A system for transporting at least one object to be processed within at least one packaging machine.

Abstract

The present invention provides a system for transporting at least one object to be processed within at least one packaging machine. [Solution] A system (10) for transporting at least one object (30) to be processed in at least one packaging machine and, in particular, packaged, along at least one transport path (TS) extending between at least one first region (B1) of the system (10) and at least one second region (B2) of the system (10).

Description

Technical Field

[0001] The present invention relates to a system for transporting at least one object that is processed, particularly packaged, in at least one packaging machine along at least one transport path extending between at least one first region and at least one second region of the system.

Background Art

[0002] Corresponding systems are known in various embodiments in the prior art and typically comprise a transport path extending between at least a first region and at least a second region of the system. The first region of the system may be, for example, a loading region, in which objects to be transported to the second region are transferred onto a conveyor belt, for example, by a transfer device such as a robot. Correspondingly, the second region of the system may be, for example, an unloading region, in which objects transported to the second region are removed from the conveyor belt by a transfer device. Thus, the transport path is usually formed by a conveyor belt or the like.

[0003] The corresponding system may be configured as a packaging system comprising one or more packaging machines, and each packaging machine may be configured to perform one or more packaging tasks for packaging one or more objects. Within the scope of the corresponding transport of the object, the corresponding packaging task may include, for example, placing an article or product within a primary packaging material such as a tray, or placing the primary packaging material (with the article or product placed therein) within a secondary packaging material such as a carton or box.

[0004] Therefore, the object to be transported may be, for example, an article or a product packaged with a suitable primary or secondary packaging material.

[0005] While such systems enable reliable transport and packaging of each object, they needed further improvement in terms of adaptability and versatility. This is particularly because the movement of each object during transport between each first and second region of the system, or vice versa, is restricted by the use of conveyor belts. Specifically, not only the movement path of the object being transported, but also other operational parameters related to the object, are defined by the transport direction and speed of each conveyor belt, and cannot be changed during transport of the object from each first to each second region of the system, or at least cannot be changed without relatively complex control intervention via transfer devices positioned along the conveyor belts. [Overview of the project] [Problems that the invention aims to solve]

[0006] In view of this, the present invention aims to provide an improved system for transporting at least one object to be packaged in at least one packaging machine along at least one transport path extending between at least one first region of the system and at least one second region of the system, particularly an improved system in terms of adaptability and versatility with respect to the transport options for each object between the first region and the second region or vice versa. [Means for solving the problem]

[0007] The above objective is achieved, in particular, by the system described in independent claim 1. The dependent claims relate to possible embodiments of the system described in independent claim 1.

[0008] A first aspect of the present invention relates to a system for transporting at least one object to be packaged in at least one packaging machine along or within at least one transport path extending between at least one first region of the system and at least one second region of the system, or vice versa.

[0009] Accordingly, the system is typically configured to transport, in particular, at least one object to be processed in a packaging machine along or within at least one transport path extending between at least one first region of the system and at least one second region of the system, or vice versa. Accordingly, the system is also typically configured to process objects, i.e., to package objects in particular. Processing steps may be steps directly or indirectly related to the packaging process of articles or products. For example, these may include packaging steps such as providing packaging, preparation steps, packaging steps such as sealing packaging filled with one or more articles or products, and closing steps.

[0010] The object being transported is, therefore, for example, an article or product to be packaged, which may already be packaged in primary packaging. Alternatively or in addition, the object being transported may be, for example, a container, tray, box, or other packaging material in secondary packaging. Furthermore, alternatively or in addition, the object being transported may be, for example, a shipping container.

[0011] The at least one first region in the system (hereinafter, the term "first region" may be used singly in this context, but this does not exclude the possibility that the system may have multiple first regions) can be, for example, a loading region on which objects to be transported to at least one second region in the system can be transported to a transport path by a transport device or handling device. Here, the transport device or handling device may be a robot. The at least one second region in the system (hereinafter, the term "second region" may be used singly in this context, but this does not exclude the possibility that the system may have multiple second regions) can correspondingly be an unloading region on which objects transported to at least one second region in the system can be removed from the at least one transport path by a transport device or handling device. Here, the transport device or handling device may be a robot.

[0012] This system typically comprises one or more packaging machines and is therefore also called a packaging machine system. Each packaging machine in the system is configured to perform one or more tasks for packaging one or more objects. These tasks may include, but are not limited to, one, more, or all of the tasks exemplified below: - To provide and / or prepare at least one packaging element, such as a blank, that can be converted into a primary packaging material through a three-dimensional molding process or the like. - Converting at least one packaging element that can be converted into primary packaging material into primary packaging material through a three-dimensional molding process or the like. - To provide and / or prepare at least one packaging element, such as a blank, that can be converted into a secondary packaging material through a three-dimensional molding process or the like. - Converting at least one packaging element that can be converted into a secondary packaging material into a secondary packaging material through a three-dimensional molding process or the like. - To provide at least one article or product to be packaged in at least one orientation and / or position that is necessary or appropriate, particularly in relation to subsequent arrangement or handling processes. - In particular, to place at least one article or product within a primary packaging material such as a tray, according to the corresponding arrangement or handling process. - In particular, by corresponding arrangement or handling processes, at least one primary packaging material is placed inside at least one secondary packaging material such as a carton or box (with the article or product placed inside it). - Arrange at least one secondary packaging material together with further secondary packaging materials in a desired configuration such as stacking or stacking shape (with the primary packaging material and, consequently, the article or product, placed inside it).

[0013] Therefore, the corresponding packaging machine, and by extension the system, may comprise one or more functional units, also called functional modules. Each of these functional units may be configured to perform at least one corresponding task. In particular, the corresponding packaging machine or system may include, for example, at least one of the functional units shown below: - At least one functional unit for providing and / or preparing at least one packaging element such as a blank that can be converted into a primary packaging material by a three-dimensional molding process or the like; and / or - At least one functional unit for converting at least one packaging element, which can be converted into primary packaging material, into primary packaging material by a three-dimensional molding process or the like; and / or - At least one functional unit for providing and / or preparing at least one packaging element, such as a blank, that can be converted into a secondary packaging material by a three-dimensional molding process or the like; and / or at least one functional unit for converting at least one packaging element that can be converted into a secondary packaging material into a secondary packaging material by a three-dimensional molding process or the like; and / or - At least one functional unit for providing at least one article or product to be packaged in at least one orientation and / or position that is necessary or appropriate in relation to subsequent arrangement or handling processes; and / or - At least one functional unit for positioning at least one article or product within a primary packaging material such as a tray, in particular, by a corresponding arrangement or handling process; and / or - At least one functional unit for arranging at least one primary packaging material (with the article or product placed inside) within at least one secondary packaging material such as a carton or box, in particular by a corresponding arrangement or handling process; and / or - At least one functional unit for arranging at least one secondary packaging material together with further secondary packaging materials in a desired configuration such as stacked or stacked shape (with the primary packaging material and, consequently, the article or product, placed inside it).

[0014] Each functional unit may comprise a housing structure on which one or more functional devices are arranged or formed within it. These functional devices are configured to perform functions that are performed or can be performed by each functional unit. Therefore, the corresponding functional devices may be: - One or more devices for providing and / or preparing at least one packaging element, such as a blank, that can be converted into a primary packaging material by a three-dimensional molding process, etc., in a manner that can be automatically or automated; and / or - One or more devices for converting at least one packaging element, which can be converted into a primary packaging material, into a primary packaging material by a three-dimensional molding process or the like, in a manner that can be automatically or automated; and / or - One or more devices for providing and / or preparing at least one packaging element, such as a blank, that can be converted into a secondary packaging material by a three-dimensional molding process or the like, in a manner that can be automatically or automated; and / or at least one functional unit for converting at least one packaging element that can be converted into a secondary packaging material into a secondary packaging material by a three-dimensional molding process or the like; and / or - One or more devices for providing at least one article or product to be packaged, particularly in an automatically or automatable manner, in at least one orientation and / or position, which is necessary or appropriate in relation to subsequent arrangement or handling processes; and / or - One or more devices for placing at least one article or product within a primary packaging material such as a tray, particularly in an automatically or automatable manner, particularly by a corresponding arrangement or handling process; and / or - One or more devices for placing at least one primary packaging material (with the article or product placed inside) inside at least one secondary packaging material such as a carton or box, in a manner that can be automated or automated, particularly by a corresponding arrangement or handling process; and / or - One or more devices for arranging at least one secondary packaging material together with further secondary packaging materials in a desired configuration such as stacked or stacked shape (with the primary packaging material and, consequently, the articles or products, placed inside it), particularly in an automatically or automated manner.

[0015] A corresponding device for arranging at least one article or product within a primary packaging material such as a tray by a corresponding arrangement or handling process, and / or for arranging at least one primary packaging material (with the article or product placed inside it) within at least one secondary packaging material by a corresponding arrangement or handling process, and / or for arranging at least one secondary packaging material (with the primary packaging material, and consequently the article or product, placed inside it) in a desired configuration such as stacked or stacked shape, is (in any case) a transfer device. composition It may be provided with at least one such device. The corresponding transfer device may be, in particular, a handling device. composition The device may be equipped with one or more robots configured to perform corresponding placement or handling processes, such as a pick-and-place robot.

[0016] Each individual, multiple, or all functional unit may be equipped with a monitoring device to monitor its functional operation, which may be implemented, for example, by an optical monitoring sensor such as a camera. A hardware and / or software-implemented control device, typically provided with each functional unit, can generate state information indicating the current and / or future operation of each functional unit based on monitoring information provided by each monitoring device. The corresponding monitoring and / or state information may be transmitted to the system's central control unit, which will be described in more detail below. This makes information regarding the current and / or future operation of each functional unit available to the central control unit. In this regard, the system's central control unit may also be configured to generate control information for controlling the operation of each individual, multiple, or all functional unit, and to control the operation of each individual, multiple, or all functional unit based on such control information.

[0017] The housing structure of the functional unit is provided to be accessible through at least one access opening. As will be described in more detail below, each access opening usually has dimensions such that at least one transport vehicle capable of arbitrarily loading at least one object can enter and exit the housing structure. In particular, the corresponding transport vehicle may be made to enter the housing structure along a first direction and exit the housing structure along the first direction or a second direction, and in some cases, the reverse direction. Therefore, it is also possible to provide a turning area for at least one corresponding transport vehicle within the housing structure. In each functional unit, the function to be executed on the object, that is, in particular, the handling function and the processing function, can be executed when the corresponding object is moved to or into the housing structure of each functional unit by the corresponding transport vehicle. Also, one or more movement paths for the transport vehicle can be provided within each housing structure, and these movement paths may extend in different spatial directions.

[0018] In some cases, it may be preferable that a plurality of access openings are provided in the housing structure of each, a plurality of, or all functional units. Here, at least one access opening can be configured as an access opening for entry, and at least one access opening can be configured as an access opening for exit. The transport vehicle can thus enter the housing structure of the functional unit through the access opening for entry and exit the housing structure of the functional unit through the access opening for exit. The access opening for entry and the access opening for exit can be arranged on at least two different, particularly opposite sides of the housing structure. Therefore, the transport vehicle can pass through each functional unit by entering the housing structure of the functional unit on the first side and exiting the housing structure of the functional unit on the second side. This enables highly efficient processing of the objects in each functional unit.

[0019] At least one closing member, such as a door, can be assigned to individual, multiple, or all access openings. The closing member can be moved, for example, via at least one assigned actuating device, to an open position that enables access to each housing structure and a closed position that prevents access to each housing structure. The operation of each actuating device for moving each closing member to the open position and / or the closed position can be executed by the control device of each functional unit or a central control device. Therefore, the central control device may be configured to generate control information for controlling the operation of each actuating device and transmit this to each functional unit. The operation of each actuating device can be controlled based on the orientation and / or position of at least one transport vehicle detected by at least one detection device of the system, which will be described in more detail below. For example, when it is detected that the transport vehicle is approaching or has approached the access opening of the housing structure of the functional unit, the closing member of the access opening of the housing structure of the functional unit can be moved to the open position.

[0020] Individual, multiple, or all functional units can be configured, arranged, or construction placed, for example, as functional cells, along the transport path. Therefore, individual, multiple, or all functional units can be arranged adjacent to or composition placed along the transport path. This enables the movement of an object to one or more functional units via the transport path and / or the movement of an object from one or more functional units onto the transport path.

[0021] Individual, multiple, or all functional units can be in a standardized manner composition configured. This especially means that individual, multiple, or all functional units can have the same connection parts and / or interfaces for supply media such as electricity, air, etc. and for data. The standardized design of the functional units has a positive impact on the adaptability and versatility of the entire system because the functional units can be easily arranged and / or oriented. In addition, the assembly of the system is simplified.

[0022] This system comprises multiple transport vehicles, each having a receiving area for receiving at least one object to be transported. The corresponding receiving area may be formed, for example, by a receiving surface, particularly a plane, configured to receive at least one object to be transported, and possibly a single object to be transported. The corresponding receiving surface may be formed, for example, by an exposed wall of the housing structure of each transport vehicle. In particular, the corresponding receiving surface may be formed, for example, by an exposed wall of the housing structure of each transport vehicle, which forms the upper end of each transport vehicle. The object to be received by each transport vehicle may be freely received on the housing structure of the transport vehicle as needed. Therefore, receiving an object can be understood as placing or installing the object on the housing structure of each transport vehicle.

[0023] Each transport vehicle is capable of moving independently or dependently with at least one translational and / or rotational degree of freedom between or in the direction of at least one first region of the system and at least one second region of the system. In particular, combined motion of each transport vehicle with at least one translational degree of freedom and at least one rotational degree of freedom is also conceivable. This allows each transport vehicle to move along a freely configurable path or trajectory, which is at least partially parallel, and in principle, an infinite number of degrees of freedom can be applied to the movement of each transport vehicle.

[0024] As mentioned above, a combined motion of each transport vehicle is conceivable in at least one translational degree of freedom and at least one rotational degree of freedom. Therefore, each transport vehicle can change its orientation by rotational motion around a rotation axis, such as the vertical axis, while simultaneously translating along the translation axis. This makes it possible, for example, for each transport vehicle to load objects in a first orientation in the system's loading area and to unload objects in a second orientation in the system's unloading area. Here, the transition from the first orientation to the second orientation of each transport vehicle can be performed, for example, while each transport vehicle is moving towards the system's unloading area.

[0025] Each transport vehicle is movable with a degree of freedom of rotation, and can rotate at any position around a vertical axis. Therefore, each transport vehicle can rotate in place without translational motion. This is particularly advantageous when there is limited space to change the orientation of each transport vehicle in place. In particular, this is convenient, for example, in relation to loading and unloading operations, when the space to change the orientation of each transport vehicle relative to the transport or handling device is limited due to the presence of other transport vehicles. Similarly, each transport vehicle can move from a stationary state to any spatial direction, that is, it can start moving from a stationary state to any spatial direction.

[0026] To perform such operations, each transport vehicle is equipped with at least one drive unit. The drive unit is configured to generate a driving force or torque that moves each transport vehicle in at least one translational and / or rotational degree of freedom. The corresponding drive unit is, for example, an electric motor. composition The vehicle may be equipped with at least one such motor, the energy supply of which may be provided via a rechargeable battery or an electrical energy storage device such as a battery, capacitor, and especially a supercapacitor. Both the corresponding drive unit and energy storage device may be located or formed on or inside the housing structure of each transport vehicle.

[0027] A gearbox may be assigned to at least one drive unit, which is advantageous, for example, for operating the drive unit within a desired power range. Thus, the drive unit can be directly or indirectly connected to the power transmission element via the gearbox. The corresponding gearbox may also be located or formed on or inside the housing structure of each transport vehicle.

[0028] The movement of the transport vehicle in each of at least one translational and / or rotational degrees of freedom is based on control information generated or to be generated by a central control unit implemented in hardware and / or software within the system. To generate the corresponding control information, the central control unit may include one or more program elements, such as algorithms and computational models, artificial intelligence or machine learning such as artificial neural networks. Based on the generated control information, the transport vehicle can be moved or is moved in each of at least one translational and / or rotational degrees of freedom along or within a transport path, or generally within the system.

[0029] The operation of the transport vehicles is therefore centrally controlled via the system's central control unit. This central control unit is configured to generate control information, which, based on this information, can move the transport vehicles in each of at least one translational and / or rotational degree of freedom along or within the transport path, or generally within the system. Consequently, the central control unit is not integrated into the transport vehicles and is spatially and physically separated from them, for example, by being located on or within the system's frame structure. This allows the transport vehicles to be configured very simply relative to their own control systems. This is because the control information on which the transport vehicles can be moved in each of at least one translational and / or rotational degree of freedom, particularly for the purpose of moving them from a first region to a second region of the system, or in the direction of the second region of the system, or in the reverse direction, is generated by the system's central control unit and transmitted to the transport vehicles as described below. Therefore, it is not necessary for each transport vehicle's control system to generate corresponding control information to be relied upon in order to move each transport vehicle in at least one degree of freedom of translation and / or rotational motion, with the aim of moving an object from the first region of the system to the second region of the system, or in that direction, or in the reverse direction. In particular, each control system of each transport vehicle can be kept relatively simple in relation to their hardware and / or software configuration, that is, in particular in relation to their computing power and / or memory capacity, which in turn has a positive impact on the manufacturing cost of the transport vehicles.

