thus outputs a binary "0". The evaluation logic of the EMS-D control recognizes this and increases the current of the drive ANTR in order to increase the speed of the means of transport EMS to such an extent that the state described first is restored. In third place the FIG. 3 Analogously, the reverse case is shown, in which the means of transport EMS leads the active segment AS. In such a case, the drive energy of the drive ANTR is throttled by the controller EMS-D until the first state described again. In an advantageous embodiment, the evaluation logic of the controller EMS-D includes a numerical controller (eg PID controller), which is set such that the speed and position ("phase") of the transport EMS on the predetermined by the running light LL setpoint settles ,

An letzter Stelle der Darstellung in der Figur 3 ist derjenige Fall dargestellt, in dem keiner der optischen Sensoren OS1, OS2 ein aktives Segment AS detektiert. Dies kann beispielsweise dann passieren, wenn eine Störung des Lauflichtes LL vorliegt, wenn (wie dargestellt) die optischen Sensoren OS1, OS2 aus einem "Fangbereich" der aktiven Segmente AS hinausbewegt sind, oder wenn eine andere Störung, beispielsweise durch Verschmutzung, Ausfall der Sensoren etc. vorliegt. In einem solchen Fall kann beispielsweise durch einen sofortigen "Not-Halt" des Transportmittels EMS reagiert werden. Es kann jedoch auch für einen begrenzten Zeitraum das Transportmittel EMS mit einer geringen Geschwindigkeit weiterbewegt werden, in der Erwartung, dass die optischen Sensoren OS1, OS2 wieder in den Bereich eines der aktiven Segmente AS gelangen und "einrasten".In the last place of the representation in the FIG. 3 the case is shown in which none of the optical sensors OS1, OS2 detects an active segment AS. This can be, for example happen when there is a disturbance of the running light LL, if (as shown), the optical sensors OS1, OS2 are moved out of a "capture range" of the active segments AS, or if another disturbance, for example due to contamination, failure of the sensors, etc. is present , In such a case, for example, be reacted by an immediate "emergency stop" of the means of transport EMS. However, it is also possible for a limited period of time to move the means of transport EMS at a low speed, in the expectation that the optical sensors OS1, OS2 will again reach the area of one of the active segments AS and "lock in place".

In einer weiteren, konstruktiv jedoch aufwendigeren Ausgestaltung der Erfindung werden die Segmente des Lauflichtes LL nicht "hart" geschaltet, also nicht nur binär ein- und ausgeschaltet, sondern quasikontinuierlich in ihrer Helligkeit geregelt. In Verbindung mit optischen Sensoren OS1, OS2, die detailliertere Informationen über die detektierte Helligkeit abgeben (beispielsweise mit einer Auflösung von 4 oder 8 Bit), kann das Regelungsverhalten der Auswertelogik in der Steuerung EMS-D verbessert werden. Insbesondere das "Einschwingen" der Bewegung des Transportmittels EMS beim Einfahren in einen solchen speziellen Fertigungsbereich, in dem die Lauflichtsteuerung zum Einsatz kommt, kann dabei verkürzt werden, und die Bewegung kann zudem mit weniger starkem "Überschwingen" gestaltet werden.In a further, structurally more complex embodiment of the invention, the segments of the running light LL are not "hard" switched, so not only binary on and off, but regulated quasi-continuous in their brightness. In conjunction with optical sensors OS1, OS2, which provide more detailed information about the detected brightness (for example with a resolution of 4 or 8 bits), the control behavior of the evaluation logic in the EMS-D controller can be improved. In particular, the "settling" of the movement of the means of transport EMS when entering such a special manufacturing area in which the running light control is used, it can be shortened, and the movement can also be designed with less severe "overshoot".

Vorteilhaft kann beim Einfahren in einen solchen speziellen Fertigungsbereich die Geschwindigkeit des Lauflichtes LL an die "autonome" Geschwindigkeit des Transportmittels EMS angepasst werden und danach stetig an die Sollgeschwindigkeit herangeführt werden. Damit werden Geschwindigkeitssprünge und Lastspitzen vermieden.Advantageously, when entering such a special manufacturing area, the speed of the running light LL can be adapted to the "autonomous" speed of the means of transport EMS and can then be continuously brought to the set speed. This avoids speed jumps and load peaks.

