Transport device, processing device, method for transporting and / or processing an object

Abstract

The invention relates to a vehicle, which is used in particular for transporting objects, in particular workpieces. Preferably, one or more sensor devices are provided, by means of which in particular the surrounding area of ​​the vehicle can be detected.

Description

[0001] This application is a divisional application of the invention patent application with application number 201980088357.0 (the corresponding international application number is PCT / EP2019 / 082392), application date of November 25, 2019, and invention name of "Transportation device, processing equipment, method for transporting and / or processing objects". Technical Field

[0002] The invention relates to a vehicle which can be used in particular as a component of a transport device in a processing plant. The invention also relates to a method for transporting and / or processing objects. Background Art

[0003] In processing plants, for example painting plants, roller conveyors, chain conveyors or overhead conveyors may be used in particular for transporting the workpieces to be painted. Summary of the invention

[0004] The object of the present invention is to provide a vehicle and / or a transport device with which objects to be transported can be transported simply and flexibly.

[0005] This object is achieved according to the invention by the following features:

[0006] The vehicle is preferably suitable for transporting objects, in particular vehicle bodies.

[0007] Preferably, the vehicle comprises:

[0008] matrix;

[0009] a chassis, by means of which the base body is placed on a drivable surface and / or is movable on the drivable surface;

[0010] a drive device for driving a vehicle;

[0011] A receiving device comprises one receiving element, two receiving elements, or more than two receiving elements for receiving at least one object.

[0012] The drivable surface The drivable surface is in particular a floor, for example a solid floor, in particular a workshop floor.

[0013] The drivable surface consists in particular of concrete or asphalt or metal or comprises concrete, asphalt and / or metal.

[0014] The vehicle is in particular designed to be self-propelled and / or autonomous.

[0015] The vehicle is preferably ground-connected.

[0016] Preferably, the vehicle is guided or can be guided in an automatically controlled and / or contactless manner.

[0017] It may be provided that the receiving device comprises only two receiving elements.

[0018] Preferably, only one object, in particular a vehicle body, can be received by means of the two receiving elements.

[0019] Preferably, a plurality of receiving elements, in particular all receiving elements, extend in a common plane, which extends in particular vertically and / or parallel to a longitudinal center axis of the vehicle.

[0020] A plurality of receiving elements, in particular all receiving elements, preferably extend in a vertical longitudinal center plane of the vehicle.

[0021] In particular, the center axes or longitudinal axes of the individual receiving elements lie in a common plane, in particular a vertical longitudinal center plane.

[0022] At least in the state in which the vehicle is arranged on a substantially horizontal drivable surface, the longitudinal axes or center axes of a plurality of receiving elements, in particular all receiving elements, are preferably oriented parallel to one another and / or parallel to the direction of gravity.

[0023] It may be advantageous if the longitudinal center axis of the vehicle predetermines a main driving direction of the vehicle or two main driving directions of the vehicle.

[0024] One or more receiving elements, in particular all receiving elements, are preferably the only elements which protrude upward from the base body of the vehicle.

[0025] Preferably, one or more receiving elements, in particular all receiving elements, as the only components of the vehicle, protrude beyond the base body by more than approximately 5% or more than approximately 10% of the height of the base body.

[0026] It can be provided that the one receiving element, the two receiving elements or the more than two receiving elements are arranged movably on the base body.

[0027] In particular, the one receiving element, the two receiving elements or the more than two receiving elements are arranged on the base body so as to be displaceable parallel to the direction of gravity.

[0028] The direction of gravity in this description generally refers to a height direction which is oriented substantially perpendicularly to the traversable surface on which the vehicle can travel.

[0029] As an alternative or in addition thereto, it can be provided that one receiving element, two receiving elements or more than two receiving elements are connected to the base body in a non-movable manner.

[0030] Furthermore, it can be provided that all receiving elements are arranged movably on the base body. Alternatively, it can be provided that all receiving elements are arranged immovably on the base body.

[0031] The vehicle preferably comprises a lifting drive, by means of which the one receiving element, the two receiving elements or the more than two receiving elements can be raised and / or lowered relative to the basic body.

[0032] In particular, the one receiving element, the two receiving elements or the more than two receiving elements are moved out of the base body and / or into it by means of a lifting drive.

[0033] The term "moving out" and "moving in" is not necessarily understood to mean a complete release or a complete lowering. Rather, it can also be provided that the section of the receiving element protruding from the base body is extended or shortened.

[0034] It may be advantageous if the vehicle comprises a scraper device, by means of which dirt adhering to the one or more receiving elements can be scraped off from the one or more receiving elements when the one or more receiving elements are moved in or lowered. Unwanted dirt of the interior of the base body can thereby preferably be avoided or at least reduced.

[0035] It may be advantageous if a plurality of receiving elements, in particular all receiving elements, are coupled to one another and / or are movable only jointly relative to the base body.

[0036] In particular, it can be provided that a plurality of receiving elements, in particular all receiving elements, can be raised only simultaneously and / or can be lowered only simultaneously.

[0037] It may be advantageous if the lift drive of the vehicle comprises a lift drive element, wherein the lift drive element preferably connects a lift drive motor and two or more receiving elements to one another, whereby the two or more receiving elements can be moved together by means of the lift drive motor.

[0038] The lifting drive element is in particular a lifting drive belt or a lifting drive chain.

[0039] Preferably, two or more receiving elements can be jointly raised and / or lowered relative to the base body by means of a lifting drive element.

[0040] It can be advantageous if the lifting drive element extends through a drive shaft of a drive device for driving the vehicle.

[0041] As an alternative or in addition thereto, provision can be made for the lifting drive element to extend through underneath a drive shaft of a drive device for driving the vehicle.

[0042] Two or more receiving elements are preferably arranged on mutually opposite sides of the drive shaft of the drive device.

[0043] In one embodiment of the receiving element, for example, a lubrication device, in particular an integrated lubrication device, can be provided.

[0044] The lubricating device is preferably integrated into the receiving element, in particular into the shank section and / or the receiving section of the receiving element, for example is arranged completely within the shank section and / or the receiving section.

[0045] The lubricating device preferably comprises a container for containing the lubricant and a component element for controllably and / or adjustably conveying the lubricant from the container to the object to be lubricated.

[0046] The object to be lubricated is, in particular, a part of a lifting drive for raising and / or lowering a receiving element relative to a base body, in which the receiving element is arranged, in particular movably mounted, on or in the base body.

[0047] For example, it can be provided that the receiving element is arranged displaceably on the base body by means of a screw element, in particular can be moved out of the base body and / or moved into the base body.

[0048] The lubricating device is preferably designed such that lubricant can be applied to the object to be lubricated, in particular the screw element, in particular in order to ensure reliable lubrication thereof and thus to ensure a reliable lifting and lowering operation of the receiving element.

[0049] For this purpose, the component element is for example controlled on demand and / or controlled by time by means of a time element. For example, it can be provided that the component element is automatically activated after a predetermined number of lifting cycles of the receiving element to ensure that lubricant is regularly added to the object to be lubricated, especially the screw element.

[0050] The component element can in particular be a valve which is arranged on the bottom side of the container and / or is directed toward the object to be lubricated and which can be opened and closed as required.

[0051] The lubricating device, in particular the container and / or the component element, is preferably accessible through the receiving section and / or by removing the receiving section, for example from above, in particular for replacement and / or filling with further lubricant.

[0052] It can be advantageous if the drive device has a drive shaft which connects two drive elements of the drive device, in particular drive wheels, to one another. The drive shaft is preferably oriented substantially transversely to the longitudinal center axis of the vehicle and / or the main direction of travel, in particular at least approximately perpendicularly to the longitudinal center axis of the vehicle and / or the main direction of travel.

[0053] In particular, it may be provided that the vehicle has only one drive axle.

[0054] It can be advantageous if the drive device has a drive shaft which connects two drive elements of the drive device, in particular drive wheels, to one another, wherein the drive shaft is arranged at least approximately in the middle of a base body of the vehicle with respect to a longitudinal center axis of the vehicle and / or a main direction of travel.

[0055] The expression “at least approximately in the middle” can be understood in particular to mean that one or more drive elements of the drive shaft, for example one or more rotation axes about which the drive wheels can rotate, are arranged away from the horizontal transverse center axis of the vehicle by at most approximately 20% of the total longitudinal length of the vehicle.

[0056] Preferably, the drive elements, in particular the drive wheels, are arranged at a distance relative to one another which is greater than approximately 50%, in particular greater than approximately 70% of the maximum width of the vehicle and / or the base body.

[0057] It may be advantageous if one or more support rollers are arranged in each of the four corner regions of the vehicle.

[0058] The support rollers are in particular non-driven support rollers.

[0059] Preferably, the support roller is a support roller which is freely rotatable through 360° about a substantially vertical axis of rotation.

[0060] It can be provided that the drive device has a drive shaft which connects two drive elements of the drive device, in particular drive wheels, to one another, wherein the drive elements are jointly mounted on the base body by means of the drive shaft.

[0061] The drive shaft comprises, in particular, a shaft element which rigidly connects the drive wheels to one another.

[0062] The drive axle is therefore in particular a rigid axle. Preferably no independent suspension is provided.

[0063] However, an independent suspension may also be provided in an alternative design. A coupling device for the mechanical coupling of a drive element, in particular a drive wheel, is preferably provided here, in particular to ensure a uniform depression of the drive element, in particular a drive wheel, on a traversable foundation.

[0064] Preferably, a plurality of drive elements of the drive device, in particular drive wheels, can be driven independently of one another.

[0065] In particular, for this purpose it can be provided that the vehicle comprises a plurality of drive motors.

[0066] For example, each drive element, in particular a drive wheel, is assigned a drive motor.

[0067] The drive motor is in particular an electric motor.

[0068] It may be advantageous if the drive device comprises a drive shaft and / or one or more drive elements which can be lowered and / or pressed down onto the ground and / or can be raised from the ground by means of an actuating device.

[0069] The drive shaft and / or one or more drive elements are preferably integrated into a base body of the vehicle and / or are surrounded on five sides by the base body.

[0070] The actuating device is preferably accessible on the outside of the vehicle in order to actuate it.

[0071] In particular, a preferably inaccessible and / or protected drive assembly of the drive is therefore provided, wherein the drive can be simultaneously disabled, for example by being able to lift one or more drive elements from the outside of the vehicle by means of an operating device, in particular in order to be able to move the vehicle manually in the event of a drive failure.

[0072] Furthermore, the actuator can preferably be used to adjust the downforce of one or more drive elements, in particular drive wheels, on the traversable surface.

[0073] It can be advantageous to provide an axle element rotatably mounted about an axis extending parallel to the longitudinal center axis of the vehicle, which axle element in particular firmly connects two drive elements, in particular drive wheels, to one another. The drive elements, in particular drive wheels, preferably have mutually fixed, in particular identical, axes of rotation.

[0074] The shaft element is rotatably or pivotably supported on a base body of the vehicle, in particular by means of a bearing element. In particular, the bearing element is supported on the base body in a variable height and / or spring-loaded manner. Preferably, the height of the shaft element and / or the bearing element relative to the base body can be adjusted by means of an actuating device.

[0075] Preferably, the bearing element is designed to be essentially U-shaped.

[0076] Preferably, the bearing element comprises a central part, at the ends of which a leg is respectively arranged. The bearing element is preferably rotatably or pivotably mounted on the base body by means of the leg.

[0077] The other leg of the bearing element is preferably engaged with a spring or is spring-loaded. In particular, the bearing element can be elastically movable relative to the basic body.

[0078] The central part of the bearing element is preferably a bearing region, at which the shaft element is rotatably or pivotably supported.

[0079] The U-shaped bearing element in particular surrounds a gap through which a lifting drive element of the lifting drive extends.

[0080] It can be advantageous if the gap is a spatial region which is delimited by the legs of the bearing element on opposite sides.

[0081] It can be provided that the one receiving element, the two receiving elements or the more than two receiving elements each have a receiving section which tapers toward an upper end with respect to the direction of gravity.

[0082] In particular, it can be provided that one or more receiving sections, in particular all receiving sections, are designed essentially in the shape of a cone, a part of a cone, a truncated cone or a part of a truncated cone.

[0083] The object and / or the at least partially complementary engagement region of the adapter device for receiving one or more objects can thereby achieve a particularly stable fixation of the object on the vehicle. In particular, the tapering design of the receiving section can prevent the object from tipping over. Also by means of only one or only two receiving elements, in particular each only in the form of a pin, a bolt or a mandrel, a preferably stable reception of the object on the vehicle can thereby be achieved.

[0084] In one embodiment of the present invention, it can be provided that the one receiving element, the two receiving elements or the more than two receiving elements can be arranged in different positions relative to the base body. Preferably, the one receiving element, the two receiving elements or the more than two receiving elements protrude above the upper side of the base body and / or protrude from the base body in the lowest position with respect to the direction of gravity.

[0085] It can be provided that the one receiving element, the two receiving elements or the more than two receiving elements have a height, which is measured parallel to the direction of gravity, which is greater than a height of a base body of the vehicle, which is measured parallel to the direction of gravity.

[0086] In particular, the receiving element or elements are designed in one or two parts.

[0087] For example, one or more receiving elements are each designed as a metal rod.

[0088] Preferably, the receiving element or elements each comprise a substantially cylindrical, preferably round-cylindrical, shank section, at the end of which the receiving section is respectively arranged.

[0089] Preferably, the length of the receiving element or elements in one or two directions extending perpendicularly to the direction of gravity is at most approximately 10%, preferably at most approximately 5%, of the longitudinal length or transverse length of the base body of the vehicle.

[0090] The base body is preferably a component of the vehicle or comprises a supporting structure of the vehicle, in particular a metal frame.

[0091] Preferably, the base extends over at least about 80%, preferably at least about 90%, of the overall length or overall width of the vehicle.

[0092] It may be advantageous if the vehicle comprises one or more reception sensors, by means of which an object arranged on at least one reception element can be detected and / or correct fastening of the object can be monitored.

[0093] As an alternative or in addition thereto, it can be provided that the vehicle comprises one or more reception sensors, by means of which the orientation and / or the position of an object arranged at a distance from the at least one reception element can be detected.

[0094] In particular, the at least one receiving sensor can be used to detect the orientation and / or position of the object before the at least one receiving element is raised or extended.

[0095] The object to be detected or monitored by means of the at least one receiving sensor is in particular an object to be transported, in particular a vehicle body, or also a combination of an object to be transported and an adapter device for receiving the object.

[0096] It can be advantageous if at least one receiving sensor is arranged on the base body.

[0097] In particular, it may be provided that two receiving sensors or more than two receiving sensors are arranged on the base body in a region surrounding the receiving element or elements.

[0098] In particular, the approach and / or the position and / or the presence of an object on the receiving element and / or in the region of the receiving element can be detected and / or monitored by means of the receiving sensor or sensors.

[0099] As an alternative or in addition thereto, it can be provided that at least one reception sensor is arranged on the reception element.

[0100] In particular, a plurality of reception sensors can be arranged on a plurality of reception elements.

[0101] In particular, the reception sensor can be designed as a contact sensor.

[0102] The receiving sensor arranged on the base body is preferably a receiving sensor operating in a contactless manner.

[0103] The at least one receiving sensor preferably interacts with a detection aid located on the object to be received or received.

[0104] In particular, an opening, such as a hole, can be provided in the adapter device for receiving an object. In particular, the opening can be detected by means of a receiving sensor.

[0105] It may be advantageous if a cover for covering the interior of the base body is arranged on the upper side of the base body.

[0106] Preferably, the cover lies flat on the base body.

[0107] Preferably, the cover is arranged and / or designed at least approximately completely around the entire periphery so as to be flush with the support region of the base body.

[0108] For example, it can be provided that the cover is closed at least approximately completely around the entire periphery in a flush manner with the supporting region of the base body.

[0109] It is therefore preferred that the upper surface of the vehicle is substantially completely flat, in particular without taking into account one or more protruding receiving elements.

[0110] The cover is therefore preferably not removable without the use of tools.

[0111] The cover preferably lies only on the base body and is therefore preferably held on the base body only by gravity and / or by lateral clamping.

[0112] Preferably, the covering element covers at least approximately 40%, for example at least approximately 60%, in particular at least approximately 80%, of the upper side of the vehicle, in particular of the base body.

[0113] The cover is preferably constructed in one piece or in multiple pieces. In particular, a plurality of cover elements corresponding to the above-mentioned cover are provided.

[0114] For example, the cover can be lifted off the base body by means of a suction cup arrangement.

[0115] It may be advantageous if a cover is arranged on the upper side of the base body for covering the interior of the base body, wherein the cover is preferably designed to be at least partially transparent.

[0116] The term "transparent" is particularly understood to mean that a person can see through the cover and thus at least see the individual vehicle components located in the interior of the base body. This can increase the limit of preventing incorrect operation of the vehicle, thus reducing the load and / or wear of the vehicle or its components.

[0117] The cover may be transparently tinted, for example.

[0118] The base body preferably comprises one or more side surfaces which are designed, for example, to be inclined.

[0119] One or more side surfaces preferably extend obliquely, in particular at an angle of between approximately 30° and 70° to the horizontal and / or the vertical.

[0120] One or more emergency switches are preferably arranged at one or more sides. As a result, the emergency switches can be particularly easily approached, thus increasing safety during vehicle operation.

[0121] The term “emergency” is to be understood in particular as an emergency stop, for example a stop, of movable and / or mobile components, members and / or vehicles etc. Optionally, provision can also be made for the power supply to be interrupted in an emergency.

[0122] As an alternative or in addition thereto, provision can be made for one or more (further) emergency switches to be arranged on the (further) vehicle or on one or more further components of the transport device and / or the handling system and / or the logistics system.

[0123] Handling equipment, especially processing equipment.

[0124] Preferably, one or more emergency switches, in particular each emergency switch, are equipped with a communication device, in particular one communication device in each case. For example, one or more or all of the emergency switches each include a communication device, wherein by means of the communication device in particular an emergency signal can be transmitted to one or more or all vehicles in order to put the one or more or all vehicles into emergency operation.

[0125] In an emergency operation, the vehicle is preferably stopped immediately and / or moved out of the danger zone. The braking action is preferably adapted to the loading state of the vehicle, in particular to avoid damage to objects arranged on the vehicle, in particular workpieces, and / or separation of the vehicle from the workpieces.

[0126] It may be advantageous if, with the aid of a communication device, in particular an emergency switch and / or a communication device of the vehicle, an emergency signal is transmitted, in particular directly and / or indirectly, via a superordinate control device for controlling and / or monitoring a plurality of vehicles to one or more, in particular all vehicles, when the emergency switch is actuated.

[0127] One or more, in particular all, vehicles preferably each comprise a control device, by means of which the emergency signal can be processed, in particular before the vehicle is put into emergency operation.

[0128] Preferably, it can be provided that, by means of the control device, it can be tested whether the corresponding vehicle must be put into emergency operation compulsorily. For example, the following can be taken into account in this test:

[0129] the position of the vehicle relative to one or more other vehicles; and / or

[0130] the distance between the vehicle and one or more other vehicles; and / or

[0131] the position of the vehicle relative to the emergency switch which has triggered the emergency signal; and / or

[0132] the distance between the vehicle and the emergency switch which has triggered the emergency signal; and / or

[0133] the current speed of the vehicle at the moment the emergency signal is transmitted and / or triggered; and / or

[0134] In particular, the vehicle has a predetermined and / or calculated movement path relative to one or more further vehicles and / or relative to the emergency switch which has triggered the emergency signal.

[0135] For example, a test can determine whether there is a danger for the respective vehicle and / or for objects arranged thereon, in particular workpieces, and / or whether a danger is posed by the vehicle and / or by objects arranged thereon to one or more objects and / or persons, wherein if this is the case, the vehicle is put into emergency operation, and / or wherein if this is not the case, the vehicle continues to operate in the previously existing operation.

[0136] In particular, it can be provided that by means of a test it is ascertained whether the vehicle receiving the emergency signal is at a sufficiently large distance from other vehicles and / or other objects and / or persons and / or the emergency switch which has triggered the emergency signal and whether this distance is followed based on a predetermined and / or expected movement path. If this is the case, the vehicle continues to operate, in particular in the previously existing operation. In particular, if this is not the case, the vehicle is put into emergency operation.

[0137] The vehicle preferably has a communication device by means of which it communicates or can communicate directly or indirectly, in particular via a superordinate control unit, with one or more other vehicles, for example for transmitting emergency signals and / or position signals and / or status signals and / or task signals.

[0138] For example, provision can be made for one or more vehicles, for example, which are arranged in the vicinity of the vehicle whose emergency switch is activated or has been activated, to receive the emergency signal and then to stop, in particular to be put into emergency operation.

[0139] Here, the surrounding environment is, for example, a spatial region surrounding a transmitting device of the communication device for transmitting an emergency signal, wherein the size of the spatial region is derived in particular from the signal strength and / or the range of action of the transmitting device. For example, a transmitting device configured as a short-range transmitter can be provided, by means of which, for example, an emergency signal can be transmitted over a distance of up to approximately 20 m, in particular up to approximately 10 m. Only vehicles located in this spatial region receive the emergency signal and are subsequently placed in emergency operation. Vehicles located outside this spatial region remain in the previously existing operating mode.

[0140] For example, a Bluetooth Low Energy transmitter (BLE transmitter) may be provided as the short-range transmitter.

[0141] In another embodiment, it can be provided that one or more (other) emergency switches are arranged on the vehicle or on one or more other components of the transport device and / or the processing device and / or the logistics device. Preferably, one or more emergency switches are equipped with a communication device, for example, one or more emergency switches each include a communication device, wherein in particular an emergency signal can be transmitted to one or more vehicles by means of the communication device in order to put one or more vehicles into emergency operation.

[0142] It may be advantageous if different types of emergency operating situations can be triggered by means of one or more emergency switches, wherein these different types of emergency operating situations are distinguished from one another, for example, by:

[0143] a) by the extent or size or dimensions of the environment in which the vehicle is placed in emergency operation, and / or

[0144] b) by standards for testing by control devices of the corresponding vehicle, and / or

[0145] c) By targeted manipulation of different groups of vehicles.

[0146] It may be advantageous if the vehicles are assigned to different zones or subzones depending on their respective position, wherein preferably each zone or subzone is assigned a separate emergency operating situation. By actuating the emergency switch in a certain zone or in a certain subzone or for a certain zone or for a certain subzone, preferably at least those vehicles or just those vehicles or only those vehicles that are assigned to this zone or subzone are put into emergency operation. Preferably, all other vehicles outside this zone or subzone remain in the previously existing operating mode.

[0147] In order to assign the vehicle to different zones or subzones, in particular sensor elements for detecting the vehicle and / or sensor elements for detecting the surroundings at the vehicle can be used. In particular, position sensors of the vehicle or external photoelectric sensors, scanners or other detectors can be used.

[0148] These areas or subareas are, in particular, treatment areas, for example treatment stations, and / or travel paths, in particular travel paths outside the treatment areas, and / or support areas.

[0149] The position identification and / or position monitoring of one or more vehicles, in particular all vehicles, is preferably performed over all conceivable movement paths and / or stop areas of the vehicles. In particular, uninterrupted and / or spatially and / or temporally continuous position identification and / or position monitoring is provided. This is to be understood in particular as a repetition rate of at least 1 time per second, in particular at least 10 times per second, in the position identification and / or position monitoring.

[0150] It may be advantageous to detect and / or monitor the position of one or more or all vehicles in general along at least one processing area, in particular at least one processing station.

[0151] In one embodiment of the invention, it can be provided that the vehicle put into emergency operation sends a signal to one or more other vehicles in the vicinity of the vehicle, wherein the one or more vehicles are put into a state of concern by means of the signal, in particular in order to avoid a collision with the vehicle that has been put into emergency operation, for example, which has been suddenly braked. For this purpose, the one or more vehicles are braked in particular to a reduced speed compared to before. As an alternative or in addition thereto, it can be provided that the one or more vehicles in the state of concern follow a movement path that deviates from the originally set movement path, in particular in order to bypass a conceivable risk that could lead to the actuation of the emergency switch.

[0152] For position detection and / or position monitoring of one or more vehicles, in particular all vehicles, for example, an auxiliary positioning device may be provided which is integrated into or arranged on or in the ground surface on which the respective vehicle can travel.

[0153] The auxiliary positioning device is preferably or includes at least one fixed element which can be detected by means of a detection device arranged on the vehicle, for example by means of a sensor and / or a camera, and by means of which the position of the vehicle can be inferred, for example by using the identification of the exact position of the auxiliary positioning device.

[0154] The auxiliary positioning device can be, for example, an inductive device and / or a coding tape, in particular a QR coding tape.

[0155] Preferably, the auxiliary positioning device extends along the movement path of one or more vehicles and has local positioning features that can be assigned unambiguously along the movement path, so that the position of the vehicle, in particular at each point along the movement path, can be determined unambiguously, in particular by means of a control device of the respective vehicle and / or by means of a superordinate control device, wherein the communication between the respective vehicle and the superordinate control device is preferably carried out via a secure protocol.

[0156] In one embodiment, it may be provided that the vehicle comprises a plurality of position sensors which are arranged at different positions, in particular along a longitudinal center axis of the vehicle and / or along a direction running parallel to the longitudinal center axis of the vehicle.

[0157] The one or more position sensors are used in particular to detect one or more auxiliary locating devices, in particular auxiliary locating devices arranged fixedly on the ground and / or integrated into the ground, for example one or more coding strips, in particular QR coding strips.

[0158] It may be advantageous to carry out the position determination simultaneously at mutually different positions along the movement path of the vehicle by means of a plurality of position sensors.

[0159] It may be advantageous to calculate one or more virtual position sensors from a plurality of, in particular, actual position sensors by means of a control device of the vehicle. In particular, a virtual position sensor which is arranged exactly centrally in the vehicle with respect to the longitudinal direction of the vehicle and / or with respect to the transverse direction of the vehicle may be calculated, whose preferably likewise calculated sensor values, in particular due to the central arrangement, enable an optimal position determination and / or orientation determination of the vehicle.

[0160] The superordinate control device preferably coordinates a plurality of vehicles, in particular all vehicles. In particular, the superordinate control device can be used to use information about the vehicle positions in order to compensate for safety-related position deviations and / or speed deviations that could lead to a dangerous situation, for example by adapting the movement path and / or operating parameters of one or more vehicles and / or by putting one or more vehicles into emergency operation.

[0161] It can be advantageous if the upper side of the vehicle is arranged offset to the rear relative to the lower side of the vehicle. In particular, inclined side surfaces can be easily realized in this way. Furthermore, an optimized detection range for detecting the surroundings can be derived by means of the sensor to be described, in particular the sensor element of the sensor device.

[0162] It may be advantageous if the base body is designed to be essentially rectangular, wherein two or four corner regions of the base body are each provided with an outwardly protruding sensor device of the vehicle.

[0163] Preferably, one or more sensor devices each have one or more sensor elements for detecting the surroundings of the vehicle. Preferably, the one or more sensor elements each individually or jointly have a detection range of at least approximately 250°, in particular approximately 270°, in a substantially horizontal plane.

[0164] Preferably, one or more sensor devices are connected to a control device of the vehicle, wherein the control device is preferably constructed and arranged so that the vehicle can be operated in two, three or more different operating modes depending on sensor values ​​detected and / or determined by means of the one or more sensor devices.

[0165] For example, it may be provided that one of the operating modes is normal operation, in which no unexpected and / or unknown and / or interfering objects are situated in the driving path of the vehicle or in another predetermined surrounding area.

[0166] As an alternative or in addition thereto, provision may be made for one of the operating modes to be a warning mode, in which one or more unexpected and / or unknown and / or interfering objects are situated in a predefined warning section of the vehicle's driving path or another predetermined surrounding area.

[0167] Furthermore, as an alternative or in addition thereto, provision may be made for one of the operating modes to be a stationary operation, in which one or more unexpected and / or unknown and / or interfering objects are arranged in a predefined stationary section of the vehicle's driving path and / or other predetermined surrounding areas.

[0168] The warning section and / or stop section and / or different environmental areas for triggering alarm operation and / or stop operation are preferably derived from a predetermined minimum distance and / or maximum distance between an unexpected and / or unknown and / or interfering object and the vehicle, wherein the minimum distance and / or maximum distance can preferably be changed as a function of the current load of the vehicle and / or the current driving direction and / or the current driving speed, preferably with the aid of the control device.