[0030] The system further comprises at least one loading device assigned to at least one first region of the system. The loading device is configured to automatically load, at least partially, objects to be transported into each receiving region of the transport vehicle. The loading device may be formed by, or comprise, the corresponding transport or handling device, such as a robot. The movement of each transport vehicle to the first region for loading the objects to be transported is typically controlled by a central control unit. The central control unit is therefore configured in particular to generate control information on which to move each transport vehicle into the first region of the system. The central control unit may also be configured to generate control information on which to move each transport vehicle to a specific orientation within the first region of the system, for example, to enable or facilitate the loading process, for example, with respect to a transport or handling device in the first region of the system. Therefore, the movement of each transport vehicle within the first region of the system to take the appropriate orientation and / or position for loading is typically performed based on the control information generated by the control unit.

[0031] The system further comprises at least one unloading device assigned to at least one second region of the system. The unloading device is configured to automatically unload, at least partially, objects to be transported from each receiving region of the transport vehicles. The unloading device may be formed by or comprise the corresponding transport or handling devices, such as a robot. The movement of each transport vehicle to the second region for unloading is typically controlled by a central control unit. The central control unit is therefore configured to generate control information on which to move each transport vehicle to the second region of the system. The central control unit may also be configured to generate control information on which to move each transport vehicle to a specific orientation within the second region of the system, for example, to enable or facilitate the unloading process, for example, with respect to a transport or handling device located in the second region of the system. Therefore, the movement of each transport vehicle within the second region of the system to take the appropriate orientation and / or position for unloading is typically performed based on the control information generated by the control unit.

[0032] Finally, the system includes a corresponding central control unit, which is configured to generate control information for controlling the movement of transport vehicles between at least one first region of the system and at least one second region of the system, or vice versa. As mentioned above, the central control unit may be implemented in hardware and / or software. For this reason, in particular to move an object to be transported from the first region of the system to the second region of the system, or vice versa, the central control unit generally enables the computer to generate the corresponding control information, and in addition, enables simultaneous or at least synchronized computer control of the movement of individual, multiple, or all transport vehicles in the system in each of the translational and / or rotational degrees of freedom. The generation of the corresponding control information, and in particular the control of the movement of transport vehicles based on this information, can be performed in real time.

[0033] Thus, this system does not require a conveyor belt to realize the transport path; rather, the conveyor belt is replaced by the transport vehicles. The fact that the transport vehicles can normally be moved independently or interdependently in each of their translational and / or rotational degrees of freedom, and that the operation of the transport vehicles is centrally controlled by the system's central control unit, provides extremely high adaptability and versatility, for example, with regard to the planning, implementation, and control of the transport process, resulting in an improved system. The absence of a conveyor belt makes it possible to construct an entirely new system. That is, individual components such as corresponding functional units in the system can be placed in any location, since they are always reachable via the corresponding transport vehicle.

[0034] This system typically includes a first data transmission device assigned to a central control unit. The first data transmission device is, for example, formed by or comprising at least one data transmission antenna and configured to transmit at least corresponding control information to each transport vehicle via a data connection, particularly a wireless data connection. Alternatively, assuming the transport vehicles are configured in this way, the first data transmission device may also be configured to receive data, for example, data transmitted from each transport vehicle. Each transport vehicle is equipped with a second data transmission device to enable reception of control information generated by the central control unit. The second data transmission device is, for example, formed by or comprising at least one data transmission antenna, i.e., at least one data receiving device configured to receive corresponding control information. Each second data transmission device may also be configured to transmit data to the first data transmission device. One or more standards or protocols for data transmission, particularly wireless data transmission, are used to implement corresponding data connections between the first data transmission device and each second data transmission device on the transport vehicles, thereby enabling at least the transmission of corresponding control information from the central control unit to each transport vehicle. Applicable standards or protocols include, for example, WLAN standards such as IEEE 802.11 and mobile communication standards such as 5G. Data connections or data transmissions can be encrypted using appropriate encryption mechanisms, including the principles of blockchain technology, to prevent undesirable interference or interaction.

[0035] Within this system or its components, particularly within the system's rack structure, the first data transmission device may be configured to form an independent equipment-side communication network for transmitting data to communication partners, in particular each transport vehicle. By forming its own equipment-side communication network, which may be a wireless network, the system can have its own data transmission structure. Because this data transmission structure is isolated from other communication networks present in the factory environment, it enables a more secure data connection between the central control unit and each transport vehicle. This has a positive effect on the control of the transport vehicles' movements in each degree of freedom, as performed or implemented by the central control unit as described above.

[0036] The central control unit may be configured to generate travel paths or trajectories that can or will be assigned to each transport vehicle. Therefore, the control information that can or will be generated by the central control unit includes, in particular, the corresponding travel paths or trajectories. Each travel path can, in principle, be arranged in any path geometry, particularly linear or linear form, on one or more particularly vertical spatial planes, usually extending between a first and second region of the system. A straight or curved path geometry may include, for example, one or more straight or unequal-length straight path geometry sections or one or more curved path geometry sections, so that the corresponding path geometry can be both geometrically defined and geometrically undefined. At least two or more corresponding path geometry sections may be arranged, for example, at angles to each other.

[0037] Accordingly, each travel path or trajectory may include, or be defined by, a start point and an end point, i.e., the start and end coordinates of an operation performed by each transport vehicle, particularly along or within the transport path. The corresponding start point or start coordinates may be located, for example, within a first region of the system, and the corresponding end point or end coordinates may be located, for example, within a second region of the system.

[0038] Furthermore, each travel path or trajectory may include one or more intermediate points or intermediate coordinates located between each start point and end point, or between each start coordinate and end coordinate. This makes it possible, for example, to represent each travel path or trajectory by corresponding start points, intermediate points, and end points or their coordinates. Corresponding intermediate points or their coordinates can be assigned, for example, to corresponding functional units. This allows at least one transport vehicle to move, for example, from a first region to a second region of the system, for example, into at least one functional unit, and for example, at least one of the above tasks to be performed within the scope of operation.

[0039] Alternatively, or in addition, each travel path or trajectory may include one or more motion vectors positioned between each start point and end point or start coordinate and end coordinate. This allows each travel path or trajectory to be represented, for example, by corresponding start and end points or start and end coordinates and corresponding motion vectors. The corresponding motion vectors can also be assigned to, for example, corresponding functional units. This ensures that at least one transport vehicle moves within a range of movement, for example, from one first region of the system to another, for example, within at least one functional unit, and, for example, at least one of the above tasks is performed.

[0040] Therefore, the central control unit can typically be configured to generate at least two identical or different travel paths or trajectories that can be assigned to or are assigned to the transport vehicles. This provides high adaptability and versatility in the planning, execution, and control of transport operations, as there are essentially no restrictions on the generation of corresponding travel paths or trajectories other than avoiding collisions between transport vehicles. The central control unit is therefore configured to control each transport vehicle to coordinate the operation of at least two transport vehicles on both identical and different travel paths or trajectories, i.e., to prevent collision risks between transport vehicles through proper synchronization. Furthermore, one or more parameters, such as the load status and type of objects on each transport vehicle, can be taken into consideration.

[0041] Accordingly, the central control unit may be configured to generate a first travel path or track that can be assigned to or will be assigned to a first transport vehicle, and to generate a further travel path or track that can be assigned to or will be assigned to at least one further transport vehicle. The first and further travel paths or tracks may each intersect at least one intersection, or they may not. If the first and further travel paths or tracks each intersect at at least one intersection, the central control unit is configured to coordinate and / or prioritize the operation of each transport vehicle, i.e., to temporally control each transport vehicle in particular so that there is no risk of collision between them through appropriate synchronization.

[0042] From this perspective, the central control unit may be configured to assign different priorities to at least two transport vehicles. This makes it easy to control which transport vehicle should be prioritized in specific situations, such as the situation at the corresponding intersection of at least two travel paths or tracks.

[0043] The central control unit can also be configured to generate movement paths or tracks assigned to at least one convoy of transport vehicles, each consisting of at least two transport vehicles. As a result, at least two transport vehicles can be integrated into a corresponding convoy, and their operation is based on a common movement path or track. The possibility of integrating multiple transport vehicles into a corresponding convoy and controlling their operation based on a single movement path or track reduces the computational load required to control the operation of multiple transport vehicles, where necessary. This is because one movement path or track is applicable to multiple transport vehicles. In particular, for example, multiple transport vehicles can be uniformly moved in a direction of a second region of the system based on a single corresponding movement path or track, for example, in a parallel arrangement or an arrangement offset from each other along at least one spatial axis.

[0044] The central control unit can also be configured to generate a corresponding travel path or trajectory based on at least one transport criterion relating to the transport of objects by each transport vehicle, and / or at least one object criterion relating to the objects being transported. Thus, the central control unit can be configured to take into account at least one transport criterion relating to the transport of objects by each transport vehicle, and / or at least one object criterion relating to the objects being transported, when generating a corresponding travel path or trajectory.

[0045] The corresponding transport criteria may be, for example, at least one of the following criteria, or may include at least one of these: for example, safety criteria relating to the safety of the transport process, such as collisions and / or undesirable loss of received objects; speed criteria relating to the speed of the transport process; for example, efficiency criteria relating to the efficiency of the transport process, such as energy consumption of each transport vehicle in the transport process; or efficiency criteria relating to wear and tear of each transport vehicle in the transport process.

[0046] The corresponding object criterion may include, for example, at least one of the following criteria: a type criterion relating to the type of object being transported; a dimension and / or shape criterion relating to the dimensions and / or shape of the object being transported; or a mass criterion relating to the mass of the object being transported.

[0047] The central control unit may also be configured to modify at least one travel path or track initially assigned to at least one transport vehicle. Therefore, the control information generated by the central control unit and transmitted to each transport vehicle may include corresponding modifications to at least the travel path or track initially assigned to each transport vehicle, i.e., updated travel paths or tracks for each transport vehicle. These corresponding modifications or updates to the travel paths or tracks initially assigned to a transport vehicle are necessary or useful, for example, when an event or event interruption in the transport path makes the initially assigned travel path or track impractical or inappropriate. Here, such event or event interruption can be detected by at least one of the detection devices of the system that can be assigned to or allocated to the central control unit. In particular, these corresponding modifications or updates to the travel paths or tracks initially assigned to a transport vehicle are necessary or useful, for example, when (potential) obstacles such as debris, lost objects, or a malfunctioning transport vehicle are detected on the travel path or track. The modified or updated travel path or track allows, for example, a bypass of such obstacles. Similarly, corresponding changes or updates to the travel routes or tracks initially assigned to transport vehicles may be necessary or useful in the following cases, for example: when the removal of obstacles such as debris, such as debris removal by cleaning vehicles as described in more detail below, makes shorter routes available, enabling more efficient or faster transport of objects. The changed or updated travel routes or tracks may, for example, reduce transport time, which usually results in a reduction in energy consumption.

[0048] Similarly, the central control unit can be configured to change or update the priority initially assigned to a particular transport vehicle. The priority of a transport vehicle can be changed, for example, from an initial low value to a higher value, or vice versa, particularly during movement toward the second region of the system. This allows for situations where, for example, the demand for the objects transported by each transport vehicle changes in the second region of the system. If the demand for a particular object decreases, the priority of each transport vehicle can also be lowered, and vice versa.

[0049] However, other operating modes of transport vehicles, such as buffer mode, can also be implemented by corresponding modified travel paths, trajectories, and prioritization. For example, if a delay in the unloading process in the unloading area is detected, which can be assigned to or detected by at least one of the system's sensing devices, the travel path, trajectory, or priority of at least one transport vehicle carrying objects is changed so that the transport vehicle does not move toward the unloading area, but instead moves, for example, to the system's buffer storage area and / or the system's parking area. If a corresponding delay occurs in the unloading area of ​​a first packaging machine, it is also conceivable that, based on the corresponding modified travel path, trajectory, or priority, at least one transport vehicle carrying objects may be moved to the unloading area of ​​another packaging machine in the system.

[0050] Therefore, it should be noted that, generally, at least one transport vehicle can be configured to move within the system from a first packaging machine to at least one further packaging machine. The central control unit can also be configured to generate a travel path or trajectory extending between at least two packaging machines in the system for at least one transport vehicle and to transmit these travel paths or trajectories to that at least one transport vehicle. This allows that at least one transport vehicle to move between at least two packaging machines. This also makes it possible to dynamically change the number of transport vehicles available within each packaging machine for transporting objects. For example, transport vehicles can be moved from a packaging machine where there are too many transport vehicles for a particular task or packaging task, and moved to one or more other packaging machines where additional transport vehicles are needed or appropriate for a particular task or packaging task. As a result, the principles described herein enable dynamic and efficient control options in the operation of a system with multiple packaging machines.

[0051] Similarly, this can also be applied to functional units, for example. That is, the central control unit may be configured to generate a travel path or trajectory for at least one transport vehicle that extends between at least two functional units in one packaging machine, or between at least two functional units in multiple packaging machines, and to transmit these travel paths or trajectories to the at least one transport vehicle. This allows the at least one transport vehicle to move between at least two functional units in one packaging machine, or between at least two functional units in multiple packaging machines.

[0052] In addition to the possibility of generating a travel path or trajectory, and the possibility of modifying or updating the corresponding travel path or trajectory, at least one operating parameter of at least one transport vehicle, in particular positive or negative acceleration, velocity, or at least one upper and / or lower threshold of at least one corresponding operating parameter, can also be controlled via the central control unit. Thus, the central control unit can be configured to control at least one operating parameter of at least one transport vehicle, in particular positive or negative acceleration, velocity, or at least one upper and / or lower threshold of at least one corresponding operating parameter. This also allows the central control unit to be configured to generate and control the operating profile of at least one transport vehicle.

[0053] The central control unit may be configured to take into account position and / or time information, such as current and / or future position information, and / or information derived therefrom, for each transport vehicle when generating corresponding operation profiles. Therefore, the corresponding operation profile for each transport vehicle may include, for example, variable operation parameters that depend on the position and / or time of at least one of each transport vehicle. This allows the central control unit to control the entire movement sequence of each transport vehicle.

[0054] When generating the corresponding operation profile, the central control unit can be configured to consider one or more criteria. In place of, or in addition to, the corresponding position and / or time criteria, the corresponding criteria may include, for example, the load status of each transport vehicle, the energy consumption of each transport vehicle, the charge status of at least one electrical energy storage device in each transport vehicle, and the ground conditions such as the track on which each transport vehicle travels.

[0055] The central control unit can also be configured to assign a specific travel path or trajectory, and / or specific operating parameters, to at least one transport vehicle for a specific area within the system. As a result, the central control unit can also be configured to assign an operating profile for a specific area within the system to each transport vehicle. This allows, for example, a transport vehicle to move at a different speed, particularly a minimum or maximum speed, in a first area of ​​the system than in a second area of ​​the system. This can similarly apply to other operating parameters of each transport vehicle.

[0056] The corresponding areas of the system can be areas within a packaging machine. For example, a first section or part of the transport path within the packaging machine can be designated as the first area, and a second section or part of the transport path within the packaging machine can be designated as the second area. Alternatively, or in addition, each corresponding area of ​​the system may be, for example, the entire transport path within a particular packaging machine. In this case, the first area may be, for example, the transport path within the first packaging machine, and the second area may be the transport path within the second packaging machine.

[0057] The central control unit can also be configured to generate control information for moving at least two transport vehicles into a specific formation, particularly into a specific spatial arrangement and / or position relative to each other, or for at least two transport vehicles to form such a specific formation while moving along a transport path. By forming the corresponding formation, an expanded loading or unloading area can be created as needed. This is because the resulting loading or unloading area is formed by summing the loading or unloading areas of the transport vehicles arranged in the corresponding formation. Therefore, based on the corresponding control information generated by the central control unit, the transport vehicles can be arranged adjacent to each other, for example, in columns and / or rows, such that the resulting loading or unloading area is formed by summing or combining their respective loading or unloading areas. By determining the number and arrangement or orientation of each transport vehicle arranged in the corresponding formation, individually sized loading or unloading areas can be realized. This makes it possible to transport objects that could not be transported by a single transport vehicle for dimensional reasons, for example.

[0058] Control information that can be generated or generated by a central control unit for arranging at least two transport vehicles in a specific formation, in particular in a specific spatial orientation and / or position relative to each other, or for at least two transport vehicles to assume such a specific formation while moving along a transport path, can be generated based on at least one transport criterion relating to the transport of objects by each transport vehicle and / or at least one object criterion relating to at least one object being transported. Accordingly, the central control unit can be configured to generate corresponding control information based on at least one transport criterion relating to the transport of objects by each transport vehicle and / or at least one object criterion relating to at least one object being transported.

[0059] The corresponding transport standard may be, for example, at least one of the following standards, or may include at least one of these: a safety standard relating to the safety of transport operations, and an efficiency standard relating to the efficiency of transport operations.

[0060] The corresponding object criterion is, for example, at least one of the following criteria, or may include at least one of them: the type of object being transported, the dimensions and / or shape of the object being transported, and the mass of the object being transported.

[0061] As mentioned above, each transport vehicle may have a housing structure. Also, as mentioned above, the support surface, in particular the corresponding receiving area which is a flat support surface, is usually located on or formed within the housing structure.

