Transport device, processing device, method for transporting and / or processing objects

Abstract

The invention relates to a transport device for transporting objects, in particular workpieces. It is provided that the transport device comprises a partition plate having a through region, in particular a through gap, through which one or more receiving elements for receiving at least one object extend and / or can be passed.

Description

[0001] This application is a divisional application of the invention patent application with application number 201980088388.6 (the corresponding international application number is PCT / EP2019 / 082394), 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, such as painting plants, roller conveyors, chain conveyors or overhead conveyors can 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 rests 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] Drive-over surface The drive-over surface is in particular a floor, for example a solid floor, in particular a workshop floor.

[0013] The drivable ground 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 can 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 the 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 when 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 aligned 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 direction of travel of the vehicle or both main directions of travel of the vehicle.

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

[0025] Preferably, one or more receiving elements, in particular all receiving elements, are the only components of the vehicle that 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 essentially perpendicular 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 immovably connected to the base body.

[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 terms "moving out" and "moving in" are not necessarily to be understood as completely detaching or completely 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. This preferably prevents or at least reduces undesirable contamination of the interior of the base body.

[0035] It can 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 only be raised simultaneously and / or can only be lowered simultaneously.

[0037] It can 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 jointly 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 arranged completely within the shank section and / or the receiving section.

[0045] The lubricating device preferably comprises a container for receiving 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.

[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 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 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 time-controlled 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 in order to ensure that lubricant is regularly added to the object to be lubricated, in particular the screw element.

[0050] The component element can in particular be a valve which is arranged at the bottom side of the container and / or points 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 passed through the receiving section and / or is accessible, for example from above, by removing the receiving section, 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 can 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 center of the base body of the vehicle with respect to the longitudinal center axis of the vehicle and / or the 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 at a distance 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 to arrange one or more support rollers 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] Yet also can be provided with independent suspension in alternative design scheme.Preferably be provided with the coupling device of the mechanical connection of driving element, especially drive wheel here, especially in order to guarantee the uniform downward pressure of driving element, especially drive wheel on the foundation that can be driven over.

[0064] Preferably, a plurality of drive elements, in particular drive wheels, of the drive device 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 onto the ground and / or 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 operating device is preferably accessible on the outside of the vehicle in order to operate it.

[0071] In particular, a preferably inaccessible and / or protected drive assembly of the drive is therefore provided, wherein at the same time the drive can be deactivated, 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 so that the vehicle can be moved manually in the event of a drive failure.

[0072] Furthermore, the operating device 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 that is 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 axle element is rotatably or pivotably supported on a vehicle body, in particular by means of a bearing element. In particular, the bearing element is supported on the body in a height-variable and / or spring-loaded manner. Preferably, the height of the axle element and / or the bearing element relative to the body can be adjusted by means of an actuating device.

[0075] Preferably, the bearing element is of substantially U-shaped design.

[0076] Preferably, the bearing element comprises a middle part, at the ends of which a leg is provided. The bearing element is preferably rotatably or pivotably supported on the base body by means of the legs.

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

[0078] The center 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 particularly 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 delimited on mutually opposite sides by the legs of the bearing element.

[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] Thus, the object and / or the at least partially complementary engagement region of the adapter device for receiving one or more objects can achieve particularly stable fixing of the object in the vehicle. In particular, the tapering design of the receiving section can prevent the object from tipping over. Stable reception of the object in the vehicle can also be achieved by using only one or only two receiving elements, in particular each configured only in the form of a pin, a dowel, or a mandrel.

[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 from the base body in the lowest position relative 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, measured parallel to the direction of gravity, which is greater than a height of a base body of the vehicle, 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 circular-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 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 the correct fastening of the object can be monitored.

[0093] As an alternative or in addition thereto, provision can be made for the vehicle to comprise one or more reception sensors, by means of which the orientation and / or position of an object arranged at a distance from at least one receiving element can be detected.

[0094] In particular, the orientation and / or position of the object can be detected by means of the at least one receiving sensor 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 can be provided that two receiving sensors or more than two receiving sensors are arranged on the base body in a region thereof surrounding the receiving element or elements.

[0098] In particular, the approach and / or the position and / or the presence of an object at 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 receiving sensor is arranged on the receiving element.

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

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

[0102] The receiving sensor arranged on the base body is preferably a receiving sensor that operates 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 to arrange a cover for covering the interior of the base body 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 supporting 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 flush 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 cover 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 as one piece or 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 from the base body by means of a suction cup arrangement.

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

[0116] The term "transparent" is understood in particular 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 risk of improper vehicle operation and reduce loads and / or wear on the vehicle or its components.

[0117] The cover can be transparently colored, for example.

[0118] The base body preferably comprises one or more side surfaces which are, for example, configured obliquely.

[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 vertical.

[0120] One or more emergency switches are preferably arranged at one or more side surfaces. This makes it particularly easy to approach the emergency switches, thus increasing safety during vehicle operation.

[0121] The term “emergency” is to be understood in particular as the emergency stopping, for example, stopping, 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 a (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 comprise a communication device, wherein an emergency signal can be transmitted to one or more or all vehicles by means of the communication device in particular 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 workpiece.