[0169] Furthermore, it can be provided that the vehicle comprises one or more sensor devices, by means of which the spatial surroundings of the vehicle together with the spatial surroundings and / or spatial regions of objects transported by means of the vehicle can be detected and / or monitored.

[0170] In all embodiments of the vehicle, preferably one or more sensor devices of the vehicle are respectively provided, by means of which the corresponding surrounding area of ​​the vehicle can be detected.

[0171] In particular, a three-dimensional surrounding, i.e., a three-dimensional surrounding area, can be detected by means of one or more sensor devices, wherein the detection itself is preferably performed in a two-dimensional or also three-dimensional manner, i.e., objects detected in the detected surrounding area are preferably detected with respect to their size and position relative to the vehicle. In particular, the size and position of the detected object are calculated from the sensor data of the one or more sensor devices by means of a control device of the vehicle.

[0172] The surrounding area is preferably composed of a plurality of subareas or includes a plurality of subareas. These subareas can be constructed overlapping each other or cover completely different spatial areas.

[0173] By means of one or more sensor devices, preferably subregions of the surrounding area that differ from one another can be detected.

[0174] The subareas are divided, for example, by selecting boundary lines at different distances from the vehicle. The surrounding area can be divided, for example, into three subareas in the horizontal direction.

[0175] The innermost subarea which is at the shortest distance from the vehicle, in particular the subarea which directly adjoins the vehicle, is, for example, a protection subarea.

[0176] This protection zone is preferably such an area, in which, in particular for undisturbed operation, no objects are allowed to be arranged except the vehicle itself (and possibly the object). Preferably, when an object is detected in this protection zone, the vehicle is immediately and / or automatically placed in a stopped operation.

[0177] In particular, the protective partition is designed to be annular in horizontal section.

[0178] A further subarea connected to the protection subarea is, for example, a warning subarea. The warning subarea preferably surrounds the protection subarea in an annular manner, in particular in an annular manner with respect to a horizontal section of the vehicle, the protection subarea and the warning subarea.

[0179] The warning zone is in particular an area in which no objects other than the vehicle itself should be arranged, wherein the detection of an object does not necessarily lead to the triggering of a stop operation. Instead, when an object is detected in the warning zone, the vehicle is preferably immediately and / or automatically placed in a warning operation.

[0180] Outside the warning zone there is in particular a free zone which can be detected by one or more sensor devices if necessary, but which is not monitored for the presence of objects or the like.

[0181] The objects, which are referred to as objects detected by the at least one sensor device, are in particular objects which should not be at the detected position in the expected normal operation of the vehicle and / or the processing device. However, one or more sensor devices also detect objects which are components of the transport device and / or the processing device and whose presence is necessary.

[0182] It is preferably tested, in particular calculated, by means of the control device of the vehicle and / or by means of a superordinate control unit whether the detected object is an unexpected and / or unknown and / or interfering object or an object whose presence is acceptable.

[0183] Preferably, the test is performed before the vehicle is placed into warning operation or out of operation.

[0184] Depending on the current state of the vehicle, in particular whether the vehicle is loaded or unloaded and / or depending on the current speed and direction at which the vehicle is moving, the boundary lines between the subareas are preferably changed. For example, at relatively high speeds of the vehicle, the boundary lines in the area in front of the vehicle (with respect to the direction of travel) are preferably moved away from the vehicle, so that an expansion of the subareas, in particular the warning subareas and / or the protection subareas, is achieved in front of the vehicle.

[0185] When driving around a bend, for example, the bending and / or at least partial lateral displacement of the subareas can be provided such that they cover as large a spatial area as possible, particularly in the area in front of the vehicle along the actual driving distance (movement path).

[0186] The area behind the vehicle (with respect to the direction of travel) usually has to be monitored less carefully, so that the subarea, in particular the part of the warning subarea and / or the protective subarea located behind the vehicle, can be reduced.

[0187] By means of the vehicle control device and / or by means of a higher-level control device, the boundary course and / or size and / or shape of a zone, in particular a warning zone and / or a protective zone, is preferably adapted regularly, for example several times per minute or per second, to the respective current state.

[0188] As an alternative or in addition thereto, the adaptation may in particular always take place when the vehicle undergoes a state change, for example a change of direction, loading, unloading, acceleration or the like.

[0189] Furthermore, the current position of the vehicle within the transport device and / or the handling device can preferably be taken into account as a status feature which has an influence, in particular, on the course of the boundary lines of the subareas.

[0190] In particular, the subareas can be varied in their size and / or shape depending on the current position of the vehicle within the transport device and / or the handling system.

[0191] For example, when a vehicle approaches a workstation and it is expected that parts of the workstation will enter the warning zone and / or the protection zone (or the warning zone and / or the protection zone extend into parts of the workstation), the zones, in particular the warning zone and / or the protection zone, can be reduced so that the parts of the workstation are located outside the warning zone and / or the protection zone.

[0192] In particular, for the desired straight-line travel in the workstation, the lateral surroundings detection can be reduced or completely eliminated.

[0193] As an alternative or in addition thereto, provision can be made for a workstation mode to be activated when the vehicle approaches a workstation, in which the maximum speed of the vehicle is reduced in order to compensate for the increased risk potential caused by reduced monitoring of the surroundings. For example, the approach to the workstation can be detected by scanning of an auxiliary positioning device and / or by position sensors and / or distance sensors.

[0194] In particular, the following may be taken into account for determining the boundary line course and / or size and / or shape of the partitions:

[0195] - in particular determining the speed and direction of travel of the vehicle using a laser scanner and / or an incremental encoder, preferably with the aid of software;

[0196] - Hall sensor signals of one or more drive motors of the drive device.

[0197] Preferably, uniform signals are calculated from this, in particular the driving speed and the rotational speed. If the optionally performed plausibility check yields inconsistent values, an emergency stop is preferably triggered (in particular an emergency run is initiated). If the plausibility check yields consistent values, the boundary line course and / or size and / or shape of the partition is preferably determined from these values.

[0198] Furthermore, it may be advantageous to carry out a partitioning in the vertical direction as an alternative or in addition to a partitioning in the horizontal direction.

[0199] In particular, it can be provided that a subarea is defined in the vertical direction, within which the vehicle is arranged. The subarea is in particular a vehicle subarea.

[0200] The vehicle subarea extends in a vertical direction, in particular from the ground on which the vehicle can be driven, to an upper side of a base body of the vehicle or to an upper end of one or more receiving elements.

[0201] By detecting a spatial region of the surrounding area which forms or includes the vehicle zone, it is therefore possible to ascertain in particular whether the vehicle is approaching other vehicles and / or whether the vehicle itself is in danger of colliding with an object.

[0202] Another subarea in the vertical direction is determined by the size of the object arranged on the vehicle. The subarea covering the object extends in the vertical direction, in particular, from the bottom side of the object (including an adapter or a slide plate or the like if necessary) and / or to the top side of the object, preferably from the lowest point of the object (including an adapter or a slide plate or the like if necessary) and / or to the highest point of the object. This subarea is referred to here as the object subarea.

[0203] It can be provided that the object section directly adjoins the vehicle section.

[0204] As an alternative thereto, it can be provided that an intermediate partition is arranged between the object partition and the vehicle partition, which intermediate partition extends in particular from the upper side of the base body of the vehicle and / or to the bottom side of the object (including an adapter or a slide or the like if necessary), preferably to the lowest point of the object (including an adapter or a slide or the like if necessary).

[0205] Furthermore, it can be provided that the central subregion extends in the vertical direction at least approximately to the extent that the receiving element or elements protrude from the vehicle base body.

[0206] It may be advantageous if the subareas divided in the vertical direction overlap with the subareas divided in the horizontal direction, in particular in order to enable optimal surroundings detection and hazard avoidance for a combination of vehicles and objects.

[0207] Preferably, the vehicle zone is equipped with a warning zone and / or a protection zone, so that in particular the vehicle can be monitored for approaching other vehicles or other objects.

[0208] Furthermore, it can be provided that the object zone is assigned a warning zone and / or a protection zone, so that in particular the approach of the vehicle to other vehicles or other objects can be monitored.

[0209] Furthermore, it can be provided that the central subarea is assigned a warning subarea and / or a protective subarea, so that in particular the approach of the vehicle to an object in the region of one or more receiving elements can be monitored.

[0210] The spatial dimensions, in particular in the horizontal direction, and / or the shape of the warning zone and / or the protective zone assigned to the vehicle zone depend in particular on whether the vehicle is loaded and / or the position of the vehicle in the transport device and / or the handling device.

[0211] The spatial dimensions, in particular the spatial dimensions and / or the shape, of the warning zone and / or the protective zone assigned to the object zone, in particular in the horizontal direction, depend in particular on whether the object is arranged on the vehicle, the size of the object itself and / or the position of the vehicle with the object arranged thereon in the transport device and / or the handling device. In particular, it can be provided that the surrounding monitoring in the area of ​​the object zone is completely deactivated when the vehicle is unloaded, i.e. when no object is present.

[0212] The spatial dimensions, in particular the spatial dimensions in the horizontal direction and / or the shape of the warning zone and / or the protective zone assigned to the middle zone depend in particular on whether the object is arranged on the vehicle, the extent to which one or more receiving elements protrude from the base body and / or the position of the vehicle with the object arranged thereon, if applicable, in the transport device and / or the processing device. In particular, it can be provided that the monitoring of the surroundings in the area of ​​the middle zone is deactivated when the vehicle enters and / or passes the work station and in this case one or more receiving elements protrude into or through the partition.

[0213] In one embodiment, it can be provided that each vehicle independently and independently of other vehicles tests and / or monitors its route resulting from the task or its movement path resulting from the task, for example based on surrounding monitoring, in particular to avoid collisions.

[0214] In addition, it can also be provided that the vehicles inform each other (directly or indirectly via a higher-level control device) of the respective vehicle states and / or the respective sizes and / or shapes of the zones, in particular the warning zones, the protection zones, the vehicle zones, the object zones and / or the intermediate zones. In this way, overlaps in the zones, which may occur in particular as planned, for example when two vehicles are driving in opposite directions closely, can be deliberately tolerated without triggering unnecessary warning operations.

[0215] The following situation can be advantageous, if the corresponding object is not arranged at the vehicle, then one or more or all objects, especially the vehicle body, are also provided with object partitions and / or warning partitions and / or protection partitions. In particular, such partition divisions can also be provided in the storage location and / or parking location.

[0216] Such a zone assignment enables, in particular, a higher-level coordination of all objects independently of the respective arrangement on the vehicle, thereby preferably also minimizing the risk of potential collisions between moving objects (objects arranged on the vehicle) and parked objects (objects not arranged on the vehicle).

[0217] It can be advantageous if the width of the opening in the work station corresponds at least to the maximum width of a vehicle, preferably at least approximately 105% of the width of the vehicle, through which opening the vehicle drives, for example, into a passage below a partition of the work station.

[0218] Depending on whether the vehicle is loaded with an object, the environmental monitoring by triggering normal operation and / or alarm operation and / or shutdown operation can be adjusted, preferably by means of the control device. In particular, it can be avoided that the alarm operation or shutdown operation is triggered by an object located above the vehicle, although no object is arranged on the vehicle and the object is therefore not an obstacle to the vehicle.

[0219] In particular, bridges and / or return areas requiring a lower driving height can thus be driven under and / or driven through during normal operation, with at the same time monitoring being performed such that no objects to be transported are actually arranged on the vehicle, which could otherwise be damaged.

[0220] Preferably, in particular, the driving speed of the vehicle is reduced in the warning operation compared to normal operation. In addition, preferably, in the warning operation, an acoustic warning signal and / or an optical warning signal can be emitted by means of a warning device of the vehicle.

[0221] Normal operation of a vehicle is, in particular, an operating mode of the vehicle in which the vehicle is operated in optimal and / or undisturbed operation of a system, in particular a transport device and / or a handling system, which includes the one or more vehicles.

[0222] Preferably, the superior control device is preferably constructed and arranged to execute a single, multiple or all of the features and / or functions contained in this specification and related thereto, and / or to obtain a single, multiple or all of the results contained in this specification and related thereto.

[0223] In addition, one or more or all vehicles are preferably constructed and arranged to perform one or more or all of the features and / or functions related thereto contained in this specification, and / or to obtain one or more or all of the results related thereto contained in this specification.

[0224] The tasks to be performed by the vehicle can preferably be created by means of a superordinate control device and / or by means of a control device of the vehicle. The tasks can be, for example, transport tasks for transporting objects and / or charging tasks for charging an energy storage device of the vehicle and / or repositioning tasks for moving the vehicle to another predetermined location. Furthermore, the tasks can be maintenance tasks in which the vehicle is driven to a maintenance area and maintained there.

[0225] The creation of the task can be performed automatically, for example, in particular by means of a superordinate control device. The superordinate control device creates the task in particular in such a way that the transport of objects by means of one or more vehicles is carried out in such a way that the best possible plant load, in particular a processing plant load, is achieved.

[0226] When executing the automatically generated task, the one or more vehicles preferably drive autonomously, each vehicle preferably driving along a movement path that is optimized with regard to travel time.

[0227] Furthermore, it can be provided that a task can be manually created for one or more vehicles. In particular, a task can be manually created in a superordinate control device by an operator or a worker.

[0228] For manually created tasks, in particular, only partially autonomous driving of the corresponding vehicle is provided. In particular, it can be provided that for manually created tasks, only previously created movement paths, in particular manually created routes, can be selected and the corresponding vehicle can only travel along this movement path when performing the manually created task.

[0229] One or more vehicles can preferably be operated in a tuning operation, in which the corresponding vehicle does not perform a task, but is prepared, in particular learned, for later performance of the task. For example, in a tuning operation, different routes can be manually established, which can then be selected as movement paths for performing the manually established task.

[0230] During the adjustment operation, in particular when manually creating a route, the vehicle may enter a situation that would interfere with the normal operation of the vehicle. For example, for a manually created route, deliberately different limit values ​​can be selected, such as a smaller safety distance, compared to the movement path of the vehicle during fully autonomous driving.

[0231] In particular, when setting up a manual route and / or when executing a manually set task (or also in all other operating modes), the vehicle can be driven autonomously and safely, so that the vehicle itself can reliably react to possible dangerous situations and preferably avoid them, or the vehicle cannot be driven autonomously and safely, so that the vehicle cannot autonomously circumvent or avoid possible dangerous situations. The latter situation only occurs in particular when a sensor device for monitoring the vehicle's surroundings fails or fails and / or when one or more other safety devices or safety functions of the vehicle fail, for example by deliberately overcoming them. In addition, a lack of autonomous and safe driving can occur when the vehicle is only oriented at one or more auxiliary positioning devices, for example at one or more QR codes and / or at one or more coding strips.

[0232] When the vehicle is driving autonomously and safely, it is preferably provided that the standard speed and / or the maximum speed of the vehicle is higher than when the vehicle is driving non-autonomously and safely.

[0233] For example, the standard speed and / or maximum speed of the vehicle during autonomous safe driving is at least about 3 times, in particular at least about 5 times, for example at least about 10 times the standard speed and / or maximum speed of the vehicle during non-autonomous safe driving.

[0234] In particular during adjustment operations, the standard speed and / or maximum speed of the vehicle during autonomous safe driving may be between approximately 10 m / min and approximately 20 m / min, preferably between approximately 12 m / min and approximately 18 m / min, for example approximately 15 m / min.

[0235] In particular during adjustment operations, the standard speed and / or maximum speed of the vehicle during non-autonomous safe driving may be between approximately 0.5 m / min and approximately 5 m / min, preferably between approximately 1 m / min and approximately 3 m / min, for example approximately 2 m / min.

[0236] The standard speed of a vehicle, especially the average speed of the vehicle on a straight road section.

[0237] Preferably, during the vehicle's stop operation, the vehicle is braked or can be braked until it stops. As an alternative or in addition, it is provided that during the stop operation, an acoustic emergency signal and / or an optical emergency signal is given by means of a warning device of the vehicle. Furthermore, as an alternative or in addition, it is proposed that during the stop operation, an emergency signal is transmitted to a superior control device for controlling and / or monitoring a plurality of vehicles by means of a control device.

[0238] Preferably, the warning signal and / or the emergency signal comprises a request to clear the vehicle's path and / or surroundings.

[0239] The warning signal and / or the emergency signal may be, for example, a notification in human or machine language.

[0240] It may be advantageous if the vehicle can travel in multiple directions, in particular in both directions.

[0241] Preferably, one or more display elements can be used to indicate at each end region of the vehicle, depending on the current driving direction, whether the respective end region is currently the front region of the vehicle or the rear region of the vehicle.

[0242] In particular, one or more display elements are arranged and / or formed at all corner regions of the vehicle.

[0243] Preferably, one or more display elements simultaneously form turn signal elements which display the respectively required direction of travel of the vehicle when driving around corners and / or turning off a main transport route.

[0244] In one embodiment of the invention, it can be provided that the vehicle comprises one or more charging connection points for charging an energy store of the vehicle.

[0245] The charging connection point is arranged, for example, on the underside of the base body. Preferably, the vehicle can be positioned at a charging connection point corresponding thereto in the charging area for charging the energy storage device.

[0246] As an alternative or in addition thereto, provision can be made for the charging connection point to be arranged on the upper side of the base body. Preferably, the vehicle can be positioned below a corresponding charging connection point of the charging area for charging the energy store.

[0247] The charging region is, in particular, that part of the charging device at which a contactless, for example inductive, and / or mechanically coupled energy transmission takes place.

[0248] In particular, only one vehicle can be charged at a charging area at a given time.

[0249] The charging area preferably comprises a power source-side charging connection point. The energy storage-side charging connection point is preferably arranged and / or formed on the vehicle.

[0250] Energy from the grid is preferably supplied via a charging connection point of the charging area.

[0251] Preferably, energy is taken from a charging connection point of the charging area by means of a charging connection point of the vehicle and supplied to an energy storage device of the vehicle.

[0252] It may be advantageous if the charging connection point can be connected in a contact-connected manner to a corresponding charging connection point of the charging area.

[0253] The contacted charging connection point is or includes, for example, a sliding contact.

[0254] As an alternative or in addition thereto, provision can be made for the charging connection point to be connectable to a corresponding charging connection point of the charging area in a contactless manner.

[0255] In this case, in particular, an inductive energy transmission may be provided.

[0256] It may be advantageous if the vehicle comprises a charging connection point arranged at a side wall of the base body, in particular an additional charging connection point which is provided in addition to a charging connection point arranged, for example, at the bottom side of the base body.

[0257] In particular, the charging connection point arranged on the side wall of the main body is a further charging connection point which can be connected to a corresponding charging connection point of the charging area, in particular by means of a plug connection.

[0258] In one embodiment of the vehicle, the charging connection point arranged on the underside of the base body can be the main charging connection point, via which, during normal operation of the vehicle, the majority of the energy required for operation can be received.

[0259] The further charging connection point is in particular a backup charging connection point and / or an emergency charging connection point. If the vehicle can no longer be brought to the charging area for the main charging connection point for some reason, energy is supplied to the energy storage device of the vehicle in particular via the further charging connection point.

[0260] It may be advantageous if at least one charging connection point is arranged and / or formed on at least one receiving element.

[0261] It can be provided that the receiving element comprises one or more contact regions and / or one or more contact elements and / or a control contact.

[0262] When at least one receiving element is arranged in the retracted position, one or more contact regions and / or one or more contact elements are preferably inaccessible. In particular, the contact regions and / or contact elements are inaccessible in the sense of optimized personal protection when no objects are transported by means of the vehicle and therefore no objects cover one or more receiving elements.

[0263] The contact region or regions and / or the contact elements or regions and / or the control contacts are arranged and / or formed, in particular, on a shaft region and / or a receiving socket of the at least one receiving element.

[0264] Preferably, the two contact regions and / or contact elements are arranged and / or formed on opposite sides of at least one receiving element, in particular a shaft region and / or a receiving socket of at least one receiving element, with respect to a vertical longitudinal center axis of the vehicle.

[0265] As an alternative or in addition thereto, the contact regions and / or the contact elements arranged on the shaft region and / or the receiving socket of the at least one receiving element can be provided, in particular, at different heights.

[0266] In particular, by means of one or more sliding contacts, one or more contact regions and / or contact elements can preferably be brought into contact in a simple manner with the receiving element in order to supply energy to the energy storage device of the vehicle.

[0267] It may be advantageous if the vehicle comprises an energy store for storing and providing electrical energy for driving the vehicle, wherein the energy store comprises one or more energy store cells which are designed as capacitors, in particular supercapacitors or ultracapacitors.

[0268] Furthermore, it can be provided that the vehicle comprises an energy store, by means of which electrical energy can be stored and made available for driving a lifting drive of the vehicle.

[0269] Preferably, energy can be stored and made available both for driving the lifting drive and for driving the vehicle by means of the same energy store, in particular by means of the same energy store unit or by means of the same energy store unit of the energy store.

[0270] The driving of the vehicle is in particular the forward movement of the vehicle.

[0271] The vehicle preferably comprises an energy storage device which in particular comprises a plurality of energy storage cells.

[0272] It may be advantageous if the energy store comprises one or more drive energy store units for storing energy for driving the vehicle as a whole and / or for driving the lifting drive.

[0273] One or more or all of the drive energy storage cells can be designed as supercapacitors, for example.

[0274] As an alternative or in addition thereto, it can be provided that the energy store comprises one or more buffer storage cells, by means of which energy can be provided, for example, for operating the control device and / or one or more sensor devices and / or one or more communication devices.

[0275] One or more or all buffer storage cells can be designed, for example, as lithium-ion batteries.

[0276] Optionally, it can be provided that one or more or all buffer energy storage units are connected or can be connected to the drive and / or lifting drive of the vehicle, in particular if the drive energy storage unit can no longer provide sufficient energy for this purpose, then the buffer energy storage unit is used to provide energy for operating the drive and / or lifting drive.

[0277] It can be provided that one or more drive energy storage cells, on the one hand, and one or more buffer energy storage cells, on the other hand, have standard operating voltages and / or charging voltages that differ from one another.

[0278] For example, it may be provided that one or more drive energy storage cells are operable with a voltage of at least approximately 48 V, in particular a DC voltage.

[0279] Furthermore, it can be provided that one or more buffer storage cells are operable with a voltage of at least approximately 24 V, in particular a DC voltage.

[0280] In order to charge the energy store at the charging region, the charging region preferably comprises one or more charging connection points, which each have a plurality of contact regions and / or contact elements 280 for providing electrical energy having voltage values ​​of different magnitude.

[0281] In particular, two or more pairs of contact regions and / or contact elements for providing different charging voltages are respectively provided at one or more charging connection points.

[0282] The contact region can be designed in particular as a contact surface and / or a contact element, in particular a protruding contact element and / or a sliding contact.

[0283] The vehicle-side contact regions of one or more charging connection points of the vehicle are preferably designed and / or arranged at least partially complementary to the contact regions of one or more energy source-side charging connection points, at least in terms of their spatial design and / or arrangement.

[0284] In particular, the contact regions are designed and / or arranged in such a way that lateral contact between contact regions of contact region pairs which do not belong to one another is excluded.

[0285] It may be advantageous if one or more or all charging connection points each have at least one pair of contact regions located on the outside, which are used in particular for charging at least one drive energy storage cell.

[0286] Furthermore, it can be provided that one or more or all charging connection points each have at least one pair of contact regions located on the inside, which are used in particular for charging at least one buffer storage cell.

[0287] The at least one pair of contact regions lying on the inner side is, in particular, arranged between two contact regions of the at least one pair of contact regions lying on the outer side.

[0288] Alternatively, provision can also be made for the contact regions to be used inversely, so that the at least one pair of contact regions located on the inside is used, for example, for charging at least one drive energy storage cell, and the at least one pair of contact regions located on the outside is used, for example, for charging at least one buffer energy storage cell.

[0289] Furthermore, it can be provided that one or more or all charging connection points each have one or more position contacts, by means of which position detection and / or position monitoring of the vehicle can be carried out.

[0290] For example, one or more pairs of position contacts may be provided, which are arranged in particular internally between contact regions of the respective charging connection point and / or externally so that the contact regions of the respective charging connection point are arranged between the position contacts.

[0291] It may be advantageous to determine by means of one or more sensor devices, in particular position sensors, and / or by means of one or more position contacts whether the vehicle has assumed a position relative to the charging connection point that is required for charging the energy store and, if so, to release one or more charging voltages at the charging connection point in order to charge the energy store.

[0292] It may be advantageous if one or more contact regions and / or contact elements for charging an energy store, in particular one or more drive energy store cells and / or one or more buffer energy store cells, simultaneously serve as one or more position contacts.

[0293] It can be provided that one or more contact areas and / or contact elements and / or one or more position contacts of the vehicle each have a safety device, such as a relay and / or a contactor, with the help of which a temporary voltage disconnection can be carried out, for example in order to avoid a short circuit at the energy storage device when using the contact areas and / or position contacts to identify the position and / or monitor the position.

[0294] As an alternative or in addition, it can be provided that one or more contact areas and / or contact elements and / or one or more position contacts of one or more or all charging connection points on the energy source side each have a safety device, such as a relay and / or a contactor, by means of which a temporary voltage disconnection can be performed, for example in order to avoid a short circuit at the energy source when using contact areas and / or position contacts to identify the position and / or monitor the position.

[0295] In order to switch between the position detection mode and the charging mode, in particular in order to actuate the safety device accordingly, a handshake is preferably provided between the vehicle and the charging connection point and / or a superordinate control device.

[0296] In particular, on the energy source side, by measuring the voltage at the contact region and / or the contact element with the aid of a measuring device, it can be determined whether the vehicle is correctly positioned at the corresponding charging connection point. For example, a correctly positioned vehicle can be inferred if the measured voltage is greater than 0.2 V, in particular greater than 0.5 V.

[0297] After the charging process has ended, the charging connection point is preferably placed back into the position detection mode, in particular by activating the safety device.

[0298] The vehicle preferably comprises a control device which is designed and arranged, in particular, such that the vehicle can be operated selectively in a safe mode or in a rapid mode.

[0299] Preferably, the vehicle can be operated a) only in the safety mode or b) only in the rapid mode or c) both in the safety mode and in the rapid mode, optionally in normal operation and / or in the warning mode and / or in the stopped mode.

[0300] The vehicle is preferably switched or can be switched into a safety mode when a person is detected in the surroundings of the vehicle and / or when an area accessible to a person is passed.

[0301] The detection of a person is in particular the detection of an object that may be a person. It is not necessary to recognize here whether the person is actually a person, but it is necessary to ensure that the person is protected from harm when the person is determined to be a person.

[0302] Furthermore, the vehicle is preferably switched or can be switched to the rapid mode when no persons are detected in the surroundings of the vehicle and / or an area that is inaccessible to persons is passed through.

[0303] In particular, the vehicle is operated in the safety mode in such a way that the regulations and / or recommendations from VDI standard 2510 are observed.

[0304] Preferably, provision may be made for one or more sensor devices of the vehicle to monitor the surroundings of the vehicle in the safety mode.

[0305] Depending on the results of the sensor monitoring, in the safety mode it can be selected, preferably by means of the control device, whether the vehicle can be operated in normal operation, in alarm operation and / or in a stopped operation.

[0306] The maximum speed in the safety mode is preferably adapted to existing regulations, guidelines and / or recommendations for autonomously travelling vehicles in spaces and / or areas where people are or may be present.

[0307] In the rapid mode, preferably no maximum speed is specified. Instead, in the rapid mode, the vehicle is preferably controlled by means of the control device only to avoid property damage. In particular, a very high speed can be set in the unloaded state of the vehicle, which speed far exceeds the maximum speed in the safety mode. For example, the speed of the vehicle in the rapid mode is at least approximately 150%, in particular at least approximately 200%, for example at least approximately 300% of the maximum speed of the vehicle in the safety mode.

[0308] It may be advantageous if the vehicle can be placed in a safe mode or a fast mode with the aid of devices located on the vehicle, in particular a GPS receiver and / or a real-time positioning system, and / or with the aid of devices not located on the vehicle, in particular sensor devices, for example using external safety contacts or the like.