[0062] For example, at least one securing device can be assigned to the corresponding receiving area of ​​at least one transport vehicle. This securing device allows the object to be transported to be normally secured to the receiving area, and consequently to the transport vehicle, as needed. The corresponding securing device can be actively designed, that is, it can be transitioned to an actively secured state. composition The fixing device may include, for example, at least one fixing element that can transition between a fixed state in which each object is securely engaged and an unfixed state in which each object is not securely engaged. The corresponding fixing element may be a shape-fitting element or a force-fitting element. composition It may include, or at least one such element. The corresponding actively operating fixing device is, for example, a vacuum device that applies a vacuum to fix an object in a fixed state. composition This is possible. The corresponding passively operating fixing device may, for example, have a surface or surface structure that enhances adhesion, such as a rubber coating, in the receiving area. composition It is possible.

[0063] At least one of the following components in each transport vehicle may be located or formed on or inside each housing structure: at least one drive unit for generating driving force or torque; at least one energy storage device that can be assigned to or assigned to at least one drive unit; at least one force transmission element, such as a wheel or roller, that can transmit the driving force or torque generated by the drive unit to the ground; a corresponding second data transmission device; a control system (onboard control); and a detection device, such as a camera, for detecting the ground U or ground structure on which each transport vehicle can move or drive. Accordingly, the corresponding force transmission element may be a mechanical force transmission element in particular, since mechanical force can be transmitted to the ground by this element. To protect from external influences, the corresponding component may be located or formed in a dwelling space constructed by one or more walls of the housing structure, at least partially or completely. The dwelling space may have dwelling compartments formed by one or more wall sections, each dwelling compartment configured to accommodate at least one component of each transport vehicle. Accordingly, the dimensions of each dwelling compartment can be selected, for example, taking into consideration the dimensions of at least one component of each transport vehicle. This allows at least one component to be housed in each containment compartment, while preventing it from falling out by precisely fitting it together as needed.

[0064] Corresponding drive units and force transmission elements can form a drive unit for each transport vehicle. When multiple independent drive units are formed, it is preferable that at least one drive unit is assigned to each force transmission element. This allows each force transmission element to be supplied with force or torque independently of other force transmission elements, and as a result, driven. In other words, since the operation of each drive unit can be controlled individually, it is possible to operate or lock each force transmission element of a drive unit in a specific direction of movement, independently of the force transmission elements of other drive units in each transport vehicle. This makes it possible, for example, to rotate each transport vehicle in place, as described above, thereby directing each transport vehicle to a desired configuration without translation.

[0065] In certain embodiments, each transport vehicle may be equipped with three corresponding drive units arranged in a 120° offset configuration. Thus, each transport vehicle has three drive shafts spaced 120° apart from each other, and each drive shaft is provided with at least one force transmission element such as a wheel or roller. This not only allows the transport vehicle to rest stably on the ground U, particularly preventing it from tipping over, but also enables the rotational motion of the transport vehicle to be performed in place.

[0066] In certain embodiments, the corresponding force transmission element is an omni-wheel. composition A wheel may be configured to have at least one such wheel. A corresponding omnidirectional wheel comprises at least one base structure that can be driven to rotate around a rotation axis, and a running surface formed of a plurality of rollers or barrel rollers having rotation axes arranged at an angle perpendicular to the rotation axis of the base structure. A preferred configuration with a plurality of corresponding base structures is advantageous, as the rollers or barrel rollers in this configuration are arranged so as to be offset from each other in the circumferential direction, so that one roller or barrel roller is always in contact with the ground. In this way, the rolling performance and wear resistance of the omnidirectional wheel can be improved.

[0067] The control information transmitted to each transport vehicle may also include corresponding control commands for controlling the operation of each drive unit in each transport vehicle. Therefore, the central control unit may be configured to control the operation of each drive unit in each transport vehicle. However, it is also conceivable that the control system of each transport vehicle generates corresponding control commands for controlling the operation of each drive unit based on the control information transmitted from the central control unit.

[0068] The housing structure of each transport vehicle may have a polygonal basic shape, particularly a quadrilateral, pentagonal, or hexagonal shape. The corresponding polygonal basic shapes make it possible to directly and adjacently arrange at least two transport vehicles and to simplify the arrangement to form corresponding formations. This creates a common, and in particular, closed, receiving surface for at least one object.

[0069] The enclosure structure of the transport vehicle can be a single-part structure or a multi-part structure. To constitute Yes, it is possible. In particular, a multi-part housing structure can be considered, comprising a lower part and an upper part rotatably mounted to the lower part around a vertical axis. In this case, the upper part has a corresponding receiving area, and as mentioned above, the receiving area may be a particularly flat support surface. This is useful when the corresponding rotational motion of the upper part relative to the lower part positions an object located in the receiving area in a desired manner, regardless of the orientation of the lower part, or when a desired position is maintained regardless of the orientation of the lower part. To obtain the corresponding rotational motion of the upper part, at least one drive device, such as an electric motor, may be assigned to the upper part.

[0070] At least two transport vehicles may have at least one connecting interface, such as a magnetic or mechanical coupling interface. These connecting interfaces are configured to connect at least two transport vehicles to form a transport vehicle array, particularly in a manner that is detachable as needed. As a result, at least two transport vehicles can be coupled to each other to form a transport vehicle array, particularly in a manner that is detachable as needed. This is useful, for example, when moving multiple transport vehicles together. In particular, multiple transport vehicles coupled to form a transport vehicle array can be moved together, for example, from a first packaging machine to a second packaging machine in the system. It is also useful to move each transport vehicle array to a washing machine, maintenance machine, or loading machine, etc., within the system, which will be described in more detail below.

[0071] The coupling of transport vehicles essentially makes it possible to generate control information for at least one transport vehicle that functions as a pusher and / or towing vehicle for a corresponding transport vehicle array. This is because the remaining transport vehicles in each transport vehicle array follow the movement path or trajectory of the at least one pusher or towing vehicle. Therefore, the central control unit can be configured to generate control information for defining at least one transport vehicle in a corresponding transport vehicle array as a pusher and / or towing vehicle for that array, and for defining at least one transport vehicle in this array as a non-pusher and / or non-towing vehicle. Here, the at least one transport vehicle defined as a pusher or towing vehicle generates a force or moment, which in turn makes the at least one transport vehicle defined as a non-pusher and / or non-towing vehicle movable or moves, in particular by the pushing force or towing force generated by the pusher or towing vehicle.

[0072] A coupling interface corresponding to at least one first transport vehicle may comprise at least one coupling member that can transition between a coupled state and a disconnected state. In the coupled state, this at least one coupling member interacts with the coupling interface of at least one other transport vehicle to form a coupling, and in the disconnected state, it does not interact with the coupling interface of at least one other transport vehicle to form a coupling. A central control unit may be configured to generate coupling information for transitioning the at least one coupling member of each transport vehicle to a coupled state and / or a disconnected state. In this regard, an actuator device may be assigned to the at least one coupling member of each transport vehicle. The actuator device is for transitioning the at least one coupling member to a coupled state and / or a disconnected state based on the corresponding coupling information.

[0073] For example, in order to reduce manufacturing costs, the configuration of each transport vehicle is usually relatively simple. This is because, as mentioned above, each of these transport vehicles is simply configured to transport objects along at least one transport path extending between at least one first region of the system and at least one second region of the system. Therefore, as mentioned above, a majority of the transport vehicles in the system can have a minimum configuration including at least one corresponding receiving region, at least one drive unit, at least one second data transmission device, and at least one control system, which may be located on or formed within the corresponding housing structure.

[0074] Here, it is conceivable that this system may include transport vehicles configured to have additional and different functional elements.

[0075] For example, this system may have at least one transport vehicle equipped with at least one action unit, i.e., at least one action unit such as a gripping unit or a suction unit. The action unit is configured to at least partially grip objects and / or potential obstacles located on the transport path and thereby remove them from the transport path. The corresponding action unit can be configured to attach objects and / or potential obstacles located on the transport path to the transport vehicle, for example by gripping or suction, and thereby move them to an area outside the transport path. This ensures efficient operation of the system. This is because control intervention by the central control unit can reduce or prevent collisions between the transport vehicle and objects and / or potential obstacles present on the transport path. The operation of the transport vehicle with the corresponding configuration is usually also controlled based on control information generated by the central control unit.

[0076] It is also conceivable that at least one transport vehicle may be equipped with at least one cleaning unit, i.e., a brush, spray, suction, or washing unit, which is configured to clean the running surface for the transport vehicle. The corresponding cleaning unit can clean the running surface by, for example, performing mechanical cleaning with a brush unit, blowing away or sucking up contaminants with a spray or suction unit, or applying a cleaning or washing solution with a washing unit. The operation of the transport vehicle with the corresponding configuration is also typically controlled based on control information generated by a central control unit.

[0077] The above system may further include at least one transport vehicle. This transport vehicle is configured to accommodate multiple transport vehicles in a specific receiving area and to move them together within the system. This provides a means for efficiently moving multiple transport vehicles within the system. This is because, since the transport vehicles can be moved indirectly through at least one transport vehicle, each transport vehicle does not consume energy to perform the corresponding transport within the system.

[0078] As described above, a loading or unloading area is formed by arranging at least two transport vehicles in a formation. A similar approach can be taken when at least one transport vehicle has at least one extension structure that extends its receiving area, particularly its receiving surface. This extension structure can be positioned on or is positioned on the at least one transport vehicle via an interface, such as a mechanical interface. Therefore, by using the corresponding extension structure, it is possible to extend the receiving area of ​​the transport vehicles without forming the corresponding formation of at least two transport vehicles. In particular, the extension structure can be positioned or formed on the outer circumference of the housing structure of each transport vehicle and can form an extended receiving surface with at least one extension surface element positioned to coincide with the receiving surface of each transport vehicle.

[0079] The corresponding extension structure may thus have one or more extension surface elements that are movable relative to each other in at least one degree of freedom of motion. Thus, the extension structure has a first configuration having a first surface area and at least one further configuration different from the first configuration, the further configuration having a surface area different from the first surface area, i.e., a further surface area that is particularly enlarged or reduced.

[0080] As mentioned earlier, this system may include multiple packaging machines. In a corresponding configuration having a first packaging machine and at least one further packaging machine, the central control unit may be configured to generate control information for moving at least one transport vehicle from the first packaging machine to the at least one further packaging machine, or vice versa.

[0081] As also mentioned above, the transport vehicle can move between at least two packaging machines in the system. In view of such embodiments, for example, from the viewpoint of safety and control, it may be preferable that the first packaging machine is connected to at least one further packaging machine via at least one connecting structure, particularly a tunnel-shaped or tunnel-like connecting structure. Thus, it is possible to move each transport vehicle between each packaging machine in the system via the corresponding connecting structure. The corresponding connecting structure usually also restricts or defines the movement path between each packaging machine in the system, so complex motion control of the transport vehicle by a central control unit is unnecessary. This is because, as the transport vehicle moves, it is guided along or through the connecting structure, for example, by its walls.

[0082] A further advantage of using such transport vehicles is that they can move not only on flat ground but also on ground that is inclined or curved with respect to a horizontal reference plane. Therefore, the transport path of the system, or at least one transport path, can be positioned within a transport surface that is at least partially inclined and / or curved. Here, in principle, the transport path of the system, or at least one transport path, is provided (basically) parallel to the horizontal ground, such as the floor of a building.

[0083] This also means that the system may generally have multiple transport paths arranged in different spatial directions and / or spatial planes. In particular, a stacked or stacked arrangement of multiple transport paths overlapping in multiple spatial planes is conceivable. This can be realized, for example, by a rack structure that enables a stacked or stacked arrangement of multiple transport paths overlapping in multiple spatial planes. The corresponding transport paths and the resulting transport path heights may be connected to each other, for example, via ramp-like or ramp-shaped connecting sections. This allows transport vehicles to move, for example, from a lower transport path to an upper transport path via the corresponding connecting section, or vice versa. One or more lifting devices, such as elevators, may also be provided, through which one or more transport vehicles can be moved to the height of each transport path. The operation of each lifting device may also be controlled based on control information generated by a central control unit.

[0084] The system may include at least one guide device having one or more guide members. The guide device may, in particular, enable the guided movement of at least one transport vehicle along at least one guide member. composition The guided movement of each transport vehicle reduces the control burden required to perform the movement of each transport vehicle. This is because at least one movement path or trajectory for a corresponding transport vehicle is at least partially predefined by a corresponding guide member. The corresponding guide member is formed by or includes, for example, a surface element arranged or formed on or within the system, particularly in an upright, reclining, or suspended position. The surface element has or defines a surface on which the transport vehicle can be movably guided. The corresponding surface element may have one-dimensional or multi-dimensional spatial extensions, thereby the corresponding guide member may be, but is not limited to, a wall element, a rail element, a pin element, a rod element, a grid element, a fence element, etc.

[0085] As described above, at least one first region of this system can be configured as a loading region where objects to be transported to the second region can be moved to the transport path using, for example, a transport device or handling device such as a robot. Correspondingly, the second region of this system can be configured as an unloading region where objects transported to the second region are removed from the transport path using, for example, a transport device or handling device such as a robot.

[0086] The operation of each transport device can also be controlled by a central control unit. The central control unit may, in particular, be configured to control the operation of the transport devices based on the current and / or future arrangement and / or position of each transport vehicle.

[0087] The system may therefore include at least one detection device, which is configured to detect the current and / or future orientation and / or position of each transport vehicle. The at least one detection device may be used in particular to detect the current and / or future orientation and / or position of each transport vehicle in at least one first region and / or at least one second region of the system, and / or may be configured to detect the movement of each transport vehicle between or in the direction of at least one first region and at least one second region. The at least one detection device can transmit corresponding detection information indicating the current and / or future orientation and / or position of each transport vehicle to a central control unit. The central control unit can therefore communicate with the at least one detection device via a data connection, such as a wireless data connection.

[0088] The at least one detection device may be positioned or formed, for example, on or inside the ceiling of the rack structure of the packaging machine in the system. This allows the at least one detection area to be positioned at a sufficient distance from the transport path to achieve the largest possible detection area. If necessary, the detection area of ​​the at least one detection device can cover the entire transport path between the first and second areas in the system. Alternatively or in addition, multiple detection devices may be provided. In that case, the combined detection areas of each detection device can cover the entire transport path between the first and second areas in the system. Since the detection area of ​​each detection device can usually be expanded, it is generally preferable to position the at least one detection device above each transport path.

[0089] The corresponding detection device may have one or more optical detection elements. These optical detection elements may take the form of, for example, one or more cameras, and act as optical sensors, particularly orientation and / or position sensors. composition This may be possible, or may include such sensors. Each sensing element may generate detection information indicating, for example, the orientation and / or position of each transport vehicle in space.

[0090] The detection information generated by each detection element can be evaluated by an evaluation device implemented in hardware and / or software, based on at least one evaluation criterion. The evaluation device may be integrated into the central control unit in the form of hardware and / or software. In particular, for example, if the evaluation criterion is the target orientation and / or target position of each transport vehicle, the evaluation device may be configured as follows: that is, it may be configured to compare the actual orientation and / or actual position of each transport vehicle with the target orientation and / or target position of each transport vehicle, and to determine whether the transport vehicle has deviated from the travel path or track initially identified by the central control unit. When determining current and / or future deviations as described above, the central control unit may make corrections or updates to the travel path or track as necessary.

[0091] It should be noted that, as mentioned above, these should be configured as simply as possible, but the transport vehicle may be equipped with detection sensors, particularly optical detection sensors such as cameras. Such detection sensors may be configured to detect patterns, i.e., machine-readable codes such as barcodes or QR codes (registered trademarks), placed or formed on or within the transport path, on or within other components of the system such as the system's frame structure, or on or within other transport vehicles. This provides further safety, for example, by ensuring that the transport vehicle does not collide with anything.

[0092] This system may include at least one cleaning device, in particular configured as a cleaning station. The cleaning device is configured to clean at least one component of each transport vehicle, such as a wheel-shaped or roller-shaped force transmission element in each transport vehicle, and to clean in a manner that is particularly automatic or automatable. composition The corresponding cleaning device can be a further example of a functional unit in a system, to which each transport vehicle is transported based on control information from a central control unit. Therefore, the corresponding cleaning device can be positioned, for example, adjacent to the transport path. Similar to the case of an automobile car wash, the corresponding cleaning device may comprise, for example, one or more cleaning units or tools within a housing structure of the cleaning device that is at least temporarily accessible from at least one side. This enables chemical and / or physical cleaning of at least one component in each transport vehicle. The corresponding cleaning unit or tool may be, for example, a brush, spray, suction, or rinse unit. composition It is possible to do so, or to have such a unit.

[0093] This system may include at least one maintenance device configured as a maintenance station, the maintenance device for the maintenance of at least one component in each transport vehicle, particularly for automatic or automated maintenance. compositionThe corresponding maintenance equipment can be a further example of a functional unit in a system, to which each transport vehicle is transported based on control information from a central control unit. Therefore, the corresponding maintenance equipment can also be located, for example, adjacent to the transport route. Similar to the case of an automobile repair shop, the corresponding maintenance equipment may comprise, for example, one or more maintenance units or tools within a cleaning equipment housing structure that is at least temporarily accessible on at least one side, enabling maintenance, i.e., repair and / or replacement, of at least one component in each transport vehicle. The corresponding maintenance unit or tool may be, for example, a screw unit, a welding unit, etc. composition They may be, or may be equipped with them.