Claims (6)

Anordnung zur Steuerung eines Antriebs (ANTR) eines selbstfahrenden fahrerlosen Transportmittels (EMS), wobei der Antrieb (ANTR) eines oder die Antriebe (ANTR) mehrerer fahrerloser Transportmittel (EMS) mittels einer stationären Steuerungseinrichtung (STRG) gesteuert wird oder werden,
dadurch gekennzeichnet,
dass entlang eines Fahrweges des fahrerlosen Transportmittels (EMS) eine als Lauflicht (LL) ausgestaltete Kette von Lichtquellen angeordnet ist,
dass an dem fahrerlosen Transportmittel (EMS) in Bewegungsrichtung hintereinander zumindest zwei optische Sensoren (OS1, OS2) zur Abtastung des Lauflichtes (LL) angeordnet sind,
wobei die zumindest zwei Sensoren (OS1, OS2) derart mit dem Antrieb (ANTR) des fahrerlosen Transportmittels (EMS) verschaltet sind, dass das fahrerlose Transportmittel (EMS) zumindest einem leuchtenden Segment (AS) des Lauflichtes (LL) im Wesentlichen synchron folgt, und
dass die stationäre Steuerungseinrichtung (STRG) zur Steuerung des Lauflichtes (LL) eingerichtet ist.Arrangement for controlling a drive (ANTR) of a self-propelled driverless means of transport (EMS), wherein the drive (ANTR) of one or more drive (ANTR) of a plurality of driverless means of transport (EMS) is or are controlled by means of a stationary control device (CTRL),
characterized,
that along a travel path of the driverless transport means (EMS) a as a running light (LL) configured chain of light sources is arranged,
in that at least two optical sensors (OS1, OS2) for scanning the running light (LL) are arranged behind one another on the driverless transport means (EMS) in the direction of movement,
wherein the at least two sensors (OS1, OS2) are connected to the drive (ANTR) of the driverless transport means (EMS) such that the driverless transport means (EMS) follows at least one luminous segment (AS) of the running light (LL) substantially synchronously, and
in that the stationary control device (CTRG) is set up to control the running light (LL). Anordnung nach Patentanspruch 1,
dadurch gekennzeichnet,
dass das fahrerlose Transportmittel (EMS) einen Geschwindigkeitsregler für den Antrieb (ANTR) aufweist, der von den zumindest zwei Sensoren steuerbar ist.Arrangement according to claim 1,
characterized,
in that the driverless means of transport (EMS) has a speed controller for the drive (ANTR) which can be controlled by the at least two sensors. Anordnung nach einem der vorhergehenden Patentansprüche,
dadurch gekennzeichnet,
dass die Sensoren Lichttaster mit jeweils binärem Ausgangssignal sind.Arrangement according to one of the preceding claims,
characterized,
that the sensors are light sensors, each with a binary output signal. Anordnung nach einem der vorhergehenden Patentansprüche,
dadurch gekennzeichnet,
dass der Antrieb (ANTR) zur Durchführung eines Not-Halts in den Fällen eingerichtet ist, in denen keiner der zumindest zwei Sensoren ein leuchtendes der Segmente detektiert.Arrangement according to one of the preceding claims,
characterized,
in that the drive (ANTR) is set up to perform an emergency stop in cases in which none of the at least two sensors detects a luminous one of the segments. Anordnung nach einem der vorhergehenden Patentansprüche,
dadurch gekennzeichnet,
dass die stationäre Steuerung zur Beschleunigung und Abbremsung des fahrerlosen Transportmittels (EMS) oder aller fahrerlosen Transportmittel (EMS) durch eine Steuerung der Geschwindigkeit des Lauflichtes (LL) eingerichtet ist.Arrangement according to one of the preceding claims,
characterized,
that the stationary control for acceleration and deceleration of the driverless transport means (EMS) or all of the driverless transport means (EMS) by controlling the speed of the running light (LL) is arranged. Verfahren zur Steuerung der Bewegung eines oder mehrerer fahrerloser Transportmittel (EMS) entlang eines Fahrweges,
wobei die Bewegung des einen oder der mehreren fahrerlosen Transportmittel (EMS) durch eine stationäre Steuerung vorgegeben wird,
dadurch gekennzeichnet,
dass durch die stationäre Steuerung eine entlang des Fahrweges als Lauflicht (LL) ausgestaltete Kette von Lichtquellen ansteuert, wobei die Geschwindigkeit und die Position eines oder mehrerer der leuchtenden Segmente (AS) des Lauflichtes (LL) eine Sollvorgabe für das oder die fahrerlosen Transportmittel (EMS) darstellt,
dass das Lauflicht (LL) von zumindest zwei in Fahrtrichtung hintereinander angeordneten optischen Sensoren zumindest eines der fahrerlosen Transportmittel (EMS) abgetastet wird,
dass die Ausgangssignale der zumindest zwei optischen Sensoren zur Steuerung eines Antriebs (ANTR) des zumindest einen fahrerlosen Transportmittels (EMS) verwendet werden, wobei die Sensoren derart mit dem Antrieb (ANTR) verschaltet sind, dass sich eine im Wesentlichen synchrone Bewegung des zumindest einen fahrerlosen Transportmittels (EMS) mit zumindest einem leuchtenden Segment (AS) des Lauflichtes (LL) ergibt.Method for controlling the movement of one or more driverless means of transport (EMS) along a track,
wherein the movement of the one or more driverless transport means (EMS) is predetermined by a stationary control,
characterized,
in that the stationary control controls a chain of light sources configured as running light (LL) along the travel path, wherein the speed and position of one or more of the illuminating segments (AS) of the running light (LL) is a target for the driverless means or means (EMS ),
that the running light (LL) is scanned by at least two successively arranged in the direction of the optical sensors, at least one of the driverless transport means (EMS),
in that the output signals of the at least two optical sensors are used to control a drive (ANTR) of the at least one driverless means of transport (EMS), wherein the sensors are connected to the drive (ANTR) in such a way that a substantially synchronous movement of the at least one driverless Transport means (EMS) with at least one luminous segment (AS) of the running light (LL) results.
EP09013664A 2009-10-30 2009-10-30 Assembly and method for controlling actuation of a driver-less means of transport Active EP2319742B1 (en)