[0309] The device not on the vehicle is in particular a monitoring device, by means of which it is monitored or can be monitored whether a person has entered or may have entered a fast zone in which the vehicle is operated in the fast mode. For example, a monitored access door as an entrance to the fast zone can cause the vehicle in the fast zone to immediately switch from the fast mode to the safety mode when it is opened.

[0310] Furthermore, it can be provided that before the vehicle is switched to rapid mode, the vehicle control device tests the state of the rapid zone by means of its own sensors and / or by querying external sensors. If the internal or external sensor device detects a person in the rapid zone, for example, switching from the safety mode to the rapid mode in the rapid zone can be prevented.

[0311] Instead of person detection, other parameters or situations may also be considered for reliable selection of the fast mode.

[0312] The fast region can be designed and / or arranged, for example, in one or more levels of the processing system.

[0313] It can be advantageous if the rapid zone extends at least approximately completely, in particular up to at least approximately 90%, for example at least approximately 95%, of the usable area of ​​one or more levels of the processing plant.

[0314] As an alternative or in addition thereto, it may be provided that the safety zone is formed and / or arranged, for example, in one or more levels of the processing plant.

[0315] It can be advantageous if the safety region extends at least approximately completely, in particular up to at least approximately 90%, for example at least approximately 95%, of the usable area of ​​one or more levels of the processing plant.

[0316] Furthermore, it can be provided that one or more levels of the processing system each have one or more safety zones and one or more rapid zones.

[0317] A level in which up to at least about 50%, in particular at least about 80%, for example at least about 95%, is constructed as a fast area is preferably a level with a largely automated or fully automated workplace, i.e. a level with a majority of such workstations and / or processing areas or only such workstations and / or processing areas in which objects are processed with the aid of robots or other machines.

[0318] A level in which at least about 50%, in particular at least about 80%, for example at least about 95%, is constructed as a safety area is preferably a workplace with a largely manual or fully manual environment, i.e. a mostly such workstations and / or processing areas or only such workstations and / or processing areas in which objects are processed by personnel.

[0319] One or more receiving elements of the vehicle can be fastened directly to the object to be transported, for example.

[0320] However, it can also be provided that the object to be transported is fastened or can be fastened to the receiving element or elements of the vehicle by means of an adapter device.

[0321] The invention therefore also relates to an adapter device for receiving an object, in particular a workpiece such as a vehicle body.

[0322] Preferably, the adapter device comprises the following:

[0323] Central element;

[0324] One or more adapter elements which are fastened to the central element and which are geometrically adapted to the object in order to receive the object.

[0325] Preferably, one or more engagement regions, in particular insertion openings, are arranged and / or formed on the central element and / or on one or more of the adapter elements, at which engagement regions one or more receiving elements for receiving the adapter device engage.

[0326] The central element preferably connects a plurality of adapter elements to one another.

[0327] In particular, one or more receiving pins are respectively provided on one or more adapter elements for receiving one or more objects, for example a vehicle body.

[0328] Preferably, one or more engagement regions, in particular insertion openings, are arranged and / or designed to be substantially complementary to one or more receiving sections.

[0329] In particular, one or more joining regions, for example the insertion opening, are designed to be substantially conical, partially conical, truncated-conical or partially truncated-conical.

[0330] It may be advantageous if one or more joining regions, in particular insertion openings, are arranged and / or formed on the underside of the adapter device and taper counter to the direction of gravity.

[0331] The adapter device according to the invention is particularly suitable for use in combination with a vehicle according to the invention.

[0332] The invention therefore also relates to a combination of at least one vehicle and at least one adapter device.

[0333] In particular, multiple adapter elements of different geometries and / or sizes may be provided for receiving objects of different geometries and / or sizes.

[0334] In particular, the combination can include a modular system for producing adapter devices for different types of objects, wherein in particular one or more uniformly constructed central elements are provided and adapter elements of different geometries and / or sizes can optionally be arranged thereon, in particular screwed thereon.

[0335] The vehicle according to the invention and / or the adapter device according to the invention and / or the combination according to the invention are suitable in particular for use in a transport device for transporting objects.

[0336] The invention therefore also relates to a transport device for transporting objects, in particular workpieces such as vehicle bodies.

[0337] In this case, the transport device comprises in particular one or more vehicles, such as the vehicle according to the invention.

[0338] Furthermore, the transport device preferably also comprises one or more work stations to which the objects can be transported by means of one or more vehicles and / or at which the objects can be delivered and / or received.

[0339] In particular, the objects can be transferred from the vehicle to the workstation transport device and / or the workstation receptacle or can be received from them at one or more workstations.

[0340] Preferably, two or more positions are provided in at least one of the workstations for two or more objects.

[0341] Preferably, the object can be delivered to the workstation by means of a vehicle at a first location. Preferably, the object can be received by means of a vehicle in a second location and then transported away from the workstation.

[0342] The first position is in particular the delivery position.

[0343] The second position is in particular the receiving position.

[0344] It may be advantageous if the object can be processed during transport from the first location to the second location or at an intermediate location arranged between the first location and the second location.

[0345] It can be advantageous if at least one vehicle is designed and arranged to deliver the object to the workstation in a first position and then to receive at the second position the object previously delivered in the first position and transported to the workstation in the meantime. In particular, the working cycle of the transport device can be covered by means of the at least one vehicle.

[0346] The vehicle can preferably continue to be used while one or more objects are temporarily at the work station, in particular being processed.

[0347] In particular, after the objects have been processed in the intermediate location, the objects delivered by means of at least one vehicle at the first location are then received at the second location by means of another vehicle which has meanwhile delivered another object at the first location.

[0348] The vehicles of the transport device are therefore preferably optimized during the transport process. It is particularly preferred to avoid waiting times during the handling of the objects.

[0349] It may be advantageous if one or more workstations comprise a dividing wall, in particular if one or more objects can be moved over the dividing wall and / or if at least one vehicle can be moved under the dividing wall in order to move one or more objects over the dividing wall.

[0350] The object is preferably arranged completely above the separating plate.

[0351] At least one vehicle, in particular the base body and the running gear are preferably arranged below the partition plate, wherein in most cases one or more receiving elements protrude through the partition plate and / or into the partition plate. In particular, the base body of at least one vehicle is preferably completely arranged below the partition plate.

[0352] The dividing panel preferably extends from a delivery position to a receiving position.

[0353] If the workstation is, for example, a treatment station, at least the partition preferably extends in the region of the intermediate position, in particular over the entire treatment area.

[0354] The partition is preferably passable by persons and / or driveable by machines.

[0355] The partition wall can be designed, for example, to be essentially planar or to be formed as a tunnel.

[0356] In particular, the partition forms a double floor which is arranged essentially parallel to a drivable foundation, in particular a workshop floor, on which the transport device is mounted.

[0357] The separating plate is preferably substantially fluid-tight, in particular drip-tight.

[0358] It may be advantageous if the partition and / or the workstation transport device can be raised and / or lowered, in particular partially raised and / or lowered, so that objects can be received and / or transferred to one or more vehicles and / or other transport devices, in particular by one or more vehicles and / or other transport devices.

[0359] It can be advantageous if the partition is oriented substantially parallel to the traversable surface on which the transport device is mounted. The distance between the preferably traversable surface of the partition and the surface of the traversable surface is preferably at most approximately five times, in particular at most approximately four times, preferably at most approximately two times, the height of the vehicle and / or the height of the base of the vehicle.

[0360] It can be advantageous if at least one section of the partition wall above the transport path of the vehicle is designed to be completely closed. As a result, the objects to be transported are preferably completely separated spatially from at least one vehicle.

[0361] One or more vehicles are thus preferably no longer in contact with the object. In particular, no components are provided that protrude through the partition plate. In this way, when the vehicle passes under the corresponding loaded work station, it can be ensured that the vehicle is protected from dirt, overheating, moisture, etc.

[0362] It can be provided that the completely closed section of the separating plate extends at least approximately over the entire longitudinal length of the processing region for processing the object.

[0363] The handover from the vehicle to the workstation transport device and / or the receipt from the workstation transport device to the at least one vehicle preferably takes place outside the processing area.

[0364] However, it can also be provided that one or more objects are brought directly to the processing location by means of a vehicle. Preferably, a workstation transport device is not necessary. To protect the vehicle, it can be provided that the vehicle unloads one or more objects at the processing location and leaves the processing area. At a later time, the object or objects that have been processed can be taken over again and transported further by means of the same or another vehicle.

[0365] Processing in this specification is preferably generally performed for processing, manufacturing and / or any step of completing the product. In particular, processing is understood as the manufacture, treatment, coating, installation, repair, control, etc. of the product or its parts.

[0366] The longitudinal length of the processing area is in particular the length of the processing area along the transport direction and / or the transport path, for example from an entry and / or a delivery position of a workstation to an exit and / or a receiving position of the workstation.

[0367] It can be advantageous if the partition plate has a through-region, for example a through-slot, through which one or more receiving elements of the at least one vehicle extend or into which one or more receiving elements of the at least one vehicle extend.

[0368] Preferably, the penetration region, in particular the penetration gap, extends along a transport path of the transport device and / or predetermines a transport path of the transport device.

[0369] It can be provided that a through-edge region is formed on one or both sides of the through-region, in particular the through-slot, which through-edge region is formed, in particular, to be elevated in comparison with the rest of the separating web.

[0370] The elevated configuration relates in particular to the height level of that part of the dividing plate which surrounds the through-edge region, in particular in the passable plate region of the dividing plate.

[0371] Therefore, the through-opening in the partition plate formed through the through-region, in particular the through-slot, is preferably arranged above the passable floor level, thereby in particular preventing loose parts or liquids on the passable plate region of the partition plate from passing through the through-region to at least one vehicle.

[0372] Preferably, the average free or releasable distance between two penetration edge areas lying opposite one another with respect to the penetration area is at most approximately four times, for example at most approximately three times, in particular at most approximately two times, the average horizontal thickness of at least one receiving element of at least one vehicle taken perpendicular to the transport path.

[0373] It can be advantageous if the average free or releasable distance between two penetration edge regions lying opposite one another with respect to the penetration region is at most approximately 150%, preferably at most approximately 100%, for example at most approximately 80%, of the average horizontal length of the central element of the adapter device for receiving the at least one object perpendicular to the transport path. As a result, the central element of the covering device at least partially or completely covers the penetration region, in particular the penetration gap, so that in particular undesired contamination of the vehicle can be avoided or at least reduced.

[0374] The pass-through edge region can be designed to be essentially L-shaped in a cross section taken perpendicularly to the transport path.

[0375] As an alternative or in addition thereto, it can be provided that the through-edge region extends obliquely to the direction of gravity and / or obliquely to the horizontal direction.

[0376] It may be advantageous if the transport device, in particular the partition plate, for example the through-edge region comprises one or more closing elements, by means of which the through-region, in particular the through-slot, can be closed, preferably permanently or temporarily.

[0377] In particular, it can be provided that the through-passage region, in particular the through-passage gap, can be automatically closed by means of one or more closing elements.

[0378] As an alternative or in addition thereto, it can be provided that the through-region, in particular the through-slit, can be closed, in particular by means of one or more closing elements, when no receiving element protrudes through the through-region.

[0379] Furthermore, as an alternative or in addition thereto, provision can be made that the through-region, in particular the through-slot, can be closed by means of one or more closing elements in a section of the through-region, in particular the through-slot, in which precisely no receiving element protrudes through the through-region.

[0380] The closure element or elements can be actuated, in particular brought into an open position and / or a closed position, in particular by means of the receiving element or elements.

[0381] As an alternative or in addition thereto, it can be provided that one or more closing elements can be moved elastically and / or automatically under the effect of gravity from an open position into a closed position.

[0382] The closing element or elements are in particular designed as lamellae and / or flaps.

[0383] It may be advantageous if the transport device is used to transport objects, in particular workpieces, such as vehicle bodies, wherein the transport device preferably comprises a partition.

[0384] The separating plate preferably has a through-region, in particular a through-slot.

[0385] Preferably, one or more receiving elements for receiving at least one object can extend through the through-region, in particular through-slot, preferably from bottom to top counter to the direction of gravity.

[0386] It can be provided that the partition wall forms a passable floor of a workstation, a processing area and / or a processing room of the processing installation.

[0387] One or more vehicles can preferably be driven under the partition, in particular in a driving space formed under the partition.

[0388] The penetration region, in particular the penetration gap, preferably extends in the transport direction of the transport device.

[0389] It may be advantageous if the separating plate comprises one or more closing elements, by means of which the through-region, in particular the through-slot, can be closed.

[0390] In particular, it can be provided that the penetration region, in particular the penetration gap, can be automatically and / or temporarily and / or partially and / or completely closed by means of one or more closing elements.

[0391] It can be provided that the through-region, in particular the through-slot, can be closed by means of one or more closing elements, in particular when no receiving element projects through the through-region.

[0392] As an alternative or in addition thereto, it can be provided that the through-region, in particular the through-slot, is closable by means of one or more closing elements, in particular in that section of the through-region, in particular the through-slot, where just no receiving element passes through the through-region.

[0393] It may be advantageous if one or more closing elements are actuatable by means of the receiving element, in particular into an open position and / or a closed position.

[0394] Preferably, one or both closure elements can always be moved precisely from the closed position into the open position by means of a receiving element.

[0395] Preferably, one or more closure elements, in particular all closure elements, can be automatically moved from the open position into the closed position, in particular when no receiving element acts on the corresponding closure element.

[0396] One or more closure elements, in particular all closure elements, are preferably actuatable independently of one another, in particular can be moved independently of one another from a closed position into an open position.

[0397] It may be advantageous if one or more closure elements can be moved elastically and / or automatically under the action of gravity from the open position into the closed position. It is thus preferably possible to ensure that the closure element is always arranged in the closed position without the action of the receiving element and thus closes the penetration area, in particular the penetration gap.

[0398] One or more closure elements, in particular all closure elements, can be designed, for example, as lamellae and / or flaps and / or closure disks.

[0399] For example, a circular, in particular a perfectly circular, closing disk can be provided as the closing element.

[0400] It can be advantageous if one or more closure elements can be pivoted, in particular in the horizontal direction, in order to temporarily open the passage region and thus allow one or more receiving elements to pass through.

[0401] A displacement may be understood to mean, in particular, a linear movement and / or a rotation.

[0402] It can be provided that the separating plate comprises a plurality of closing elements which are arranged one above the other in their closed position and / or open position.

[0403] In particular, it can be provided that the partition plate comprises a plurality of closing elements which are arranged in different, in particular parallel, preferably horizontal levels and / or are movable in these levels, in particular relative to each other and / or relative to one or more support plates of the partition plate.

[0404] In particular, it can be provided that the partition plate comprises a plurality of closing elements arranged in a first level and / or movable in the first level and additionally comprises a plurality of closing elements arranged in a second level and / or movable in the second level. The first level and the second level are preferably arranged parallel to each other and / or oriented horizontally.

[0405] Closing elements which are arranged in different levels from one another and / or which are movable in these levels are preferably arranged successively and / or adjacent to one another in a direction extending perpendicularly to the levels.

[0406] It can be provided that one or more closure elements, in particular all closure elements, are arranged below one or more support plates of the separating plate.

[0407] One or more, in particular all, closure elements preferably project laterally beyond one or more support plates, at least in their closed position, in particular into a through-region, in particular a through-slot, formed between two opposing support plates.

[0408] One or more, in particular all, closure elements preferably project laterally beyond one or more support plates in the closed position with a maximum of approximately 70%, in particular a maximum of approximately 50%, preferably a maximum of approximately 40% of their entire surface, in particular on the upper side of the closure element located upward with respect to the direction of gravity.

[0409] Preferably, one or more closure elements, in particular all closure elements, are held with at least approximately 30%, preferably at least approximately 50%, for example at least approximately 60% of their entire surface, preferably in both the closed position and the open position directly below the one or more support plates. In this way, in particular, a supporting function of one or more closure elements, in particular all closure elements, on the one or more support plates can be achieved.

[0410] One or more closure elements, in particular all closure elements, are preferably accessible.

[0411] It may be advantageous if one or more, in particular all, closure elements bear or can bear on one another and / or on one or more bearing plates of the partition plate, in particular in their closed position and / or in the open position.

[0412] It can be provided that one or more, in particular all, closure elements are movable, in particular linearly movable, in a direction extending obliquely to, in particular perpendicularly to, the transport direction and / or in an at least approximately horizontal direction.

[0413] One or more, in particular all, closure elements can thus preferably be moved obliquely, in particular perpendicularly, to the transport direction out of the movement path of the one or more receiving elements, in particular can be moved laterally by means of the one or more receiving elements.

[0414] One or more receiving elements are in particular directly engaged at one or more closing elements so as to enable, in particular, one closing element to be moved behind another and / or one pair of closing elements to be moved from a closed position to an open position behind another pair and thus enable one or more receiving elements to be moved along a penetration area, in particular along a penetration gap.

[0415] It may be advantageous if one or more closure elements, in particular all closure elements, are arranged rotatably, for example freely rotatably and / or rotatably through 360°, on the closure element receptacle of the separating plate.

[0416] One or more, in particular all, of the closure elements are designed, for example, as closure disks.

[0417] It may be advantageous if one or more closure elements, in particular all closure elements, are linearly movable and preferably simultaneously rotatable when they are moved from the closed position into the open position and / or from the open position into the closed position.

[0418] In one embodiment of the invention, it can be provided that one or more closure elements, in particular all closure elements together form a closure of the penetration region, in particular the penetration gap, which has a smaller dimension than the maximum lateral extension of the penetration region, in particular the penetration gap, for example a maximum of about 80%, preferably a maximum of about 50%, for example a maximum of about 20% of the maximum width of the penetration region, in particular the penetration gap. As a result, preferably an optimized driving space can be achieved below the traversable surface of the partition, so that the vehicle can also be driven under the partition without actuating the closure element, in particular when one or more receiving elements are fully retracted.

[0419] One or more closure elements, in particular all closure elements, are preferably received by means of one or more closure element receptacles.

[0420] In particular, a separate closure element receptacle is assigned to each closure element.

[0421] It can be advantageous if one or more, in particular all, of the closure element receptacles are arranged, in particular movably arranged, on a support structure of the separating plate.

[0422] It may be advantageous if the partition plate comprises a restoring device, by means of which the closure element and / or the closure element receptacle together with the closure element arranged thereon can be moved from the open position into the closed position, in particular after actuation thereof.

[0423] The resetting device comprises, in particular, a resetting element which, in particular, comprises or forms one or more closure element receptacles.

[0424] Preferably, each closure element receptacle is assigned a restoring element or a separate closure element receptacle is arranged on each restoring element.

[0425] Each restoring element is preferably arranged movably on a restoring element receptacle, in particular a separate restoring element receptacle.

[0426] The restoring element receptacle is in particular fastened to a supporting structure of the separating plate.

[0427] It can be advantageous if the restoring element is arranged displaceably, in particular linearly displaceably, on the respective restoring element receptacle.

[0428] For example, it can be provided that the restoring element is arranged elastically on the corresponding restoring element receptacle by means of a spring device, in particular a compression spring.

[0429] When the closure element is actuated, the closure element together with the closure element receptacle and / or the restoring element is thus displaced relative to the respective restoring element receptacle and thus relative to the support structure, counteracting the action of a spring device, for example.

[0430] By means of a restoring device, in particular a spring device, for example a compression spring, the respective closure element together with the closure element receptacle and / or the restoring element is returned into the closed position after the respective receiving element has been disengaged.

[0431] In order to limit the movement of the reset element relative to the reset element receiver, for example, a stop element can be provided, which is in particular movably arranged in the guide opening and defines two end positions of the reset element relative to the reset element receiver and thereby defines two end positions of the corresponding closing element relative to the penetration area, in particular the penetration gap.

[0432] A traversable area, in particular a part of a traversable surface of the partition plate, is preferably formed between the closure areas formed by means of the closure elements, which closure areas in particular at least temporarily fill and / or close a through-region, for example a through-slot.

[0433] The other accessible surface of the partition, in particular formed by one or more support plates, is preferably arranged offset in the vertical direction by at most about 200%, preferably at most about 150%, of the maximum height of the closing element. By using particularly flat closing elements, for example closing elements with a maximum height of at most about 5 cm, for example at most about 2 cm, the accessible surface of the partition can be realized with the smallest possible offset and thus with a low risk of injury to personnel.

[0434] In one embodiment of the invention, it can be provided that the dividing plate comprises one or more centering devices and / or opening devices, which are arranged and / or formed in particular on one or more closure elements.

[0435] By means of the centering device, for example, an additional centering of the receiving element and / or of a vehicle comprising the receiving element can be achieved.

[0436] For this purpose, the centering device comprises, for example, two centering elements which are arranged in the penetration region and are in particular formed with an entry bevel and can thus bring about intermediate centering of the receiving element in the penetration region, in particular in the penetration gap.

[0437] Preferably, the opening means may comprise one or more opening elements.

[0438] The entry bevel of the opening device can be oriented, in particular, obliquely to the horizontal and / or obliquely to the vertical and can, for example, actuate one or more closure elements by moving one or more receiving elements in the vertical direction.

[0439] With the aid of such an opening device, in particular a vehicle which is arranged completely under the partition, one or more closing elements can be actuated from under the partition so that one or more receiving elements can pass from under the partition through the penetration area and, for example, engage with an object arranged above the partition, the one or more receiving elements of the vehicle also being arranged completely under all closing elements.

[0440] It may be advantageous if the transport device comprises a workstation transport device, by means of which the objects can be transported independently of the vehicle, wherein the workstation transport device is preferably integrated into a partition of the workstation.

[0441] Preferably, the objects can be transported by means of the workstation transport device independently of the vehicle from the delivery position to the processing position and / or the receiving position and / or other workstations and / or a buffer area for buffering the objects to be transported.

[0442] The workstation transport device can be, for example, a roller conveyor, a rail conveyor or a chain conveyor, or include a roller conveyor, a rail conveyor and / or a chain conveyor.

[0443] In particular, the rollers of the raceway are integrated into the separating plate, which rollers can be driven individually, for example.

[0444] Furthermore, one or more rails of a rail conveyor can in particular be integrated into the partition plate.

[0445] It may be advantageous if the transport device has a plurality of stackable vehicles.

[0446] In particular, the transport device comprises a plurality of identically constructed vehicles which can be stacked one above the other and / or one above the other.

[0447] For this purpose, the transport device can include, for example, a stacking and / or unstacking device for stacking and / or unstacking a plurality of vehicles.

[0448] A stack of vehicles is particularly advantageous for the transport and / or storage of the vehicles.

[0449] In particular, a plurality of vehicles stacked on top of one another can be separated after they have been transported by means of the unloading device.

[0450] The unloading device can, for example, comprise a lifting unit, with the aid of which one or more vehicles can be raised relative to a drivable surface, in particular in such a way that the upper side of the lifting unit, on which the vehicles have already been driven before the lifting, is flush with the upper side of the vehicles or of an intermediate element to be described, so that the vehicles located on the lifting unit can be driven onto other vehicles.

[0451] The lifting unit here comprises, in particular, side walls which are designed at least partially to complement the side walls of the vehicle.

[0452] In particular, the traversable surface of the lifting unit is adapted at least on one side to the shape of the upper side of the vehicle and / or to the shape of an intermediate element for stacking the vehicles.

[0453] Furthermore, one or more storage units may be used, wherein the vehicle may preferably be introduced into a storage unit, in particular into an individual compartment of a storage unit, by means of the unloading device.

[0454] The vehicles can be stacked, for example, directly on top of each other.

[0455] However, one or more receiving elements may hinder such stacking, in particular if the receiving element or elements protrude from a base body of the respective vehicle.

[0456] It may therefore be advantageous if one or more intermediate elements, which are in particular traversable, are respectively inserted between two vehicles or mounted on a vehicle on which the other vehicle is subsequently arranged.

[0457] In particular, the intermediate element or elements enable a spacing between the base bodies of the vehicles to be stacked one on top of another in order to avoid collisions with the receiving element or elements.

[0458] Furthermore, one or more intermediate elements may be used to anchor the vehicles to each other.

[0459] Furthermore, it is advantageous to provide a charging connection point by means of an intermediate element in order in particular to also be able to charge an energy storage device of a vehicle which is situated on another vehicle and which is therefore not able to drive directly to a charging connection point of a charging area.

[0460] In one embodiment of the invention, it can be provided that the transport device comprises one or more charging areas for charging an energy storage device of at least one vehicle.

[0461] Preferably, one or more charging areas are arranged in one or more workstations of the transport device, to which the object can be transported by means of at least one vehicle and / or at which the object is delivered and / or received.

[0462] Furthermore, one or more charging areas are preferably arranged with reference to a transport path of at least one vehicle between two workstations of the transport device, to which the object is transported by means of the at least one vehicle and / or at which the object is delivered and / or received.

[0463] It may be provided that one or more charging areas are arranged in or on a transport path of the at least one vehicle. A transport path is in particular a path along which the object can be transported by means of the at least one vehicle.

[0464] The total transport path or total travel path of each vehicle preferably includes a transport path and a return path, along which one or more objects are transported, and along which each vehicle travels in order to return, for example, from a terminal station to a starting station, where the object is finally delivered by the transport device, and where the object first contacts the transport device at the starting station.

[0465] The return route is in particular a route on which the vehicle is not loaded.

[0466] It may be advantageous if one or more charging areas are arranged in or on a route section which permanently or temporarily constitutes a section of a transport route for one or more vehicles and a section of a return route for the one or more vehicles or for one or more further vehicles.

[0467] In particular, provision may be made for one or more charging areas to be arranged in or on a route section which alternately forms a section of a transport route for one or more vehicles and a section of a return route for the one or more vehicles or for one or more further vehicles.

[0468] It may be advantageous if one or more charging areas are arranged at a multidirectional transport area, through which one or more vehicles travel and / or pass in different directions of travel.

[0469] It may be advantageous if one or more charging areas are arranged in or at an intersection area in which one or more transport routes and / or one or more return routes of one or more vehicles intersect.

[0470] By suitable positioning of the charging areas, in particular the line lengths between the power source and the individual charging areas can be minimized.

[0471] The charging area or areas are preferably stationary charging areas at which at least one vehicle is stationary in order to charge the energy store and / or during the charging of the energy store.

[0472] In this case, it can be provided that one or more charging areas are arranged so that they are directly located on the transport route without other detour options. One or more vehicles can enter one or more charging areas, in particular without detours, and come to a standstill therein for charging the individual energy stores. After the charging process, the vehicle is put back into motion and follows the transport route again.

[0473] However, as an alternative or in addition thereto, it may also be provided that one or more charging areas are arranged next to, for example, an optimized or shortest transport route. At least one vehicle briefly leaves the optimized and / or shortest transport route in order to charge the corresponding energy storage device in one or more charging areas. After the charging process, one or more vehicles return to, for example, the optimized or shortest transport route.

[0474] In particular, when there are large time and / or spatial intervals between multiple vehicles transported along a common transport route, provision can be made for a stop directly on the optimized and / or shortest transport route to charge the corresponding energy storage device. This preferably allows a particularly space-saving design of the transport device to be achieved.

[0475] In the case of vehicles that follow one another at a short temporal and / or spatial interval, however, it is advantageous if the vehicle to be charged leaves a predefined, in particular optimized and / or shortest transport route in order not to block the following vehicle.

[0476] All the above-mentioned features can also be arranged in a non-fixed charging area, ie a mobile charging area. In such a mobile charging area, a speed reduced relative to a normal speed can be set, or the normal speed itself can also be specified as the driving speed of the vehicle.

[0477] It may be advantageous if one or more charging zones are mobile charging zones through which at least one vehicle can move while the energy store is being charged and / or through which at least one vehicle can move while the energy store is being charged.

[0478] It may be advantageous if the mobile charging area comprises a plurality of charging connection points which are arranged distributed in particular over a spatial area which is greater than the dimensions of the vehicle in the horizontal direction.

[0479] In particular, the charging connection points of the mobile charging area are preferably arranged consecutively along the charging route, so that the charging connection points of the mobile charging area are preferably passed by, in particular driven over, one after the other by vehicles travelling along the charging route.