[0094] The system may include at least one charging device configured, in particular as a charging station, which charges the electrical energy storage device of each transport vehicle, in particular, in a non-contact manner. composition The corresponding charging device could be a further example of a functional unit in the system, to which each transport vehicle is transported based on control information from a central control unit. Thus, the corresponding charging device can be positioned, for example, adjacent to the transport route. Similar to electric vehicle charging stations, the corresponding charging device may comprise, for example, one or more charging units or plugs within a charging device housing structure that is at least temporarily accessible from at least one side. It is also conceivable that each charging unit is configured to replace and / or inductively charge each energy storage device. In the latter case, each transport vehicle can even be moved during the charging process, if necessary.

[0095] In any case, the central control unit may be configured to generate control information for moving at least one transport vehicle into the washing unit, and / or the maintenance unit, and / or the charging unit. The central control unit may also be configured to control and / or monitor the operation of each washing unit, maintenance unit, and / or charging unit.

[0096] Finally, it should be noted that each transport vehicle is typically an unmanned ground vehicle capable of moving on a floor or ground surface. Suitable ground may be, for example, the floor of a factory building, which, in principle, allows for the formation of at least one corresponding transport route (directly) on the factory building floor without additional racks, although this is not excluded, significantly simplifying system construction. As mentioned above, suitable ground is typically level ground.

[0097] Furthermore, a suitable ground can also be formed by one or more track elements positioned at least 10 cm, particularly at least 25 cm, and even more particularly at least 50 cm above the floor surface of the building. A suitable track element may be, for example, a rack-like or rack-shaped track module. composition These track modules may be connected to each other to form a track for a transport vehicle. Each track element may have one or more mechanical interfaces, for example, that enable these track elements to be connected to each other. A corresponding track element may also function as a holder for one or more data lines and / or supply lines for a corresponding functional unit, etc. That is, one or more data lines and / or supply lines for a corresponding functional unit, etc., may be arranged or formed on or inside each track element.

[0098] As a general rule, one, multiple, or all of the transport vehicles may be used as unmanned aerial vehicles, i.e., especially flying drones, or as water-based vehicles, i.e., especially water-based drones. composition This could also be considered. In principle, a hovercraft design is also a possibility. Furthermore, at least one transport vehicle could be used as a ground vehicle. composition and at least one other transport vehicle as an aircraft, watercraft, or hovercraft composition It is also possible to do so.

[0099] A second aspect of the present invention relates to a transport vehicle for the system described in the first aspect of the present invention. The transport vehicle typically has relatively small dimensions; the maximum dimensions of the transport vehicle in the length and / or width and / or height direction are typically not greater than 50 cm, particularly less than 40 cm, even more particularly less than 30 cm, and especially less than 25 cm.

[0100] A third aspect of the present invention relates to a method for transporting at least one object to be packaged in at least one packaging machine along or within a transport path extending between at least one first region in the system described in the first aspect of the present invention and at least one second region in the system. This method particularly includes the following steps. - A process of loading at least one object to be transported on or inside a transport vehicle, using a loading device or a transport device configured as a loading device, onto at least one transport vehicle that is movable in at least one translational and / or rotational degree of freedom based on control information generated by the system's central control unit, within a first region of the system or within said first region; - The process of controlling the movement of a transport vehicle carrying at least one object to be transported to a second region of the system along at least one movement path or trajectory defined by the central control unit; and - A step of unloading at least one object to be transported into or within at least one second region of the system using an unloading device or a transport device configured as an unloading device.

[0101] All embodiments relating to the system according to the first aspect of the present invention are similarly applicable to the transport vehicle and / or the method according to the second aspect of the present invention, and vice versa. [Brief explanation of the drawing]

[0102] [Figure 1]This is a schematic top view showing an overview of a system according to one exemplary embodiment of the present invention. [Figure 2] The above embodiment is a schematic top view showing a configuration in which the first packaging machine is connected to a further packaging machine via a connecting structure. [Figure 3] This is a schematic top view showing an embodiment in which the system comprises one or more functional units and various devices. [Figure 4] The above embodiment is shown as a schematic top view illustrating the movement path or track of each transport vehicle. [Figure 5] The above embodiment is a schematic side view showing the side of each transport vehicle. [Figure 6] This is a schematic top view showing a formation consisting of multiple transport vehicles in the above embodiment. [Figure 7] The above embodiment is a schematic side view showing an overview of a plurality of transport vehicles connected to each other to form a transport vehicle array. [Figure 8] The above embodiment is a schematic side view showing a transport vehicle according to one exemplary embodiment. [Figure 9] This is a schematic side view showing a transport vehicle according to another exemplary embodiment in the above embodiment. [Figure 10] The above embodiment is shown as a schematic side view illustrating the outline of the transport vehicle. [Figure 11] This is a schematic side view showing a transport vehicle according to a further exemplary embodiment of the above embodiment. [Figure 12] This is a schematic side view showing a system in which, in the above embodiment, multiple transport paths overlap in multiple spatial planes. [Figure 13] The above embodiment shows a perspective view illustrating a force transmission element according to one exemplary embodiment. [Modes for carrying out the invention]

[0103] The present invention will be described again below with reference to the exemplary embodiments shown in the drawings.

[0104] Here, Figures 1 to 4 and Figure 12 show an overview of a system according to one exemplary embodiment. Figures 5, 8, 9, and 11 show an overview of a transport vehicle according to one exemplary embodiment. Figure 6 shows an overview of a formation consisting of multiple transport vehicles according to one exemplary embodiment. Figure 7 shows an overview of multiple transport vehicles connected to each other to form a transport vehicle array. Figure 10 shows an overview of a transport vehicle according to one exemplary embodiment. Figure 13 shows an overview of a force transmission element in a transport vehicle according to one exemplary embodiment.

[0105] Figure 1 shows an overview of a system 10 for transporting at least one object 30 to be packaged in at least one packaging machine 20 along or within at least one transport path TS. The transport path TS extends between at least one first region B1 and at least one second region B2 in the system 10, or in the reverse direction.

[0106] Therefore, the system 10 is generally processed in at least one packaging machine 20, that is, to transport at least one object 30 to be packaged, along at least one transport path TS extending between at least one first region B1 of the system 10 and at least one second region B2 of the system 10, or in the opposite direction. composition Therefore, the system 10 is also typically configured to process multiple objects 30, i.e., to package them in particular. The corresponding processing steps may be steps directly or indirectly related to the packaging process of articles or products. For example, these include a packaging step that provides packaging, a preparation step, a packaging step that seals packaging filled with one or more articles or products, a closing step, and so on.

[0107] The object 30 to be transported is therefore, for example, an article or product to be packaged, and may already be packaged in primary packaging. Alternatively or in addition, the object 30 to be transported may be, for example, a container, tray, box or other packaging material in secondary packaging. Furthermore, as an alternative or supplement, the object 30 to be transported may be, for example, a shipping container.

[0108] As schematically shown in Figure 1, the at least one first region B1 can be a loading area that allows an object 30 to be transported to the second region B2 to be transported to the transport path TS by a transport device 40 or handling device. Here, the transport device 40 or handling device may be a multi-axis robot, which is similarly schematically shown. As schematically shown in Figure 1, the at least one second region B2 can be used as an unloading region where the object 30 transported to the second region B2 is removed from the transport path TS by the transport device 50 or handling device. Here, the transport device 50 or handling device may be a multi-axis robot, which is similarly schematically shown.

[0109] Thus, the system 10 typically comprises one or more packaging machines 20 and is therefore also called a packaging machine system. Each packaging machine 20 is configured to perform one or more tasks for packaging one or more objects 30. The corresponding tasks may include, but are not limited to, one, more, or all of the tasks exemplified below: - To provide and / or prepare at least one packaging element, such as a blank, that can be converted into a primary packaging material through a three-dimensional molding process or the like. - Converting at least one packaging element that can be converted into primary packaging material into primary packaging material through a three-dimensional molding process or the like. - To provide and / or prepare at least one packaging element, such as a blank, that can be converted into a secondary packaging material through a three-dimensional molding process or the like. - Converting at least one packaging element that can be converted into a secondary packaging material into a secondary packaging material through a three-dimensional molding process or the like. - To provide at least one article or product to be packaged in at least one orientation and / or position that is necessary or appropriate, particularly in relation to subsequent arrangement or handling processes. - In particular, to place at least one article or product within a primary packaging material such as a tray, according to the corresponding arrangement or handling process. - In particular, by corresponding arrangement or handling processes, at least one primary packaging material is placed inside at least one secondary packaging material such as a carton or box (with the article or product placed inside it). - Arrange at least one secondary packaging material together with further secondary packaging materials in a desired configuration such as stacking or stacking shape (with the primary packaging material and, consequently, the article or product, placed inside it).

[0110] Therefore, the corresponding packaging machine 20, and by extension the system 10, may comprise one or more functional units 11, also known as functional modules. For example, referring to the exemplary embodiment shown in Figure 3, each of these functional units 11 may be configured to perform at least one task. In particular, the corresponding packaging machine 20 or system 10 may include, for example, at least one of the following functional units 11: - At least one functional unit for providing and / or preparing at least one packaging element such as a blank that can be converted into a primary packaging material by a three-dimensional molding process or the like; and / or - At least one functional unit for converting at least one packaging element, which can be converted into primary packaging material, into primary packaging material by a three-dimensional molding process or the like; and / or - At least one functional unit for providing and / or preparing at least one packaging element, such as a blank, that can be converted into a secondary packaging material by a three-dimensional molding process or the like; and / or at least one functional unit for converting at least one packaging element that can be converted into a secondary packaging material into a secondary packaging material by a three-dimensional molding process or the like; and / or - At least one functional unit for providing at least one article or product to be packaged in at least one orientation and / or position that is necessary or appropriate in relation to subsequent arrangement or handling processes; and / or - At least one functional unit for positioning at least one article or product within a primary packaging material such as a tray, in particular, by a corresponding arrangement or handling process; and / or - At least one functional unit for arranging at least one primary packaging material (with the article or product placed inside) within at least one secondary packaging material such as a carton or box, in particular by a corresponding arrangement or handling process; and / or - At least one functional unit for arranging at least one secondary packaging material together with further secondary packaging materials in a desired configuration such as stacked or stacked shape (with the primary packaging material and, consequently, the article or product, placed inside it).

[0111] Each functional unit 11 may include a housing structure 11.1 in which one or more functional devices 11.2 are arranged or formed. These functional devices 11.2 are configured to perform the functions performed or carried out by each functional unit 11.1 to 11.7. Therefore, the corresponding functional devices 11.2 may be, for example, the following: - One or more devices for providing and / or preparing at least one packaging element, such as a blank, that can be converted into a primary packaging material by a three-dimensional molding process, etc., in a manner that can be automatically or automated; and / or - One or more devices for converting at least one packaging element, which can be converted into a primary packaging material, into a primary packaging material by a three-dimensional molding process or the like, in a manner that can be automatically or automated; and / or - One or more devices for providing and / or preparing at least one packaging element, such as a blank, that can be converted into a secondary packaging material by a three-dimensional molding process or the like, in a manner that can be automatically or automated; and / or at least one functional unit for converting at least one packaging element that can be converted into a secondary packaging material into a secondary packaging material by a three-dimensional molding process or the like; and / or - One or more devices for providing at least one article or product to be packaged, particularly in an automatically or automatable manner, in at least one orientation and / or position, which is necessary or appropriate in relation to subsequent arrangement or handling processes; and / or - One or more devices for placing at least one article or product within a primary packaging material such as a tray, particularly in an automatically or automatable manner, particularly by a corresponding arrangement or handling process; and / or - One or more devices for placing at least one primary packaging material (with the article or product placed inside) inside at least one secondary packaging material such as a carton or box, in a manner that can be automated or automated, particularly by a corresponding arrangement or handling process; and / or - One or more devices for arranging at least one secondary packaging material together with further secondary packaging materials in a desired configuration such as stacked or stacked shape (with the primary packaging material and, consequently, the articles or products, placed inside it), particularly in an automatically or automated manner.

[0112] A corresponding device for arranging at least one article or product within a primary packaging material such as a tray by a corresponding arrangement or handling process, and / or for arranging at least one primary packaging material (with the article or product placed inside it) within at least one secondary packaging material by a corresponding arrangement or handling process, and / or for arranging at least one secondary packaging material (with the primary packaging material, and consequently the article or product, placed inside it) in a desired configuration such as stacked or stacked shape, is (in any case) a transfer device 60 composition It may be provided with at least one such device. The corresponding transfer device 60 may be, in particular, as a handling device. composition The handling device may be provided with one or more multi-axis robots configured to perform corresponding placement or handling processes, such as a pick-and-place robot.

[0113] Each individual, multiple, or all functional unit 11 may be equipped with a monitoring device 11.3 to monitor its functional operation, which may be implemented, for example, by an optical monitoring sensor such as a camera. A hardware and / or software-implemented control device 11.7, typically provided with each functional unit 11, can generate state information indicating the current and / or future operation of each functional unit 11 based on monitoring information supplied from each monitoring device 11.3. The corresponding monitoring information and / or state information may be transmitted to the central control unit 70 of the system 10. This makes information regarding the current and / or future operation of each functional unit 11 generated or available to the central control unit 70. In this regard, the central control unit 70 may also be configured to generate control information for controlling the operation of each individual, multiple, or all functional unit 11, and to control the operation of each individual, multiple, or all functional unit 11 based on such control information.

[0114] As is particularly clear from Figures 3 and 4, the housing structure 11.1 of the functional unit 11 is provided to be accessible through at least one access opening 11.4. Each access opening 11.4 is typically sized to allow at least one transport vehicle 80 capable of carrying at least one object 30 to enter and exit the housing structure 11.1. In particular, the corresponding transport vehicle 80 may enter the housing structure 11.1 along a first direction and exit the housing structure 11.1 along the first direction, a second direction, or possibly the opposite direction. Therefore, it is also possible to provide a turning area within the housing structure 11.1 for at least one corresponding transport vehicle 80. In each functional unit 11, functions to be performed on one or more objects 30, i.e., handling functions, processing functions, etc., become executable when the corresponding object 30 is moved to or into the housing structure 11.1 of each functional unit 11 by the corresponding transport vehicle 80. Furthermore, one or more travel paths for the transport vehicle 80 may be provided within each housing structure 11.1 so as to extend in different spatial directions.

[0115] Figure 4 illustrates that, as an example, the housing structure 11.1 of several functional units 11 may have multiple access openings 11.4. Here, at least one access opening 11.4 may be configured as an entry opening, and at least one access opening 11.4 may be configured as an exit opening. As indicated by the arrows in Figure 4 representing the exemplary movement paths or tracks of one or more transport vehicles 80, the transport vehicles 80 can enter the housing structure 11.1 of the functional unit 11 through the entry openings and exit the housing structure 11.1 of the functional unit 11 through the exit openings. As shown in Figure 4, as an example of a centrally located functional unit 11, at least two different entry and exit openings can be located on opposite sides of the housing structure 11.1 of each functional unit 11. Thus, the transport vehicles 80 can pass through the functional units 11 by entering the housing structure 11.1 of each functional unit 11 on the first side and exiting the housing structure 11.1 of the functional unit 11 on the second side. This enables highly efficient processing of objects 30 in each functional unit 11.

[0116] At least one closing member 11.5, such as a door, can be assigned to individual, multiple, or all access openings 11.4. The closing member 11.5 can be moved, for example, via an assigned actuator 11.6 to an open position that allows access to each housing structure 11.1, and to a closed position that prevents access to each housing structure 11.1. The operation of each actuator 11.6 to move each closing member 11.5 to the open and / or closed position can be performed by a control device 11.7 of each functional unit 11 or a central control device 70. Accordingly, the central control device 70 may be configured to generate control information for controlling the operation of each actuator 11.6 and transmit it to each functional unit 11. The operation of each actuator 11.6 can be controlled based on the orientation and / or position of at least one transport vehicle 80, in particular, detected by at least one sensing device 90 of the system 10. For example, if a transport vehicle 80 is approaching or has been detected approaching the access opening 11.4, the closing member 11.5 of the access opening 11.4 can be moved to the open position.

[0117] The detection device 90 of this system is configured in particular to detect the current and / or future orientation and / or position of each transport vehicle 80. The detection device 90 may be used in particular to detect the current and / or future orientation and / or position of each transport vehicle 80 in at least one first region B1 and / or at least one second region B2 of the system 10, and / or may be configured to detect the movement of each transport vehicle 80 between or in the direction of at least one first region B1 and at least one second region B2 of the system 10. The detection device 90 can transmit corresponding detection information indicating the current and / or future orientation and / or position of each transport vehicle 80 to the central control unit 70. Accordingly, the central control unit 70 can communicate with the detection device 90 via a data connection, for example, a wireless data connection.

[0118] The detection device 90 may be positioned or formed, for example, on or inside the ceiling of the rack structure of the packaging machine 20 in the system 10. This allows the detection device 90 to be positioned at a sufficient distance from the transport path TS to achieve the largest possible detection range. If necessary, the detection range of the detection device 90 can cover the entire transport path TS between the first or first region B1 and the second or second region B2 in the system 10. Alternatively, or in addition, multiple detection devices 90 may be provided. In that case, the combined detection ranges of each detection device 90 can cover the entire transport path TS between the first or first region B1 and the second or second region B2 in the system 10. Generally, it is preferable to position the detection devices 90 higher than each transport path TS, as this expands the detection range.