[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 higher-level 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] It can preferably be provided that the control device can be used to test whether the corresponding vehicle must be put into emergency operation. 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 that has triggered the emergency signal; and / or

[0132] The distance between the vehicle and the emergency switch that 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] The vehicle has, in particular, a predetermined and / or calculated movement path relative to one or more other 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, provision can be made to determine by a test 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 that has triggered the emergency signal, and whether this distance is being maintained based on a predetermined and / or expected movement path. If this is the case, the vehicle, in particular, continues to operate in the previously existing operation. In particular, if this is not the case, the vehicle is placed in 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 stop, in particular to be put into emergency operation.

[0139] Here, the surrounding environment is, for example, a spatial area surrounding a transmitter of a communication device for transmitting an emergency signal, the size of which is determined in particular by the signal strength and / or range of the transmitter. For example, a transmitter configured as a short-range transmitter can be provided, which can transmit the emergency signal over a distance of, for example, up to approximately 20 meters, particularly up to approximately 10 meters. Only vehicles within this spatial area receive the emergency signal and are subsequently placed into emergency operation. Vehicles outside this spatial area 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 provision can be made for one or more (further) emergency switches to be arranged at the vehicle or at one or more further components of the transport device and / or handling device and / or logistics device. Preferably, the one or more emergency switches are equipped with a communication device, for example the one or more emergency switches each comprise a communication device, wherein by means of the communication device an emergency signal can be transmitted, inter alia, to one or more vehicles in order to place one or more vehicles in an emergency operation.

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

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

[0144] b) by the criteria for testing by the control device of the respective vehicle, and / or

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

[0146] It can be advantageous if the vehicles are assigned to different areas or zones depending on their respective position, wherein preferably each area or zone is equipped with a separate emergency operation situation. By actuating the emergency switch in a defined area or in a defined zone or for a defined area or for a defined zone, preferably at least those or exactly those or only those vehicles are placed in emergency operation which are assigned to this area or zone. Preferably, all further vehicles outside this area or zone remain in the previously existing operating mode.

[0147] In order to assign the vehicles to different areas or zones, inter alia, sensor elements for detecting the vehicle and / or sensor elements for detecting the surrounding environment at the vehicle can be used. Inter alia, position sensors of the vehicle or external optoelectronic sensors, scanners or other detectors can be used.

[0148] These areas or zones are inter alia handling areas, for example handling stations, and / or travel paths, in particular travel paths outside the handling areas, and / or support areas.

[0149] The position recognition and / or position monitoring of the one or more vehicles, in particular of all vehicles, is preferably carried out over all conceivable movement paths and / or stay areas of the vehicles. Inter alia, uninterrupted and / or spatially and / or temporally continuous position recognition and / or position monitoring is provided. Here inter alia, a repetition rate of at least 1 per second, in particular at least 10 per second, is to be understood as position recognition and / or position monitoring.

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

[0151] In one embodiment of the present invention, a vehicle in emergency operation can send a signal to one or more other vehicles in its immediate vicinity, wherein the one or more vehicles are placed in a state of alert, in particular, by means of the signal, in order to avoid a collision with the vehicle in emergency operation, for example, which has suddenly braked. To this end, the one or more vehicles are braked to a reduced speed compared to the previous one. Alternatively or in addition, the one or more vehicles can follow a movement path that deviates from the originally intended movement path in the state of alert, in particular to avoid a potential risk of triggering an emergency switch.

[0152] For position detection and / or position monitoring of one or more vehicles, in particular all vehicles, an auxiliary positioning device may be provided, for example, 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 identifying the exact position of the auxiliary positioning device.

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

[0155] Preferably, the auxiliary positioning device extends along the movement path of one or more vehicles and has locally uniquely assignable positioning features along this movement path, so that the position of the vehicle, in particular at each point along the movement path, can be clearly determined, in particular by means of a control device of the respective vehicle and / or by means of a superordinate control unit, wherein communication between the respective vehicle and the superordinate control unit preferably takes place 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 determine the position simultaneously at mutually different positions along the movement path of the vehicle using a plurality of position sensors.

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

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

[0161] It can be advantageous if the top of the vehicle is arranged offset to the rear relative to the bottom of the vehicle. This makes it particularly easy to implement inclined side surfaces. Furthermore, this allows for an optimized detection range for detecting the surroundings using the sensor to be described, in particular the sensor elements of the sensor device.

[0162] It can be advantageous if the base body is of essentially rectangular design, wherein two or four corner regions of the base body are each assigned 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 vehicle's surroundings. 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 the 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 vehicle's travel path or in another predetermined surrounding area.

[0166] Alternatively or additionally, provision may be made for one of the operating modes to be an alarm 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 travel path or another predetermined surrounding area.

[0167] Furthermore, as an alternative or in addition thereto, provision can 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 travel 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 depending on the current load of the vehicle and / or the current driving direction and / or the current driving speed, preferably by means 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 including the spatial surroundings and / or spatial regions of objects transported by 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 environment, i.e., a three-dimensional environmental area, can be detected by means of one or more sensor devices. The detection itself is preferably performed two-dimensionally or also three-dimensionally, i.e., objects detected within the detected environmental area are preferably detected with respect to their size and position relative to the vehicle. In particular, the size and position of the detected objects are calculated from the sensor data of the one or more sensor devices by means of a vehicle control device.