[0480] When the vehicle is moving along the charging route or when the vehicle is positioned on the charging route, preferably only a portion of the charging connection points of the mobile charging area is always covered by the vehicle.

[0481] It may be advantageous to control and / or regulate the voltage supply and / or current supply at the charging connection points of the mobile charging area by means of a control device and / or a superordinate control device so that only the charging connection points covered by the vehicle are always conductive and / or a voltage is applied only at these charging connection points. The remaining charging connection points not covered by the vehicle or other vehicles are preferably switched to current-free and / or voltage-free. This preferably avoids an undesirable risk of electric shock to personnel.

[0482] In order to ascertain which charging connection point or charging connection points a vehicle covers, in particular a position detection and / or position monitoring of the respective vehicle may be provided, wherein the coverage is then calculated, for example.

[0483] As an alternative or in addition thereto, it can be provided that one or more charging connection points, in particular all charging connection points, each comprise one or more sensor devices, which can in particular detect the presence of a vehicle at the respective charging connection point, in particular at the respective charging connection point, wherein a current and / or voltage for charging an energy store of the vehicle is applied, in particular switched on, at the respective charging connection point only when the vehicle is identified with the aid of the one or more sensor devices.

[0484] Such a sensor device can be in particular a contact device which interacts with the vehicle, in particular with a corresponding mating contact, for example in order to detect the presence of the vehicle and / or in order to directly or indirectly close an electrical circuit for charging the energy store. For this purpose, the contact device is in particular an electrical and / or mechanical and / or electromagnetic contact device which is different from the charging contacts of the charging connection point.

[0485] In order to detect the presence of a vehicle at a specific portion of the charging section, one or more contact rails may be provided, in particular position-resolving contact rails for determining the position of the respective vehicle.

[0486] The charging connection point may be arranged, for example, underneath the vehicle, at the side of the vehicle and / or on the vehicle.

[0487] Preferably, the charging connection point is not accessible to persons during normal operation of the vehicle and / or the transport device.

[0488] It can be advantageous if the transport device, in particular one or more vehicles, for example all vehicles, each comprises a release device, by means of which one or more charging connection points of the respective vehicle and / or one or more charging connection points of the respective charging area can be temporarily released, in particular exposed, for charging the corresponding energy store. For example, it can be provided that the contact area is released, in particular by folding open a contact element and / or pushing open a cover element or the like.

[0489] In particular, the release device is actuated here by interaction of the vehicle with the charging area.

[0490] It can be advantageous if the release device is direction-dependent, so that in particular at least one charging area arranged in at least one multi-directional transport area can release different contact areas for vehicles in different directions. In particular, incorrect polarity reversals can preferably be avoided thereby.

[0491] One or more charging regions may be arranged and / or formed, for example, at or in a penetration region of a partition wall of the transport device.

[0492] For example, it can be provided that one or more closure elements form contact elements of the charging region for bringing the contact region into contact with the vehicle, in particular with one or more receiving elements.

[0493] As an alternative or in addition thereto, provision can be made for one or more closure elements to be actuating elements for actuating a release device in order to release one or more contact areas of the vehicle.

[0494] It may be advantageous if one or more charging areas are arranged and / or formed on the underside of a partition wall of a workstation of the transport device.

[0495] The charging area or areas are in particular accessible from below, wherein charging connection points of the vehicle corresponding to the charging connection points of the charging area are preferably arranged and / or formed on the upper side of the vehicle.

[0496] The charging connection point of the vehicle protrudes in particular from below relative to the partition of the transport device, wherein in particular the energy storage device of the vehicle can be charged when the vehicle is stationary. As an alternative thereto, mobile charging can also be provided, during which the energy storage device of the vehicle is charged while the vehicle moves into, through and / or out of a work station.

[0497] The transport device preferably comprises a plurality of such workstations.

[0498] It can be provided that one or more charging areas are arranged on a foundation on which at least one vehicle can travel. In particular, one or more charging areas are arranged and / or formed directly below a partition wall of a workstation of the transport device.

[0499] It may be advantageous if one or more charging areas are designed as charging spaces into which one or more of the vehicles can be directed to charge the corresponding energy storage devices, in particular in cases which deviate from, for example, an optimized and / or shortest transport route and / or, for example, an optimized and / or shortest return route of the vehicles.

[0500] Preferably, the one or more charging parking spaces are waiting areas for temporarily storing one or more vehicles.

[0501] As an alternative or in addition thereto, provision may be made for one or more charging parking spaces to be a maintenance area for carrying out maintenance work on one or more vehicles.

[0502] The waiting area is in particular an area in which the respective vehicle waits for the next task or in which the vehicle remains until an assigned task expires.

[0503] In a design, it can be provided that a waiting area is provided for a plurality of vehicles, wherein the vehicles can be arranged in a row, in particular in a waiting queue, one after the other. The vehicle preferably arrives at the waiting area and leaves from the waiting area according to the FIFO principle (first in, first out).

[0504] It can be advantageous if, in the waiting area, charging areas, in particular charging connection points on the energy source side, are arranged only at the frontmost waiting position in the waiting area, in particular with reference to the main driving direction of the vehicle in the waiting area and / or with reference to a row along which a plurality of vehicles can be arranged one after the other. This makes it possible, in particular, to always charge one or more energy stores of the vehicle that receives the first order.

[0505] As an alternative or in addition thereto, it may be provided that a plurality of charging areas, in particular a plurality of charging connection points on the energy source side, are arranged in the waiting area, in particular at a plurality of waiting positions in the waiting area.

[0506] For example, a charging area, in particular a charging connection point on the energy source side, can be arranged at the frontmost waiting position and at the rearmost waiting position in the waiting area, respectively. In this way, in particular, energy storage devices of vehicles entering the waiting area can be charged, so that longer waiting times for vehicles in the waiting area are possible and / or shorter charging times can be achieved at the frontmost waiting position.

[0507] In order to maintain the charge in the energy storage devices of vehicles waiting in a waiting area that is not used as a charging area, it can be provided that the vehicle arranged at the front waiting position leaves the waiting position after a predetermined waiting time and queues up at the end of a row of waiting vehicles. Then, the other vehicles move forward. By means of this regular replacement, all waiting vehicles arrive at the charging area one after another, so that the energy storage devices of all waiting vehicles can be charged regularly.

[0508] It may be advantageous to test the charge state of one or more energy storage devices of the vehicle, for example by means of the vehicle and / or by means of a superordinate control device, before the vehicle moves away from the charging area for a mission.

[0509] In particular, provision can also be made for the vehicle to begin performing a task only when the charge state of one or more energy stores is sufficient to fully perform the task and preferably also sufficient to drive to a charging area immediately after the task.

[0510] Optionally, a safety reserve can also be provided, for example by virtue of the fact that the task is not started until the state of charge is absolutely (with reference to the total capacity of one or more energy stores) or relatively (with reference to the energy required to perform the task), for example at least 5%, in particular at least 10%, higher than the state of charge required to fully perform the task.

[0511] A maintenance area is in particular an area in which one or more vehicles are maintained and / or serviced by personnel trained for this purpose.

[0512] In one embodiment of the invention, it can be provided that one or more charging areas are arranged at a delivery position of a work station and / or at a receiving position of a work station in such a way that an energy storage device of the vehicle can be charged, in particular during a positioning process for positioning the vehicle relative to the work station, in particular for delivering or receiving an object.

[0513] The delivery position and the receiving position are in particular the areas at which one or more objects are transferred from the vehicle to the workstation transport device or from the workstation transport device to the vehicle. Since very precise positioning of the vehicle relative to the workstation is necessary for this, the positioning process is only carried out at a reduced speed compared to the maximum speed of the vehicle, for example less than approximately 0.5 m / s. The vehicle accordingly covers a shorter distance during the positioning process, so that, for example, when using sliding contacts or by induction, the energy storage device of the vehicle can be charged during the positioning process.

[0514] It may be advantageous if the transport device extends over a plurality of levels and comprises one or more charging areas which are arranged in the transport device for transporting one or more vehicles from one level to another level.

[0515] In particular, the transfer device is a lift or other lifting device which is used to transfer one or more vehicles from one level to another level.

[0516] Furthermore, the level of the transport device is preferably a level of a processing plant at which different or identical processing operations are carried out.

[0517] The transfer device can be configured in this way in particular, that is, one or more vehicles are transported simultaneously or only separately and continuously. Here, on the one hand, the transportation of one or more objects arranged on the one or more vehicles can be provided, or the transportation without objects can be provided.

[0518] It may be advantageous if the transport device comprises one or more charging nodes, each of which comprises a plurality of charging areas for charging a plurality of vehicles simultaneously.

[0519] The charging area of ​​one or more charging nodes is preferably arranged and / or oriented in such a way that a plurality of vehicles can be charged at the charging area in different orientations or in the same orientation, ie parallel to one another.

[0520] One or more charging nodes are preferably arranged at a location where a plurality of transport routes and / or return routes intersect and / or overlap.

[0521] The following situation can be advantageous, wherein the transport device comprises one or more safety zones and one or more rapid zones, wherein preferably one or more vehicles in one or more safety zones are placed in safety mode by means of a control device, and wherein preferably one or more vehicles in one or more rapid zones are placed in rapid mode by means of a control device.

[0522] The secure area is in particular inaccessible to persons.

[0523] The fast zone is in particular an area that is at least temporarily inaccessible to persons. If it is detected by means of one or more sensor devices that a person enters or may enter the fast zone, this can be detected and a safety mode can be automatically activated in the fast zone for all vehicles located therein.

[0524] The fast zone is, in particular, a zone which is spatially separated and / or isolated from the safe zone.

[0525] The one or more express areas preferably include one or more return paths or return path sections in which one or more vehicles are not loaded.

[0526] In particular, no objects to be transported are arranged on the respective vehicle when the vehicle is not loaded.

[0527] Thus, when the vehicles are arranged in the fast-moving region, at least one fast-moving region can be designed to be particularly flat, so that no objects can be received on one or more vehicles.

[0528] In the absence of objects situated on the vehicle, the rapid range is in particular adapted to the height of the vehicle.

[0529] It may be advantageous if one or more rapid zones and / or one or more safety zones are connected to one another by means of one or more access points.

[0530] The one or more passage openings are in particular openings through which one or more vehicles can move from the fast-moving area into the safe area and / or from the safe area into the fast-moving area.

[0531] The one or more passage openings preferably at least partially have a shape that is configured to at least approximately and / or at least partially complement the shape of the one or more vehicles.

[0532] In particular, it is thereby possible to prevent persons from unintentionally entering the fast range.

[0533] It can be provided that one or more access openings are arranged in or at one or more workstations of the transport device.

[0534] As an alternative or in addition thereto, provision can be made for one or more access openings to be formed by one or more workstations of the transport device.

[0535] Therefore preferably, one or more stations separate the fast area from the safe area.

[0536] For example, it can be provided that the objects to be transported are transported to the workstation by means of one or more vehicles and, for example, are transferred to the workstation transport device. One or more vehicles, for example, drive through the workstation into the fast zone and can continue to drive, in particular at an accelerated speed, in particular to accept other tasks. One or more objects arranged in the workstation can be removed from the workstation, for example, by means of the workstation transport device and / or by means of one or more other vehicles, for example, and transported onwards, in particular to one or more other workstations and / or a buffer device for temporarily storing objects.

[0537] It may be advantageous to form one or more rapid areas by means of a traversable and / or drivable dual surface.

[0538] In particular, it can be provided that the rapid area is a gap between the workshop floor and the additional floor, which extends parallel to the workshop floor.

[0539] The distance between the workshop floor and the additional floor is preferably less than four times, preferably less than three times, for example at most approximately two times, the height of the vehicle, in particular the base body of the vehicle.

[0540] Instead of the workshop floor, other paving surfaces that can be driven over can also be provided.

[0541] In particular, the area on the additional ground or the area in which no additional ground is present is a safe area.

[0542] The additional floor surface may for example be a separator plate or comprise a separator plate.

[0543] The transport device preferably comprises a plurality of types of workstations, wherein a plurality of workstations of at least two types are preferably provided respectively.

[0544] Preferably, the vehicle can be controlled by means of the control device depending on the occupancy of each type of workstation. Particularly preferably, the transport of the object to the workstation can be selected depending on the respective occupancy of each type of workstation.

[0545] In one embodiment of the invention, it can be provided that the objects to be transported can be transported to and / or through one of the different types of workstations in a predetermined sequence by means of one or more vehicles. Preferably, a single workstation of each type of workstation can be selected by means of the control device, in particular

[0546] a) based on the current occupancy of each type of workstation, and / or

[0547] b) according to the configuration of each type of workstation, and / or

[0548] c) according to the design of each type of workstation, and / or

[0549] d) According to the current maintenance status or contamination degree of each workstation in each type of workstation.

[0550] The transport device is suitable, in particular, as a component of a processing plant for processing objects, in particular workpieces such as car bodies.

[0551] The invention therefore also relates to a processing device for processing an object.

[0552] The processing plant preferably comprises a transport device, in particular a transport device according to the invention.

[0553] The processing plant according to the invention preferably has one or more of the features and / or advantages described in connection with the transport device according to the invention and / or the vehicle according to the invention.

[0554] It may be advantageous if one or more of the workstations of the transport device is a processing station of a processing plant, which workstations are connected to one another for the purpose of transporting objects by means of the vehicles of the transport device.

[0555] It is therefore preferred that the objects to be processed can be transported successively to different processing stations of the processing plant by means of one or more vehicles of the transport device.

[0556] It may be advantageous if the transport device comprises a transfer area at which one or more objects can be transferred from the vehicle to the workstation transport device or another receiving device.

[0557] In particular, the transfer area can form a receiving location and / or a delivery location or be a component thereof.

[0558] In the transfer position of the transfer area, the vehicle is preferably positioned such that the adapter device and / or the object can be lowered, for example by moving in or lowering one or more receiving elements of the vehicle and / or can be set down on a workstation transport device or other receiving device.

[0559] The adapter device and / or the object can thereby preferably be separated from the vehicle.

[0560] If several vehicles are to hand over several objects in a short time sequence, it may be advantageous if the vehicles do not leave the handover position through the entry area in the opposite direction of entry, since otherwise the other vehicles would have to remain at a greater distance from the handover area.

[0561] Preferably, at least one entrance area of ​​the transfer area, via which the transfer position of the transfer area is accessible to the vehicle and via which the vehicle can drive away from the transfer position, is spatially separated from at least one exit area of ​​the transfer area.

[0562] As an alternative or in addition thereto, provision can be made that the approach direction, along which the vehicle can be driven into the transfer area, is transverse, in particular at least approximately perpendicular, to the exit direction, along which the vehicle can be driven out of the transfer area.

[0563] In particular, the vehicle can be rotated in the transfer position, preferably about its own vertical axis, in particular a central axis, for example by counter-rotating the two drive wheels.

[0564] For example, the vehicle is rotated by at least approximately 90° so that the vehicle can preferably leave the transfer position in an outgoing direction oriented at least approximately perpendicularly to the incoming direction.

[0565] Other vehicles can then subsequently drive through the entry area into the transfer position, preferably without significant waiting time, in order to finally be able to deliver a further object to the workstation.

[0566] The invention furthermore relates to a method for processing and / or transporting objects.

[0567] In this case, the objects are transported in particular by means of one or more vehicles, in particular the vehicle according to the invention, and / or by means of a transport device, in particular the transport device according to the invention.

[0568] As an alternative or in addition thereto, it can be provided that the object is processed in a processing device, in particular a processing device according to the invention and / or by means of a processing device, in particular a processing device according to the invention.

[0569] The method preferably has one or more of the features and / or advantages described in connection with the vehicle, the transport device and / or the processing plant.

[0570] In principle, of course, all features and / or advantages of the adapter device, the transport device, the processing device and / or the method can be combined freely with one another to obtain special embodiments of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0571] The following description of the embodiments and the accompanying drawings describe further features and / or advantages of the invention.

[0572] In the attached picture:

[0573] Figure 1 shows a schematic perspective view of a first embodiment of a vehicle;

[0574] Figure 2 Shows Figure 1 A schematic horizontal cross-sectional view of a vehicle in FIG.

[0575] Figure 3 Shows Figure 1 A schematic top view of the bottom side of the vehicle in FIG.

[0576] Figure 4 Shows Figure 1 Vehicles along the Figure 3 A schematic vertical cross-sectional view of line 4-4 in FIG.

[0577] Figure 5 Shows Figure 1 Vehicles along the Figure 3 A schematic vertical cross-sectional view of line 5-5 in FIG.

[0578] Figure 6 Shows Figure 1 Vehicles along the Figure 3 A schematic vertical cross-sectional view of line 6-6 in FIG.

[0579] Figure 7 Shows Figure 6 Enlarged view of middle region VII;

[0580] Figure 7a A vertical sectional view showing an alternative embodiment of a receiving element of a vehicle;

[0581] Figure 8 Shows Figure 1 Vehicles along the Figure 5 A schematic horizontal cross-sectional view of line 8-8 in FIG.

[0582] Fig. 9 A schematic perspective view of an adapter device is shown, which can be fixed on Figure 1 on a vehicle and for receiving an object;

[0583] Fig.10 Shows Fig. 9 Another schematic perspective view of the adapter device in;

[0584] Fig.11 Shows Figure 1 The vehicles in Fig. 9 A schematic side view of an adapter device and an object mounted thereon, partially shown;

[0585] Fig.12 shows a schematic side view of a stacking and / or unstacking device for stacking and / or unstacking vehicles;

[0586] Fig.13 The corresponding Fig.12 A schematic diagram of a stacking device in which the lifting unit of the stacking device is arranged in a raised position;

[0587] Fig.14 A schematic perspective view shows components of a transport device, which is used in a processing plant;

[0588] Fig.15 The view along the transport direction is shown Fig.14 A schematic top view of the front end of the transport device in FIG.

[0589] Fig.16 An alternative embodiment of the transport device is shown corresponding to Fig.15 A schematic diagram of a workstation transport device, wherein a suspension conveyor is provided as a workstation transport device, wherein the suspension conveyor is arranged in a lowered position;

[0590] Fig.17 Shows Fig.16 The transport device in Fig.16 A schematic diagram of a suspension conveyor in which the suspension conveyor is arranged in a raised position;

[0591] Fig.18 A further alternative embodiment of the transport device is shown corresponding to Fig.15 Schematic diagram of a workstation having a lifting platform for raising an object is provided;

[0592] Fig.19 A schematic diagram of a partition wall of a workstation is shown, by means of which a vehicle and an adapter device and, if applicable, an object mounted thereon are separated from one another, wherein the partition wall has a through-region designed as a through-slot which is delimited on both sides by obliquely extending through-edge regions;

[0593] Fig. 20 An alternative embodiment of the separator plate is shown corresponding to Fig.19 Schematic diagram of a device, wherein a substantially L-shaped through edge region is provided;

[0594] Fig.21 Another alternative embodiment of the partition plate is shown corresponding to Fig.19 Schematic diagram of a through-region, wherein the through-region can be closed by means of a closing element, wherein the closing element is, for example, a flap;

[0595] Fig. 22 Another alternative embodiment of the partition plate is shown corresponding to Fig.19 A schematic diagram of a method of manufacturing a substrate, wherein the through-region can be closed by means of a closing element designed as a sheet;

[0596] Fig.23 Shows Fig. 22 The partition, vehicle and adapter device in Fig. 22 Schematic diagram of a vehicle, wherein one or more receiving elements of the vehicle are arranged in a raised or moved out position, and thus the adapter device is raised from the workstation transport device;

[0597] Fig.24A schematic diagram showing the layout of a processing plant having a plurality of processing stations and a plurality of charging areas for charging vehicles; and

[0598] Fig.25 Shows Fig.24 Other aspects of the processing equipment in Fig.24 Schematic diagram of

[0599] Fig.26 A schematic perspective view of a particularly alternative embodiment of a transfer area is shown, in which a vehicle transfers an adapter device and optionally an object (not shown) arranged thereon to a workstation transport device;

[0600] Fig. 27 Shows Fig.26 The corresponding transfer area in Fig.26 , in which the adapter device has been transported out by means of the workstation transport device;

[0601] Fig.28 Shows Fig.26 The corresponding transfer area in Fig.26 , in which the vehicle has been turned into a transverse orientation in order to leave the transfer area in an exit direction oriented transversely to the entry direction;

[0602] Fig.29 A schematic top view of a combination of a vehicle and an object arranged on the vehicle is shown for explaining the mode of operation of the sensor device, wherein for a simpler explanation the vehicle actually arranged below the object can also be seen;

[0603] Fig.30 Shown according to Fig.29 A schematic side view of a combination of a vehicle and an object arranged thereon;

[0604] Fig.31 A schematic perspective view of a partition plate of a transport device is shown, wherein the partition plate has a through-region which can be closed by means of a closing element;

[0605] Fig.32 Shows Fig.31 A schematic vertical cross section of a partition plate in FIG.

[0606] Fig.33 Shows Fig.31 A schematic perspective view of the partition plate in FIG. 1 as viewed from the bottom side of the partition plate; and

[0607] Fig.34 A simplified circuit diagram is shown to illustrate the charging process.

[0608] In all figures, identical or functionally equivalent elements are provided with the same reference signs. DETAILED DESCRIPTION

[0609] The number of vehicles marked as 100 is Figures 1 to 8 The first embodiment shown in FIG. 1 is particularly useful for transporting an object 102 (see, for example, Fig.11 ) of a driverless transport vehicle.

[0610] Especially from Figures 1 to 8 It can be seen that vehicle 100 includes a substantially rectangular base body 104 which forms a supporting structure of vehicle 100 .

[0611] Furthermore, the vehicle 100 comprises a chassis 106 which comprises a plurality of, for example four, support rollers 108 and a drive 110 .

[0612] The support rollers 108 are arranged, in particular, on an underside 114 of the vehicle 100 in the four corner regions of the vehicle 100 .

[0613] The support rollers 108 penetrate in particular partially into the base body 104 of the vehicle 100 , so that the vehicle 100 has an overall height that is as small as possible.

[0614] The support roller 108 is mounted, in particular, so as to be freely rotatable through 360° about a substantially vertical rotation axis 116 .

[0615] In particular, the support roller 108 is not a drive wheel.

[0616] The drive device 110 comprises, for example, two drive elements 118 which are designed, for example, as drive wheels 120 .

[0617] Each drive element 118 is preferably assigned a drive motor 122 of the drive device 110 , so that the drive elements 118 can be driven independently of one another.

[0618] The drive motor 122 and the drive element 118 are preferably rigidly connected to one another by means of a shaft element 124 .

[0619] In this case, the drive element 118 is mounted in particular rotatably at opposite ends of the shaft element 124 .

[0620] Axle element 124 is rotatably or pivotably supported on base body 104 of vehicle 100 by means of bearing element 126 of drive device 110. Bearing element 126 is, for example, substantially C-shaped for this purpose and / or comprises a center part 128 and two legs 130 projecting away from center part 128 in the same direction.

[0621] The end of the leg 130 facing away from the central part 128 preferably forms a bearing seat 132 , at which the bearing element 126 is rotatably or pivotably supported on the base body 104 of the vehicle 100 .

[0622] The other leg 130 of the bearing element 126 preferably interacts with a spring element 134 so that a pivoting and / or rotational movement of the bearing element 126 relative to the bearing seat 132 , in particular about a bearing axis 136 provided through the bearing seat 132 , is an elastic movement.

[0623] The bearing axis 136 is in particular substantially parallel to the main driving direction 138 of the vehicle 100, which is preferably also parallel to the horizontal longitudinal center axis 140 of the vehicle 100. In the middle part 128 of the bearing element 126, a pivot connection 142 for connecting the bearing element 126 to the shaft element 124 is in particular provided.

[0624] In particular, the shaft element 124 is pivotably mounted on the bearing element 126 by means of the pivot connection 142 .

[0625] The pivot axis 144 , about which the shaft element 124 can pivot relative to the bearing element 126 , is preferably parallel to the bearing axis 136 and / or to the longitudinal center axis 140 and / or to the main direction of travel 138 .

[0626] Furthermore, the pivot axis 144 is preferably arranged substantially centrally between the two drive elements 118 and / or substantially centrally between the two drive motors 122 .

[0627] Since the pivot axis 144 and the bearing axis 136 are offset parallel to one another, the pivot connection 142 and thus also the shaft element 124 with the drive element 118 arranged thereon can be raised or lowered by rotating the bearing element 126 about the bearing axis 136 .

[0628] Especially from Figure 4 It can be seen that, as a result, in particular the drive wheel 118 can be positioned with a different degree of protrusion from the base body 104 .

[0629] For example, Figure 2 The actuating device 146 shown in FIG. 1 is preferably used to adjust the rotational orientation of the bearing element 126 about the bearing axis 136. In particular, this can be achieved by displacing the spring element 134 or by displacing a counterpart that acts on the spring element 134.

[0630] Finally, the extent to which the drive element 118 protrudes from the base body 104 is preferably adjusted by means of the actuating device 146 .

[0631] Since the drive device 110, in particular the shaft element 124 and the drive element 118, are arranged substantially centrally on the base body 104 with respect to the longitudinal center axis 140 of the vehicle 100, the vehicle 100 can be maneuvered in a particularly space-saving manner. By driving the drive element 118 in different rotational directions by means of the corresponding drive motor 122, in particular, the vehicle 100 can be turned around at this position.

[0632] Especially from Figure 4 It can be seen that the drive elements 118 are rigidly connected to one another by means of the shaft element 124 , so that the drive shaft 148 formed thereby is essentially a rigid shaft.

[0633] Drive motor 122 of vehicle 100 is preferably supplied with electrical energy from energy storage device 150 of vehicle 100 .

[0634] Energy store 150 comprises, in particular, a plurality of energy store cells 152 , for example a plurality of supercapacitors 154 .

[0635] Energy store 150 can be charged by means of charging device 156 .

[0636] Charging device 156 comprises in particular a charging area 158 which is arranged, for example, on a drivable surface 160, in particular a workshop floor 162 (see in particular Figure 4 and Figure 7 ). Charging area 158 comprises, in particular, a charging connection point 164 which is, for example, fixed, for example screwed, to a drivable foundation 160 .

[0637] A charging connection point 164 of vehicle 100 that can be connected to a charging connection point 164 of charging area 158 is preferably arranged on the vehicle, in particular on underside 114 of vehicle 100 (see, for example, Figure 3 ).

[0638] The charging connection point 164 can have or form, for example, a sliding contact. Other mechanical or contactless transmission variants are also conceivable. For example, inductive energy transmission can also be provided.

[0639] In an alternative embodiment of vehicle 100 (not shown), one or more additional charging connection points 164 may be arranged and / or formed, for example, in side wall 166 of vehicle 100, in particular base body 104. For example, a conventional plug connection may be provided for connecting a charging cable.

[0640] Furthermore, alternatively or additionally, charging connection point 164 of vehicle 100 may be arranged at one or more receiving elements (to be described further).

[0641] Especially from Figure 1 , 2, 7 and 8 that the vehicle 100 comprises a receiving device 168 by which one or more objects 102 can be received.

[0642] In particular, receiving device 168 includes one or more, for example two, receiving elements 170 which protrude from base body 104 of vehicle 100 at an upper side 172 of the base body.

[0643] The receiving element 170 is in particular designed to be rod-shaped or pin-shaped.

[0644] Preferably, the receiving element 170 is at least partially and / or at least approximately cylindrical, for example round-cylindrical.

[0645] The receiving element 170 preferably has a height HAE which corresponds at least approximately to a height HGK of the main body 104 of the vehicle 100 .

[0646] Each receiving element 170 preferably includes a handle section 173 , and a receiving section 174 is connected to the handle section 173 .

[0647] As long as vehicle 100 is located on a horizontal plane and upper side 172 of base body 104 is oriented upward, receiving section 174 preferably tapers counter to the direction of gravity g.

[0648] Especially from Figure 7a It is known from the drawings that in an alternative embodiment of the receiving element 170 , for example an integrated lubrication device 175 can be provided.

[0649] The lubricating device 175 is preferably integrated into the receiving element 170 , in particular into the shank section 173 and / or the receiving section 174 , for example is arranged completely within the shank section 173 and / or the receiving section 174 .

[0650] The lubricating device 175 preferably includes a container 177 for containing a lubricant and a component element 179 for controllably and / or adjustably conveying the lubricant from the container 177 to an object to be lubricated.