[0119] The detection device 90 may have one or more optical detection elements 90.1. These optical detection elements 90.1 may take the form of, for example, one or more cameras, and function as optical sensors, particularly orientation and / or position sensors. composition This may be possible, or may include such sensors. Each sensing element 90.1 may generate detection information indicating, for example, the orientation and / or position of each transport vehicle 80 in space.

[0120] The detection information generated by each detection element 90.1 can be evaluated by an evaluation device (not shown) implemented in hardware and / or software, based on at least one evaluation criterion. The evaluation device may be integrated into the central control unit 70 in the form of hardware and / or software. In particular, for example, if the evaluation criterion is the target orientation and / or target position of each transport vehicle 80, the evaluation device may be configured as follows: that is, it may be configured to compare the actual orientation and / or actual position of each transport vehicle 80 with the target orientation and / or target position of each transport vehicle 80, and to determine whether the transport vehicle 80 has deviated from the travel path or track initially identified by the central control unit 70. When determining current and / or future deviations as described above, the central control unit 70 may, if necessary, correct or update the travel path or track of each transport vehicle 80.

[0121] It should be noted that these should be configured as simply as possible, but the transport vehicle 80 may be equipped with detection sensors (not shown), in particular optical detection sensors such as cameras. Such detection sensors may be configured to detect patterns, i.e., machine-readable codes such as barcodes or QR codes (registered trademarks), that are placed or formed on or within the transport path TS, on or within other components of the system 10 such as the frame structure of the system 10, or on or within other transport vehicles 80. This provides further safety, for example, by ensuring that the transport vehicle 80 does not collide with anything.

[0122] Figures 3 and 4 show various possible arrangements of the functional units 11 in an exemplary configuration of system 10. The functional units 11, also called functional cells, can therefore be arranged or designed, for example, along the transport path TS, as shown in Figure 3. Thus, individual, multiple, or all functional units 11 can be arranged adjacent to the transport path TS or compositionThis makes it possible to move the object 30 to one or more functional units 11 via the transport path TS, and / or move the object from one or more functional units 11 onto the transport path TS, as shown by the arrows in Figures 3 and 4.

[0123] In the exemplary embodiment shown in Figure 4, a functional unit 11 is provided between a functional unit 11 located in a first region B1 and a functional unit 11 located in a second region B2, which is, for example, a device for arranging articles or products packaged in primary packaging materials or secondary packaging materials, or a functional unit 11 equipped with such a device. The functional unit 11 located in the first region B1 is, for example, a device configured to form secondary packaging materials by three-dimensional molding of corresponding blanks, or may include such a device. The functional unit 11 located in the second region B2 is, for example, a device configured to arrange at least one secondary packaging material together with further secondary packaging materials in a desired configuration such as stacked or stacked shape (with the primary packaging material, and consequently the article or product, placed inside), or may include such a device.

[0124] As shown in the figure, the system 10 comprises a plurality of transport vehicles 80, each transport vehicle having a receiving area 81 for receiving at least one object 30 to be transported (see Figure 5). The corresponding receiving area 81 may be formed by, for example, a receiving surface, particularly a plane, configured to receive at least one object 30 to be transported, or, if necessary, a single object 30 to be transported. The corresponding receiving surface may be formed by, for example, an exposed wall of the housing structure 80.1 of each transport vehicle 80. In particular, as shown in Figure 5, the corresponding receiving surface may be formed by, for example, an exposed wall of the housing structure 80.1 of each transport vehicle 80, the exposed wall forming the upper end side of each transport vehicle 80. The object 30 to be received by each transport vehicle 80 can thus be freely received on the housing structure 80.1 of the transport vehicle 80. Therefore, holding an object 30 can be understood as meaning placing or setting the object 30 on the housing structure 80.1 of the transport vehicle 80.

[0125] Each transport vehicle 80 is capable of moving between at least one first region B1 and at least one second region B2, or in the reverse direction, with at least one translational and / or rotational degree of freedom, either dependently or independently. In particular, as schematically shown by the arrows in Figure 5, combined motion of each transport vehicle 80 with at least one translational degree of freedom and at least one rotational degree of freedom is also conceivable. This makes it possible to move the transport vehicles 80 along any configurable movement path or trajectory, and in principle, an infinite number of degrees of freedom of motion can be applied to the movement of each transport vehicle 80.

[0126] As mentioned above, a combined motion of each transport vehicle 80 is conceivable in at least one translational degree of freedom and at least one rotational degree of freedom. Therefore, each transport vehicle 80 can change its orientation by rotational motion around a rotation axis, such as the vertical axis, while simultaneously translating along the translation axis. This makes it possible, for example, for each transport vehicle 80 to load an object 30 in a first orientation in the loading area of ​​the system 10, and to unload the object 30 in a second orientation in the unloading area of ​​the system 10. Here, the transition from the first orientation to the second orientation of each transport vehicle 80 can be performed, for example, while each transport vehicle 80 is moving towards the unloading area of ​​the system 10.

[0127] Figure 5 also schematically illustrates that each transport vehicle 80 is movable with rotational degrees of freedom, and each transport vehicle 80 can rotate at any position around a vertical axis. Therefore, each transport vehicle 80 can rotate in place without translational motion. This is particularly advantageous when there is limited space to change the orientation of each transport vehicle 80 in place. In particular, this is convenient, for example, in relation to loading and unloading operations, when the presence of other transport vehicles 80 limits the space available to change the orientation of each transport vehicle 80 relative to the transport devices 40, 50 or handling devices. Similarly, each transport vehicle 80 can move from a stationary state to any spatial direction, that is, it can start moving from a stationary state to any spatial direction.

[0128] To perform such operations, each transport vehicle 80 is equipped with at least one drive unit 80.2. The drive unit 80.2 is configured to generate a driving force or torque that moves each transport vehicle 80 in at least one translational and / or rotational degree of freedom. The corresponding drive unit 80.2 is, for example, an electric motor. composition The vehicle may be equipped with at least one such motor, the energy supply of which may be provided via a rechargeable battery or an electrical energy storage device 80.3 such as a battery, capacitor, etc. As shown in Figure 5, both the corresponding drive unit 80.2 and energy storage device 80.3 may be located on or inside the housing structure 80.1 of each transport vehicle 80. composition It is possible.

[0129] A transmission may be assigned to at least one drive unit 80.2, which is advantageous, for example, for operating the drive unit 80.2 within a desired power range. Thus, the drive unit 80.2 can be directly or indirectly connected to at least one power transmission element 80.6 of the transport vehicle 80 via a gearbox. The corresponding gearbox may be located on or inside the housing structure 80.1 of each transport vehicle 80.

[0130] The operation of the transport vehicle 80 in each of at least one translational and / or rotational degrees of freedom is based on control information generated or to be generated by the central control unit 70 implemented in the hardware and / or software described above in the system 10. To generate the corresponding control information, the central control unit 70 may include one or more program elements, such as algorithms and computational models, artificial intelligence or machine learning such as artificial neural networks. Based on the generated control information, the transport vehicle 80 can be moved or is moved in each of at least one translational and / or rotational degrees of freedom along or within the transport path TS, or generally within the system 10.

[0131] The operation of the transport vehicle 80 is therefore centrally controlled via the central control unit 70 of the system 10. The central control unit 70 is configured to generate control information, and based on this control information, it can move the transport vehicle 80 along or within the transport path, or generally within the system 10, in each of at least one translational and / or rotational degree of freedom. Therefore, the central control unit 70 is not integrated into the transport vehicle 80 and is spatially and physically separated from the transport vehicle 80, for example, by being placed on or inside the frame structure (not shown) of the system 10. composition This allows the transport vehicles 80 to be configured very simply with respect to their own control systems 80.4 on the transport vehicle side. This is because the control information that can move or is relied upon to move the transport vehicle 80 in at least one degree of freedom of translation and / or rotational motion, with the aim of moving the object 30 from at least one first region B1 to at least one second region B2 or in that direction or in the reverse direction, is generated by the central control unit 70 and transmitted to the transport vehicles 80 via data connection as described later. For this reason, it is not necessary for each transport vehicle 80's control system 80.4 to generate corresponding control information that is relied upon to move each transport vehicle 80 in at least one degree of freedom of translation and / or rotational motion, with the aim of moving the object 30 from at least one first region B1 to at least one second region B2 or in that direction or in the reverse direction. In particular, each control system 80.4 of each transport vehicle 80 can be kept relatively simple, for example, in relation to their hardware and / or software configuration, that is, especially in relation to their computing power and / or memory capacity, which in turn has a positive impact on the manufacturing cost of the transport vehicle 80.

[0132] In Figure 1, which illustrates another exemplary embodiment, the system 10 may comprise at least one loading device assigned to at least one first region B1. The loading device is configured to at least partially automatically load the objects 30 to be transported into each receiving region 81 of the transport vehicle 80. The loading device may be formed by, or comprise, a transport device 40 or handling device, such as a robot. The movement of each transport vehicle 80 to the first region B1 for loading the objects 30 to be transported there is similarly controlled by the central control unit 70. Thus, the central control unit 70 is configured in particular to generate control information on which to move each transport vehicle 80 to the first region B1. The central control unit 70 may also be configured to generate control information on which to move each transport vehicle 80 to a specific orientation within the first region B1, for example, with respect to a transport or handling device located in the first region B1, in order to enable or facilitate the loading process. Therefore, for example, the operation of each transport vehicle 80 within the first area B1 to take the appropriate orientation and / or position for loading is usually performed based on control information generated by the control device 70.

[0133] Furthermore, in Figure 1, which illustrates another exemplary embodiment, the system 10 may further include at least one unloading device assigned to at least one second region B2. The unloading device is configured to automatically unload, at least partially, the objects 30 to be transported from each receiving region 81 of the transport vehicle 80. The unloading device may be formed by or comprise the corresponding transport device 50 or handling device, such as a robot. The movement of each transport vehicle 80 to the second region B2 for unloading is similarly controlled by the central control unit 70. Accordingly, the central control unit 70 is configured in particular to generate control information on which to move each transport vehicle 80 to the second region B2. The central control unit 70 may also be configured to generate control information on which to move each transport vehicle 80 to a specific orientation within the second region B2, for example, with respect to a transport or handling device located in the second region B2, in order to enable or facilitate the unloading process. Therefore, for example, the operation of each transport vehicle 80 within the second area B2 to take the appropriate orientation and / or position for unloading is usually performed based on control information generated by the control device 70.

[0134] As described above, the central control unit 70 is implemented in hardware and / or software. Therefore, in order to move the object 30 to be transported from the first or a first region B1 in the system 10 to the second or a second region B2 in the system 10 or in the reverse direction, the central control unit 70 generally enables the computer to generate corresponding control information, and in addition, enables simultaneous or at least synchronized computer control of the operation of individual, multiple, or all of the transport vehicles 80 in the system 10 in each of the translational and / or rotational degrees of freedom. The generation of corresponding control information, and in particular the control of the operation of the transport vehicles 80 based on this information, can be performed in real time.

[0135] Thus, system 10 does not require a conveyor belt to realize the transport path TS; rather, the conveyor belt is replaced by the transport vehicle 80. The fact that the transport vehicle 80 can normally be moved independently or interdependently in each of the translational and / or rotational degrees of freedom, and that the operation of the transport vehicle 80 is centrally controlled by the central control unit 70, provides very high adaptability and versatility, for example, with respect to the planning, implementation, and control of the transport process. The absence of a conveyor belt makes it possible to construct an entirely new system. That is, since individual components such as the corresponding functional unit 11 in system 10 are always reachable via the corresponding transport vehicle 80, these components can be placed in any position.

[0136] System 10 typically includes a first data transmission device 70.1 assigned to a central control unit 70. The first data transmission device 70.1 is formed by, for example, at least one data transmission antenna and is configured to transmit at least corresponding control information to each transport vehicle 80 via a data connection, in particular a wireless data connection. Alternatively, assuming the transport vehicles 80 are configured in this way, the first data transmission device 70.1 can also be configured to receive data, i.e., to receive data transmitted from, for example, each transport vehicle 80. Each transport vehicle 80 is equipped with a second data transmission device 80.5 to enable reception of control information generated by the central control unit 70. The second data transmission device 80.5 is formed by, for example, at least one data transmission antenna, i.e., at least one data receiving device configured to receive corresponding control information. Each second data transmission device 80.5 can also be configured to transmit data to the first data transmission device 70.1. A corresponding data connection can be implemented between the first data transmission device 70.1 and each second data transmission device 80.5 on the transport vehicle using one or more standards or protocols for data transmission, particularly for wireless data transmission, thereby enabling the transmission of corresponding control information from the central control unit 70 to each transport vehicle 80. Applicable standards or protocols include, for example, WLAN standards such as the IEEE 802.11 standard and mobile communication standards such as 5G. The data connection or data transmission can be encrypted using an appropriate encryption mechanism, including the principles of blockchain technology, to prevent undesirable interference or interaction.

[0137] Within the equipment 10 or its components, particularly within the rack structure of the equipment 10, the first data transmission device 70.1 may be configured to form an independent equipment-side communication network for transmitting data to communication partners, particularly each transport vehicle 80. By forming its own equipment-side communication network, which may be a wireless network, the system 10 can have its own data transmission structure. Since this data transmission structure is isolated from other communication networks present in the factory environment, it enables a more secure data connection between the central control unit 70 and each transport vehicle 80. This has a positive effect on the control of the transport vehicle 80's movements in each degree of freedom, as performed or implemented by the central control unit 70 as described above.

[0138] The central control unit 70 is configured to generate travel paths or trajectories that can or can be assigned to each transport vehicle 80. These travel paths or trajectories are indicated by arrows in Figures 1 to 4, as described above. Therefore, the control information that can or can be generated by the central control unit 70 includes, in particular, the corresponding travel paths or trajectories. Each travel path can, in principle, be arranged in any path geometry, particularly linear or linear form, on one or more particularly vertical spatial planes, usually extending between the first and second regions of the system. A straight or curved path geometry can include, for example, one or more straight or unequal-length straight path geometry sections or one or more curved path geometry sections, so that the corresponding path geometry can be both geometrically defined and geometrically undefined. At least two or more corresponding path geometry sections can be arranged, for example, at angles to each other.

[0139] Accordingly, each travel path or trajectory may include, or be defined by, a start point and an end point, i.e., the start and end coordinates of an operation performed by each transport vehicle 80, particularly along the transport path TS or within the transport path ZS. The corresponding start point or start coordinates may be located, for example, within a first region B1 of system 10, and the corresponding end point or end coordinates may be located, for example, within a second region B2 of system 10.

[0140] Furthermore, each travel path or trajectory may include one or more intermediate points or intermediate coordinates located between each start point and end point, or between each start coordinate and end coordinate. This makes it possible to represent each travel path or trajectory by corresponding start points, intermediate points, and end points or their coordinates. Corresponding intermediate points or their coordinates can be assigned, for example, to corresponding functional units 11. This allows, as part of the operation, at least one transport vehicle 80 to move, for example, from a first area B1 to a second area B2 of the system 10, for example, into at least one functional unit 11, and for example, at least one of the above tasks to be performed. This is shown in Figures 3 and 4.

[0141] Alternatively, or in addition, each travel path or trajectory may include one or more movement vectors positioned between each start point and end point or start coordinate and end coordinate. This allows each travel path or trajectory to be represented, for example, by corresponding start and end points or start and end coordinates and corresponding movement vectors. The corresponding movement vectors can also be assigned to, for example, corresponding functional units 11. This ensures that at least one transport vehicle 80 moves within a range of movement, for example, from one first region of the system to another, for example, within at least one functional unit, and, for example, at least one of the above tasks is performed. This is shown in Figures 3 and 4.

[0142] Therefore, the central control unit 70 can typically be configured to generate at least two identical or different travel paths or trajectories that can be assigned to or are assigned to the transport vehicles 80. This provides high adaptability and versatility in planning, implementing, and controlling transport operations, as there are essentially no restrictions on the generation of corresponding travel paths or trajectories other than avoiding collisions between the transport vehicles 80. The central control unit 70 is therefore configured to control each transport vehicle 80 so as to coordinate the operation of at least two transport vehicles 80 on both identical and different travel paths or trajectories, i.e., so that the risk of collision between the transport vehicles 80 is avoided, particularly through appropriate synchronization. Furthermore, one or more parameters, such as the loading state of the objects 30 in each transport vehicle 80 and the type of objects 30, can be taken into consideration.

[0143] Accordingly, the central control unit 70 may be configured to generate a first travel path or track that can be assigned to or is assigned to a first transport vehicle 80, and to generate further travel paths or tracks that can be assigned to or is assigned to at least one further transport vehicle 80. The first and further travel paths or tracks may each intersect at least one intersection point, or may not intersect at least one intersection point, as shown, for example, in Figure 4. If the first and further travel paths or tracks each intersect at at least one intersection point, the central control unit 70 is configured to coordinate and / or prioritize the operation of each transport vehicle 80, that is, to temporally control each transport vehicle 80 in particular so that there is no risk of collision between each transport vehicle 80 through appropriate synchronization.

[0144] From this perspective, the central control unit 70 may be configured to assign different priorities to at least two transport vehicles 80. This makes it easy to control which transport vehicle 80 should be prioritized in specific situations, such as the situation at the corresponding intersection of at least two travel paths or tracks.