[0172] The surrounding area is preferably composed of or includes a plurality of subareas. These subareas can be constructed to overlap one another or cover completely different spatial areas.

[0173] By means of one or more sensor devices, preferably different subregions of the surrounding area 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 into three subareas, for example, in the horizontal direction.

[0175] The innermost subarea which is at the shortest distance from the vehicle, in particular the subarea which is directly adjacent to 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 other than the vehicle itself (and possibly objects) are allowed to be arranged. Preferably, when an object is detected in this protection zone, the vehicle is immediately and / or automatically brought to a standstill.

[0177] The protective partition is in particular 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 cross section of the vehicle, the protection subarea and the warning subarea.

[0179] A warning zone is, in particular, an area in which no objects other than the vehicle 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 the warning zone, the vehicle is preferably immediately and / or automatically placed in a warning mode.

[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 (referred to as objects detected by the at least one sensor device) are, in particular, objects that should not be at the detected location during the intended normal operation of the vehicle and / or the processing unit. However, one or more sensor devices may also detect objects that are components of the transport device and / or the processing unit and whose presence is essential.

[0182] The vehicle's control device and / or a superordinate control unit is preferably used to test, in particular calculate, 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 the current speed and direction of movement of the vehicle, the boundaries between the zones are preferably changed. For example, at relatively high vehicle speeds, the boundaries in the area ahead of the vehicle (with respect to the direction of travel) are preferably moved away from the vehicle, thereby expanding the zones ahead of the vehicle, in particular the warning zone and / or the protection zone.

[0185] When driving around a bend, for example, the curvature and / or at least partial lateral displacement of the subareas can be provided so that they cover as large a spatial area as possible, particularly in the area in front of the vehicle along the actual travel 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 and / or 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 line course and / or size and / or shape of the zones, in particular the warning zones and / or the protection zones, are 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 can in particular always take place when the vehicle undergoes a change of state, such as 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 that has an influence, in particular, on the course of the boundary lines of the partitions.

[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 can be expected that parts of the workstation enter the warning zone and / or enter the protection zone (or the warning zone and / or protection zone extend into parts of the workstation), the zones, in particular the warning zone and / or protection zone, can be reduced so that the parts of the workstation are located outside the warning zone and / or 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] Alternatively or additionally, provision can be made for a workstation mode to be activated when the vehicle approaches a workstation, in which the vehicle's maximum speed is reduced in order to compensate for the increased risk potential caused by reduced monitoring of the surroundings. For example, proximity to the workstation can be detected by scanning with an auxiliary positioning device and / or by position sensors and / or distance sensors.

[0194] In particular, the following can be taken into account for determining the boundary 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, a uniform signal is 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 lines and / or the size and / or the shape of the partition are 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. This 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 the top side of the basic body of the vehicle or to the 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 vertical partition is determined by the size of the object placed on the vehicle. The partition covering the object extends vertically, in particular, from the bottom side of the object (including, if necessary, an adapter, a slide, or the like) and / or to the top side of the object, preferably from the lowest point of the object (including, if necessary, an adapter, a slide, or the like) and / or to the highest point of the object. This partition is referred to herein as the object partition.

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

[0204] As an alternative, 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 can be advantageous for the vertically divided subareas to overlap with the horizontally divided subareas, 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 protective 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 section is assigned a warning section and / or a protective section, 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 horizontal dimensions and / or shape, of the warning zone and / or 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 equipment.

[0211] The spatial dimensions, in particular the horizontal dimensions and / or the shape, of the warning zone and / or the protective zone associated with the object zone depend in particular on whether the object is located on the vehicle, the size of the object itself, and / or the position of the vehicle with the object located thereon in the transport device and / or the handling device. In particular, when the vehicle is unladen, i.e., when no object is present, provision can be made to completely deactivate surrounding monitoring within the object zone.

[0212] The spatial dimensions, in particular the horizontal dimensions and / or the shape, of the warning zone and / or the protective zone associated with the intermediate zone depend in particular on whether the object is located on the vehicle, the extent to which one or more receiving elements protrude from the base body, and / or the position of the vehicle, including any objects located thereon, in the transport device and / or the handling system. In particular, provision can be made for the monitoring of the surroundings within the intermediate zone to be deactivated when the vehicle enters and / or passes a work station and when 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 task-derived route or its task-derived movement path, for example based on surrounding monitoring, in particular to avoid collisions.

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

[0215] It may be advantageous if one or more or all objects, in particular the vehicle body, are also provided with object zones and / or warning zones and / or protection zones if the corresponding objects are not located on the vehicle. In particular, such a partitioning can also be provided in the storage and / or parking locations.

[0216] This zone allocation enables, in particular, a higher-level coordination of all objects, independently of the corresponding arrangement on the vehicle, thereby preferably also minimizing the potential risk of collision 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 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, which triggers normal operation and / or an alarm operation and / or a shutdown operation, can be adjusted, preferably by means of a control device. This can prevent, in particular, the alarm operation or shutdown operation from being triggered by an object located above the vehicle, even though there is no object located 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 through during normal operation, while simultaneously ensuring that no objects to be transported are actually arranged on the vehicle, which could otherwise be damaged.