[0651] The object to be lubricated is in particular a part of a lifting drive 178 for raising and / or lowering the receiving element 170 relative to a base body 181 , on or in which the receiving element 170 is arranged, in particular movably mounted.

[0652] For example, it can be provided that the receiving element 170 is arranged displaceably on the base body 181 by means of a screw element 183 , in particular can be moved out of the base body 181 and / or can be moved into the base body 181 .

[0653] The lubricating device 175 is preferably designed such that a lubricant can be applied to the object to be lubricated, in particular the screw element 183 , in particular in order to ensure reliable lubrication of the screw element and thus a reliable lifting and lowering operation of the receiving element 170 .

[0654] For this purpose, the component element 179 is particularly demand-controlled and / or time-controlled, for example, by means of a time element. For example, it can be provided that the component element 179 is automatically activated after a predetermined number of lifting cycles of the receiving element 170 in order to ensure that the lubricant is regularly distributed to the object to be lubricated, in particular the screw element 183.

[0655] The component element 179 can in particular be a valve arranged at the bottom side of the container 177 and / or directed toward the object to be lubricated, which can be opened and closed as required (see Figure 7a ).

[0656] The lubricating device 175 , in particular the container 177 and / or the component element 179 , is preferably accessible through the receiving section 174 and / or by removing the receiving section 174 , for example from above, in particular for replacement and / or filling with additional lubricant.

[0657] Especially from Figure 4 and 6 It can be seen that receiving element 170 is arranged with its central axis lying in a vertical longitudinal center plane 176 of vehicle 100 .

[0658] The receiving element 170 can be displaced, in particular, by means of a lifting drive 178 , in particular can be moved upwardly out of the base body 104 and at least partially moved back in again.

[0659] For this purpose, the lifting drive 178 comprises in particular a lifting drive motor 180 which is, for example, an electric motor and can be driven by applying energy from the energy store 150 .

[0660] Furthermore, the lifting drive 178 comprises a lifting drive element 182 , for example a lifting drive belt 184 , by means of which the receiving elements 170 are connected to one another and also to a lifting drive motor 180 .

[0661] The two receiving elements 170 can therefore be moved in particular jointly by means of the lifting drive motor 180 .

[0662] Since the receiving elements 170 are preferably arranged on opposite sides of the drive device 110 along the longitudinal center axis 140 of the vehicle 100, it is advantageous for a permanent connection of the two receiving elements 170 to be achieved by means of a lifting drive element 182, wherein the lifting drive element 182 extends not only toward one of the receiving elements but also toward the other receiving element 170.

[0663] Especially from Figure 8 It can be seen that a lifting drive element 182 , which is designed, for example, as a lifting drive belt 184 , passes through the drive device 110 for this purpose.

[0664] In this case, the lifting drive element 182 extends in particular through a gap 186 formed between the two legs 130 of the bearing element 126 .

[0665] In addition, the shaft element 124 and / or the bearing element 126 may be Figure 4 As can be seen in FIG. 1 , the lifting drive element 182 preferably also extends through underneath the drive device 110 .

[0666] The receiving element 170 is therefore in particular mechanically connected in a simple manner so that it can be actuated reliably for receiving one or more objects 102 .

[0667] Vehicle 100 preferably comprises one or more reception sensors 188 , by means of which it is possible to detect whether object 102 and / or an adapter device to be described is situated on vehicle 100 .

[0668] The receiving sensor 188 is arranged, in particular, along the longitudinal center axis 140 of the vehicle 100 in front of and behind one of the receiving elements 170 (see in particular Figure 1 and 2 ).

[0669] The detection method will be further described in detail below in conjunction with the description of the adapter device.

[0670] Especially from Figure 5 It is apparent from the drawings that vehicle 100 includes one or more sensor devices 190 , which are arranged in particular in a corner region 112 of vehicle 100 , in particular of base body 104 .

[0671] In particular, exactly one sensor device 190 is provided in each case at two corner regions 112 which lie diagonally opposite one another.

[0672] With the aid of sensor device 190 , surrounding area 192 of vehicle 100 may be monitored, in particular in order to enable automated driving of vehicle 100 .

[0673] Furthermore, for example, a barcode reader 194 is provided on top 172 of base body 104 , by means of which information about object 102 arranged or to be arranged on vehicle 100 can be detected, in particular by scanning a barcode arranged, for example, on object 102 and / or an adapter device.

[0674] The main body 104 is preferably provided with a cover 196 on its upper side 172 .

[0675] The cover 196 is, in particular, a flat sheet metal plate which rests on the annularly closed surrounding support region 198 and closes substantially flush with the support region 198 .

[0676] As a result, cover 196 is preferably fixed to base body 104 without the need for additional fixing elements; in particular, removal of cover 196 by one person without tools is not possible.

[0677] The cover 196 is preferably transparent, such as tinted transparent.

[0678] Components of vehicle 100 which are arranged in base body 104 are therefore preferably visible through cover 196 .

[0679] The transparent design of the cover 196 can in particular achieve a deterrent, blocking effect in order to prevent people from stepping on the upper side 172 of the base body 104. This makes it possible, for example, to optimize safety during operation of the vehicle 100.

[0680] Vehicle 100 also preferably comprises a warning device 200 , by means of which a warning can be issued in the event of an interfering object detected by means of sensor device 190 , for example a person located in the lane.

[0681] The alarm device 200 is, for example, an acoustic alarm device and / or an optical alarm device, by means of which an acoustic alarm signal (eg, an alarm sound or an alarm message) and / or an optical alarm signal (eg, a flashing light) is generated accordingly and sent to the surrounding environment.

[0682] For example, a flashing warning signal may be generated for the acoustic warning by means of one or more display elements 202 of vehicle 100 .

[0683] Vehicle 100 , in particular individual, a plurality or all of the above-mentioned components, may preferably be controlled by means of control device 204 of vehicle 100 .

[0684] In this case, control device 204 can act in particular completely automatically or communicate with a superordinate control device.

[0685] Object 102 may be arranged, for example, directly on vehicle 100 , for example on receiving element 170 .

[0686] However, in particular for arranging large and / or heavy objects 102 , such as vehicle bodies 102 , it may be advantageous to use an adapter device 208 .

[0687] The adapter device 208 is for example Figures 9 to 11 Shown in.

[0688] The adapter device 208 comprises, in particular, a central element 210 which connects two or more adapter elements 212 to one another.

[0689] The adapter elements 212 are matched to the object 102 to be transported. For example, each adapter element 212 has one, two or more receiving pins 214, which protrude upwards, for example, counter to the direction of gravity g, and engage on the underside thereof for receiving the object 102, for example, configured as a vehicle body 206.

[0690] The adapter element 212 is adapted to the object 102 to be transported with regard to the geometry, size, number and / or configuration of the receiving pins 214 .

[0691] Especially from Fig.10 It can be seen that the adapter device 208 is provided with two engagement regions 216 , for example insertion openings 218 , at which the receiving element 170 , in particular the receiving section 174 of the receiving element 170 , can engage.

[0692] The insertion opening 218 is in particular designed to taper conically in order to produce a stable connection between the adapter device 208 and the receiving element 170 .

[0693] In the adapter device 208 Figures 9 to 11 In the embodiment shown in , the connection region 216 , in particular the insertion opening 218 , is arranged on the adapter element 212 . However, it can also be provided that the connection region is arranged and / or formed on the central element 210 .

[0694] In addition, if Fig. 9 and 10 It is known that the adapter device 208 includes a detection auxiliary structure 220, which is designed as a through hole, for example. The detection auxiliary structure 220 is arranged before or after the connection area 216, especially the insertion opening 218, especially with respect to the longitudinal direction of the adapter device 208, especially at the same distance from one or both receiving sensors 188 and the receiving element 170 of the vehicle 100.

[0695] Since the detection auxiliary structure 220 is only briefly present, it is possible to monitor with the aid of the receiving sensor 188 whether the adapter device 208 is arranged on the vehicle 100 in the correct rotational orientation, because, depending on whether the adapter device 208 is arranged on the vehicle 100 in the desired orientation, either the auxiliary structure 220 can be detected when no object is directly above the receiving sensor 188 in the case of a through hole, or the central element 210 can be detected.

[0696] By means of a further receiving sensor 188 which is not assigned to the detection aid 220 , the presence of the adapter element 212 can preferably be monitored, thereby making it possible to ascertain whether the adapter device 208 is situated at all on the vehicle 100 .

[0697] Of course, numerous other detection concepts are conceivable, such as using contact sensors for the receiving element 170 , in particular the receiving section 174 , in order to establish a mechanical or electrical contact for detecting and / or monitoring the adapter device 208 .

[0698] Vehicle 100 is, in particular, a component of transport device 222 .

[0699] In particular, transport device 222 includes a plurality of vehicles 100 of substantially identical construction.

[0700] Transport device 222 is, for example, a component of a production plant 224 , in particular a plant for producing motor vehicles.

[0701] In particular, when the transport device 222 comprises a plurality of vehicles 100 , which are essentially ground-based, it may be advantageous for the vehicles 100 to be at least temporarily stacked.

[0702] Therefore, the transport device 222 preferably includes a stacking device 225, which is for example Fig.12 and 13 Shown in.

[0703] The unloading device 225 comprises, in particular, a lifting unit 226 which is able to raise one or more vehicles 100 to different height levels.

[0704] For this purpose, the lifting unit 226 is arranged, for example, in a recess 228 and comprises, for example, a lifting floor 230 which can preferably be positioned substantially flush with the drivable foundation 160 .

[0705] The vehicle 100 can therefore in particular be driven from the drivable surface 160 directly onto the lifting floor 230 of the unloading device 225 .

[0706] The vehicle 100 can then in particular be raised by means of the lifting unit 226 .

[0707] In particular, further vehicles 100 which are arranged in the immediate vicinity of the recess 228 and / or the lifting unit 226 then form the basis for a stack of a plurality of vehicles.

[0708] Especially from Fig.13 It is seen in FIG. 2 that a vehicle 100 that has been driven onto the lifting floor 230 can, after it has been raised, be driven onto a vehicle 100 that is arranged adjacent thereto by means of the lifting unit 226 and can thus be stacked onto other vehicles.

[0709] Depending on the distance by which one or more receiving elements 170 protrude from the upper side 172 of the base body 104 of the respective vehicle 100 , the receiving element 170 may impede stacking.

[0710] In one embodiment, it may therefore be advantageous to install one or more intermediate elements 232 on a vehicle 100 forming the basis of a stack of vehicles 100 in order to enable subsequent travel with the aid of other vehicles 100 .

[0711] By means of one or more (not shown) protective devices, the stacked vehicles 100 can preferably be connected to each other. For example, the receiving element 170 of the lower vehicle 100 can be moved out to engage with the bottom side 114 of the upper vehicle 100 in a corresponding engagement area and thus fix the vehicles 100 relative to each other.

[0712] Of course, more than two vehicles 100 can be stacked on top of each other using the stacking device 225 .

[0713] In addition, a plurality of vehicles 100 stacked on top of each other can be unstacked or unstacking in reverse order. This can be advantageous, in particular, for transporting the vehicles 100 from their production site to their use site in order to minimize the transport area required for transport.

[0714] The transport device 222 preferably includes one or more work stations 234 , to which the objects 102 can be transported by means of a plurality of vehicles 100 .

[0715] If the transport device 222 is a component of the processing system 224 , the workstation 234 is in particular a processing station 236 .

[0716] For example, one or more robots 238 for processing a surface of an object 102 , in particular a vehicle body 206 , are arranged in the processing station 236 .

[0717] Alternatively or in addition to the robot 238 , a processing station 236 for manual operation can also be provided.

[0718] As from Fig.14 and 15 It can be seen that the workstation 234 preferably includes a first position 240 , which is in particular a transfer position 242 and is used to transfer the object 102 from the vehicle 100 to a workstation transport device 244 .

[0719] The workstation transport device 244 is in particular a roller conveyor 245. A chain conveyor and / or a rail conveyor can be provided in addition or alternatively to this.

[0720] In particular, the workstation 234 comprises a lifting device 246 at the first position 240 , by means of which the workstation transport device 244 can be raised and lowered in order to remove the object 102 from the vehicle 100 .

[0721] As an alternative or in addition thereto, provision may be made to lower receiving element 170 of vehicle 100 when vehicle 100 is arranged at first position 240 in order to place object 102 on workstation transport device 244 and thereby transfer it to workstation transport device 244 .

[0722] Especially from Fig.15 It is apparent from the drawings that the workstation 234 comprises in particular one or more partitions 248 which are arranged on a drivable foundation 160 , in particular on a workshop floor 162 , and under which the vehicle 100 can pass.

[0723] Instead, the object 102 is disposed above the partition plate 248 .

[0724] The workstation transport device 244 is integrated in particular into the partition plate 248 .

[0725] In particular, separating plate 248 can be raised or lowered in first position 240 by means of lifting device 246 in order to remove object 102 from vehicle 100 .

[0726] The objects 102 can be transported through the processing stations 236 , in particular along a transport direction 250 , by means of the station transport device 244 .

[0727] In particular, the object 102 may be transported from the first position 240 through the processing region 252 of the processing station 236 and to the second position 254 of the processing station 234 .

[0728] The second position 254 is, in particular, a receiving position 256 , at which the object 102 can be transferred from the workstation transport device 244 to the vehicle 100 , ie, at which the object 102 is received by the vehicle 100 .

[0729] The second location 254 is also equipped in particular with a lifting device 246 in order to raise or lower a partition plate 248 which is also arranged at the second location 254 in order to finally transfer the object 102 to the vehicle 100 .

[0730] Fig.14 and 15 The three-part diagram of the middle station 234 is used to simplify the functionally different positions. In the actual design of the transport device 222, the station transport device 244 is obviously configured to be continuous, so that the object 102 is actually transported from the first position 240 to the second position 254.

[0731] Vehicle body 206 can be processed, in particular treated, in an intermediate position 258 formed by processing region 252 between first position 240 and second position 254 .

[0732] In particular, surface treatment, seam sealing and / or handling of the object 102 may be performed with the aid of one or more robots 238 and / or with the aid of manual processing.

[0733] In particular, if dirt can occur in the processing area 252, it may be advantageous for the partition wall 248 to be designed closed at least in the processing area 252. The partition wall 248 thus includes a closed section 260, which extends in particular along the transport direction 250 over the entire length of the processing area 252.

[0734] In the first position 240 and / or in the second position 254 , the partition plate 248 preferably has a through-region 262 which is in particular designed as a through-slot 264 and extends in the transport direction 250 .

[0735] In particular, one or more receiving elements 170 of vehicle 100 may protrude through this penetration region 262 in order to position an object 102 located above partition wall 248 by moving vehicle 100 located below partition wall 248 .

[0736] In particular, by means of the retracted receiving element 170 , the vehicle 100 can also pass under the closed section 260 of the partition 248 without the risk of a collision with the partition 248 .

[0737] For this purpose, the partition plate 248 has, in particular, a projection which is triangular in cross section, for example, and which extends in the transport direction 250 and thus provides free space for the receiving element 170 below the partition plate 248 .

[0738] The area located below the partition wall 248 is, in particular, a travel space 266 which is inaccessible to persons.

[0739] Therefore, vehicle 100 is not in danger in driving space 266 , whereby vehicle 100 may be driven at an increased speed, for example.

[0740] In particular, the area below partition 248 may therefore be a rapid area 268 in which vehicle 100 can be operated in a rapid mode.

[0741] Outside of workstation 234 and in particular when persons are in the environment of vehicle 100 without being separated therefrom, vehicle 100 can preferably be operated in a safety mode. The area outside rapid area 268 is therefore in particular a safety area 270 .

[0742] In addition, if Fig.14 and 15 It is known from the drawings that the adapter device 208 can also be designed as a slide, in particular in order to be able to easily transport the object 102 on a workstation transport device 244 designed as a roller track 245 .

[0743] One or more joining regions 216 , in particular insertion openings 218 , are preferably arranged and / or formed on a crossbar of the adapter device 208 designed as a slide or on a central element arranged on the crossbar.

[0744] With regard to efficient use of vehicles 100 in transport devices 222 , it may be advantageous if vehicles 100 used to transport objects 102 are not always assigned to the same object 102 .

[0745] For example, optimization of vehicle utilization can be achieved in that the object 102 to be transported is transferred to the workstation transport device 244 at the first position 240 of the workstation 234 by means of the vehicle 100. The object 102 that has previously been transferred to the workstation transport device 244 can then be received and transported further by means of the vehicle 100, which object has been processed in the processing station 236 and transported to the second position 254 by means of the workstation transport device 244.

[0746] The vehicle 100 therefore preferably skips at least one cycle (Takt) when the transported object 102 passes through the work station 234 .

[0747] Workstation 234 is Fig.16 and 17 The alternative embodiment shown in Fig.14 and 15 The difference of the embodiment shown in FIG. 2 is essentially that the objects 102 in the processing area 252 do not rest on the workstation transport device 244 configured as a roller track 245. Instead, a lifting device 272 is provided for lifting the objects 102 from the workstation transport device 244 and / or from the adapter device 208.

[0748] The lifting device 272 is, in particular, a suspended conveyor and / or an electric suspended track, or is capable of lifting the object 102 at rest at least in the horizontal direction.

[0749] By means of lifting device 272 , in particular the underside of object 102 can be made accessible to robot 238 and / or for manual processing, for example in order to apply underside protection or seam sealing to the underside of object 102 , in particular vehicle body 206 .

[0750] In addition, the 234th station Fig.16 and 17 The embodiment shown in FIG. 1 is similar in structure and function to that in FIG. Fig.14 and 15 The embodiment shown in FIG. 1 is identical to that shown in FIG. 1 , so reference is made to the previous description thereof in this regard.

[0751] In accordance with Fig.14 and 15The embodiments shown in Fig.16 and 17 In the embodiment shown in FIG. 2 , one or more workstations 234 may be provided in the transport device 222 , in particular in order to carry out different processing steps on the object 102 .

[0752] Workstation 234 is Fig.18 Another alternative embodiment shown in Fig.16 and 17 The difference to the embodiment shown in is essentially that the lifting device 272 is designed as a lifting platform 274 which is arranged on both sides of the workstation transport device 244 .

[0753] In this way, the object 102 can also be brought to different height levels in order to carry out different processing steps on the object 102 .

[0754] In addition, the 234th station Fig.18 The alternative embodiment shown in FIG. 1 is similar in structure and function to the Fig.16 and 17 The embodiment shown in FIG. 1 is identical to that shown in FIG. 1 , so that reference is made to the previous description thereof in this regard.

[0755] Workstation 234 Fig.18 The embodiment shown in FIG. 2 can also be provided as a single or multiple transport device 222, in particular as an alternative or in addition to the embodiment according to Fig.14 and 15 One or more embodiments and / or alternatives or supplements according to Fig.16 and 17 One or more embodiments of the present invention.

[0756] exist Figures 19 to 23 , different variants of the partition plate 248 and of the through-region 262 are shown enlarged in order to explain their function and their variants.

[0757] The partition plate 248 and / or the penetration area 262 are Figures 19 to 23 Each embodiment shown in the Figures 14 to 18 The embodiment shown in FIG. 2 can in principle be provided at every conceivable workstation 234 .

[0758] exist Fig.19 The design of the partition plate 248 shown in FIG. 2 essentially corresponds to Figures 14 to 18 An embodiment is shown in which the through-region 262 is completely open and in particular no closed section 260 is provided.

[0759] In order to minimize contamination of the vehicle 100 beneath the partition 248 , it may be provided, for example, that the width of the central element 210 of the adapter device 208 transversely to the transport direction 250 is greater than the width of the through-gap 264 .

[0760] The through-gap 264 can therefore preferably be at least partially covered by means of the central element 210 .

[0761] The two regions of the partition plate 248 that define the through-region 262 are hereinafter referred to as through-edge regions 276 and are Fig.19 In the embodiment shown in FIG. 2 , for example, the through edge region 276 is oriented obliquely to the direction of gravity g. The through edge region 276 extends obliquely upward, in particular, from the partition plate 248. This can prevent objects from falling or rolling into the through gap 264 in an undesirable manner. In addition, the potential danger to personnel that may be caused by the through gap 264 can be minimized by a suitable design of the through edge region 276.

[0762] In particular, the pass-through edge region 276 is a component of a projection formed in the separating plate 248 in order to provide space for the receiving element 170 to move.

[0763] As from Fig.19 The dashed line indicates that in the design of vehicle 100 and / or transport device 222, as an alternative to or in addition to the embodiments already described and / or shown, charging device 156 for charging energy storage device 150 of vehicle 100 can be configured to enable energy transmission from charging area 158 to vehicle 100 in the area of ​​one or more receiving elements 170.

[0764] For this purpose, receiving element 170 is provided, for example, with one or more contact regions 278 , which form charging connection points 164 of vehicle 100 .

[0765] Charging connection point 164 adjoining thereto is formed, for example, by one or more contact elements 280 which are arranged, in particular, on separating web 248 and project in the direction of receiving element 170 , in particular toward contact region 278 .

[0766] Contact element 280 is in particular designed as a sliding contact which enables a contact-based energy transmission from charging area 158 to vehicle 100 .

[0767] In particular, for optimal control of the charging process, control contacts 282 may also be provided. As an alternative or in addition thereto, the information necessary for optimizing the charging process may be transmitted wirelessly, for example via WLAN.

[0768] The partition plate 248 is Fig. 20 Another embodiment shown in Fig.19The difference to the embodiment shown in is essentially that the through-edge regions 276 project upwards essentially parallel to one another and / or essentially perpendicularly to the separating web 248 and are thus, for example, essentially L-shaped.

[0769] In addition, the partition plate 248 Fig. 20 The embodiment shown in FIG. 1 is similar in structure and function to the embodiment shown in FIG. Fig.19 The embodiment shown in FIG. 1 is identical to that shown in FIG. 1 , so that reference is made to the previous description thereof in this regard.

[0770] Partition plate 248 Fig.21 The embodiment shown in Fig. 20 The embodiment shown differs essentially in that the through-edge region 276 is arranged and / or formed so as to be pivotable on the separating plate 248 .

[0771] The through-edge region 276 therefore comprises, in particular, one or more closing elements 284 , which are preferably pivotably arranged on the partition plate 248 and which can close the through-region 262 , in particular the through-slot 264 .

[0772] The closing element 284 is preferably spring-loaded and / or arranged and / or constructed in such a way that it automatically moves into a closed position, for example substantially horizontal, due to gravity without any manipulation of the closing element.

[0773] If the vehicle 100 now passes under the partition 248, the closing element 248 can be opened in relation to the extended position of the receiving element 170 by being pressed open, in particular lifted upward, by means of the receiving element 170. If a receiving element 170 or a plurality of receiving elements 170 are moved past a plurality of individual closing elements 248, they preferably return automatically to the closed position.

[0774] Preferably, a plurality of closure elements 248 are arranged along the transport direction 250 so as to be actuatable one after the other and independently of one another.

[0775] Thus, preferably only the closing element 248 , on which the receiving element 170 is currently engaged and / or arranged, is always in the open position.

[0776] In addition, the partition plate 248 Fig.21 The embodiment shown in FIG. 1 is similar in structure and function to the embodiment shown in FIG. Fig. 20 The embodiment shown in FIG. 1 is identical to that shown in FIG. 1 , so reference is made to the previous description thereof in this regard.

[0777] Partition plate 248 Fig. 22 The alternative embodiment shown in Fig.21The difference to the embodiment shown in is essentially that the closure element 248 is designed, for example, as a lamella and can be pivoted, in particular, in the horizontal direction, in order to temporarily release the passage region 262 and thus allow one or more receiving elements 170 to pass through.

[0778] The closing element 248 can be used in principle according to Fig.21 Closing element 248 of vehicle 100 is designed similarly or comprises one or more contact elements 280 , so that energy can be transmitted by means of closure element 248 for charging energy store 150 of vehicle 100 .

[0779] Depending on the positioning of the receiving element 170 and / or the design of the receiving element 170 , different regions for engaging the closure element 248 and / or the contact element 280 may be provided.

[0780] Especially from Fig. 22 and 23 As known from the foregoing, it can be provided that the receiving element 170 respectively comprises a receiving socket 286 which already protrudes from the base body 104 of the vehicle 100 and / or is arranged therein. The movable part of the receiving element 170 or the entire receiving element 170 can be moved in particular relative to the base body 104 and / or the respective receiving socket 286, in particular can be moved out of it and / or moved into it.

[0781] The receiving sleeve 286 can be designed, for example, in such a way that it always protrudes beyond the penetration region 262, in particular the penetration gap 264. For example, by different positioning of the receiving element 170, in particular by different distances by which the movable part is moved out of the receiving sleeve 286, the adapter device 208, together with the object 102 arranged thereon if necessary, can be lowered (see Fig. 22 ) or increase (see Fig.23 ).

[0782] In addition, the partition plate 248 Fig. 22 and 23 The embodiment shown in FIG. 1 is similar in structure and function to the embodiment shown in FIG. Fig.21 The embodiment shown in FIG. 1 is identical to that shown in FIG. 1 , so that reference is made to the previous description thereof in this regard.

[0783] exist Fig.24 and 25 An example of a layout for processing equipment 224 is schematically shown in FIG.

[0784] In this case, processing device 224 includes a plurality of workstations 234 , in particular processing stations 236 for processing and / or controlling object 102 , in particular a vehicle body.

[0785] Fig.24 and 25Two different levels of the same processing device 224 are shown here, so for the subsequent description, both attached layers are considered together. Fig.24 , 25 .

[0786] The processing device 224 comprises, in particular, one or more transfer devices 290 , by means of which the objects 102 to be transported can be brought to the respective level 288 .

[0787] The transfer device 290 is, in particular, an elevator or other lifting device.

[0788] The processing plant 224 comprises a transport device 222 , in particular according to one of the aforementioned embodiments, and thus in particular a plurality of vehicles 100 for transporting the objects 102 .

[0789] For greater clarity, the object 102 and the vehicle 100 are Fig.24 and 25 Furthermore, a transport path 292 and a return path 294 are shown in these figures, along which the vehicle 100 can travel.

[0790] Objects 102 may be transported along transport path 292 .

[0791] Only the vehicle 100 without the object 102 arranged thereon can be driven along the return path 294, in particular in order to return the vehicle 100 from the end position of the processing section of the processing device 224 to the starting position. The workstations 234 are shown as rectangles and are provided with letters which indicate an exemplary transport sequence. In particular, the objects are transported successively to the following workstations 234 by means of the vehicle 100:

[0792] For example, objects 102 are transported from the sorting warehouse 296 to workstations A, B, C and D (see FIG. Fig.25 ).

[0793] Stations E and F are optional and can be selectively omitted or traversed multiple times, in particular in a different sequence.

[0794] The object 102 is then transported to the transfer device 290 and is transferred to the Fig.24 On level 288 shown in .

[0795] The object 102 is then transported back to the Fig.25 Before the level 288 shown in the figure, the object 102 is forcibly transported to the workstations H, J, K, L, O, Q and R. There the object is then transported to the workstation S and finally transported by another transport device 290 to the level 288 not shown for further processing.

[0796] Optionally, one or more workstations G can be passed before the workstation H.

[0797] Bypassing the workstation L, in particular the workstation M can be provided.

[0798] Furthermore, workstations N and / or P are provided for optionally bypassing workstation O.

[0799] In a first layout variant it is provided that:

[0800] exist Fig.24 The workstations 234 on the level 288 shown in FIG. 2 are in particular mostly manual or fully manual workstations or workplaces in which objects 102 are processed by personnel. Therefore, personnel preferably have to enter the workstations 234 permanently, so that Fig.24 Vehicle 100 at level 288 shown in FIG. 1 is preferably in the safety mode for the majority of its usage time and / or driving path, in particular at least approximately 90%, for example at least approximately 95%.

[0801] Thus, the following workstations 234 are in particular or include manual workstations or workplaces:

[0802] G, H, J, K, L, M, N, O, P, Q, R.

[0803] However, one or more of these workstations may also be designed as automated workstations or workplaces, in which the object 102 is processed by means of a robot 238 or another machine.