[0145] The central control unit 70 can also be configured to generate at least one travel path or track assigned to a transport vehicle group consisting of at least two transport vehicles 80. As a result, at least two transport vehicles 80 can be integrated into a corresponding transport vehicle group, and their operation is based on a common travel path or track. The possibility of integrating multiple transport vehicles 80 into a corresponding transport vehicle group and controlling their operation based on a single travel path or track reduces the computational load required to control the operation of multiple transport vehicles 80, if necessary. This is because one travel path or track is applicable to multiple transport vehicles 80. In particular, for example, multiple transport vehicles 80 can be uniformly moved in the direction of the second region B2 of the system 10 based on a single corresponding travel path or track, in a parallel arrangement or an arrangement offset from each other on at least one spatial axis.

[0146] The central control unit 70 can also be configured to generate a corresponding travel path or trajectory based on at least one transport criterion relating to the transport of the object 30 by each transport vehicle 80, and / or at least one object criterion relating to the object 30 being transported. Therefore, when generating a corresponding travel path or trajectory, the central control unit 70 can be configured to take into account at least one transport criterion relating to the transport of the object 30 by each transport vehicle 80, and / or at least one object criterion relating to the object 30 being transported.

[0147] The corresponding transport criteria may be, for example, at least one of the following criteria, or may include at least one of these: a safety criterion relating to the safety of the transport operation, such as collision and / or undesirable loss of the received object 30; a speed criterion relating to the speed of the transport operation; a standard relating to the efficiency of the transport operation, such as energy consumption of each transport vehicle 80 in the transport process; or an efficiency criterion relating to wear and tear of each transport vehicle 80 in the transport process.

[0148] The corresponding object criterion may include, for example, at least one of the following criteria: a type criterion relating to the type of object 30 being transported; a dimension and / or shape criterion relating to the dimensions and / or shape of the object 30 being transported; and a mass criterion relating to the mass of the object 30 being transported.

[0149] The central control unit 70 may also be configured to modify at least one travel path or track initially assigned to at least one transport vehicle 80. Therefore, the control information generated by the central control unit and transmitted to each transport vehicle 80 may include corresponding changes to at least the travel path or track initially assigned to each transport vehicle 80, i.e., updated travel paths or tracks for each transport vehicle 80. The corresponding changes or updates to the travel paths or tracks initially assigned to the transport vehicles 80 are necessary or useful, for example, when an event or event halt occurring within the transport path TS makes it impossible or inappropriate to perform the initially assigned travel path or track. Here, such events or event halts can be detected, for example, by a detection device 90 that can be assigned to or assigned to the central control unit 70. In particular, the corresponding changes or updates to the travel paths or tracks initially assigned to the transport vehicles 80 are necessary or useful, for example, when (possible) obstacles such as contaminants, lost objects 30, or malfunctioning transport vehicles 80 are detected on the travel path or track, as schematically shown by the triangles in Figure 1. If (potential) obstacles such as contaminants, lost objects 30, or broken transport vehicles 80 are detected on the travel path or track, the modified or updated travel path or track can, for example, (as illustrated in Figure 1) bypass the obstacle. Similarly, corresponding modifications or updates to the travel path or track initially assigned to the transport vehicle 80 are also necessary or useful in the following cases, for example: when the removal of obstacles such as contaminants, such as the removal of contaminants by a cleaning vehicle, as described in more detail below, makes a shorter path available, enabling more efficient or faster transport of the object 30. The modified or updated travel path or track can, for example, shorten transport time, which usually results in a reduction in energy consumption.

[0150] Similarly, the central control unit 70 can also be configured to change or update the priority initially assigned to a particular transport vehicle 80. The priority of a transport vehicle 80 can be changed, for example, from an initially low value to a higher value, or vice versa, particularly while moving toward the second area B2 of the system 10. This makes it possible to respond to situations where, for example, the demand for the objects 30 transported by each transport vehicle 80 changes in the second area of ​​the system 10. If the demand for each object 30 decreases, the priority of each transport vehicle 80 can also be lowered, and vice versa.

[0151] However, other operating modes of the transport vehicle 80, such as buffer mode, can also be implemented by corresponding modified travel paths, trajectories, and prioritization. For example, if a delay in the unloading process in the unloading area is detected, which can be assigned to or detected by at least one of the assigned detection devices 90 in the central control unit 70, the travel path, trajectory, or priority of at least one transport vehicle 80 carrying the object 30 is changed so that the transport vehicle 80 does not move toward the unloading area, but instead moves, for example, toward the buffer storage area and / or parking area of ​​the system 10. As shown in the exemplary embodiment in Figure 2, which illustrates a system 10 having a plurality of packaging machines 20 and a plurality of corresponding loading and unloading areas, if a corresponding delay occurs in the unloading area of ​​the first packaging machine 20, it is also conceivable that, based on the corresponding modified travel path, trajectory, or priority, at least one transport vehicle 80 carrying the object 30 may be moved toward the unloading area of ​​the second packaging machine 20.

[0152] Therefore, at least one transport vehicle 80 can be configured to move from the first packaging machine 20 to at least one further packaging machine 20 within the system 10 (see, for example, Figure 2). The central control unit 70 can also be configured to generate a travel path or trajectory for at least one transport vehicle 80 that extends between at least two packaging machines 20 in the system 10 and transmit these travel paths or trajectories to the at least one transport vehicle 80. This allows the at least one transport vehicle 80 to move between at least two packaging machines 20 in the system 10. This also makes it possible to dynamically change the number of transport vehicles 80 available within each packaging machine 20 for transporting objects 30. This is because, for example, transport vehicles 80 can be moved from a packaging machine 20 that has an excess of transport vehicles 80 for a certain packaging task, and moved to one or more other packaging machines 20 where additional transport vehicles 80 are needed or appropriate for a certain packaging task. This provides dynamic and efficient control options in the operation of a system 10 having multiple packaging machines 20.

[0153] Similarly, this can also be applied to, for example, a functional unit 11. That is, the central control unit 70 may be configured to generate a travel path or trajectory for at least one transport vehicle 80 that extends between at least two functional units 11 in one packaging machine 20, or between at least two functional units 11 in multiple packaging machines 20, and to transmit these travel paths or trajectories to the at least one transport vehicle 80. This allows the at least one transport vehicle 80 to move between at least two functional units 11 in one packaging machine 11, or between at least two functional units 11 in multiple packaging machines 20.

[0154] In addition to the possibility of generating a travel path or trajectory, and the possibility of modifying or updating the corresponding travel path or trajectory, at least one operating parameter of at least one transport vehicle 80, in particular positive or negative acceleration, velocity, or at least one upper and / or lower threshold of at least one corresponding operating parameter, can also be controlled via the central control unit 70. Thus, the central control unit 70 can be configured to control at least one operating parameter of at least one transport vehicle 80, in particular positive or negative acceleration, velocity, or at least one upper and / or lower threshold of at least one corresponding operating parameter. This also allows the central control unit 70 to be configured to generate and control the operating profile of at least one transport vehicle 80.

[0155] The central control unit 70 may be configured to take into account position and / or time information, such as current and / or future position information, and / or information derived therefrom, when generating corresponding operation profiles for each transport vehicle 80. Therefore, the corresponding operation profile for each transport vehicle 80 may include, for example, variable operation parameters that depend on the position and / or time of at least one of each transport vehicle 80. This allows the entire movement sequence of each transport vehicle 80 to be controlled via the central control unit 70.

[0156] When generating a corresponding operating profile, the central control unit 70 can be configured to take into account one or more criteria. In place of, or in addition to, the corresponding location and / or time criteria, the corresponding criteria may include, for example, the load status of each transport vehicle 80, the energy consumption of each transport vehicle 80, the charge status of the electrical energy storage device 80.3 in each transport vehicle 80, and the condition of the ground U, such as the track on which each transport vehicle 80 travels.

[0157] The central control unit 70 can also be configured to assign a specific travel path or trajectory and / or specific operating parameters to at least one transport vehicle 80 for a specific area within the system 10. As a result, the central control unit 70 can also be configured to assign a specific operating profile to each transport vehicle 80 for a specific area within the system 10. This allows, for example, the transport vehicles to move at different speeds, particularly minimum or maximum speeds, in a first area of ​​the system 10 than in a second area of ​​the system 10.

[0158] The corresponding area of ​​system 10 can be an area within the packaging machine 20. Therefore, for example, a first section or part of the transport path TS within the packaging machine 20 can be designated as the first area, and a second section or part of the transport path TS within the packaging machine 20 can be designated as the second area. Alternatively or in addition, each corresponding area of ​​system 10 may be, for example, the entire transport path within a particular packaging machine 20. Thus, the first area may be, for example, the transport path TS within the first packaging machine, and the second area may be the transport path TS within the second packaging machine 20 of system 10.

[0159] As schematically shown in Figure 6, a top view, the central control unit 70 can also be configured to generate control information for moving at least two transport vehicles 80 into a specific formation F, in particular into a specific spatial orientation and / or position relative to each other, or for at least two transport vehicles 80 to form such a specific formation F while moving along a transport path TS. By forming the corresponding formation F, an expanded loading or unloading area can be created as needed. This is because the resulting loading or unloading area is formed by summing the loading or unloading areas of the transport vehicles 80 arranged in the corresponding formation. Therefore, based on the corresponding control information generated by the central control unit 70, the transport vehicles 80 can be arranged adjacent to each other, for example, in columns and / or rows, so that the resulting loading or unloading area is formed by summing or combining their respective loading or unloading areas. By determining the number and arrangement or orientation of each transport vehicle 80 arranged in the corresponding formation F, individually sized loading or unloading areas can be realized. This makes it possible to transport objects 30 that could not be transported by a single transport vehicle 80 for dimensional reasons, for example. In Figure 6, the additional transport vehicle 80, indicated by a dashed line, is shown as a component of formation F.

[0160] Control information that can be generated or generated by the central control unit 70 for arranging at least two transport vehicles 80 in a specific formation F, in particular in a specific spatial orientation and / or position relative to each other, or for at least two transport vehicles 80 to assume such a specific formation while moving along a transport path TS, can be generated based on at least one transport criterion relating to the transport of an object 30 by each transport vehicle 80 and / or at least one object criterion relating to the object 30 being transported. Accordingly, the central control unit 70 can be configured to generate corresponding control information based on at least one transport criterion relating to the transport of an object 30 by each transport vehicle 80 and / or at least one object criterion relating to the at least one object 30 being transported.

[0161] The corresponding transport standard may be, for example, at least one of the following standards, or may include at least one of these: a safety standard relating to the safety of transport operations, and an efficiency standard relating to the efficiency of transport operations.

[0162] The corresponding object criterion is, for example, at least one of the following criteria, or may include at least one of them: the type of object 30 to be transported, the dimensions and / or shape of the object 30 to be transported, and the mass of the object 30 to be transported.

[0163] Figure 6 also shows that the housing structure 80.1 of the transport vehicle 80 may have a polygonal basic shape, such as a quadrilateral or hexagon. The corresponding polygonal basic shape makes it possible to arrange at least two transport vehicles 80 directly adjacent to each other to form a corresponding formation F. This creates a common, and in particular, closed, receiving surface for at least one object 30.

[0164] Figure 5 is a schematic diagram showing a side view of the transport vehicle 80. As previously mentioned, each transport vehicle 80 may have a housing structure 80.1. Also, as previously mentioned, a corresponding receiving area 81, which can be a support surface, in particular a flat support surface, is usually located on or formed inside the housing structure 80.1. At least one of the following components in each transport vehicle 80 is located on or formed inside the housing structure 80.1: at least one drive device 80.2 for generating a driving force or moment; at least one energy storage device 80.3 that can be assigned to or assigned to at least one of the at least one drive device 80.2; at least one force transmission element 80.6, such as a wheel, roller, or chain, that can transmit the driving force or torque generated by the drive device 80.2 to the ground U; a corresponding second data transmission device 80.5; a control system 80.4 (onboard control); and a detection device, such as a camera, for detecting the ground U or ground structure on which each transport vehicle 80 can move or drive. To protect from external influences, the corresponding components may be placed or formed within a containment space constructed by one or more walls of the housing structure 80.1, particularly at least partially, or as necessary, completely. The containment space may have containment compartments (not shown) formed by one or more wall sections, each compartment configured to accommodate at least one component of each transport vehicle 80. Thus, the dimensions of each compartment can be selected, for example, taking into account the dimensions of at least one component of each transport vehicle 80. This allows at least one component to be housed in each compartment, while preventing detachment by ensuring a precise fit as necessary.

[0165] The corresponding drive unit 80.2 and power transmission element 80.6 can form a drive unit for each transport vehicle 80. When multiple independent drive units are formed, it is preferable that at least one drive unit 80.2 is assigned to each power transmission element 80.6. This allows each power transmission element 80.6 to be powered independently of other power transmission elements. In other words, since the operation of each drive unit can be controlled individually, it is possible to operate or lock each power transmission element 80.6 of a drive unit in a specific direction of movement, independently of the power transmission elements of other drive units in each transport vehicle 80. This makes it possible, for example, to rotate each transport vehicle 80 in place, as described above.

[0166] In a particular embodiment, each transport vehicle 80 may be equipped with three corresponding drive units arranged in a 120° offset configuration. Thus, each transport vehicle 80 has three drive shafts spaced 120° apart from each other, and each drive shaft is provided with at least one force transmission element 80.6. This not only allows the transport vehicle 80 to rest stably on the ground U, particularly preventing it from tipping over, but also enables the rotational motion of the transport vehicle 80 to be performed in place.

[0167] The control information transmitted to each transport vehicle 80 may also include corresponding control commands for controlling the operation of each drive unit of each transport vehicle 80. Therefore, the central control unit 70 may be configured to control the operation of each drive unit of each transport vehicle 80. However, it is also conceivable that the control system 80.4 of each transport vehicle 80 generates corresponding control commands for controlling the operation of each drive unit based on the control information transmitted from the central control unit 70.

[0168] Figure 7 schematically shows a configuration in which multiple transport vehicles 80 are connected to each other in a side view to form a transport vehicle array. Figure 7 schematically illustrates that at least two transport vehicles 80 may have at least one connecting interface 82, such as a magnetic or mechanical connecting interface. These connecting interfaces 82 are configured to connect at least two transport vehicles 80 to form a transport vehicle array, particularly in a manner that is detachable as needed. As a result, at least two transport vehicles 80 can be connected to each other to form a transport vehicle array, particularly in a manner that is detachable as needed. This is useful, for example, when moving multiple transport vehicles 80 together. In particular, multiple transport vehicles 80 connected to form a transport vehicle array can be moved together, for example, from the first packaging machine 20 to the second packaging machine 20 of the system 10. It is also useful to move each transport vehicle array to a washing device 160, maintenance device 170, or loading device 120, etc., within the system, which will be described in more detail below.

[0169] The coupling of the transport vehicles 80 essentially makes it possible to generate control information for at least one transport vehicle 80 (the transport vehicle 80 on the right in Figure 7) that functions as a pushing vehicle and / or a towing vehicle. This is because the remaining transport vehicles 80 in each transport vehicle array follow the movement path or trajectory of the at least one pushing vehicle or towing vehicle. Therefore, the central control device 70 can be configured to generate control information to define at least one transport vehicle 80 in a corresponding transport vehicle array as a pushing vehicle and / or a towing vehicle in that transport vehicle array, and to define at least one transport vehicle in this transport vehicle array as a non-pushing vehicle and / or non-towing vehicle. Here, the at least one transport vehicle 80 defined as a pushing vehicle or towing vehicle generates force or torque, which allows the at least one transport vehicle 80 defined as a non-pushing vehicle and / or non-towing vehicle to move, particularly by the pushing force or towing force generated by the pushing vehicle or towing vehicle.

[0170] As schematically shown in Figure 7, the coupling interface 82 corresponding to at least one first transport vehicle 80 may include at least one coupling member 82.1 that can transition between a coupled state and an uncoupled state. In the coupled state, this at least one coupling member 82.1 interacts with the coupling interface 82 of at least one other transport vehicle 80 to form a coupling, and in the uncoupled state, it does not interact with the coupling interface 82 of at least one other transport vehicle 80 to form a coupling. The central control unit 70 may be configured to generate coupling information for transitioning the at least one coupling member 82.1 of at least one transport vehicle 80 to a coupled state and / or an uncoupled state. In this regard, an actuator device (not shown) may be assigned to the at least one coupling member 82.1. This actuator device is for transitioning the at least one coupling member 82.1 to a coupled state and / or an uncoupled state based on the corresponding coupling information.

[0171] For example, in order to reduce manufacturing costs, the configuration of each transport vehicle 80 may be relatively simple. This is because, as described above, each of these transport vehicles 80 is simply configured to transport an object 30 along at least one transport path TS extending between at least one first region B1 of the system 10 and at least one second region B2 of the system 10. Accordingly, the multiple transport vehicles 80 in the system 10 may have a minimum configuration including at least one corresponding receiving region 81, at least one drive unit, at least one second data transmission device 80.5, and at least one control system 80.4, which may be arranged or formed on or inside the corresponding housing structure 80.1, as described above.

[0172] Here, as illustrated in the exemplary embodiments of Figures 8 and 9, the transport vehicle 80 in system 10 may also be configured to include functional additional elements and different elements.