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

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

[0223] Furthermore, the vehicle(s) are preferably constructed and arranged to perform, and / or obtain, one, more, or all of the features and / or functions contained herein with respect thereto, and / or to achieve, one, more, or all of the results contained herein with respect thereto.

[0224] Tasks to be performed by the vehicle can preferably be generated using a higher-level control unit and / or a control device of the vehicle. These tasks can include, for example, transport tasks for transporting objects, charging tasks for charging the vehicle's energy storage device, and / or repositioning tasks for moving the vehicle to another predetermined location. Furthermore, tasks can include maintenance tasks, in which the vehicle is driven to a maintenance area and serviced there.

[0225] The creation of the task can be performed automatically, in particular by means of a superordinate control device. The superordinate control device creates the task in particular in such a way that the objects are transported by means of one or more vehicles so that the best possible equipment load, in particular processing equipment load, is achieved.

[0226] When executing the automatically generated task, the vehicle or vehicles preferably drive autonomously, each vehicle preferably traveling a movement path that is optimized with respect 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 training operation, in which the respective vehicle does not perform a task, but is instead prepared, in particular learned, for later task performance. For example, in a training operation, different routes can be manually created, which can then be selected as movement paths for performing the manually created task.

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

[0231] In particular, when creating a manual route and / or when executing manually created tasks (or even in all other operating modes), the vehicle can either be driven autonomously and safely, so that it can reliably react to possible dangerous situations and preferably avoid them, or it cannot be driven autonomously and safely, so that it cannot autonomously circumvent or avoid possible dangerous situations. The latter situation may occur in particular if the sensor system for monitoring the vehicle's surroundings malfunctions or fails and / or if one or more other safety devices or safety functions of the vehicle fail, for example, by intentionally overcoming them. Furthermore, a lack of autonomous and safe driving may occur if the vehicle is only oriented at one or more auxiliary positioning devices, such as one or more QR codes and / or one or more coding strips.

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

[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 a vehicle stop, the vehicle is braked or can be braked to a standstill. Alternatively or additionally, provision is made for an acoustic and / or visual emergency signal to be emitted during a vehicle stop by means of a warning device of the vehicle. Furthermore, alternatively or additionally, provision is made for an emergency signal to be transmitted to a higher-level control device for controlling and / or monitoring a plurality of vehicles by means of a control device during a vehicle stop.

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

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

[0240] It may be advantageous if the vehicle can be driven 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 direction of travel, whether the respective end region is currently the front region or the rear region of the vehicle.

[0242] In particular, one or more display elements are arranged and / or designed 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 present 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 corresponding charging connection point of the charging area for charging the energy storage device.

[0246] Alternatively 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 the corresponding charging connection point of the charging area for charging the energy storage device.

[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 given time in a charging area.

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

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

[0251] Energy is preferably 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] Alternatively 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 particular, inductive energy transmission can be provided here.

[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 main body can be the main charging connection point, via which the majority of the energy required for operation can be received during normal operation of the vehicle.

[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 vehicle's energy storage device 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 the at least one receiving element is arranged in the retracted position, the contact area(s) and / or the contact elements are preferably inaccessible. In particular, the contact area(s) and / or the contact elements are inaccessible in terms of optimized personal protection when no objects are being transported by the vehicle and therefore no objects are covering the receiving element(s).

[0263] The contact region(s) and / or the contact elements and / or the control contacts are / 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 receiving sleeve of at least one receiving element, with respect to the 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 of the at least one receiving element and / or the receiving socket 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 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 for driving both the lifting drive and the vehicle can be stored and made available 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 an energy store.

[0270] The driving of the vehicle is particularly 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 entire vehicle and / or for driving the lifting drive.

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

[0274] Alternatively 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 of the buffer energy storage units can be configured, for example, as lithium-ion batteries.

[0276] Optionally, it can be provided that one or more or all of the buffer energy storage units are coupled or couplable to the drive device and / or the lifting drive device of the vehicle, in particular if the drive energy storage units can no longer sufficiently provide energy therefor, the buffer energy storage units serving to provide energy for operating the drive device and / or the lifting drive device.

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

[0278] For example, it can be provided that one or more drive energy storage units are operable at a voltage of at least approximately 48 V, in particular a direct current voltage.

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

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

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

[0282] The contact areas can be configured, in particular, as contact surfaces and / or contact elements, in particular protruding contact elements and / or sliding contacts.

[0283] The contact areas on the vehicle side of the one or more charging connection points of the vehicle are preferably at least partially complementarily configured and / or arranged at least in terms of their spatial configuration and / or arrangement to the contact areas of the one or more energy source-side charging connection points.

[0284] The contact areas are configured and / or arranged, in particular, such that a lateral contact between contact areas that do not belong to a pair of contact areas with one another is excluded.

[0285] It can be advantageous if the one or more or all charging connection points each have at least one pair of contact areas that are located externally, in particular for charging at least one drive energy storage unit.

[0286] Furthermore, it can be provided that the one or more or all charging connection points each have at least one pair of contact areas that are located internally, in particular for charging at least one buffer energy storage unit.

