Device and method for maintaining the capability for precise navigation of an automated guided vehicle
The invention relates to a device and method for maintaining the capability for precise navigation of an automated guided vehicle (TFS), comprising the following method features: a) an automated guided vehicle ( 1 ) is automatically sent into a testing station ( 26 ) for checking and cleaning of its laser scanner; b) the vehicle ( 1 ) is moved within the testing station ( 26 ) by means of its drive and the position of the vehicle is checked; c) if the positioning is correct, the laser scanner ( 2 ) of the vehicle ( 1 ) is cleaned; d) the result of the cleaning process is checked; e) and the vehicle ( 1 ) drives out of the testing station ( 26 ).
1. An apparatus for maintaining a precision of a navigation capability of a driverless transport vehicle (TFS), having the following features:
a test station ( 26 ) for a temporary stay of a transport vehicle ( 1 ) that has an open front side and a delimited rear side, wherein in each case two depressions ( 10 ) for receiving drive wheels ( 11 ) and two depressions ( 25 ) for receiving support wheels ( 24 ) are provided in a surface region ( 9 ) on a bottom;
a test line ( 18 ) is provided in a horizontal direction on the rear side of the test station ( 26 ) at a height of a laser scanner ( 2 ) of the transport vehicle ( 1 ), wherein in each case a marking of a test point ( 13 ) for an angle adjustment of the laser scanner ( 2 ) of the transport vehicle ( 1 ) is provided at a same height in a width of the surface region ( 9 ) on a left-hand and a right-hand side of the surface region ( 9 );
a device ( 19 ) for moving a cleaning apparatus on the front side of the transport vehicle ( 1 ) is provided on the rear side of the test station ( 26 ); and
a position sensor ( 20 ) for computational capturing of a position of the transport vehicle ( 1 ) is provided on longitudinal sides of an inner region of the test station ( 26 ) in a region of the front side and of the rear side of the transport vehicle ( 1 ).
2. The apparatus of claim 1 comprising a delimitation device ( 23 ), consisting of transparent, flexible material or of rods marking corners of a goods carrier, serves for marking an end of the goods carrier ( 3 ).
3. The apparatus of claim 1 , wherein the cleaning apparatus consists of a spray nozzle ( 16 ) for a cleaning liquid, a brush ( 15 ), and a blasting nozzle ( 14 ) for drying.
4. The apparatus of claim 1 , wherein the surface region ( 9 ) in the test station ( 26 ) has a charging device for electrical energy for charging electric storage devices of the transport vehicle ( 1 ).
5. An apparatus for maintaining a precision of a navigation capability of a driverless transport vehicle (TFS), having the following features:
a test station ( 26 ) for a temporary stay of a transport vehicle ( 1 ) that has an open front side and a delimited rear side, wherein in each case two depressions ( 10 ) for receiving drive wheels ( 11 ) and two depressions ( 25 ) for receiving support wheels ( 24 ) are provided in a surface region ( 9 ) on a bottom;
a test line ( 18 ) is provided in a horizontal direction on the rear side of the test station ( 26 ) at a height of a laser scanner ( 2 ) of the transport vehicle ( 1 ), wherein in each case a marking of a test point ( 13 ) for an angle adjustment of the laser scanner ( 2 ) of the transport vehicle ( 1 ) is provided at a same height in a width of the surface region ( 9 ) on a left-hand and a right-hand side of the surface region ( 9 );
a device ( 19 ) for moving a cleaning apparatus on the front side of the transport vehicle ( 1 ) is provided on the rear side of the test station ( 26 ); and
a delimitation device ( 23 ), consisting of transparent, flexible material or of rods marking corners of a goods carrier, serves for marking an end of the goods carrier ( 3 ).
6. The apparatus of claim 5 comprising a position sensor ( 20 ) for computational capturing of a position of the transport vehicle ( 1 ) is provided on longitudinal sides of an inner region of the test station ( 26 ) in a region of the front side and of the rear side of the transport vehicle ( 1 ).
7. The apparatus of claim 5 , wherein the cleaning apparatus consists of a spray nozzle ( 16 ) for a cleaning liquid, a brush ( 15 ), and a blasting nozzle ( 14 ) for drying.
8. The apparatus of claim 5 , wherein the surface region ( 9 ) in the test station ( 26 ) has a charging device for electrical energy for charging electric storage devices of the transport vehicle ( 1 ).
9. An apparatus for maintaining a precision of a navigation capability of a driverless transport vehicle (TFS), having the following features:
a test station ( 26 ) for a temporary stay of a transport vehicle ( 1 ) that has an open front side and a delimited rear side, wherein in each case two depressions ( 10 ) for receiving drive wheels ( 11 ) and two depressions ( 25 ) for receiving support wheels ( 24 ) are provided in a surface region ( 9 ) on a bottom;
a test line ( 18 ) is provided in a horizontal direction on the rear side of the test station ( 26 ) at a height of a laser scanner ( 2 ) of the transport vehicle ( 1 ), wherein in each case a marking of a test point ( 13 ) for an angle adjustment of the laser scanner ( 2 ) of the transport vehicle ( 1 ) is provided at a same height in a width of the surface region ( 9 ) on a left-hand and a right-hand side of the surface region ( 9 ); and
a device ( 19 ) for moving a cleaning apparatus on the front side of the transport vehicle ( 1 ) is provided on the rear side of the test station ( 26 ), wherein the cleaning apparatus consists of a spray nozzle ( 16 ) for a cleaning liquid, a brush ( 15 ), and a blasting nozzle ( 14 ) for drying.
10. The apparatus of claim 9 comprising a position sensor ( 20 ) for computational capturing of a position of the transport vehicle ( 1 ) is provided on longitudinal sides of an inner region of the test station ( 26 ) in a region of the front side and of the rear side of the transport vehicle ( 1 ).
11. The apparatus of claim 9 comprising a delimitation device ( 23 ) consisting of transparent, flexible material or of rods marking corners of a goods carrier, serves for marking an end of the goods carrier ( 3 ).
12. The apparatus of claim 9 , wherein the surface region ( 9 ) in the test station ( 26 ) has a charging device for electrical energy for charging electric storage devices of the transport vehicle ( 1 ).