[0173] Figure 8 shows an exemplary embodiment of the transport vehicle 80. This transport vehicle 80 is equipped with at least one action unit 83, i.e., a gripping unit or a suction unit. The action unit 83 is configured to at least partially grip objects and / or potential obstacles located on the transport path TS, thereby removing them from the transport path TS. The corresponding action unit 83 can be configured to attach objects and / or potential obstacles located on the transport path TS to the transport vehicle 80, for example, by gripping or suction, thereby moving them to an area outside the transport path TS. In this way, efficient operation of the system 10 is ensured. This is because the control intervention of the central control unit 70 can reduce or prevent collisions between the transport vehicle 80 and objects and / or potential obstacles present on the transport path TS. The operation of the transport vehicle 80 of the corresponding configuration is also typically controlled based on control information generated by the central control unit 70.

[0174] Figure 9 shows an exemplary embodiment of a transport vehicle 80. This transport vehicle 80 includes at least one cleaning unit 84, i.e., a brush, spray, suction, or washing unit. The cleaning unit 84 is configured to clean the running surface for the transport vehicle 80. The corresponding cleaning unit 84 can clean the running surface by, for example, performing mechanical cleaning with a brush unit, blowing away or sucking up contaminants with a spray or suction unit, or applying a cleaning or washing solution with a washing unit. The operation of the transport vehicle 80 of the corresponding configuration is also typically controlled based on control information generated by a central control unit 70.

[0175] As schematically shown in the exemplary embodiment of Figure 10, the system may further include at least one transport vehicle 130. The transport vehicle 130 is configured to accommodate multiple transport vehicles 80 in a receiving area 131 provided for accommodating multiple transport vehicles 80, and to move them together within the system 10. This provides a means for efficiently moving multiple transport vehicles 80 within the system 10. This is because, since the transport vehicles can be moved indirectly for their intended purpose via at least one transport vehicle 130, each transport vehicle 80 does not consume energy to perform the corresponding transport within the system 10.

[0176] As described above, a loading or unloading area is formed by arranging at least two transport vehicles 80 in formation F. A similar approach is to have at least one expansion structure 140 that expands the receiving area 81, particularly its receiving surface, as shown schematically in the exemplary embodiment in Figure 11. The expansion structure 140 can be positioned on or is positioned on the at least one transport vehicle 80 via an interface (not shown), such as a mechanical interface. Therefore, by using the expansion structure 140, it is possible to expand the receiving area 81 of the transport vehicle 80 without forming a corresponding formation F consisting of at least two transport vehicles 80. The expansion structure 140 can be positioned or formed on the outer circumference of the housing structure 80.1 of each transport vehicle 80 and (together) form an expanded receiving surface with at least one expansion surface element 141 positioned to coincide with the receiving surface of each transport vehicle 80.

[0177] As indicated by the double arrows in Figure 11, the extension structure 140 may thus have one or more extension surface elements 141 that are movable relative to each other in at least one degree of freedom of motion. Thus, the extension structure 140 has a first configuration having a first surface area and at least one second configuration different from the first configuration, the second configuration having a further surface area different from the first surface area, i.e., an enlarged or reduced surface area in particular.

[0178] Similarly, referring particularly to the exemplary embodiment shown in Figure 2, the transport vehicle 80 can move between at least two packaging machines 20 of the system 10 as described above. In view of such embodiments, Figure 2 also shows that, for example from the viewpoint of safety and control, it may be preferable that the first packaging machine 20 be connected to at least one further packaging machine 20 via at least one connecting structure 150, in particular a tunnel-shaped or tunnel-like connecting structure. Thus, it is possible to move each transport vehicle 80 between each packaging machine 20 of the system 10 via the corresponding connecting structure 150. The corresponding connecting structure 150 also usually restricts or defines the movement path between each packaging machine 20 of the system 10, thus eliminating the need for complex motion control of the transport vehicle 80 by the central control unit 70. This is because the transport vehicle 80 is guided, for example, by the walls 151, when moving along or inside the connecting structure 150.

[0179] In all exemplary embodiments, the system 10 may include at least one guide device having one or more guide members, the guide device in particular to enable the guided movement of at least one transport vehicle 80 along at least one guide member. composition The guided movement of each transport vehicle 80 reduces the control burden required to perform the movement of each transport vehicle. This is because at least one movement path or trajectory for a corresponding transport vehicle 80 is at least partially predefined by a corresponding guide member. The corresponding guide member is formed by or includes, for example, a surface element positioned or formed on or within the system 10, particularly in an upright, reclining, or suspended position. The surface element has or defines a surface on which the transport vehicle 80 can be movably guided. The corresponding surface element may have one-dimensional or multi-dimensional spatial extensions, so that the corresponding guide member can be, for example, a wall element, a rail element, a pin element, a rod element, a grid element, a fence element, etc.

[0180] In all exemplary embodiments, the transport vehicle 80 is movable not only on a flat ground U but also on a ground U that is inclined or curved with respect to a horizontal reference plane. Thus, the transport path TS of the system 10 can be positioned within a transport surface that is at least partially inclined and / or curved.

[0181] As is evident from the exemplary embodiment shown in side view in Figure 12, this also means that the system 10 may generally have multiple transport paths TS arranged in different spatial directions and / or spatial planes. In particular, Figure 12 illustrates a stacked or stacked arrangement of multiple transport paths TS overlapping in multiple spatial planes. This can be realized, for example, by a rack structure that enables a stacked or stacked arrangement of multiple transport paths TS overlapping in multiple spatial planes. The corresponding transport paths TS and the resulting transport path surfaces may be connected to each other, for example, via ramp-like or ramp-shaped connecting parts (not shown). This allows transport vehicles 80 to move or be driven, for example, from a lower transport path TS to an upper transport path TS via the corresponding connecting parts, or vice versa. Similarly, one or more lifting devices (not shown), such as elevators, may be provided to move one or more transport vehicles 80 to the height of each transport path. The operation of each lifting device may also be controlled based on control information generated by the central control device 70.

[0182] Returning to the exemplary embodiment shown in Figure 3, it should be noted that the system 10 may comprise at least one cleaning device 160, in particular configured as a cleaning station. The cleaning device 160 is used to automatically or automatically clean at least one component of each transport vehicle 80, such as, for example, wheel-shaped or roller-shaped force transmission elements 80.6 in each transport vehicle 80. The cleaning device 160 may be a further example of a functional unit 11 in the system, to which each transport vehicle 80 is transported based on control information from the central control unit 70. Thus, the cleaning device 160 may be positioned, for example, adjacent to the transport path TS. Similar to the case of an automobile car wash, the cleaning device 160 may comprise one or more cleaning units or tools 161 within a housing structure 161 that is at least temporarily accessible from at least one side. This enables chemical and / or physical cleaning of at least one component of each transport vehicle 80. The corresponding cleaning units or tools 161 may be, for example, brushes, sprayers, suction units. composition It is possible to do so, or to have such a unit.

[0183] Figure 3 also shows that the system 10 may include at least one maintenance device 170 configured, in particular as a maintenance station. The maintenance device 170 is for the maintenance of at least one component in each transport vehicle 80, in particular for automatic or automated maintenance. compositionThis maintenance device 170 can be a further example of a functional unit 11 in the system 10, such that each transport vehicle 80 is transported thereto based on control information from the central control unit 70. Accordingly, the maintenance device 170 can also be located adjacent to the transport route TS, for example. Similar to the case of an automobile repair shop, the maintenance device 170 may include, for example, one or more maintenance units or tools 171 within the housing structure 171.1 of the maintenance device 170, which is at least temporarily accessible from at least one side, enabling maintenance, i.e., repair and / or replacement, of at least one component in each transport vehicle 80. The corresponding maintenance unit or tool 171 may be, for example, a screwdriver unit, a welding unit, etc. composition They may be, or may be equipped with them.

[0184] Finally, Figure 3 shows that the system 10 may include at least one charging device 180 configured, in particular as a charging station. The charging device 180 is configured to charge the electrical energy storage devices 80.3 of each transport vehicle 80, in particular, in a non-contact manner. composition The charging device 180 can be a further example of a functional unit 11 in the system 10, such that each transport vehicle 80 is transported thereto based on control information from the central control unit 70. Thus, the charging device 180 can also be positioned adjacent to, for example, the transport path TS. Similar to the case of electric vehicle charging stations, the charging device 180 may comprise one or more charging units 181 or plugs within a housing structure 180.1 of the charging device 180 that is accessible, for example, at least temporarily, from at least one side. It is also conceivable that each charging unit 181 is configured to replace and / or inductively charge each energy storage device 80.3. In the latter case, each transport vehicle 80 can even be moved during the charging process.

[0185] In any case, the central control unit 70 may be configured to generate control information for moving at least one transport vehicle 80 into the washing device 160, the maintenance device 170, and / or the charging device 180. The central control unit 70 may also be configured to control and / or monitor the operation of each washing device 160, the maintenance device 170, and / or the charging device 180.

[0186] In the exemplary embodiments, each transport vehicle 80 is an unmanned ground vehicle that can move on a floor or ground U. The ground U may be, for example, the floor of a factory building, which, in principle, makes it possible to form at least one corresponding transport path TS (directly) on, for example, the floor of a factory building without additional frames, thereby greatly simplifying the construction of the system 10. In principle, one, more, or all of the transport vehicles 80 here are unmanned aerial vehicles, i.e., in particular flying drones. composition It is also possible to do so.

[0187] Furthermore, the corresponding ground U can also be formed by one or more track elements positioned at least 10 cm, particularly at least 25 cm, and even more particularly at least 50 cm above the floor surface of the building. The corresponding track elements may be, for example, rack-shaped or rack-type track modules. composition These track modules may be connected to each other to form a track for the transport vehicle 80. Each track element may have one or more mechanical interfaces, for example, that enable these track elements to be connected to each other. A corresponding track element may also function as a holder for one or more data lines and / or supply lines for the corresponding functional unit 11, etc. That is, one or more data lines and / or supply lines for the corresponding functional unit 11, etc. may be arranged or formed on or inside each track element.

[0188] At least one transport vehicle 80 as an unmanned ground vehicle composition And at least one additional transport vehicle 80 as an unmanned aerial vehicle. composition It is also possible to do so.

[0189] The illustrated system 10 can be used to carry out a method of transporting at least one object 30 to be packaged in at least one packaging machine 20 along a transport path TS extending between at least one first region B1 of system 10 and at least one second region B2 of system 10.

[0190] This method specifically includes the following steps: - A process of loading at least one object 30 to be transported onto at least one transport vehicle, which is movable in at least one translational and / or rotational degree of freedom, within or between at least one first region B1 and at least one second region B2 of each system 10, or vice versa, using a transport device configured as a loading device, based on control information generated by the central control device 70 of each system 10; for example, onto a transport vehicle 80, which is movable in at least one translational and / or rotational degree of freedom; - The process of controlling at least one movement of each system 10 to the second region B2 by a transport vehicle 80 loaded with at least one object 30 to be transported, along at least one movement path or trajectory defined by the central control device 70, using the central control device 70; and - A step of unloading at least one object 30 to be transported into or within at least one second region B2 of each system 10 using a transport device configured as an unloading device.

[0191] Figure 13 is a schematic diagram showing a force transmission element 80.6 in a transport vehicle 80 according to one exemplary embodiment. In this embodiment, the force transmission element 80.6 is an omni-wheel. compositionThe omnidirectional wheel comprises at least one base structure 80.6.1 that can be driven to rotate around a rotation axis, and a running surface 80.6.2 formed of a plurality of rollers or barrel rollers 80.6.3 having rotation axes arranged at an angle perpendicular to the rotation axis of the base structure 80.6.1. In particular, a configuration with a plurality of corresponding base structures 80.6.1 is shown, in which the rollers or cylinder bodies 80.6.3 are arranged offset from each other in the circumferential direction, so that one roller or cylinder body 80.6.3 is always in contact with the ground.

[0192] In all exemplary embodiments, at least one securing device can be assigned to the receiving area 81 of the transport vehicle 80, thereby normally securing the object 30 to be transported to the receiving area 81 and, consequently, to the transport vehicle 80, as needed. The corresponding securing device can be actively activated, that is, it can be transitioned to an actively secured state. composition The fixing device may have, for example, at least one fixing element that can be switched between a fixed state in which each object 30 is securely engaged and an unfixed state in which each object 30 is not securely engaged. The corresponding fixing element may be a shape-fitting element or a force-fitting element. composition It may include, or at least one such element. The corresponding actively operating fixing device is, for example, a vacuum device that applies a vacuum to fix an object in a fixed state. composition This is possible. The corresponding passively operating fixing device may have, for example, a surface or surface structure that enhances adhesion, such as a rubber coating, in the receiving area 81. composition It is possible.

[0193] Each, each, and all of the features described in relation to one exemplary embodiment can be combined with each, each, and all of the features described in relation to at least one other exemplary embodiment.

[0194] Further embodiments of the present invention are as follows:

[0195] (1st item) A system for transporting at least one object to be processed and, in particular, packaged in at least one packaging machine, along or within at least one transport path extending between at least one first region of the system and at least one second region of the system, A plurality of transport vehicles, each capable of moving between at least one first region of the system and at least one second region of the system, or vice versa, in at least one degree of freedom of translation and / or rotational motion based on control information generated by the central control unit of the system, and each having a receiving area for receiving at least one object to be transported, At least one loading device assigned to at least one first region of the system and configured to automatically load at least partially an object to be transported into each receiving region of the transport vehicle, At least one unloading device assigned to at least one second region of the system and configured to automatically unload, at least partially, a transported object from each receiving region of the transport vehicle, A system comprising a central control device configured to generate control information for controlling the operation of the transport vehicle between at least one first region of the system and at least one second region of the system, or vice versa.

[0196] (Second item) The system further comprises a first data transmission device assigned to the central control unit and configured to transmit at least corresponding control information to each transport vehicle via data connection, particularly wireless data connection. The system according to item 1, characterized in that each transport vehicle is equipped with a second data transmission device configured to receive corresponding control information.

[0197] (3rd item) The system according to the first or second item, characterized in that, within the system or within the components of the system, and particularly within the rack structure of the system, the first data transmission device is configured to form an independent system-side communication network for transmitting information to communication partners, particularly each transport vehicle.

[0198] (4th item) The central control unit is configured to generate travel paths or tracks that can be assigned to or will be assigned to each transport vehicle. The system according to any one of the preceding items, characterized in that the control information includes a corresponding travel path or trajectory.

[0199] (Item 5) The central control device is configured to generate travel paths or tracks assigned to at least two transport vehicles, and these travel paths or tracks may be identical or different. The system according to any one of the preceding items, characterized in that the control information includes the travel route or trajectory assigned to the at least two transport vehicles.

[0200] (Item 6) The central control device is configured to generate a travel path or track to be assigned to at least one transport vehicle group consisting of at least two transport vehicles. The system according to any one of the preceding items, characterized in that the control information includes the travel route or track assigned to the at least one transport vehicle group.

[0201] (Item 7) The system according to any one of items 4 to 6, characterized in that the central control device is configured to generate a corresponding travel path or trajectory based on at least one transport criterion relating to the transport of an object by each transport vehicle, and / or at least one object criterion relating to the object to be transported.

[0202] (Item 8) The transport criteria are at least one of the following: safety criteria relating to the safety of the transport process, speed criteria relating to the speed of the transport process, and efficiency criteria relating to the efficiency of the transport process, and / or include at least one of these. The system according to item 7, characterized in that the object criteria are at least one of the following, or include at least one of the following: the type of object to be transported, the dimensions and / or shape of the object to be transported, and the mass of the object to be transported.

[0203] (Item 9) The central control unit is configured to change the travel path or trajectory initially assigned to at least one transport vehicle. The system according to any one of items 5 to 8, characterized in that the control information includes corresponding changes to the travel path or track initially assigned to the at least one transport vehicle.

[0204] (Item 10) The system according to any one of the preceding items, characterized in that the central control device is configured to assign different priorities to at least two transport vehicles and / or change the corresponding priorities.

[0205] (Item 11) The system according to any one of the preceding items, characterized in that the central control device is configured to control at least one operating parameter of at least one transport vehicle, in particular positive or negative acceleration, velocity, or at least one upper and / or lower threshold for at least one corresponding operating parameter.

[0206] (Item 12) The system according to any one of the preceding items, characterized in that the central control unit is configured to assign a specific travel path or trajectory and / or specific operating parameters to at least one transport vehicle for a specific area within the system.

[0207] (Item 13) The system according to any one of the preceding items, characterized in that the central control device is configured to generate control information for moving at least two transport vehicles into a specific formation, in particular into a specific spatial orientation and / or position relative to each other, or for at least two transport vehicles to form the formation while moving along or within the transport path.

[0208] (Item 14) The system according to item 13, characterized in that the central control device is configured to generate the control information based on at least one transport criterion relating to the transport of an object by each transport vehicle and / or at least one object criterion relating to the object to be transported.

[0209] (Item 15) The transport criteria are at least one of the following: safety criteria relating to the safety of transport operations, and efficiency criteria relating to the efficiency of transport operations, and / or include at least one of these. The system according to item 14, characterized in that the object criteria include at least one of the following: the type of object to be transported, the dimensions and / or shape of the object to be transported, and the mass of the object to be transported, or at least one of these.

[0210] (Item 16) The system described in any one of the preceding items, characterized in that each transport vehicle is movable with degrees of freedom of rotational motion and can rotate at any position about a vertical axis.

[0211] (Item 17) The system according to any one of the preceding items, characterized in that each transport vehicle has a housing structure on which at least one receiving area is arranged or formed inside it.