[0287] In particular, the at least one pair of contact regions lying on the inner side is 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 areas to be used inversely, so that the at least one inner pair of contact areas is used, for example, for charging at least one drive energy storage cell, and the at least one outer pair of contact areas 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 the position of the vehicle can be detected and / or monitored.

[0290] For example, one or more pairs of position contacts may be provided, which are arranged in particular internally between the contact regions of the respective charging connection points and / or externally so that the contact regions of the respective charging connection points 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 already assumed the position required for charging the energy store relative to the charging connection point 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 for position detection and / or position monitoring.

[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, 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 the 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 to actuate the safety device accordingly, a handshake is preferably provided between the vehicle and the charging connection point and / or a higher-level control device.

[0296] In particular, on the energy source side, it is possible to determine whether the vehicle is correctly positioned at the corresponding charging connection point by measuring the voltage at the contact region and / or contact element using a measuring device. 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 a safety device.

[0298] The vehicle preferably comprises a control device which is designed and arranged, in particular, to operate the vehicle selectively in a safe mode or in a fast mode.

[0299] Preferably, the vehicle can be operated optionally in normal operation and / or alarm operation and / or stopped operation a) only in safety mode or b) only in rapid mode or c) in both safety mode and rapid 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 a person is driven through an area accessible to a person.

[0301] The detection of personnel is especially the detection of objects that may be personnel. It is not necessary to identify here whether the personnel is actually a personnel, but it is necessary to ensure that when the personnel is determined to be a personnel, the personnel is protected from harm.

[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 inaccessible to persons is passed.

[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 can be made for one or more sensor devices of the vehicle to monitor the vehicle's surroundings 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, alarm operation and / or stopped operation.

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

[0307] In rapid mode, a maximum speed is preferably not specified. Instead, the vehicle is preferably controlled in rapid mode using the control device only to avoid property damage. In particular, a very high speed can be set when the vehicle is unladen, significantly exceeding the maximum speed in safe mode. For example, the vehicle's speed in rapid mode is at least approximately 150%, in particular at least approximately 200%, for example at least approximately 300%, of the vehicle's maximum speed in safe mode.

[0308] It may be advantageous if the vehicle can be put into safe mode or 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 board the vehicle is, in particular, a monitoring device that monitors or can monitor whether a person has entered or may have entered an express zone in which the vehicle is operating in express mode. For example, a monitored entry door serving as an entrance to the express zone can cause a vehicle in the express zone to immediately switch from express mode to safe mode when it is opened.

[0310] Furthermore, it can be provided that before the vehicle is switched to rapid mode, the vehicle control unit tests the state of the rapid zone using its own sensors and / or by querying external sensors. If the internal or external sensor system detects a person in the rapid zone, for example, switching from safe mode to 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 zone can be designed and / or arranged, for example, in one or more levels of the processing system.

[0313] It can be advantageous if the fast 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 system.

[0314] Alternatively or in addition thereto, it can 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 system.

[0316] It can furthermore be provided that one or more levels of the processing plant each have one or more safety zones and one or more fast zones.

[0317] The levels configured as fast zones up to at least about 50%, in particular at least about 80%, for example at least about 95% are preferably levels with mostly automated or fully automated workstations, i.e. levels with mostly such workstations and / or processing areas or only such workstations and / or processing areas, in which workstations and / or processing areas objects are processed by means of robot hands or other machines.

[0318] The levels configured as safety zones up to at least about 50%, in particular at least about 80%, for example at least about 95% are preferably levels with mostly manual or fully manual workstations, i.e. levels with mostly such workstations and / or processing areas or only such workstations and / or processing areas, in which workstations and / or processing areas objects are processed by personnel.

[0319] The one or more receiving elements of the vehicle can for example be fixed directly at the object to be transported.

[0320] It can however also be provided that the object to be transported is fixed or can be fixed at the one or the plurality of receiving elements of the vehicle by means of an adapter device.

[0321] The application 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:

[0323] a central element;

[0324] one or more adapter elements which are fixed at the central element and which are geometrically matched to the object for receiving the object.

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

[0326] The central element preferably interconnects the plurality of adapter elements.

[0327] In particular, one or more receiving pins for receiving one or more objects, for example vehicle bodies, are provided at the one or more adapter elements, respectively.

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

[0329] In particular, the one or more engagement regions, for example the insertion opening, are configured substantially conically, partially conically, frustoconically or partially frustoconically.

[0330] It can be advantageous if the one or more engagement regions, in particular the insertion opening, are arranged and / or configured on the underside of the adapter device and taper against the direction of gravity.

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

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

[0333] In particular, a plurality of adapter elements of different geometry and / or size can be provided for receiving objects of different geometry and / or size.

[0334] In particular, the combination can comprise a modular system for producing adapter devices for different types of objects, wherein in particular one or more identically configured central elements and optionally different adapter elements of different geometry and / or size which can be arranged, in particular screwed, thereon are provided.

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

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

[0337] Here, the transport device comprises in particular one or more vehicles, for example a vehicle according to the application.

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

[0339] In particular, the objects can be handed over from the vehicles to the station transport device and / or received at the station receiving device at the one or more stations.