[0804] exist Fig.25 The workstations 234 on the level 288 shown in FIG. 2 are in particular largely automated or fully automated workstations or workplaces in which the objects 102 are processed by means of a robot 238 or other machines. Therefore, personnel preferably have to enter the workstations 234 only temporarily for maintenance purposes or control purposes. Fig.25 Vehicle 100 at level 288 shown in can preferably be in the fast mode for a majority of its usage period, in particular at least approximately 90%, for example at least approximately 95%, in the uncharged state and / or in the charged state.

[0805] In addition, Fig.25 Vehicle 100 on level 288 shown in FIG. 1 is preferably in the fast mode in the uncharged state and / or in the charged state over the majority of its travel route, in particular at least approximately 90%, for example at least approximately 95%.

[0806] Therefore, the following workstations 234 are in particular or include automated workstations or workplaces:

[0807] A, B, C, D, E, F, S.

[0808] However, one or more of these workstations may also be designed as manual workstations or workplaces, in which objects 102 are processed by personnel.

[0809] However, in a second arrangement variant it can be provided that:

[0810] exist Fig.25 The workstations 234 on the level 288 shown in FIG. 2 are in particular mostly manual or fully manual workstations or workplaces in which objects 102 are processed by personnel. Therefore, personnel preferably have to enter the workstations 234 permanently, so that Fig.25 Vehicle 100 in level 288 shown in FIG. 1 is preferably in the safety mode for the majority of its usage time and / or driving path, in particular at least approximately 90%, for example at least approximately 95%.

[0811] Thus, the following workstations 234 are in particular or include manual workstations or workplaces:

[0812] A, B, C, D, E, F, S.

[0813] However, one or more of these workstations may also be designed as automated workstations or workplaces, in which the object 102 is processed by means of a robot 238 or another machine.

[0814] exist Fig.24 The workstations 234 on the level 288 shown in FIG. 2 are in particular largely automated or fully automated workstations or workplaces in which the objects 102 are processed by means of a robot 238 or other machines. Therefore, personnel preferably have to enter the workstations 234 only temporarily for maintenance purposes or control purposes. Fig.24 Vehicle 100 at level 288 shown in can preferably be in the fast mode for a majority of its usage period, in particular at least approximately 90%, for example at least approximately 95%, in the uncharged state and / or in the charged state.

[0815] In addition, Fig.24 Vehicle 100 on level 288 shown in FIG. 1 is preferably in the fast mode in the uncharged state and / or in the charged state over the majority of its travel route, in particular at least approximately 90%, for example at least approximately 95%.

[0816] Therefore, the following workstations 234 are in particular or include automated workstations or workplaces:

[0817] G, H, J, K, L, M, N, O, P, Q, R.

[0818] However, one or more of these workstations may also be designed as manual workstations or workplaces, in which objects 102 are processed by personnel.

[0819] Objects 102 can be transported back and forth between levels 288, wherein vehicles 100 preferably each remain on the same level 288. However, the transport of objects 102 can also be provided in such a way that vehicles 100 together with objects 102 are transported back and forth between levels 288.

[0820] For optimal operation of transport device 222 for transporting object 102 , a plurality of charging areas 158 are required.

[0821] exist Fig.24 and 25 In FIG. 1 , all charging areas 158 are shown by circles. Fig.24 and 25 All hollow marks or shaded circles are charging areas 158 .

[0822] In particular, when the energy storage unit 150 of the vehicle 100 comprises a supercapacitor 154 instead of a lithium-ion battery 155, it must be possible to recharge the energy storage unit 150 of the respective vehicle 100 in relatively short time intervals and / or spatial intervals. Therefore, the charging area 158 is arranged in particular at each work station 234, preferably at the delivery position 242 of the respective work station 234. The charging area 158 is preferably a stationary charging area 298.

[0823] In particular, vehicle 100 is stationary during the transfer of object 102 to the respective workstation 234 , so that the stoppage of vehicle 100 that is actually necessary for the transfer can be used for the charging process.

[0824] As an alternative or in addition thereto, a charging area 158 can also be provided in the receiving position 256 of the individual workstations 234 during the reception.

[0825] Depending on the total length of transport path 292 and / or return path 294 , instead of and / or in addition to charging area 158 assigned to workstation 234 , charging area 158 may also be provided in transport path 292 and / or return path 294 .

[0826] In this case, the charging area 158 can be arranged in particular at Fig.24 and 25 The vehicle 100 is then positioned on the optimal path and / or shortest path drawn as the transport path 292 and the return path 294. The vehicle 100 can then stop and charge without taking a detour.

[0827] Alternatively, it may be provided that vehicle 100 is charged while driving. Charging area 158 is, in particular, a mobile charging area 300 .

[0828] Furthermore, it may be provided that, in order to charge the respective energy storage device 150, the vehicle 100 temporarily deviates from the optimal and / or shortest transport path 292 and / or return path 294 and, for example, drives into a charging parking space 302. After the charging is completed, the vehicle 100 then preferably drives back onto the optimal and / or shortest transport path 292 and / or the optimal and / or shortest return path 294.

[0829] Charging parking space 302 may be, in particular, a waiting area 304 in which vehicle 100 may not only stop for charging energy store 150 but also if vehicle 100 is not 100% loaded and therefore has to wait until the next transport task.

[0830] The charging parking space 302 and / or the waiting area 304 may also be a maintenance area 306 in which one or more vehicles 100 are maintained or repaired manually and / or automatically. For example, repairs or other work may be performed on the vehicle 100 in the maintenance area 306 .

[0831] Charging areas 158 are preferably arranged in such a way that as many transport paths 292 and / or return paths 294 as possible are covered with the shortest possible line lengths and with the fewest possible charging areas 158 .

[0832] For this purpose, one or more charging areas 158 are arranged, for example, at charging nodes 308 and / or at multidirectional transport areas 310 .

[0833] Charging node 308 is, in particular, an area in which a plurality of charging areas 158 are provided for simultaneously charging a plurality of vehicles 100 . In particular, the length of the lines for supplying charging areas 158 can thereby be reduced.

[0834] Arranging one or more charging areas 158 in multidirectional transport area 310 enables optimal utilization of one or more charging areas 158, in particular, since in multidirectional transport area 310 one or more vehicles 100 can successively or simultaneously traverse and / or drive through one or more charging areas 158 in different directions of travel. Thus, time-consuming orientation of vehicles 100 may not be necessary.

[0835] Therefore, the one or more charging areas 158 arranged in the multi-directional transport area 310 can be used with a higher frequency and can be used to charge a plurality of vehicles 100 in a shorter time.

[0836] In particular, transport paths 292 and / or return paths 294 which overlap one another and / or intersect one another may be provided as multidirectional transport area 310 .

[0837] According to the optimized transport speed, the transport device 222 can preferably be divided into different areas.

[0838] Safety zone 270 is in particular an area in which vehicle 100 , including objects 102 installed thereon if necessary, is accessible to persons, so that the persons must be protected in particular.

[0839] For this purpose, vehicle 100 has, in particular, a predefined maximum speed and additional safety measures in order to ensure the safety of persons and at the same time to protect object 102 to be transported from damage.

[0840] A fast zone 268 may be provided in addition to the safe zone 270 .

[0841] Rapid area 268 is, in particular, an area which is spatially separated from safety area 270 and which is at least temporarily inaccessible to persons.

[0842] In particular, one or more return paths 294 are preferably designed as a fast region 268 , so that the vehicle 100 can be returned, for example, from an end position of a processing section to a starting position at a speed increased compared to the maximum speed in the safety region 270 .

[0843] As a result, the vehicle 100 can be used for another transport process more quickly, thereby improving the efficiency of the transport device 222.

[0844] In particular, vehicle 100 can pass through one or more separation devices, in particular one or more passage openings 312 in a separation wall, for separating rapid area 268 from safety area 270 .

[0845] In this case, opening 312 is adapted in particular in its shape to the outer contour of vehicle 100 , thereby ensuring, preferably without using a locking mechanism for locking opening 312 , that persons cannot enter rapid zone 268 without authorization and thereby put themselves in danger.

[0846] If a person enters rapid zone 268 despite the precautions taken, such an intrusion in rapid zone 268 can preferably be detected by means of a sensor device (not shown). Vehicle 100 that is arranged in rapid zone 268 or that has entered it is then preferably no longer placed in rapid mode, but remains in safety mode, in which it is located when it is in safety zone 270.

[0847] Workstation 234 Fig.24 and 25 The variations of the layout shown in , as well as the variations of the arrangement and / or design of charging area 158 , are merely exemplary and can be used in any combination with other described and / or shown embodiments of other workstations 234 and / or other charging areas 158 .

[0848] exist Figures 26 to 28 1 shows an embodiment of a transfer area 400, which is used, for example, to transfer an object 102 (not shown in these figures, but which can be arranged on the adapter device 208) from the vehicle 100 to the workstation transport device 244. In addition, such a transfer area 400 can be used to transfer an object 102 from the workstation transport device 244 to the vehicle 100. The movement direction and / or method sequence described below are correspondingly adapted thereto and / or vice versa.

[0849] The transfer area 400 can in particular form the receiving position 256 and / or the delivery position 242 or be a component thereof. Therefore, with regard to the basic mode of operation and the possibilities of use, reference is made to the above-mentioned embodiments in this regard, in particular to the Fig.14 and 15 Description.

[0850] As from Fig.26 It is seen that the adapter device 208 is transported by means of the vehicle 100 to the transfer area 400 , at which the object 102 is optionally arranged. In this case, the vehicle 100 in particular drives through the entry area 402 until it enters the transfer position 404 .

[0851] In the transfer position 404 , the vehicle 100 is brought to a standstill and is subsequently positioned such that the adapter device 208 and / or the object 102 can be lowered, for example, by moving in the receiving element 170 , and can be set down on the workstation transport device 244 .

[0852] Adapter device 208 and / or object 102 are thereby separated from vehicle 100 .

[0853] The adapter device 208 and / or the object 102 can be removed from the transfer area 400 and, in particular, transported to the work station 234 by means of the work station transport device 244 .

[0854] For this purpose, the workstation transport device 244 is designed, for example, as a roller conveyor, so that the adapter device 208 , in particular designed as a slide or comprising a slide, can be easily transported to the workstation 234 .

[0855] One or more transport elements 406, in particular a plurality of rollers, are preferably arranged on a support element 408 of the workstation transport device 244. The support element 408 is in particular arranged, for example screwed, on the ground on which the vehicle 100 is preferably moved.

[0856] The support element 408 is, in particular, a bracket or a column protruding upward from the ground, so that the adapter device 208 with the object 102 arranged thereon can be received and transported, for example, at a level above the movement path of the vehicle 100 .

[0857] Preferably, a plurality of bearing elements 408 are arranged on a plurality of sides of the transfer point 404 .

[0858] It may be advantageous if a plurality of support elements 408 are arranged at a distance from one another, so that in particular a drive-in region 402 is formed between two support elements 408 .

[0859] Furthermore, at least one exit region 410 is preferably formed between two, in particular two further, mutually spaced-apart support elements 408 .

[0860] It may be advantageous if the two exit areas 410 are arranged and / or formed on opposite sides of the transfer point 404 .

[0861] A workstation 234 or at least a section of a workstation transport device 244 leading to a workstation 234 is preferably arranged on that side of the transfer position 404 which is opposite the entry area 402 .

[0862] As from Figures 26 to 28 It can be seen that vehicle 100 can preferably be driven along entry direction 412 through entry area 402 into transfer position 404 .

[0863] The entry direction 412 is preferably oriented at least approximately parallel to the transport direction 250 of the workstation transport device 244 .

[0864] If multiple vehicles 100 are now to transport multiple objects 102 to workstation 234 in a short time sequence, it may be advantageous for vehicles 100 not to leave transfer position 404 through entry area 402 in the opposite direction of entry, since other vehicles 100 would then have to remain at a greater distance from transfer area 400 .

[0865] More precisely, the vehicle 100 is then rotated, for example, in the transfer position 400, in particular about its own vertical center axis, for example by counter-rotation of the drive wheel 120 (see Figure 4 ).

[0866] For example, the rotation is performed by approximately 90°, so that vehicle 100 can then leave transfer position 404 in an exit direction 414 oriented at least approximately perpendicularly to entry direction 412 .

[0867] Another vehicle 100 may then immediately subsequently drive through entry area 402 into transfer position 404 , in particular in order to be able to finally deliver another object 102 to workstation 234 .

[0868] Depending on the design of the vehicle 100, in particular depending on the maximum lifting height of the receiving element 170, and / or depending on the type and design of the workstation transport device 244, it can be provided that a plurality of support elements 408 are connected to one another. However, it can also be provided that at least two support elements 408, in particular support elements 408 that define the entry region 402, are spaced apart from the remaining support elements 408 and / or are separated from the remaining support elements 408, in particular by one or more exit regions 410.

[0869] The distance between the support elements 408 is preferably selected such that the object 102 and / or the adapter device 208 supported on the transport element 406 on the support elements 408 is supported downward on the workstation transport device 234 in all conceivable positions along the movement path and is thus reliably prevented from undesired tilting or falling.

[0870] Since the transfer area 400 preferably has an exit area 410 which is spatially separated from the entry area 402 , a greater number of objects 102 can preferably be transferred more efficiently and in a shorter time.

[0871] In addition, the transfer area 400 Figures 26 to 28 The embodiment shown in FIG. 1 is similar in structure and function to the embodiment according to Fig.14 and 15 The receiving position 256 and / or delivery position 242 of are identical, so that in this respect reference is made to the previous description in this regard.

[0872] In all specific embodiments of vehicle 100 , one or more sensor devices 190 of vehicle 100 are preferably provided in each case, by means of which a corresponding surrounding area 192 of vehicle 100 can be detected.

[0873] In particular, a three-dimensional surrounding, i.e., a three-dimensional surrounding area 192, can be detected by means of one or more sensor devices 190, wherein the detection itself is preferably performed in two dimensions or also in three dimensions, i.e., objects detected in detected surrounding area 192 are preferably detected with regard to their size and position relative to vehicle 100. In particular, the size and position of the detected object are calculated from the sensor data of one or more sensor devices 190 by means of a control device of vehicle 100.

[0874] The surrounding area 192 is preferably composed of a plurality of subareas or includes a plurality of subareas. These subareas can be constructed overlapping each other or cover completely different spatial areas.

[0875] By means of one or more sensor devices 190 , preferably different subregions of surrounding area 192 can be detected.

[0876] The partitions are divided, for example, by selecting boundary lines at different distances from the vehicle. Fig.29 It is apparent from the figure that surrounding area 192 can be divided into three subareas in the horizontal direction, for example, in particular according to the distance from vehicle 100 .

[0877] The innermost subzone which is at the shortest distance from vehicle 100 , in particular the subzone which directly adjoins vehicle 100 , is, for example, protection subzone SZ.

[0878] This protection zone SZ is preferably an area in which, in particular for undisturbed operation, no objects may be arranged except for vehicle 100 itself (and possibly object 102). Preferably, if an object is detected in this protection zone SZ, the operation of vehicle 100 is stopped immediately and / or automatically.

[0879] The protective zone SZ is designed in particular to be annular in horizontal section.

[0880] A further subarea connected to protection subarea SZ is, for example, warning subarea WZ. Warning subarea WZ preferably surrounds protection subarea SZ in an annular manner, in particular in an annular manner with respect to a horizontal section of vehicle 100 , protection subarea SZ and warning subarea WZ.

[0881] Warning zone WZ is in particular an area in which no objects other than vehicle 100 itself should be located, wherein the detection of an object does not necessarily lead to the triggering of a shutdown operation. Rather, if an object is detected in warning zone WZ, vehicle 100 is preferably immediately and / or automatically placed in warning operation.

[0882] Outside the warning zone WZ there is in particular a free zone which can be detected by one or more sensor devices if necessary, but which is not monitored for the presence of objects or the like.

[0883] Objects detected by at least one sensor device 190 are objects that should not be at the detected location during the expected normal operation of vehicle 100 and / or the processing device. However, one or more sensor devices 190 also detect objects that are part of the transport device and / or the processing device and whose presence is necessary.

[0884] It is preferably tested, in particular calculated, by means of control device 204 of vehicle 100 and / or by means of a superordinate control unit whether the detected object is an unexpected and / or unknown and / or interfering object or an object whose presence is acceptable.

[0885] Preferably, this test is performed before the vehicle 100 is placed into warning operation or out of operation.

[0886] The boundary lines between the subareas are preferably changed depending on the current state of vehicle 100, in particular depending on whether vehicle 100 is loaded with object 102 or not loaded with object 102 and / or depending on the current speed and in which direction vehicle 100 is moving. For example, at a relatively high speed of vehicle 100, the boundary lines in the area ahead of vehicle 100 (with respect to the direction of travel) are preferably moved away from vehicle 100, so that a subarea, in particular a warning subarea and / or a protective subarea, is enlarged ahead of vehicle 100.

[0887] When driving around a bend, for example, the bending and / or at least partial lateral displacement of the subareas can be provided such that they cover as large a spatial area as possible, particularly in the area in front of vehicle 100 along the actual driving distance (movement path).

[0888] The area behind vehicle 100 (with respect to the direction of travel) generally does not need to be monitored too closely, so that the subarea, in particular the part of the warning subarea and / or the protective subarea located behind vehicle 100 , can be reduced.

[0889] By means of control device 204 of vehicle 100 and / or by means of a higher-level control device, the boundary course and / or size and / or shape of a zone, in particular a warning zone and / or a protective zone, is preferably adapted regularly, for example several times per minute or per second, to the respective current state.

[0890] As an alternative or in addition thereto, the adaptation may in particular always take place when vehicle 100 undergoes a state change, such as a change of direction, loading, unloading, acceleration, etc.

[0891] Furthermore, the current position of vehicle 100 within the transport device and / or the processing unit may preferably be taken into account as a status feature which has an influence, in particular, on the course of the boundary lines of the subareas.

[0892] In particular, the subareas may be varied in their size and / or shape as a function of the current position of vehicle 100 within the transport device and / or the processing facility.

[0893] For example, when the vehicle 100 approaches the work station 234 and it can be expected that parts of the work station 234 enter the warning zone WZ and / or enter the protection zone SZ (or the warning zone WZ and / or the protection zone SZ extend into the parts of the work station 234), the partitions, in particular the warning zone WZ and / or the protection zone SZ, can be reduced so that the parts of the work station 234 are located outside the warning zone WZ and / or the protection zone SZ.

[0894] In particular, for the desired straight-line travel in work station 234 , the lateral surroundings detection can be reduced or completely eliminated.

[0895] As an alternative or in addition thereto, provision can be made for a workstation mode to be activated when vehicle 100 approaches workstation 234, in which the maximum speed of vehicle 100 is reduced in order to compensate for the increased risk potential caused by reduced monitoring of the surroundings. For example, the approach to workstation 234 can be detected by scanning of an auxiliary positioning device and / or by position sensors and / or distance sensors.

[0896] about Fig.29 In particular, the partitioning in the horizontal direction has been explained. Furthermore, it may be advantageous to perform the partitioning in the vertical direction as an alternative or in addition to the partitioning in the horizontal direction.

[0897] As from Fig.30 It is known from the above that in particular it can be provided that a subarea is defined in the vertical direction, within which vehicle 100 is arranged. This subarea is in particular a vehicle subarea FZ.

[0898] Vehicle zone FZ extends in a vertical direction, in particular from the ground on which vehicle 100 can be driven, to an upper side 172 of base body 104 of vehicle 100 or to an upper end of one or more receiving elements 170 .

[0899] By detecting a spatial region of surrounding area 192 which forms or includes vehicle zone FZ, it is therefore possible to ascertain, in particular, whether vehicle 100 is approaching another vehicle 100 .

[0900] Another subarea in the vertical direction results from the size of the object 102 arranged on the vehicle 100. The subarea covering the object 102 extends in the vertical direction, in particular, from the bottom side of the object 102 (including an adapter or a slide or the like if necessary) and / or to the top side of the object 102, preferably from the lowest point of the object 102 (including an adapter or a slide or the like if necessary) and / or to the highest point of the object 102. This subarea is referred to here as the object subarea GZ.

[0901] It can be provided that the object subregion GZ directly adjoins the vehicle subregion FZ.

[0902] As an alternative, it can be provided that an intermediate partition ZZ is arranged between the object partition GZ and the vehicle partition FZ, which intermediate partition ZZ extends in particular from the upper side 172 of the base body 104 of the vehicle 100 and / or to the bottom side of the object 102 (including an adapter or a slide or the like if necessary), preferably to the lowest point of the object 102 (including an adapter or a slide or the like if necessary).

[0903] Furthermore, it may be provided that the central subregion ZZ extends in the vertical direction at least approximately to the extent that one or more receiving elements 170 protrude from the base body 104 of the vehicle 100 .

[0904] It may be advantageous for the subareas divided in the vertical direction to overlap with the subareas divided in the horizontal direction, in particular in order to enable optimal surroundings detection and hazard avoidance for the combination of vehicle 100 and object 102 .

[0905] Vehicle zone FZ is preferably assigned a warning zone WZ and / or a protection zone SZ, so that in particular the approach of vehicle 100 to other vehicles 100 or other objects can be monitored.

[0906] The assignment of the partitions derived from the horizontal division (warning partition WZ, protection partition SZ) to the partitions derived from the vertical division (vehicle partition FZ, center partition ZZ, object partition GZ) can be understood in particular such that a spatial area forming partitions (FZ, ZZ, GZ) which are defined only in the vertical direction and are therefore not restricted in the horizontal direction is divided into multiple partitions (WZ, SZ) in the horizontal direction.

[0907] Furthermore, it may be provided that object zone GZ is assigned a warning zone WZ and / or a protection zone SZ, so that in particular the approach of vehicle 100 to other vehicles 100 or other objects can be monitored.

[0908] Furthermore, it may be provided that the central zone ZZ is assigned a warning zone WZ and / or a protective zone SZ, so that in particular the approach of vehicle 100 to an object in the region of one or more receiving elements 170 can be monitored.

[0909] The spatial dimensions, in particular the spatial dimensions and / or the shape, in the horizontal direction, of the warning zone WZ and / or the protection zone SZ assigned to the vehicle zone FZ depend in particular on whether the vehicle 100 is loaded and / or the position of the vehicle 100 in the transport device and / or the handling equipment.

[0910] The spatial dimensions, in particular the spatial dimensions and / or the shape, of the warning zone WZ and / or the protection zone SZ assigned to the object zone GZ in the horizontal direction depend in particular on whether the object 102 is arranged on the vehicle 100, the size of the object 102 itself and / or the position of the vehicle 100 with the object 102 arranged thereon in the transport device and / or the handling device. In particular, when the vehicle 100 is unloaded, i.e. when no object 102 is present, it can be provided that the surrounding monitoring in the area of ​​the object zone GZ is completely deactivated.

[0911] The spatial dimensions, in particular the spatial dimensions and / or the shape, of the warning zone WZ and / or the protective zone SZ associated with the middle zone ZZ, in particular in the horizontal direction, depend in particular on whether the object 102 is arranged on the vehicle 100, the extent to which one or more receiving elements 170 protrude from the base body 104, and / or the position of the vehicle 100 with the object 102 arranged thereon, if applicable, in the transport device and / or the handling device. In particular, it can be provided that the surrounding monitoring within the middle zone ZZ is deactivated when the vehicle 100 enters and / or passes the work station 234 and in this case one or more receiving elements 170 protrude into or through the partition plate 248.

[0912] In one embodiment, it may be provided that each vehicle 100 independently and independently of other vehicles 100 tests and / or monitors its task-specific route or its task-specific movement path, for example based on surrounding monitoring, in particular to avoid collisions.

[0913] In addition, it may also be provided that vehicles 100 inform each other (directly or indirectly via a higher-level control device) of the respective vehicle states and / or the respective sizes and / or shapes of the zones, in particular the warning zone WZ, the protection zone SZ, the vehicle zone FZ, the object zone GZ and / or the intermediate zone ZZ. In this way, overlaps in the zones, which may occur in particular as planned, for example when two vehicles 100 are driving past each other in opposite directions, can be deliberately tolerated without triggering unnecessary warning operations.

[0914] It may be advantageous if one or more or all objects 102, in particular vehicle body 206, are also assigned an object zone GZ and / or a warning zone WZ and / or a protection zone SZ if the corresponding object 102 is not arranged at vehicle 100. In particular, such a partitioning can also be provided in a storage location and / or a parking location.

[0915] This partition allocation enables, in particular, higher-level coordination of all objects 102 independently of the corresponding arrangement at the vehicle, thereby preferably also minimizing the risk of potential collision between moving objects 102 (objects 102 arranged at the vehicle 100) and parked objects 102 (objects 102 not arranged at the vehicle).

[0916] exist Figures 31 to 33 The embodiment of the partition plate shown in FIG. 1 and denoted as a whole by 248 can in principle be used in all variants of the transport device.

[0917] The partition plate 248 serves in particular to separate a processing region 252 of the workstation 234 , in particular a processing space 500 , from the travel space 266 .

[0918] The travel space 266 is arranged, in particular, below the partition wall 248 , while the processing region 252 , in particular the treatment space 500 , is arranged above the partition wall 248 .

[0919] As already described with regard to the further embodiments, the partition plate 248 preferably comprises a through-region 262 , in particular a through-slot 264 .

[0920] Furthermore, preferably, a plurality of closure elements 284 are provided, by means of which the passage region 262 can be closed.

[0921] The closing element 284 in particular forms a closing region 502 of the separating plate 248 .

[0922] The closed area 502 preferably forms, together with the plurality of support plates 504 of the dividing plate 248 , an at least substantially completely passable surface 506 of the dividing plate 248 .

[0923] The closing element 284 is designed, for example, as a lamella 508 and / or as a closing disk 510 .

[0924] The partition plate 248 preferably includes a support structure 512 (see in particular Fig.32 ) which, on the one hand, serves to receive the support plate 504 and, on the other hand, serves to fix the closing element 284 .

[0925] In particular, a plurality of restoring element receptacles 514 of one or more restoring devices 516 are arranged on the support structure 512 .

[0926] A plurality of restoring elements 518 of the restoring device 516 are preferably arranged therein so as to be displaceable relative to the restoring element receptacle 514 .

[0927] For example, a mechanical and / or electrical relative movement of the restoring element 518 with respect to the restoring element receptacle 514 may be realized.

[0928] For this purpose, the restoring device 516 comprises, for example, one or more spring devices 520 , in particular one or more compression springs 522 , which thereby enable, in particular, elastic fixing of the restoring element 518 on the restoring element receptacle 514 .

[0929] The restoring element 518 is mounted on the restoring element receptacle 514 so that it can move, in particular in a direction running perpendicularly to the transport direction 250 and / or perpendicularly to the transport path 292 .

[0930] The restoring elements 518 are preferably each provided with one or more closure element receptacles 524 .

[0931] The closure element receiver or receivers 524 are in particular designed as screws and serve to receive in each case one closure element 284 .

[0932] In particular, the closing element 284 is arranged so as to be freely rotatable on the closing element receptacle 524 .

[0933] As from Fig.33 It can be seen that each resetting device 516 preferably includes a stop element 526 and a guide opening 528 .

[0934] The stop element 526 is in particular displaceable in the guide opening 528 , wherein a maximum length of the guide opening 528 along the displacement direction of the restoring element 518 predetermines a maximum displacement stroke of the restoring element 518 by the stop element 526 abutting at the end of the guide opening 528 .

[0935] Especially from Fig.31 and 32 It can be seen that the closing elements 284 of the partition plate 248 are arranged in particular one above the other, so that a closed, in particular at least substantially completely closed, closing region 502 can be produced in the closed position of the closing elements 284 .

[0936] In particular, the closing element 284 is designed to be circular, for example a perfect circle.

[0937] By moving the receiving element 170 along the transport direction 250 and / or the transport path 292 into the through-area 262, the closing elements 284 are preferably moved laterally perpendicular to the transport direction 250 and / or perpendicular to the transport path 262 sequentially and / or in pairs, so that the corresponding receiving element 170 can be moved along the transport direction 250 and / or along the transport path 292 in a manner extending out of the through-area 262.

[0938] By means of a centering device 530 , which in particular comprises a plurality of, for example two, centering elements 534 provided with entry bevels 532 , it is preferably possible to center the receiving element 170 within the penetration region 262 .