[0212] (Item 18) The system according to any one of the preceding items, characterized in that each transport vehicle has a housing structure on which at least one component of the following is arranged or formed inside or above: at least one drive unit for generating driving force, at least one energy storage unit that can be assigned to or is assigned to at least one of the drive units, at least one force transmission element that can transmit the driving force generated by the drive unit to the ground, a second data transmission device, and a control system.

[0213] (Item 19) The system according to any one of the preceding items, characterized in that the housing structure has a polygonal, in particular square, pentagonal, or hexagonal basic shape, so that a formation can be formed in which at least two transport vehicles are placed adjacent to each other and a common, in particular closed, receiving surface for at least one object is formed.

[0214] (Item 20) The system according to any one of the preceding items, characterized in that the housing structure is provided on a drive shaft having two or more, in particular wheel-shaped or roller-shaped, force transmission elements, thereby enabling the driving force generated by the drive device to be transmitted to the ground.

[0215] (Item 21) At least two transport vehicles have at least one coupling interface, in particular a magnetic or mechanical coupling interface, The system according to any one of the preceding items, characterized in that the connecting interface is configured to connect the at least two transport vehicles to each other to form a transport vehicle array.

[0216] (Item 22) The central control unit is configured to define at least one transport vehicle in a corresponding transport vehicle array as a pushing vehicle or towing vehicle in the transport vehicle array, and to generate control information for defining at least one transport vehicle in the transport vehicle array as a non-pushing vehicle or non-towing vehicle. The system according to item 21, characterized in that the transport vehicle defined as a pushing vehicle or a towing vehicle generates a force to move the transport vehicle defined as a non-pushing vehicle or a non-towing vehicle.

[0217] (Item 23) The coupling interface in at least one first transport vehicle comprises at least one coupling member that can transition between a coupled state and an uncoupled state. The at least one connecting member, in the connected state, interacts with the connecting interface of at least one other transport vehicle to form a connection, and in the unconnected state, does not interact with the connecting interface of at least one other transport vehicle to form a connection. The system according to item 21 or 22, characterized in that the central control device is configured to generate connection information for transitioning the at least one connecting member to the connected state and / or the unconnected state.

[0218] (Item 24) The system according to any one of the preceding items, characterized in that at least one transport vehicle comprises at least one gripping unit configured to grip objects and / or potential obstacles located on the transport path.

[0219] (Item 25) The system according to any one of the preceding items, characterized in that at least one transport vehicle comprises at least one cleaning unit configured to clean the running surface for the transport vehicle.

[0220] (Item 26) The system according to any one of the preceding items, further comprising at least one transport vehicle configured to accommodate multiple transport vehicles and to move them together within the system.

[0221] (Item 27) The system according to any one of the preceding items, further comprising an extension structure which extends the receiving area, in particular the receiving surface, of at least one transport vehicle and which is positioned on or positioned on the at least one transport vehicle via an interface.

[0222] (Item 28) The system according to item 27, wherein the extension structure has one or more extension surface elements that are movable relative to each other in at least one degree of freedom of motion, and the extension structure can be transformed into a first configuration having a first surface area and at least one second configuration that is different from the first configuration and has a further surface area different from the first surface area.

[0223] (Item 29) The system further comprises a first packaging machine and at least one further packaging machine. The system according to any one of the preceding items, characterized in that the central control device is configured to generate control information for moving at least one transport vehicle from the first packaging machine to at least one further packaging machine, or in the reverse direction.

[0224] (Item 30) The system further comprises at least one first functional unit and at least one further functional unit. The system according to any one of the preceding items, characterized in that the central control unit is configured to generate control information for moving at least one transport vehicle within the at least one first functional unit, within the at least one further functional unit, or from the first functional unit to the at least one further functional unit, or from the at least one further functional unit to the first functional unit.

[0225] (Item 31) The system according to any one of the preceding items, characterized in that the first packaging machine is connected to the at least one further packaging machine via at least one connecting structure, in particular a tunnel-shaped or tunnel-type connecting structure.

[0226] (Item 32) The system according to any one of the preceding items, characterized in that the transport path is arranged within a transport surface that is at least partially inclined and / or curved with respect to a horizontal reference plane.

[0227] (Item 33) The system further comprises a guide device having one or more guide members, The system according to any one of the preceding items, characterized in that the guide device is configured to enable the guided movement of at least one transport vehicle along at least one guide member.

[0228] (Item 34) The system according to any one of the preceding items, characterized in that the central control device is configured to control the operation of at least one transport device in the system based on the current and / or future arrangement and / or position of each transport vehicle.

[0229] (Item 35) The system further includes a detection device, The system according to any one of the preceding items, characterized in that the detection device is configured to detect the orientation and / or position of each transport vehicle in the at least one first region and / or the at least one second region of the system, and / or to detect the movement of each transport vehicle between the at least one first region and the at least one second region of the system.

[0230] (Item 36) The system according to item 35, characterized in that the at least one detection device is located on or formed inside the ceiling of a rack structure of at least one packaging machine in the system.

[0231] (Item 37) The system further includes a cleaning device, The system according to any one of the preceding items, characterized in that the cleaning device is configured as a cleaning station in particular for cleaning at least one component in each transport vehicle, such as a wheel-shaped or roller-shaped force transmission element in each transport vehicle.

[0232] (Item 38) The system further includes maintenance equipment, The system according to any one of the preceding items, characterized in that the maintenance device is configured in particular as a maintenance station for performing maintenance on at least one component in each transport vehicle.

[0233] (Item 39) The system further includes a charging device, The system according to any one of the preceding items, characterized in that the charging device is configured as a charging station, in particular for charging the electrical energy storage device of each transport vehicle in a non-contact manner.

[0234] (Item 40) The system according to any one of items 37 to 39, characterized in that the central control device is configured to generate control information for moving at least one transport vehicle into the washing device and / or the maintenance device and / or the charging device.

[0235] (Item 41) The system according to any one of the preceding items, characterized in that each transport vehicle is designed as an unmanned ground vehicle or an unmanned aerial vehicle.

[0236] (Item 42) A transport vehicle for the system described in any one of the preceding items.

[0237] (Item 43) A method for transporting at least one object to be packaged in at least one packaging machine, using a system described in any one of items 1 to 41, along or within at least one transport path extending between at least one first region of the system and at least one second region of the system, A step of using the loading device to load at least one object to be transported onto at least one transport vehicle that is movable in at least one translational and / or rotational degree of freedom in the first region of the system or within the first region, between at least one first region of the system and at least one second region of the system, or vice versa, based on control information generated by the central control unit of the system; The process of controlling the movement of the transport vehicle, on which the at least one object to be transported is loaded, to the second region of the system along at least one movement path or trajectory defined by the central control device, using the central control device; A method characterized by comprising the step of unloading the at least one object to be transported from each transport vehicle into the at least one second region of the system using the unloading device.

Claims

1. A system for transporting at least one object to be processed and, in particular, packaged in at least one packaging machine, along or within at least one transport path extending between at least one first region of the system and at least one second region of the system, A plurality of transport vehicles, each capable of moving between at least one first region of the system and at least one second region of the system, or vice versa, in at least one degree of freedom of translation and / or rotational motion based on control information generated by the central control unit of the system, and each having a receiving area for receiving at least one object to be transported, At least one loading device assigned to at least one first region of the system and configured to automatically load at least partially an object to be transported into each receiving region of the transport vehicle, At least one unloading device assigned to at least one second region of the system and configured to automatically unload, at least partially, a transported object from each receiving region of the transport vehicle, A system comprising a central control device configured to generate control information for controlling the operation of the transport vehicle between at least one first region of the system and at least one second region of the system, or vice versa.

2. The system further comprises a first data transmission device assigned to the central control unit and configured to transmit at least corresponding control information to each transport vehicle via data connection, particularly wireless data connection. The system according to claim 1, characterized in that each transport vehicle is provided with a second data transmission device configured to receive corresponding control information.

3. The system according to claim 1 or 2, characterized in that, within the system or within the components of the system, and particularly within the rack structure of the system, the first data transmission device is configured to form an independent system-side communication network for transmitting information to communication partners, particularly each transport vehicle.

4. The central control unit is configured to generate travel paths or tracks that can be assigned to or will be assigned to each transport vehicle. The system according to any one of the preceding claims, characterized in that the control information includes a corresponding travel path or trajectory.

5. The central control device is configured to generate travel paths or tracks assigned to at least two transport vehicles, and these travel paths or tracks may be identical or different. The system according to any one of the preceding claims, characterized in that the control information includes the travel path or track assigned to the at least two transport vehicles.

6. The central control device is configured to generate a travel path or track to be assigned to at least one transport vehicle group consisting of at least two transport vehicles. The system according to any one of the preceding claims, characterized in that the control information includes the travel route or track assigned to the at least one transport vehicle group.

7. The system according to any one of claims 4 to 6, characterized in that the central control device is configured to generate a corresponding travel path or trajectory based on at least one transport criterion relating to the transport of an object by each transport vehicle, and / or at least one object criterion relating to the object to be transported.

8. The transport criteria are at least one of the following: safety criteria relating to the safety of the transport process, speed criteria relating to the speed of the transport process, and efficiency criteria relating to the efficiency of the transport process, and / or include at least one of these. The system according to claim 7, characterized in that the object criteria are at least one of the following: the type of object to be transported, the dimensions and / or shape of the object to be transported, and the mass of the object to be transported, or include at least one of these.

9. The central control unit is configured to change the travel path or track initially assigned to at least one transport vehicle. The system according to any one of claims 5 to 8, characterized in that the control information includes corresponding changes to the travel path or trajectory initially assigned to the at least one transport vehicle.

10. The system according to any one of the preceding claims, characterized in that the central control device is configured to assign different priorities to at least two transport vehicles and / or change the corresponding priorities.

11. The system according to any one of the preceding claims, characterized in that the central control device is configured to control at least one operating parameter of at least one transport vehicle, in particular positive or negative acceleration, velocity, or at least one upper and / or lower threshold for at least one corresponding operating parameter.

12. The system according to any one of the preceding claims, characterized in that the central control unit is configured to assign a specific travel path or trajectory and / or specific operating parameters to at least one transport vehicle for a specific area within the system.

13. The system according to any one of the preceding claims, characterized in that the central control device is configured to generate control information for moving at least two transport vehicles into a specific formation, in particular into a specific spatial orientation and / or position relative to each other, or for at least two transport vehicles to form the formation while moving along or within the transport path.

14. The system according to claim 13, characterized in that the central control device is configured to generate the control information based on at least one transport criterion relating to the transport of an object by each transport vehicle and / or at least one object criterion relating to the object to be transported.

15. The transport criteria are at least one of the following: safety criteria relating to the safety of transport operations, and efficiency criteria relating to the efficiency of transport operations, and / or include at least one of these. The system according to claim 14, characterized in that the object criterion is at least one of the following: the type of object to be transported, the dimensions and / or shape of the object to be transported, and the mass of the object to be transported, or includes at least one of these.

16. The system according to any one of the preceding claims, characterized in that each transport vehicle is movable with degrees of freedom of rotational motion and can rotate at any position about a vertical axis.

17. The system according to any one of the preceding claims, characterized in that each transport vehicle has a housing structure on which at least one receiving area is arranged or formed inside it.

18. The system according to any one of the preceding claims, characterized in that each transport vehicle has a housing structure on which at least one component of the following is arranged or formed inside or above: at least one drive unit for generating driving force, at least one energy storage unit that can be assigned to or is assigned to at least one of the drive units, at least one force transmission element that can transmit the driving force generated by the drive unit to the ground, a second data transmission device, and a control system.

19. The system according to any one of the preceding claims, characterized in that the housing structure has a polygonal, in particular square, pentagonal, or hexagonal basic shape, so that at least two transport vehicles can be placed adjacent to each other and a formation can be formed such that a common, in particular closed, receiving surface for at least one object is formed.

20. The system according to any one of the preceding claims, characterized in that the housing structure is provided on a drive shaft having two or more, in particular wheel-shaped or roller-shaped, force transmission elements, thereby enabling the driving force generated by the drive device to be transmitted to the ground.

21. At least two transport vehicles have at least one coupling interface, in particular a magnetic or mechanical coupling interface, The system according to any one of the prior claims, characterized in that the connecting interface is configured to connect the at least two transport vehicles to each other to form a transport vehicle array.

22. The central control unit is configured to define at least one transport vehicle in a corresponding transport vehicle array as a pushing vehicle or towing vehicle in the transport vehicle array, and to generate control information for defining at least one transport vehicle in the transport vehicle array as a non-pushing vehicle or non-towing vehicle. The system according to claim 21, characterized in that the transport vehicle defined as a pushing vehicle or a towing vehicle generates a force to move the transport vehicle defined as a non-pushing vehicle or a non-towing vehicle.

23. The coupling interface in at least one first transport vehicle comprises at least one coupling member that can transition between a coupled state and an uncoupled state. The at least one connecting member, in the connected state, interacts with the connecting interface of at least one other transport vehicle to form a connection, and in the unconnected state, does not interact with the connecting interface of at least one other transport vehicle to form a connection. The system according to claim 21 or 22, characterized in that the central control device is configured to generate connection information for transitioning the at least one connecting member to the connected state and / or the unconnected state.

24. The system according to any one of the preceding claims, characterized in that at least one transport vehicle comprises at least one gripping unit configured to grip objects and / or potential obstacles located on the transport path.

25. The system according to any one of the preceding claims, characterized in that at least one transport vehicle comprises at least one cleaning unit designed to clean the running surface for the transport vehicle.

26. The system according to any one of the prior claims, further comprising at least one transport vehicle designed to accommodate multiple transport vehicles and to move them together within the system.

27. The system according to any one of the prior claims, further comprising an extension structure that extends the receiving area, particularly the receiving surface, of at least one transport vehicle and is capable of being or is positioned on the at least one transport vehicle via an interface.

28. The system according to claim 27, wherein the extension structure has one or more extension surface elements that are movable relative to each other in at least one degree of freedom of motion, and the extension structure can be transformed into a first configuration having a first surface area and at least one second configuration that is different from the first configuration and has a further surface area different from the first surface area.

29. The system further comprises a first packaging machine and at least one further packaging machine. The system according to any one of the preceding claims, characterized in that the central control device is configured to generate control information for moving at least one transport vehicle from the first packaging machine to at least one further packaging machine, or in the reverse direction.

30. The system further comprises at least one first functional unit and at least one further functional unit. The system according to any one of the preceding claims, characterized in that the central control device is configured to generate control information for moving at least one transport vehicle within the at least one first functional unit, within the at least one further functional unit, or from the first functional unit to the at least one further functional unit, or from the at least one further functional unit to the first functional unit.

31. The system according to any one of the preceding claims, characterized in that the first packaging machine is connected to at least one further packaging machine via at least one connecting structure, in particular a tunnel-shaped or tunnel-type connecting structure.

32. The system according to any one of the preceding claims, characterized in that the transport path is arranged within a transport surface that is at least partially inclined and / or curved with respect to a horizontal reference plane.

33. The system further comprises a guide device having one or more guide members, The system according to any one of the prior claims, characterized in that the guide device is configured to enable the guided movement of at least one transport vehicle along at least one guide member.

34. The system according to any one of the preceding claims, characterized in that the central control device is configured to control the operation of at least one transport device in the system based on the current and / or future arrangement and / or position of each transport vehicle.

35. The system further includes a detection device, The system according to any one of the preceding claims, characterized in that the detection device is configured to detect the orientation and / or position of each transport vehicle in the at least one first region and / or the at least one second region of the system, and / or to detect the movement of each transport vehicle between the at least one first region and the at least one second region of the system.

36. The system according to claim 35, characterized in that the at least one detection device is located on or formed inside the ceiling of a rack structure of at least one packaging machine in the system.

37. The system further includes a cleaning device, The system according to any one of the preceding claims, characterized in that the cleaning device is configured as a cleaning station, in particular for cleaning at least one component in each transport vehicle, such as a wheel-shaped or roller-shaped force transmission element in each transport vehicle.

38. The system further includes maintenance equipment, The system according to any one of the preceding claims, characterized in that the maintenance device is configured in particular as a maintenance station for performing maintenance on at least one component in each transport vehicle.

39. The system further includes a charging device, The system according to any one of the prior claims, characterized in that the charging device is configured as a charging station, in particular for charging the electrical energy storage devices of each transport vehicle in a non-contact manner.

40. The system according to any one of claims 37 to 39, characterized in that the central control device is configured to generate control information for moving at least one transport vehicle into the washing device and / or the maintenance device and / or the charging device.

41. The system according to any one of the preceding claims, characterized in that each transport vehicle is designed as an unmanned ground vehicle or an unmanned aerial vehicle.

42. A transport vehicle for the system described in any one of the preceding claims.

43. A method for transporting at least one object to be packaged in at least one packaging machine, using a system according to any one of claims 1 to 41, along or within at least one transport path extending between at least one first region of the system and at least one second region of the system, A step of using the loading device to load at least one object to be transported onto at least one transport vehicle that is movable in at least one translational and / or rotational degree of freedom in the first region of the system or within the first region, between at least one first region of the system and at least one second region of the system, or vice versa, based on control information generated by the central control unit of the system; The process of controlling the movement of the transport vehicle, on which the at least one object to be transported is loaded, to the second region of the system along at least one movement path or trajectory defined by the central control device, using the central control device; A method characterized by comprising the step of unloading the at least one object to be transported from each transport vehicle into the at least one second region of the system using the unloading device.

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