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

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

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

[0343] The second position is in particular a 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 at a first location and then to receive at the second location the object previously delivered at the first location and transported to the workstation at a second location in the meantime. In particular, the operating cycle of the transport device can be extended by means of the at least one vehicle.

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

[0347] In particular, after the objects have been processed in the intermediate location, the objects delivered by at least one vehicle at the first location are then received at the second location by 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 plate, in particular if one or more objects can be moved over the dividing plate and / or if at least one vehicle can be moved under the dividing plate in order to move one or more objects over the dividing plate.

[0350] In this case, 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 under 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 under 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 processing station, at least the partition preferably extends in the region of the intermediate position, in particular over the entire processing 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 plate constitutes a double floor which is arranged substantially parallel to the drivable ground, in particular to the factory floor, on which the transport device is installed.

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

[0358] It can be advantageous if the partition plate and / or the station transport device can be raised and / or lowered, in particular in sections. Thereby, the objects can be received by and / or handed over to one or more vehicles and / or other transport devices.

[0359] It can be advantageous if the partition plate is oriented substantially parallel to the drivable ground on which the transport device is installed. The distance of the preferably passable surface of the partition plate from the surface of the drivable ground is preferably at most about five times, in particular at most about four times, preferably at most about two times the height of the vehicle and / or the height of the base body of the vehicle.

[0360] It can be advantageous if at least one section of the partition plate above the transport path of the vehicle is completely closed. Thereby, preferably, the objects to be transported are completely separated in space from at least one vehicle.

[0361] One or more vehicles and the objects are thereby preferably no longer in contact. In particular, no components are provided which protrude through the partition plate. In this way, when the vehicle drives under the correspondingly loaded station, it can be ensured, in particular, that the vehicle is protected from dirt, heat, moisture, etc.

[0362] It can be provided that the completely closed section of the partition plate extends at least approximately over the entire longitudinal length of the machining area for machining the objects.

[0363] The handover from the vehicle to the station transport device and / or the reception from the station transport device to at least one vehicle is preferably effected outside the machining area.

[0364] It can also be provided, however, that one or more objects are brought directly into the machining position by means of the vehicle. Preferably, the station transport device is not necessary. In order to protect the vehicle, it can be provided that the vehicle unloads one or more objects into the machining position and leaves the machining area. At a later point in time, the object or the objects which have been machined at this point in time can be received again and continued to be transported by means of the same or other vehicles.

[0365] Machining is preferably generally understood in this specification as being the execution of any kind of step for processing, manufacturing and / or completing a product. In particular, machining is understood as manufacturing, processing, coating, installing, repairing, controlling, etc. of a product or parts thereof.

[0366] The longitudinal length of the processing area is in particular the length of the processing area along the transport direction and / or transport path, for example from an entry and / or delivery position of a workstation to an exit and / or 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 through-region, in particular the through-slot, extends along a transport path of the transport device and / or predetermines the 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-slit, which through-edge region is designed to be elevated in particular in comparison with the remaining separating web.

[0370] The elevated configuration relates in particular to the height level of the part of the partition plate surrounding the through-edge region, in particular the passable plate region of the partition plate.

[0371] Therefore, the through-opening in the partition plate formed through the through-region, in particular the through-slit, 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, taken perpendicularly 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 undesirable contamination of the vehicle can be avoided or at least reduced.

[0374] The 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.

[0376] It can 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-slit, can be closed, preferably permanently or temporarily.

[0377] In particular, it can be provided that the through-region, in particular the through-slit, is automatically closable by means of one or more closure 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 projects through the through-region.

[0379] Furthermore, as an alternative or in addition thereto, provision can be made for the through-region, in particular the through-slit, to be closed by means of one or more closing elements in a section of the through-region, in particular the through-slit, in which precisely no receiving element projects 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, provision can be made for one or more closure elements to be movable elastically and / or automatically under the effect of gravity from the open position into the closed position.

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

[0383] It can 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 separating plate.

[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 the accessible 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 panel, in particular in a driving space formed under the partition panel.

[0388] The through-region, in particular the through-slot, preferably extends in the transport direction of the transport device.

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

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

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

[0392] Alternatively or in addition thereto, it can be provided that the through-region, in particular the through-slit, is closable by means of one or more closing elements, in particular in a section of the through-region, in particular the through-slit, where precisely no receiving element passes through the through-region.

[0393] It can be advantageous if one or more closure 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 from a closed position into an open position independently of one another.

[0397] It can 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. This preferably ensures that the closure element is always arranged in the closed position and thus closes the through-passage, in particular the through-passage, without the action of the receiving element.

[0398] One or more closure elements, in particular all closure elements, can be designed, for example, as lamellae and / or flaps and / or closing 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 overlapping one another 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 this level, 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] The closure elements which are arranged in mutually different levels 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 their upper side located upward relative to the direction of gravity.

[0409] Preferably, one or more closure elements, in particular all closure elements, are held directly below the one or more support plates with at least approximately 30%, preferably at least approximately 50%, for example at least approximately 60% of their total surface area, preferably in both the closed position and the open position. This makes it possible to achieve, in particular, a supporting function of the one or more closure elements, in particular all closure elements, on the one or more support plates.