[0939] Furthermore, for example, with the aid of an opening device 536 which in particular comprises one or more, for example two, opening elements 538, it is possible to open the closed area 502, in particular to manipulate one or more closing elements 284, in such a way that the receiving element 170 is introduced into the penetration area 262 from bottom to top in a vertical direction and / or is moved under the closing element 284 and engages with the opening element 538.

[0940] The centering device 530 and the opening device 536 can be designed, for example, as one and the same device, wherein the corresponding functions can be derived in particular from the movement of the receiving element 170 relative to the device.

[0941] In addition, as Fig.33It can be seen that the partition plate 248 can in particular include a plurality of plate modules 540, wherein each plate module 540 respectively includes and / or supports and / or receives one or more reset devices 516 and / or reset element receivers 514 and / or closing element receivers 524 and / or closing elements 284.

[0942] The plate modules 540 are connected in particular in each case at a mounting region 542 to other components of the support structure 512 , wherein the mounting region 542 is arranged and / or formed at an end of the plate module 540 facing away from the penetration region 262 .

[0943] The plate module 540 projects in particular unsupported from the mounting region 542 .

[0944] Preferably, the plate module 540 is also used to receive one or more support plates 504 or to form one or more support plates 504 .

[0945] In addition, according to Figures 31 to 33 The partition plate 248 of the embodiment shown in the drawing corresponds in structure and function to one or more of the preceding embodiments as required, so reference can be made to the previous description thereof and in this regard also explicitly points out the conceivable combination possibilities for providing other (not shown) embodiments.

[0946] exist Fig.34 1 shows an example of a circuit diagram according to which energy storage device 150 of vehicle 100 can be charged. Single or multiple charging areas 158 and / or charging connection points 164 can be arranged and / or designed according to this circuit diagram, for example. In addition, according to alternative embodiments, single or multiple features of the features described below can be provided in an insulated manner at one or more charging areas 158, in particular only a single charging device 156 for only one type of energy storage unit.

[0947] Energy storage device 150 serves in particular to store and provide electrical energy for driving vehicle 100 and preferably comprises one or more energy storage cells 152 .

[0948] It may be advantageous if the energy storage device 150 comprises one or more drive energy storage units 152 a for storing energy for driving the vehicle 100 as a whole and / or for driving the lifting drive 178 .

[0949] One or more or all drive energy storage cells 152 a may be designed, for example, as supercapacitors 154 .

[0950] As an alternative or in addition thereto, it may be provided that energy store 150 includes one or more buffer store cells 152p , by means of which, for example, energy for operating control device 204 and / or one or more sensor devices 190 and / or one or more communication devices may be provided.

[0951] One or more or all buffer storage cells 152 p may be designed, for example, as lithium-ion batteries 155 .

[0952] Optionally, it can be provided that one or more or all buffer energy storage units 152p are connected or can be connected to the drive device 110 and / or the lifting drive 178 of the vehicle 100, in particular if the drive energy storage unit 152a can no longer provide sufficient energy for this purpose, then the buffer energy storage unit is used to provide energy for operating the drive device 110 and / or the lifting drive 178.

[0953] It may be provided that one or more drive energy storage cells 152 a on the one hand and one or more buffer energy storage cells 152 p on the other hand have standard operating voltages and / or charging voltages that are different from one another.

[0954] For example, it may be provided that one or more drive energy storage cells 152a are operable at a voltage of at least approximately 48 V, in particular a DC voltage.

[0955] Furthermore, it may be provided that one or more buffer energy storage cells 152 p are operable with a voltage of at least approximately 24 V, in particular a DC voltage.

[0956] In order to charge energy storage device 150 at charging region 158, charging region 158 preferably comprises one or more charging connection points 164, each of which has a plurality of contact regions 278 and / or contact elements 280 for providing electrical energy. In particular, a plurality of contact regions 278 and / or contact elements 280 are provided for providing voltages with different high voltage values, so that different energy storage cells 152 can be charged simultaneously with the respectively required voltage.

[0957] For example, two or more pairs of contact regions 278 and / or contact elements 280 are respectively provided at one or more charging connection points 164 , which are used to provide different charging voltages.

[0958] Vehicle-side contact areas 278 and / or contact elements 280 of one or more charging connection points 164 of vehicle 100 are preferably constructed and / or arranged at least partially complementary to contact areas 278 and / or contact elements 280 of one or more energy source-side charging connection points 164 , at least in terms of their spatial construction and / or arrangement.

[0959] Contact regions 278 and / or contact elements 280 are in particular designed and / or arranged in such a way that lateral contact between contact regions 278 and / or contact elements 280 of pairs of contact regions 278 and / or contact elements 280 that do not belong to one another is excluded.

[0960] It may be advantageous if one or more or all charging connection points 164 each have a contact region 278 and / or at least one pair 281 a of contact elements 280 located on the outside, which serves in particular for charging at least one drive energy storage cell 152 a .

[0961] Furthermore, it may be provided that one or more or all charging connection points 164 each have a contact region 278 and / or at least one inner pair 281 i of contact elements 280 , which serves in particular to charge at least one buffer energy storage cell 152 p .

[0962] In particular, the at least one inner pair 281 i of contact regions 278 and / or contact elements 280 is arranged between two contact regions 278 and / or contact elements 280 of the at least one outer pair 281 a of contact regions 278 and / or contact elements 280 .

[0963] Alternatively, it can also be provided that the contact area 278 and / or the contact element 280 are used in reverse, so that at least one pair 281i located inside of the contact area 278 and / or the contact element 280 is used, for example, to charge at least one drive energy storage cell 152a, while at least one pair 281a located outside of the contact area 278 and / or the contact element 280 is used, for example, to charge at least one buffer energy storage cell 152p.

[0964] Furthermore, it may be provided that one or more or all charging connection points 164 each have one or more position contacts 283 , by means of which position detection and / or position monitoring of vehicle 100 can be carried out.

[0965] For example, one or more pairs of position contacts 283 may be provided, which are in particular arranged internally between contact areas 278 and / or contact elements 280 of the corresponding charging connection points 164 and / or arranged externally, so that contact areas 278 and / or contact elements 280 of the corresponding charging connection points 164 are arranged between the position contacts 283.

[0966] It may be advantageous to determine with the aid of one or more sensor devices 190 , in particular position sensors, and / or with the aid of one or more position contacts 283 whether vehicle 100 has already assumed the position required for charging energy store 150 relative to charging connection point 164 and, if so, to release one or more charging voltages at charging connection point 164 in order to charge energy store 150 .

[0967] It may be advantageous if one or more contact regions 278 and / or contact elements 280 for charging energy store 150 , in particular one or more drive energy store cells 152 a and / or one or more buffer energy store cells 152 p , simultaneously serve as one or more position contacts 283 .

[0968] It can be provided that one or more contact areas 278 and / or contact elements 280 and / or one or more position contacts 283 of vehicle 100 each have a safety device 285, such as a relay and / or a contactor, with the aid of which a temporary voltage disconnection can be performed, for example in order to avoid a short circuit at energy storage device 150 when using contact area 278 and / or contact element 280 and / or position contact 283 to identify a position and / or monitor a position.

[0969] As an alternative or in addition, it can be provided that one or more contact areas 278 and / or contact elements 280 and / or one or more position contacts 283 of one or more or all charging connection points 164 on the energy source side each have a safety device 285, such as a relay and / or a contactor, with the help of which a temporary voltage disconnection can be performed, for example in order to avoid a short circuit at the energy source when using contact areas 278 and / or contact elements 280 and / or position contacts 283 to identify the position and / or monitor the position.

[0970] In order to switch between the position detection mode and the charging mode, in particular in order to correspondingly actuate safety device 285 , a handshake is preferably provided between vehicle 100 and charging connection point 164 and / or a higher-level control device.

[0971] In particular, on the energy source side, by measuring the voltage at the contact region 278 and / or the contact element 280 by means of the measuring device 287, it can be ascertained whether the vehicle 100 is correctly positioned at the corresponding charging connection point 164. For example, a correctly positioned vehicle 100 can be inferred if the measured voltage is greater than 0.2 V, in particular greater than 0.5 V. In the case of correct positioning, the charging mode is then activated in particular.

[0972] After the charging process has ended, charging connection point 164 is preferably placed back into position detection mode, in particular by activating safety device 285 .

[0973] The specific implementation methods are as follows:

[0974] 1. A vehicle (100), in particular for transporting an object (102), such as a vehicle body (206), characterized in that the vehicle (100) comprises:

[0975] A substrate (104);

[0976] a running gear (106), by means of which the base body (104) is placed flat on a drivable foundation (160) and / or the base body is movable on a drivable foundation (160);

[0977] A driving device (110) for driving the vehicle (100);

[0978] A receiving device (168) comprising one receiving element (170), two receiving elements (170) or more than two receiving elements (170) for receiving at least one object (102).

[0979] 2. The vehicle (100) according to embodiment 1 is characterized in that the receiving device (168) includes only two receiving elements (170).

[0980] 3. The vehicle (100) according to embodiment 1 or 2 is characterized in that a plurality of receiving elements (170), in particular all receiving elements (170), extend in a plane which is vertical and extends parallel to the longitudinal center axis (140) of the vehicle (100).

[0981] 4. The vehicle (100) according to any one of embodiments 1 to 3 is characterized in that the one receiving element (170), the two receiving elements (170) or the more than two receiving elements (170) are movably arranged on the base body (104).

[0982] 5. The vehicle (100) according to embodiment 4 is characterized in that the vehicle (100) includes a lifting drive device (178), by means of which the one receiving element (170), the two receiving elements (170) or the more than two receiving elements (170) can be raised and / or lowered relative to the base (104).

[0983] 6. A vehicle (100) according to any one of embodiments 1 to 5, characterized in that a plurality of receiving elements (170), in particular all receiving elements (170), are connected to one another and can only be moved jointly relative to the base body (104).

[0984] 7. The vehicle (100) according to embodiment 6 is characterized in that the lifting drive device (178) of the vehicle (100) includes a lifting drive element (182), in particular a lifting drive belt (184) or a lifting drive chain, wherein the lifting drive element (182) connects the lifting drive motor (180) and two or more receiving elements (170) to each other, so that the two or more receiving elements (170) can be moved together with the help of the lifting drive motor (180), in particular can be raised and / or lowered relative to the base (104).

[0985] 8. The vehicle (100) according to embodiment 7, characterized in that:

[0986] a) the lifting drive element (182) extends through a drive shaft (148) of the drive device (110) for driving the vehicle (100), and / or

[0987] b) The lifting drive element (182) extends through below a drive shaft (148) of the drive device (110) for driving the vehicle (100).

[0988] 9. A vehicle (100) according to any one of embodiments 1 to 8, characterized in that the drive device (110) has a drive shaft (148), which connects two drive elements (118), especially drive wheels (120), of the drive device (110) to each other, wherein the drive shaft (148) is oriented substantially transversely to the longitudinal center axis (140) and / or the main driving direction (138) of the vehicle (100), and in particular is oriented at least approximately perpendicularly to the longitudinal center axis (140) and / or the main driving direction (138) of the vehicle (100).

[0989] 10. A vehicle (100) according to any one of embodiments 1 to 9, characterized in that the drive device (110) has a drive shaft (148), which connects two drive elements (118), in particular drive wheels (120), of the drive device (110) to each other, wherein the drive shaft (148) is arranged at least approximately centrally on the base body (104) of the vehicle (100) with respect to the longitudinal center axis (140) and / or the main driving direction (138) of the vehicle (100).

[0990] 11. A vehicle (100) according to any one of embodiments 1 to 10, characterized in that the drive device (110) has a drive shaft (148), which connects two drive elements (118), especially drive wheels (120), of the drive device (110) to each other, wherein the drive elements (118) are jointly supported on the base body (104) by means of the drive shaft (148).

[0991] 12. A vehicle (100) according to any one of embodiments 1 to 11, characterized in that a plurality of drive elements (118), in particular drive wheels (120), of the drive device (110) can be driven independently of one another.

[0992] 13. The vehicle (100) according to any one of embodiments 1 to 12, characterized in that the drive device (110) comprises a drive shaft (148) and / or one or more drive elements (118), which can be lowered and / or pressed against the ground and / or can be raised from the ground by means of a steering device (146),

[0993] wherein the drive shaft (148) and / or one or more drive elements (118) are preferably integrated into the base body (104) of the vehicle (100) and / or are surrounded on five sides by the base body (104), and / or wherein the operating device (146) is preferably accessible on the outside of the vehicle (100) in order to operate the operating device.

[0994] 14. A vehicle (100) according to any one of embodiments 1 to 13, characterized in that the one receiving element (170), the two receiving elements (170) or the more than two receiving elements (170) each have a receiving section (174), which gradually tapers toward the upper end with respect to the direction of gravity (g).

[0995] 15. The vehicle (100) according to embodiment 14 is characterized in that one or more receiving sections (174), in particular all receiving sections (174), are substantially constructed in the shape of a cone, a partial cone, a truncated cone or a partial truncated cone.

[0996] 16. A vehicle (100) according to any one of embodiments 1 to 15, characterized in that the one receiving element (170), the two receiving elements (170) or the more than two receiving elements (170) can be arranged in different positions relative to the base body (104), wherein the one receiving element (170), the two receiving elements (170) or the more than two receiving elements (170) preferably protrude from the upper side (172) of the base body (104) in the lowest position with respect to the direction of gravity (g).

[0997] 17. A vehicle (100) according to any one of embodiments 1 to 16, characterized in that the one receiving element (170), the two receiving elements (170) or the more than two receiving elements (170) have a height parallel to the direction of gravity (g), and the height is greater than the height of the base (104) of the vehicle (100) parallel to the direction of gravity (g).

[0998] 18. The vehicle (100) according to any one of embodiments 1 to 17, characterized in that the vehicle (100) comprises one or more receiving sensors (188), by means of which

[0999] a) being able to detect an object (102) arranged on at least one receiving element (170) and / or being able to monitor the correct fixing of said object; and / or

[1000] b) The orientation and / or position of an object (102) which is arranged at a distance from the at least one receiving element (170) can be detected.

[1001] 19. The vehicle (100) according to embodiment 18 is characterized in that at least one receiving sensor (188) can be arranged on the base body (104) and / or on the receiving element (170).

[1002] 20. The vehicle (100) according to embodiment 18 or 19, characterized in that at least one receiving sensor (188) interacts with a detection auxiliary structure (220) located at the object (102) to be received or received.

[1003] 21. The vehicle (100) according to any one of embodiments 1 to 20, characterized in that the receiving element (170) comprises a lubrication device (175), which is in particular integrated into the receiving element (170).

[1004] 22. The vehicle (100) according to embodiment 21 is characterized in that the lubrication device (175) is integrated into the handle section (173) and / or the receiving section (174) of the receiving element (170), for example, is completely arranged within the handle section (173) and / or the receiving section (174).

[1005] 23. A vehicle (100) according to any one of embodiments 21 or 22, characterized in that the lubrication device (175) includes a container (177) for containing lubricant and a component element (179) for conveying the lubricant from the container (177) to an object to be lubricated, in particular a part of a lifting drive device (178), in a controllable and / or adjustable manner.

[1006] 24. A vehicle (100) according to any one of embodiments 1 to 23, characterized in that a cover (196) for covering the interior space of the base body (104) is arranged on the upper side (172) of the base body (104), wherein the cover (196) lies flat on the base body (104) and / or is closed at least approximately completely around the support area (198) of the base body (104) flush.

[1007] 25. A vehicle (100) according to any one of embodiments 1 to 24, characterized in that a cover (196) for covering the interior space of the base body (104) is arranged on the upper side (172) of the base body (104), wherein the cover (196) is configured to be at least partially transparent.

[1008] 26. The vehicle (100) according to any one of embodiments 1 to 25, characterized in that the base body (104) is substantially rectangular in shape,

[1009] The four corner regions (112) of the base body (104) are each provided with a 360° rotatable and / or non-driven support roller (108).

[1010] 27. The vehicle (100) according to any one of embodiments 1 to 26, characterized in that the base body (104) is substantially rectangular in shape,

[1011] Two or four corner regions (112) of the base body (104) are each provided with an outwardly protruding sensor device (190) of the vehicle (100).

[1012] 28. A vehicle (100) according to any one of embodiments 1 to 27, characterized in that the vehicle (100) includes one or more sensor devices (190), each of which has one or more sensor elements for detecting the surrounding environment of the vehicle (100), wherein one or more of the sensor elements each individually or collectively have a detection area of ​​at least about 250°, in particular about 270°, in a substantially horizontal plane.

[1013] 29. A vehicle (100) according to any one of embodiments 1 to 28, characterized in that the vehicle (100) includes one or more sensor devices (190), which are connected to a control device (204) of the vehicle (100), wherein the control device (204) is constructed and arranged so that the vehicle (100) can operate in different operating modes, in particular in at least three different operating modes, based on sensor values ​​detected and / or determined with the aid of one or more of the sensor devices (190).

[1014] 30. The vehicle (100) according to embodiment 29, characterized in that:

[1015] a) one of the operating modes is normal operation, in which no unexpected and / or unknown and / or interfering objects are arranged in the driving path of the vehicle (100) or in another predetermined surrounding area (192);

[1016] and / or

[1017] b) one of the operating modes is a warning mode, in which one or more unexpected and / or unknown and / or interfering objects are arranged in a predefined warning section of the driving path of the vehicle (100) or in another predetermined surrounding area (192);

[1018] and / or

[1019] c) One of the operating modes is a stationary operation, in which one or more unexpected and / or unknown and / or interfering objects are arranged in a predefined stationary section of the driving path of the vehicle (100) or in another predetermined surrounding area (192).

[1020] 31. The vehicle (100) according to embodiment 30, characterized in that:

[1021] i) reducing the driving speed of the vehicle (100) during the warning operation, and / or emitting an acoustic warning signal and / or a visual warning signal by means of a warning device (200) of the vehicle (100) during the warning operation;

[1022] and / or

[1023] ii) during the stopping operation, the vehicle (100) is braked to a stationary state, and / or during the stopping operation, an acoustic emergency signal and / or a visual emergency signal is emitted by means of a warning device (200) of the vehicle (100), and / or during the stopping operation, the emergency signal is transmitted by means of the control device (204) to a superior control device for controlling and / or monitoring multiple vehicles.

[1024] 32. The vehicle (100) according to embodiment 31 is characterized in that the alarm signal and / or the emergency signal includes a requirement for clearing the driving path and / or the surrounding environment of the vehicle (100).

[1025] 33. A vehicle (100) according to any one of embodiments 1 to 32, characterized in that one or more emergency switches are arranged at the vehicle (100) or at one or more other components of the transport device and / or the processing equipment and / or the logistics equipment, wherein preferably each emergency switch is equipped with a communication device, by means of which an emergency signal can be transmitted to one or more or all vehicles (100) so as to put the one or more or all vehicles (100) into emergency operation.

[1026] 34. The vehicle (100) according to embodiment 33 is characterized in that one or more, in particular all vehicles (100) respectively include a control device (204), in particular before the vehicle (100) is placed in emergency operation, the emergency signal can be processed by means of the control device.

[1027] 35. The vehicle (100) according to embodiment 34 is characterized in that the control device (204) can be used to test whether the corresponding vehicle (100) must be put into emergency operation compulsorily, wherein the following are taken into account during the test:

[1028] the position of the vehicle (100) relative to one or more other vehicles (100); and / or

[1029] the distance between the vehicle (100) and one or more other vehicles (100); and / or

[1030] the position of the vehicle (100) relative to the emergency switch that has triggered the emergency signal; and / or

[1031] the distance between the vehicle (100) and the emergency switch that has triggered the emergency signal; and / or

[1032] the current speed of the vehicle (100) at the moment of transmitting and / or triggering the emergency signal; and / or

[1033] The vehicle (100) has a predetermined and / or calculated movement path, in particular relative to one or more other vehicles (100) and / or relative to the emergency switch which has triggered the emergency signal.

[1034] 36. The vehicle (100) according to any one of embodiments 1 to 35, characterized in that different types of emergency operating situations can be triggered by means of one or more emergency switches, wherein the different types of emergency operating situations are distinguished from each other, for example, by:

[1035] a) by the extent or size or dimensions of the surrounding environment in which the vehicle (100) is placed in emergency operation, and / or

[1036] b) by a standard for testing by a control device (204) of a corresponding vehicle (100), and / or

[1037] c) By targeted control of different groups of vehicles (100).

[1038] 37. A vehicle (100) according to any one of embodiments 1 to 36, characterized in that the vehicle (100) can be put into emergency operation with the aid of an emergency signal, and with the aid of the vehicle (100) in the emergency operation, a signal can be sent to one or more other vehicles (100) at least in the surrounding environment of the vehicle (100), wherein the one or more vehicles (100) can be placed in a state of attention with the aid of the signal, for example, in order to avoid a collision with the vehicle (100) that has been put into emergency operation.

[1039] 38. A vehicle (100) according to any one of embodiments 1 to 37, characterized in that the vehicle (100) is capable of traveling in multiple directions, in particular in two directions, and can display, according to the current direction of travel, using one or more display elements (202) located at each end area of ​​the vehicle (100): each end area is currently the front area of ​​the vehicle (100) or the rear area of ​​the vehicle (100).

[1040] 39. A vehicle (100) according to any one of embodiments 1 to 38, characterized in that the vehicle (100) includes one charging connection point (164) or multiple charging connection points (164) for charging an energy storage device (150) of the vehicle (100).

[1041] 40. The vehicle (100) according to embodiment 39 is characterized in that a charging connection point (164) is arranged on the bottom side (114) of the base body (104), and the vehicle (100) can be positioned on the charging connection point (164) corresponding to it in the charging area (158) in order to charge the energy storage device (150).

[1042] 41. The vehicle (100) according to embodiment 40 is characterized in that the one charging connection point (164) can be connected to the corresponding charging connection point (164) of the charging area (158) in a contact manner, for example by means of a sliding contact and / or in a contactless manner, for example by induction.

[1043] 42. A vehicle (100) according to any one of embodiments 39 to 41, characterized in that another charging connection point (164) is provided on the side wall (166) of the base body (104), wherein the other charging connection point (164) can be connected to the corresponding charging connection point (164) of the charging area (158) in particular by means of a plug connection.

[1044] 43. A vehicle (100) according to any one of embodiments 39 to 42, characterized in that at least one charging connection point (164) is arranged and / or constructed on at least one receiving element (170).

[1045] 44. A vehicle (100) according to any one of embodiments 1 to 43, characterized in that the vehicle (100) includes an energy storage device (150) for storing and providing electrical energy for driving the vehicle (100), wherein the energy storage device (150) includes one or more energy storage units (152), and the energy storage unit is configured as a capacitor, in particular a supercapacitor (154) or an ultra-high-grade capacitor.

[1046] 45. A vehicle (100) according to any one of embodiments 1 to 44, characterized in that the vehicle (100) includes an energy storage device (150), by means of which electrical energy can be stored and provided for driving a lifting drive device (178) of the vehicle (100).

[1047] 46. ​​The vehicle (100) according to embodiment 45 is characterized in that energy for driving both the lifting drive (178) and the vehicle (100) can be stored and provided by means of the same energy storage device (150), in particular by means of the same energy storage unit (152) or by means of the same energy storage unit (152) of the energy storage device (150).

[1048] 47. The vehicle (100) according to any one of embodiments 1 to 46, characterized in that the vehicle (100) comprises an energy storage device (150), wherein the energy storage device (150) comprises:

[1049] a) one or more drive energy storage units (152a) for storing energy for driving the vehicle as a whole and / or for driving a lifting drive; and

[1050] b) one or more buffer storage units (152p), by means of which energy can be provided, for example, for operating a control device (204) and / or one or more sensor devices (190) and / or one or more communication devices.

[1051] 48. The vehicle (100) according to embodiment 47 is characterized in that, on the one hand, the one or more drive energy storage units (152a) and on the other hand, the one or more buffer energy storage units (152p) have different standard operating voltages and / or charging voltages from each other.

[1052] 49. A vehicle (100) according to any one of embodiments 1 to 48, characterized in that the vehicle (100) includes a control device (204) which is constructed and arranged so that the vehicle (100) operates in a safe mode or a fast mode in a selective manner,

[1053] The vehicle (100) is placed in a safety mode when: a person is detected in the surroundings of the vehicle (100) and / or the vehicle (100) passes through an area accessible to a person; and

[1054] The vehicle (100) is placed in the fast mode in the following circumstances: no persons are detected in the surroundings of the vehicle (100) and / or the vehicle (100) passes through an area that is inaccessible to persons.

[1055] 50. The vehicle (100) according to embodiment 49 is characterized in that the vehicle (100) can be placed in the safety mode or the fast mode with the help of a device not located at the vehicle (100), in particular a sensor device (190), for example by applying an external safety contact, etc.

[1056] 51. A vehicle (100) according to any one of embodiments 1 to 50, characterized in that the vehicle (100) includes one or more sensor devices (190), by means of which an environmental area (192) of the vehicle (100) can be detected.

[1057] 52. The vehicle (100) according to embodiment 51 is characterized in that a three-dimensional environmental area (192) can be three-dimensionally detected with the aid of the one or more sensor devices (190), wherein objects detected within the detected environmental area (192) can preferably be detected with respect to their size and positioning relative to the vehicle (100).

[1058] 53. The vehicle (100) according to embodiment 52 is characterized in that the size and positioning of the detected object are calculated by means of the sensor data of the one or more sensor devices (190) with the help of the control device (204) of the vehicle (100).

[1059] 54. A vehicle (100) according to any one of embodiments 51 to 53, characterized in that the environmental area (192) is composed of or includes a plurality of partitions, wherein the partitions are constructed to overlap with each other or cover completely different spatial areas.

[1060] 55. A vehicle (100) according to any one of embodiments 51 to 54, characterized in that different subareas of the environmental area (192) can be detected with the aid of the one or more sensor devices (190).

[1061] 56. A vehicle (100) according to any one of embodiments 51 to 55, characterized in that the environmental area (192) is divided into a plurality of partitions, in particular into three partitions, in a horizontal direction.

[1062] 57. A vehicle (100) according to embodiment 56, characterized in that one of the partitions is a protection partition (SZ), in which, in particular for interference-free operation, no objects are allowed to be arranged except the vehicle (100) itself and, if necessary, an object (102) arranged on the vehicle (100).

[1063] 58. A vehicle (100) according to any one of embodiments 56 or 57, characterized in that one of the partitions is a warning partition (WZ), which in particular surrounds the protection partition (SZ) and / or in which no objects should be arranged except the vehicle (100) itself and, if necessary, an object (102) arranged at the vehicle (100), wherein the detection of an object does not necessarily lead to the triggering of a stop of the vehicle (100).

[1064] 59. A vehicle (100) according to any one of embodiments 51 to 58, characterized in that the environmental area (192) is divided into a plurality of partitions in a vertical direction, in particular into three partitions.

[1065] 60. The vehicle (100) according to embodiment 59, characterized in that one of the zones is a vehicle zone (FZ) in which the vehicle (100) is arranged.

[1066] 61. A vehicle (100) according to any one of embodiments 59 or 60, characterized in that one of the partitions is an object partition (GZ), and when the object is received by means of the vehicle (100), the object (102) is arranged in the object partition.

[1067] 62. A vehicle (100) according to any one of embodiments 59 to 61, characterized in that an intermediate partition (ZZ) is arranged between a partition configured as a vehicle partition (FZ) and a partition configured as an object partition (GZ), and the extent to which the intermediate partition extends in the vertical direction is at least approximately the same as the extent to which the one or more receiving elements (170) protrude from the base body (104) of the vehicle (100).

[1068] 63. A vehicle (100) according to any one of embodiments 51 to 62, characterized in that by means of a control device (204) of the vehicle (100) and / or by means of a superior control device it is possible to test, in particular to calculate, whether an object detected by means of the one or more sensor devices (190) is an unexpected and / or unknown and / or interfering object or whether it is an object whose presence is acceptable.

[1069] 64. A vehicle (100) according to any one of embodiments 51 to 63, characterized in that the boundary lines between different partitions of the environmental area (192) are changed according to the current state of the vehicle (100) with the aid of a control device (204) of the vehicle (100).