Priority Applications (5)

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PT09013664T PT2319742E (en) 2009-10-30 2009-10-30 Assembly and method for controlling actuation of a driver-less means of transport
ES09013664T ES2387237T3 (en) 2009-10-30 2009-10-30 Arrangement and procedure for controlling a drive of a self-propelled means of transport without driver
EP09013664A EP2319742B1 (en) 2009-10-30 2009-10-30 Assembly and method for controlling actuation of a driver-less means of transport
US12/915,858 US20110106363A1 (en) 2009-10-30 2010-10-29 Arrangement and Method for Controlling a Drive of an Automotive, Driverless Transportation Device
CN201010571823.1A CN102069807B (en) 2009-10-30 2010-10-29 Assembly and method for controlling actuation of driver-less means of transport

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EP2319742B1 EP2319742B1 (en) 2012-06-13

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EP (1) EP2319742B1 (en)
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ES (1) ES2387237T3 (en)
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EP3282600B1 (en) * 2016-08-09 2021-10-06 Leuze electronic GmbH + Co KG Data transmission system

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EP3282600B1 (en) * 2016-08-09 2021-10-06 Leuze electronic GmbH + Co KG Data transmission system

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PT2319742E (en) 2012-08-03
CN102069807B (en) 2014-04-09
EP2319742B1 (en) 2012-06-13
CN102069807A (en) 2011-05-25
US20110106363A1 (en) 2011-05-05
ES2387237T3 (en) 2012-09-18

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