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

[0411] It can 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 their 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 running obliquely, 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 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 behind another pair from a closed position to an open position and thus enable one or more receiving elements to be moved along the through-region, in particular along the through-gap.

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

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

[0417] It can 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 approximately 80%, preferably a maximum of approximately 50%, for example a maximum of approximately 20% of the maximum width of the penetration region, in particular the penetration gap. This preferably allows for an optimized travel space below the traversable surface of the partition panel, so that, in particular when one or more receiving elements are fully retracted, the vehicle can be driven under the partition panel without actuating the closure elements.

[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, closure element receptacles are arranged, in particular movably arranged, on a support structure of the separating plate.

[0422] It can be advantageous if the partition plate comprises a return 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 elastically arranged 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 moved relative to the respective restoring element receptacle and thus relative to the support structure, counter to the action of, for example, a spring device.

[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 receptacle, a stop element can be provided, for example, which is arranged in particular movably in the guide opening and defines two end positions of the reset element relative to the reset element receptacle and thereby defines two end positions of the corresponding closing element relative to the through-region, in particular the through-slot.

[0432] Between the closure areas formed by means of the closure elements, a passable area, in particular a part of the passable surface of the partition plate, is preferably formed, which closure area in particular at least temporarily fills and / or closes a through-region, for example a through-slit.

[0433] The other accessible surfaces of the partitions, in particular formed by one or more support plates, are preferably arranged vertically offset by a maximum of approximately 200%, preferably a maximum of approximately 150%, of the maximum height of the closure element. By using particularly flat closure elements, for example with a maximum height of approximately 5 cm, for example approximately 2 cm, the accessible surfaces of the partitions can be achieved with minimal offset and thus with a low risk of injury to personnel.

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

[0435] With the aid of the centering device, for example, 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 through-pass region and are in particular configured with entry bevels and can thus bring about intermediate centering of the receiving element in the through-pass region, in particular in the through-pass 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 actuate one or more closure elements, for example, 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 panel, whose one or more receiving elements are likewise arranged completely under all closing elements, can actuate one or more closing elements from under the partition panel so that one or more receiving elements can pass from under the partition panel through the penetration area and, for example, engage with an object arranged above the partition panel.

[0440] It can be advantageous if the transport device comprises a workstation transport device, by means of which the objects can be transported independently of a 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 a vehicle from a delivery location to a processing location and / or a receiving location and / or another workstation 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 can 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 can 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 comprise, 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 transporting and / or storing 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 the 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 can be used, wherein the vehicle can preferably be introduced into the storage unit, in particular into an individual compartment of the 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 can therefore be advantageous if one or more, in particular traversable, intermediate elements are respectively inserted between two vehicles or mounted on a vehicle, on which the other vehicle is then 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 therefore cannot travel directly to a charging connection point of the 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 zones 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 route of at least one vehicle. A transport route is in particular a route along which the object can be transported by means of 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 the end station to the starting station, where the object is finally delivered by the transport device, and the object first comes into contact with the transport device at the starting station.

[0465] The return route is in particular a route on which the vehicle is unloaded.

[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 said 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, in which one or more vehicles travel and / or pass through 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 suitably positioning the charging areas, it is possible, in particular, to minimize the line lengths between the power source and the individual charging areas.

[0471] The one or more charging areas are preferably stationary charging areas at which at least one vehicle is stationary for charging the energy store and / or during charging of the energy store.

[0472] In this case, provision can be made for one or more charging areas to be arranged directly on the transport route without any other detour options. One or more vehicles can enter one or more charging areas, particularly without taking a detour, and come to a standstill therein to charge the individual energy storage devices. After the charging process, the vehicles are put back into motion and resume following the transport route.

[0473] Alternatively or in addition, however, provision may also be made for one or more charging areas to be located adjacent to, for example, an optimized or shortest transport route. At least one vehicle briefly leaves this 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, if there are long 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 for a particularly space-saving design of the transport device.

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

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

[0477] It may be advantageous if one or more charging areas are mobile charging areas 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 can 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 larger than the horizontal dimensions of the vehicle.

[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, in particular driven over, one after another by vehicles traveling along the charging route.

[0480] When the vehicle moves 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 and / or current supply at the charging connection points of the mobile charging area using a control device and / or a higher-level control unit so that only the charging connection points covered by the vehicle are always conductive and / or voltage is applied only to these charging connection points. The remaining charging connection points not covered by this or other vehicles are preferably switched to a current-free and / or voltage-free state. This preferably prevents unwanted electrical shock hazards to personnel.

[0482] In order to ascertain which charging connection point or charging connection points a vehicle covers, position detection and / or position monitoring of the respective vehicle may in particular 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 include one or more sensor devices, which can in particular detect the presence of a vehicle at the respective charging connection point, in particular above 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 a vehicle is detected with the aid of the one or more sensor devices.

[0484] Such a sensor device may in particular be a contact device that interacts with the vehicle, in particular with corresponding mating contacts, for example to detect the presence of the vehicle and / or to directly or indirectly close an electrical circuit for charging the energy store. For this purpose, the contact device may in particular be an electrical and / or mechanical and / or electromagnetic contact device that is distinct 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, on the side of the vehicle, and / or on the vehicle.