[1070] 65. The vehicle (100) according to embodiment 64 is characterized in that one or more of the following state characteristics are considered for the current state of the vehicle (100):

[1071] a) whether the vehicle (100) is loaded or unloaded with an object (102); and / or

[1072] b) at what speed and in what direction the vehicle (100) is moving; and / or

[1073] c) the position at which the vehicle (100) is arranged in the transport device (222) and / or the processing device (224).

[1074] 66. A vehicle (100) according to any one of embodiments 64 or 65, characterized in that, with the aid of a control device (204) and / or with the aid of an upper-level control device, the boundary line direction and / or size and / or shape of the partition, in particular the warning partition (WZ) and / or the protection partition (SZ), can be regularly matched to the corresponding current state of the vehicle (100), for example multiple times per minute or per second.

[1075] 67. A vehicle (100) according to any one of embodiments 51 to 66, characterized in that the environment area (192) is divided into a plurality of partitions in the vertical direction and in the horizontal direction, wherein

[1076] a) the vehicle zone (FZ) is equipped with a warning zone (WZ) and / or a protection zone (SZ); and / or

[1077] b) one of the object zones (GZ) is equipped with a warning zone (WZ) and / or a protection zone (SZ); and / or

[1078] c) The intermediate zone (ZZ) is equipped with a warning zone (WZ) and / or a protective zone (SZ).

[1079] 68. An adapter device (208) for receiving an object (102), in particular a vehicle body (206), characterized in that the adapter device (208) comprises:

[1080] a central element (210);

[1081] one or more adapter elements (212) which are fixed to the central element (210) and which are geometrically matched to the object (102) in order to receive the object (102),

[1082] One or more joining areas (216), in particular insertion openings (218), are arranged and / or constructed on the central element (210) and / or one or more adapter elements (212), and one or more receiving elements (170) for receiving the adapter device (208) are engaged at the joining areas.

[1083] 69. A combination of a vehicle and an adapter device, characterized in that the combination is a combination of at least one vehicle (100) according to any one of embodiments 1 to 67 and at least one adapter device (208) according to embodiment 68.

[1084] 70. The combination according to embodiment 69 is characterized in that a plurality of adapter elements (212) of different geometric shapes and / or sizes are provided for receiving objects (102) of different geometric shapes and / or sizes.

[1085] 71. A transport device (222) for transporting objects (102), in particular workpieces such as car bodies (206), characterized in that the transport device (222) comprises one or more vehicles (100) according to embodiments 1 to 67.

[1086] 72. The transport device (222) according to embodiment 71 is characterized in that the transport device (222) includes one or more workstations (234), the object (102) can be transported to the workstation with the help of the vehicle (100) and / or the object (102) can be delivered and / or received at the workstation.

[1087] 73. The transport device (222) according to embodiment 72 is characterized in that two or more positions (240, 254) are arranged in at least one of the workstations (234) for two or more objects (102), wherein the object (102) can be delivered to the workstation (234) in a first position (240) with the aid of the vehicle (100), and wherein the object (102) can be received in a second position (254) with the aid of the vehicle (100) and then transported away from the workstation (234).

[1088] 74. The transport device (222) according to embodiment 73 is characterized in that the object (102) can be transported by means of a workstation transport device (244) of the transport device (222) that is different from the vehicle (100), in particular, can be transported from the first position (240) to the second position (254).

[1089] 75. The transport device (222) according to embodiment 74 is characterized in that the object (102) can be processed during transportation from the first position (240) to the second position (254) or in an intermediate position (258) arranged between the first position and the second position.

[1090] 76. A transport device (222) according to any one of embodiments 73 to 75, characterized in that at least one vehicle (100) is constructed and arranged to deliver an object (102) to a workstation (234) in the first position (240), and then an object (102) previously delivered in the first position (240) and transported to a second position (254) of the workstation (234) in the meantime can be received at the second position (254).

[1091] 77. A transport device (222) according to any one of embodiments 72 to 76, characterized in that one or more workstations (234) include a partition (248), in particular, at least one of the vehicles (100) can move under the partition while one or more objects (102) can move over the partition (248) and / or in order to move one or more objects (102) over the partition (248).

[1092] 78. The transport device (222) according to embodiment 77 is characterized in that the partition (248) is passable for personnel.

[1093] 79. A transport device (222) according to embodiment 77 or 78, characterized in that the partition (248) is oriented substantially parallel to a drivable foundation (160), on which the transport device (222) is mounted, wherein the distance between the preferably drivable surface of the partition (248) and the surface of the drivable foundation (160) is preferably at most about five times, in particular at most about four times, and preferably at most about two times, the height of the vehicle (100) and / or the height of the base (104) of the vehicle (100).

[1094] 80. A transport device (222) according to any one of embodiments 77 to 79, characterized in that at least one section (260) of the partition plate (248) above the transport path (292) of the vehicle (100) is completely closed and thereby the object (102) to be transported is completely separated in space from the vehicle (100).

[1095] 81. A transport device (222) according to embodiment 80, characterized in that the completely enclosed section (260) of the partition plate (248) extends at least approximately over the entire longitudinal length of the processing area (252) for processing the object (102).

[1096] 82. A transport device (222) according to any one of embodiments 77 to 81, characterized in that the partition plate (248) has a through-region (262), in particular a through-gap (264), and one or more receiving elements (170) of at least one of the vehicles (100) extend through the through-region, in particular the through-gap (264) and / or are capable of passing through the through-region, in particular the through-gap (264).

[1097] 83. The transport device (222) according to embodiment 82 is characterized in that the penetration area (262), in particular the penetration gap (264), extends along the transport path (292) of the transport device (222) or predetermines the transport path (292) of the transport device (222).

[1098] 84. The transport device (222) according to embodiment 83 is characterized in that a through-edge area (276) is formed on one or both sides of the through-area (262), in particular the through-slot (264), and the through-edge area is particularly formed to be higher than the remaining partition plates (248).

[1099] 85. A transport device (222) according to embodiment 84, characterized in that the average free or open distance between two penetration edge areas (276) opposite to each other with respect to the penetration area (262) is at most approximately four times, preferably at most approximately three times, and in particular at most approximately two times, the average horizontal thickness of at least one receiving element (170) of at least one of the vehicles (100) taken perpendicular to the transport path (292).

[1100] 86. A transport device (222) according to embodiment 84 or 85, characterized in that the average free or open distance between two penetration edge areas (276) opposite each other with respect to the penetration area (262) is at most approximately 150%, preferably at most approximately 100%, in particular at most approximately 80% of the average horizontal length of the central element (210) of the adapter device (208) for receiving at least one object (102) taken perpendicular to the transport path (292).

[1101] 87. A transport device (222) according to any one of embodiments 84 to 86, characterized in that the through-edge area (276) is constructed to be essentially L-shaped in a cross section taken perpendicular to the transport path (292).

[1102] 88. A transport device (222) according to any one of embodiments 84 to 87, characterized in that the through-edge area (276) extends inclined to the direction of gravity (g) and / or inclined to the horizontal direction.

[1103] 89. A transport device (222) according to any one of embodiments 82 to 88, characterized in that the transport device (222), in particular the partition plate (248), for example the through-edge area (276), comprises one or more closing elements (284), and the through-area (262), in particular the through-gap (264), can be closed by means of the closing elements, in particular automatically and / or in particular when no receiving element (170) protrudes through the through-area (262), and / or in particular in a section of the through-area (262), in particular the through-gap (264), where exactly no receiving element (170) protrudes through the through-area (262), in particular the through-gap (264).

[1104] 90. The transport device (222) according to embodiment 89 is characterized in that one or more closing elements (284) can be manipulated by means of the receiving element (170), in particular can be brought into an open position and / or a closed position.

[1105] 91. A transport device (222) according to any one of embodiments 77 to 90, characterized in that the transport device (222) includes a workstation transport device (244), by means of which the object (102) can be transported independently of the vehicle (100), wherein the workstation transport device (244) is preferably integrated into a partition plate (248) of the workstation (234).

[1106] 92. The transport device (222) according to embodiment 91 is characterized in that the workstation transport device (244) is a roller conveyor (245) or a chain conveyor, or includes a roller conveyor (245) or a chain conveyor.

[1107] 93. A transport device (222) according to any one of embodiments 71 to 92, characterized in that the transport device (222) includes a stacking and / or unstacking device for stacking and / or unstacking multiple vehicles (100).

[1108] 94. A transport device (222) according to any one of embodiments 71 to 93, characterized in that the transport device (222) includes one or more charging areas (158) for charging an energy storage device (150) of at least one of the vehicles (100).

[1109] 95. The transport device (222) according to embodiment 94 is characterized in that one or more charging areas (158) are arranged at one or more workstations (234) of the transport device (222), and the object (102) can be transported to the workstation with the aid of at least one of the vehicles (100) and / or the object (102) can be delivered and / or received at the workstation.

[1110] 96. The transport device (222) according to embodiment 94 or 95 is characterized in that one or more charging areas (158) are arranged between two workstations (234) of the transport device (222) with respect to the transport path (292) of at least one vehicle (100), and the object (102) can be transported to the workstation with the aid of the at least one vehicle (100) and / or the object (102) can be delivered and / or received at the workstation.

[1111] 97. A transport device (222) according to any one of embodiments 94 to 96, characterized in that one or more charging areas (158) are arranged in or at a return path (294) of at least one vehicle (100).

[1112] 98. A transport device (222) according to any one of embodiments 94 to 97, characterized in that one or more charging areas (158) are arranged in or at a path segment, which continuously or temporarily, in particular alternately, constitutes a segment of a transport path (292) for one or more vehicles (100) and a segment of a return path (294) for the one or more vehicles (100) or another one or more vehicles (100).

[1113] 99. A transport device (222) according to any one of embodiments 94 to 98, characterized in that one or more charging areas (158) are arranged in or at an intersection area, and one or more transport paths (292) and / or one or more return paths (294) of one or more vehicles (100) intersect in the intersection area.

[1114] 100. A transport device (222) according to any one of embodiments 94 to 99, characterized in that one or more charging areas (158) are stationary charging areas (298), at which at least one of the vehicles (100) is stationary in order to charge the energy storage device (150) and / or during the charging of the energy storage device (150).

[1115] 101. A transport device (222) according to any one of embodiments 94 to 100, characterized in that one or more charging areas (158) are mobile charging areas (300), and at least one vehicle (100) can move through the mobile charging area while the energy storage device (150) is being charged and / or at least one vehicle (100) can move through the mobile charging area while the energy storage device (150) is being charged.

[1116] 102. A transport device (222) according to any one of embodiments 94 to 101, characterized in that one or more charging areas (158) are arranged and / or constructed at or in a penetration area (262) of a partition plate (248) of the transport device (222).

[1117] 103. A transport device (222) according to any one of embodiments 94 to 102, characterized in that one or more charging areas (158) are arranged and / or constructed on the bottom side of a partition plate (248) of a workstation (234) of the transport device (222).

[1118] 104. A transport device (222) according to any one of embodiments 94 to 103, characterized in that one or more charging areas (158) are arranged on a drivable foundation (160) on which at least one vehicle (100) can travel, wherein one or more of the charging areas (158) are in particular arranged and / or constructed directly below a partition (248) of a workstation (234) of the transport device (222).

[1119] 105. A transport device (222) according to any one of embodiments 94 to 104, characterized in that one or more charging areas (158) are configured as charging parking spaces (302), to which one or more vehicles (100) can be guided, in particular in a manner different from the transport path (292) and / or return path (294) of the vehicle (100), to charge the corresponding energy storage device (150).

[1120] 106. The transport device (222) according to embodiment 105 is characterized in that one or more charging parking spaces (302) are waiting areas (304) for temporarily storing one or more vehicles (100) and / or maintenance areas (306) for performing maintenance work on one or more vehicles (100).

[1121] 107. A transport device (222) according to any one of embodiments 94 to 106, characterized in that one or more charging areas (158) are arranged at the delivery position (242) of the workstation (234) and / or at the receiving position (256) of the workstation (234) in such a manner that the energy storage device (150) of the vehicle (100) can be charged, in particular during the positioning process of the vehicle (100) relative to the workstation (234).

[1122] 108. A transport device (222) according to any one of embodiments 94 to 107, characterized in that the transport device (222) extends on multiple levels (288) and includes one or more charging areas (158), which are arranged in a transfer device (290) for transferring one or more vehicles (100) from one level (288) to another level (288).

[1123] 109. A transport device (222) according to any one of embodiments 94 to 108, characterized in that the transport device (222) includes one or more charging nodes (308), each of which includes a plurality of charging areas (158) for charging a plurality of vehicles (100) at the same time.

[1124] 110. The transport device (222) according to embodiment 109 is characterized in that one or more charging nodes (308) are arranged at a position where multiple transport paths (292) and / or return paths (294) intersect and / or overlap.

[1125] 111. A transport device (222) according to any one of embodiments 71 to 110, characterized in that, in order to charge the energy storage device (150), at least one charging area (158) includes one or more charging connection points (164), each of which includes a plurality of contact areas (278) and / or contact elements (280) for providing voltages with voltage values ​​of different magnitudes.

[1126] 112. The transport device (222) according to embodiment 111 is characterized in that two or more pairs of contact areas (278) and / or contact elements (280) are respectively provided at one or more charging connection points (164) for providing different charging voltages, in particular simultaneously.

[1127] 113. A transport device (222) according to any one of embodiments 71 to 112, characterized in that one or more charging connection points (164), in particular all charging connection points (164), respectively include one or more sensor devices (190), with the aid of which the presence of the vehicle (100) can be detected at the corresponding charging connection point (164), in particular on the corresponding charging connection point (164).

[1128] 114. The transport device (222) according to embodiment 113 is characterized in that the charging connection point (164) can be controlled and / or manipulated so that the current and / or voltage for charging the energy storage device (150) of the vehicle (100) is applied, in particular connected, at the corresponding charging connection point (164) only when the vehicle (100) is identified with the aid of one or more sensor devices (190).

[1129] 115. The transport device (222) according to any one of embodiments 71 to 114, characterized in that the transport device (222) comprises one or more safe areas (270) and one or more fast areas (268),

[1130] wherein one or more of the vehicles (100) in the one or more safety zones (270) can be placed in a safety mode by means of a control device (204), and

[1131] One or more of the vehicles (100) in the one or more rapid zones (268) can be placed in a rapid mode by means of the control device (204).

[1132] 116. A transport device (222) according to embodiment 115, characterized in that one or more rapid areas (268) include one or more return paths (294) or return path sections, in which one or more of the vehicles (100) are particularly unloaded.

[1133] 117. A transport device (222) according to embodiment 115 or 116, characterized in that the one or more fast areas (268) and / or the one or more safety areas (270) are interconnected by means of one or more passages (312), wherein the one or more passages (312) preferably at least partially have the following shape, which is constructed to be at least roughly and at least partially complementary to the shape of one or more of the vehicles (100).

[1134] 118. The transport device (222) according to embodiment 117, characterized in that

[1135] a) one or more access openings (312) are arranged in or at one or more workstations (234) of the transport device (222), and / or

[1136] b) One or more access openings (312) are formed by the one or more workstations (234) of the transport device (222).

[1137] 119. A transport device (222) according to any one of embodiments 115 to 118, characterized in that one or more rapid areas (268) are formed by means of a double ground surface that is passable and / or drivable.

[1138] 120. A transport device (222) according to any one of embodiments 71 to 119, characterized in that the transport device (222) includes multiple types of workstations (234), wherein multiple workstations (234) are respectively set from at least two types of workstations (234).

[1139] 121. The transport device (222) according to embodiment 120, characterized in that the objects (102) to be transported are transported in a predetermined sequence by means of one or more of the vehicles (100) to and / or through one of the different types of workstations (234), wherein the control device (204) can be used to select a corresponding type of individual workstation (234) of the workstations (234), in particular:

[1140] a) according to the current occupancy of each workstation (234) of the corresponding type of workstation (234), and / or

[1141] b) equipping each workstation (234) according to the corresponding type of workstation (234), and / or

[1142] c) the design of the individual workstations (234) according to the corresponding type of workstation (234), and / or

[1143] d) The current maintenance status or degree of contamination of each workstation (234) according to the corresponding type of the workstation (234).

[1144] 122. A transport device (222) according to any one of embodiments 71 to 121, characterized in that the transport device (222) includes a transfer area (400), at which one or more objects (102) can be transferred from a vehicle (100) to a workstation transport device (244) or other receiving device, wherein at least one entry area (402) is spatially separated from at least one exit area (410), and a transfer position (404) of the transfer area (400) is accessible to the vehicle (100) through the entry area, and the vehicle (100) can drive away from the transfer position (404) through the exit area.

[1145] 123. A transport device (222) according to any one of embodiments 71 to 122, characterized in that the transport device (222) includes a transfer area (400), at which one or more objects (102) can be transferred from a vehicle (100) to a workstation transport device (244) or other receiving device, wherein the entry direction (412) is transverse to, in particular at least approximately perpendicular to, the exit direction (414), and the vehicle (100) can enter the transfer area (400) along the entry direction, and the vehicle (100) can exit from the transfer area (400) along the exit direction.

[1146] 124. A transport device (222) for conveying objects (102), in particular workpieces, such as car bodies (206), wherein the transport device (222) is in particular constructed according to any one of embodiments 71 to 123 and / or includes a partition plate (248), the partition plate having a through-region (262), in particular a through-slot (264), and one or more receiving elements (170) for receiving at least one object (102) extend through the through-region, in particular the through-slot (264) and / or are capable of passing through the through-region, in particular the through-slot (264).

[1147] 125. The transport device (222) according to embodiment 124 is characterized in that the partition plate (248) includes one or more closing elements (284), by means of which the through-region (262), in particular the through-slot (264), can be closed.

[1148] 126. The transport device (222) according to embodiment 125 is characterized in that the penetration area (262), in particular the penetration gap (264), can be closed automatically and / or temporarily and / or locally and / or in particular when no receiving element (170) extends through the penetration area (262) and / or in particular in a section of the penetration area (262), in particular the penetration gap (264), in which just no receiving element (170) passes through the penetration area (262), in particular the penetration gap (264), by means of the one or more closing elements (284).

[1149] 127. A transport device (222) according to any one of embodiments 124 to 126, characterized in that one or more closing elements (284) can be actuated by means of a receiving element (170), in particular can be brought into an open position and / or a closed position.

[1150] 128. A transport device (222) according to any one of embodiments 124 to 127, characterized in that one or more closing elements (284) can be elastically and / or automatically moved from an open position to a closed position under the action of gravity.

[1151] 129. A transport device (222) according to any one of embodiments 124 to 128, characterized in that one or more closing elements (284) are configured as a lamella (508) and / or a valve and / or a closing disk (510).

[1152] 130. A transport device (222) according to any one of embodiments 124 to 129, characterized in that one or more closing elements (248) are capable of being deflected in particular in the horizontal direction in order to temporarily open the penetration area (262) to allow one or more receiving elements (170) to pass through.

[1153] 131. A transport device (222) according to any one of embodiments 124 to 130, characterized in that the partition plate (248) includes a plurality of closing elements (284), which are arranged overlapping each other in their closed position and / or open position.

[1154] 132. A transport device (222) according to any one of embodiments 124 to 131, characterized in that the partition plate (248) includes a plurality of closing elements (284), which are arranged in different levels, in particular parallel to each other, preferably horizontal levels and / or can be moved in said levels.

[1155] 133. The transport device (222) according to any one of embodiments 124 to 132, characterized in that one or more closing elements (284) are passable.

[1156] 134. A transport device (222) according to any one of embodiments 124 to 133, characterized in that one or more closing elements (284) are supported on each other and / or on one or more supporting plates (504) of the partition plate (248), in particular in the closed position and / or open position.

[1157] 135. A transport device (222) according to any one of embodiments 124 to 134, characterized in that one or more closing elements (284) are capable of moving, in particular linearly, in a direction extending obliquely to, in particular perpendicularly to, the transport direction (250).

[1158] 136. A transport device (222) according to any one of embodiments 124 to 135, characterized in that one or more closing elements (284) are rotatably, in particular freely rotatably and / or rotatably through 360°, arranged at a closing element receiving portion (524) of the partition plate (248).

[1159] 137. A transport device (222) according to any one of embodiments 124 to 136, characterized in that the penetration area (262), in particular the penetration gap (264), extends along the transport path (292) of the transport device (222) or the transport path (292) of the transport device (222) is predetermined.

[1160] 138. The transport device (222) according to any one of embodiments 124 to 137, characterized in that the partition plate (248) is passable for people.

[1161] 139. The transport device (222) according to any one of embodiments 124 to 138, characterized in that the transport device (222) comprises one or more vehicles (100), wherein each vehicle (100) comprises:

[1162] A substrate (104);

[1163] a running gear (106), by means of which the base body (104) is placed flat on a drivable foundation (160) and / or the base body is movable on a drivable foundation (160);

[1164] A driving device (110) for driving the vehicle (100);

[1165] a receiving device (168), the receiving device comprising one receiving element (170), two receiving elements (170) or more than two receiving elements (170) for receiving at least one object (102),

[1166] The transport device (222) includes one or more workstations (234), to which the object (102) can be transported by means of the vehicle (100) and / or at which the object (102) can be delivered and / or received.

[1167] 140. A processing device (224) for processing an object (102), in particular a car body (206), characterized in that the processing device (224) includes one or more transport devices (222) according to any one of embodiments 71 to 139.

[1168] 141. The processing equipment (224) according to embodiment 140 is characterized in that one or more workstations (234) of the transport device (222) are processing stations (236) of the processing equipment (224), and the workstations are connected to each other for transporting the object (102) with the aid of the vehicle (100) of the transport device (222).

[1169] 142. A method for transporting an object (102), wherein the object (102) is transported by means of one or more vehicles (100) according to any one of embodiments 1 to 67 and / or by means of a transport device (222) according to any one of embodiments 71 to 139.

[1170] 143. A method for processing an object (102), wherein the object (102) is processed in a processing device (224) according to embodiment 140 or 141 and / or with the aid of a processing device according to embodiment 140 or 141.

Claims

1. A vehicle (100) for use as a component of a transport device (222) or a processing device (224), characterized in that The vehicle (100) comprises: A substrate (104); a running gear (106), by means of which the base body (104) is placed flat on a drivable foundation (160) and / or the base body is movable on a drivable foundation (160); A driving device (110) for driving the vehicle (100); a receiving device (168), the receiving device comprising one receiving element (170), two receiving elements (170) or more than two receiving elements (170) for receiving at least one object (102); one or more sensor devices (190), by means of which a corresponding surrounding area (192) of the vehicle (100) can be detected, wherein the boundary lines between different subareas of the surrounding area (192) are changed according to the current state of the vehicle (100) by means of a control device (204) of the vehicle (100), and The following state characteristics are considered for the current state of the vehicle (100): a) whether the vehicle (100) is loaded or unloaded with an object (102); and b) at what speed and in which direction the vehicle (100) is moving; and c) the position at which the vehicle (100) is arranged in the transport device (222) and / or the processing device (224).

2. The vehicle (100) according to claim 1, characterized in that A three-dimensional surrounding area (192) can be three-dimensionally detected by means of the one or more sensor devices (190).

3. The vehicle (100) according to claim 2, characterized in that Objects detected within the detected environment area (192) can be detected with respect to their size and position relative to the vehicle (100).

4. The vehicle (100) according to claim 3, characterized in that The size and position of the detected object are calculated from the sensor data of the one or more sensor devices (190) by means of a control device (204) of the vehicle (100).

5. The vehicle (100) according to any one of claims 1 to 4, characterized in that The surrounding area (192) is composed of a plurality of subareas or includes a plurality of subareas, wherein the subareas are designed to overlap one another or cover spatial areas that are completely different from one another.

6. The vehicle (100) according to any one of claims 1 to 4, characterized in that By means of the one or more sensor devices (190), mutually different subareas of the surrounding area (192) can be detected.

7. The vehicle (100) according to any one of claims 1 to 4, characterized in that The environment area (192) is divided into a plurality of partitions in the horizontal direction.

8. The vehicle (100) according to claim 7, characterized in that The environment area (192) is divided into three subareas in the horizontal direction.

9. The vehicle (100) according to claim 7, characterized in that One of the zones is a protection zone (SZ) in which no objects may be arranged except the vehicle (100) itself and the object (102) which may be arranged on the vehicle (100).

10. The vehicle (100) according to claim 9, characterized in that For trouble-free operation, no objects may be arranged in the protection zone (SZ) other than the vehicle (100) itself and the object (102) which may be arranged on the vehicle (100).

11. The vehicle (100) according to claim 9, characterized in that One of the zones is a warning zone (WZ), which surrounds the protection zone (SZ) and / or in which no objects should be arranged except the vehicle (100) itself and, if necessary, an object (102) arranged on the vehicle (100), wherein the detection of an object does not necessarily lead to the triggering of a stop of the vehicle (100).

12. The vehicle (100) according to claim 11, characterized in that The environment area (192) is divided into a plurality of partitions in the vertical direction.

13. The vehicle (100) according to claim 12, characterized in that The environmental area (192) is divided into three subareas in the vertical direction.

14. The vehicle (100) according to claim 12, characterized in that One of the zones is a vehicle zone (FZ) in which the vehicle (100) is arranged.

15. The vehicle (100) according to claim 14, characterized in that One of the zones is an object zone (GZ), in which the object (102) is arranged when the object is received by means of the vehicle (100).

16. The vehicle (100) according to claim 15, characterized in that An intermediate partition (ZZ) is arranged between a partition configured as a vehicle partition (FZ) and a partition configured as an object partition (GZ), the intermediate partition extending in the vertical direction to at least approximately the same extent as one or more receiving elements (170) protrude from the base body (104) of the vehicle (100).

17. The vehicle (100) according to claim 11, characterized in that With the aid of a control device (204) of the vehicle (100) and / or with the aid of a higher-level control device, it is possible to test whether an object detected with the aid of one or more sensor devices (190) is an unexpected and / or unknown and / or interfering object or an object whose presence is acceptable.

18. The vehicle (100) according to claim 17, characterized in that With the aid of a control device (204) of the vehicle (100) and / or with the aid of a higher-level control device, it is possible to calculate whether an object detected with the aid of one or more sensor devices (190) is an unexpected and / or unknown and / or interfering object or an object whose presence is acceptable.

19. The vehicle (100) according to claim 17, characterized in that By means of the control device (204) and / or by means of the superordinate control device, the boundary line course and / or the size and / or the shape of the partition can be regularly adapted to the respective current state of the vehicle (100).

20. The vehicle (100) according to claim 19, characterized in that The partition is the warning partition (WZ) and / or the protection partition (SZ).

21. The vehicle (100) according to claim 19, characterized in that By means of the control device (204) and / or by means of the superordinate control device, the boundary line course and / or the size and / or the shape of the partition can be adapted to the respective current state of the vehicle (100) several times per minute or per second.

22. The vehicle (100) according to claim 16, characterized in that The environment area (192) is divided into a plurality of subareas in the vertical direction and a plurality of subareas in the horizontal direction, wherein a) a vehicle zone (FZ) is equipped with a warning zone (WZ) and / or a protection zone (SZ); and / or b) one of the object zones (GZ) is assigned a warning zone (WZ) and / or a protection zone (SZ); and / or c) An intermediate zone (ZZ) is equipped with a warning zone (WZ) and / or a protective zone (SZ).

23. The vehicle (100) according to any one of claims 1 to 4, characterized in that The vehicle (100) is used to transport an object (102).

24. The vehicle (100) according to claim 23, characterized in that The object (102) is a vehicle body (206).

25. A transport device (222) for transporting an object (102), wherein the transport device (222) comprises one or more vehicles (100) according to any one of claims 1 to 24.

26. The transport device (222) according to claim 25, characterized in that The object (102) is a workpiece.

27. The transport device (222) according to claim 26, characterized in that The workpiece is a vehicle body (206).

28. Processing apparatus for processing an object (102), wherein the processing apparatus comprises one or more transport devices (222) according to any one of claims 25 to 27.

29. A method for transporting and / or processing an object (102), wherein the object (102) is transported by means of one or more vehicles (100) according to any one of claims 1 to 24 and / or by means of a transport device (222) according to any one of claims 25 to 27, and / or wherein the object (102) is processed in a processing device according to claim 28 and / or by means of a processing device according to claim 28.

Images