[0487] Preferably, the charging connection point is inaccessible to persons during normal operation of the vehicle and / or the transport device.

[0488] It may be advantageous if the transport means, in particular one or more vehicles, for example all vehicles, each include 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 storage device. For example, provision may be made for the contact area to be released, in particular by folding open a contact element and / or pushing open a cover element, etc.

[0489] In particular, the release device is actuated here by interaction between the vehicle and 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 traveling in different directions. In particular, this can preferably avoid incorrect polarity reversals.

[0491] One or more charging areas can be arranged and / or formed, for example, at or in a penetration area 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] Alternatively or in addition thereto, provision can be made for one or more closure elements to be operating elements for actuating a release device in order to release one or more contact areas of the vehicle.

[0494] It can be advantageous if one or more charging areas are arranged and / or formed on the underside of a partition wall of a work station 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 areas are preferably arranged and / or formed on the upper side of the vehicle.

[0496] The vehicle's charging connection point, in particular, projects from below relative to the partition wall of the transport device, allowing the vehicle's energy storage device to be charged, in particular, when the vehicle is stationary. Alternatively, mobile charging can also be provided, during which the vehicle's energy storage device 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 the ground, on which at least one vehicle can travel. In particular, the 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 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] Alternatively or in addition thereto, provision can 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, can provide, for a plurality of vehicles, waiting area is set, wherein said vehicle especially can be arranged in a row, especially be arranged in a waiting queue one after another.Vehicle preferably arrives waiting area according to FIFO principle (first in first out) and leaves from this waiting area.

[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 front waiting position of the waiting area, in particular with reference to the main direction of travel of the vehicle in the waiting area and / or with reference to a row along which several vehicles can be arranged one after the other. This allows, in particular, always charging the energy storage device or devices of the vehicle that receives the first task.

[0505] Alternatively 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. This makes it possible to charge the energy storage devices of vehicles entering the waiting area, thereby enabling longer waiting times for vehicles in the waiting area and / or shorter charging times at the frontmost waiting position.

[0507] To maintain the charge level 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 at the front waiting position leaves the waiting area after a predetermined waiting time and queues up at the end of the line of waiting vehicles. The remaining vehicles then move forward. This regular rotation ensures that all waiting vehicles arrive at the charging area in sequence, allowing their energy storage devices to be regularly charged.

[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 unit, before the vehicle moves out of the charging area for a mission.

[0509] In particular, it can also be provided that the vehicle only starts to perform a task 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 execution of a task is only started when 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 execute the task), for example, at least 5%, in particular at least 10%, higher than the state of charge required for the complete execution of 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 and / or a receiving position of a work station in such a way that the 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 and receiving locations are, in particular, areas where one or more objects are transferred from the vehicle to the workstation transport device or vice versa. Since very precise positioning of the vehicle relative to the workstation is necessary for this, the positioning process is performed at a reduced speed compared to the vehicle's maximum speed, for example, less than approximately 0.5 m / s. The vehicle accordingly covers a shorter distance during the positioning process, allowing the vehicle's energy storage device to be charged during the positioning process, for example, when using sliding contacts or by induction.

[0514] It can be advantageous if the transport device extends over several levels and comprises one or more charging areas which are arranged in the transfer device for transferring one or more vehicles from one level to another.

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

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

[0517] At this transfer device can be constructed in such a way that, that is, one or more vehicles are transported simultaneously or only separately and continuously. Here, on the one hand, the transportation comprising one or more objects arranged on the one or more vehicles can be provided, or transportation without object 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 simultaneously charging a plurality of vehicles.

[0519] The charging area of ​​one or more charging nodes is preferably arranged and / or oriented such 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 locations where a plurality of transport routes and / or return routes intersect and / or overlap.

[0521] It may be advantageous if the transport device comprises one or more safety zones and one or more express zones, wherein preferably one or more vehicles in the one or more safety zones are placed in safety mode by means of a control device, and wherein preferably one or more vehicles in the one or more express zones are placed in express 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 people. 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 preferably be automatically activated in the fast zone for all vehicles located therein.

[0524] The fast zone is, in particular, a zone that 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 where 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 zone, at least one fast zone 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 high-speed region is adapted in particular to the height of the vehicle.

[0529] It may be advantageous if one or more express areas and / or one or more safety areas are connected to one another by means of one or more passages.

[0530] The one or more passage openings are, in particular, openings through which one or more vehicles can move from the express area into the safety area and / or from the safety area into the express 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-speed 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, transferred to a workstation transport device. The one or more vehicles, for example, drive through the workstation into a fast-moving area and can continue driving, in particular at an accelerated speed, in particular to receive further tasks. One or more objects located in the workstation can be removed from the workstation by means of the workstation transport device and / or by means of one or more other vehicles, for example, for onward transport, in particular to one or more other workstations and / or a buffer device for temporarily storing the objects.

[0537] It may be advantageous to form one or more express areas with a double surface that is traversable and / or drivable.

[0538] In particular, it can be provided that the fast-speed 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 twice, the height of the vehicle, in particular the base body of the vehicle.

[0540] Instead of the workshop floor, other drive-over foundations can also be provided.

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

[0542] The additional floor surface may be, for example, a dividing panel or comprise a dividing panel.

[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 according to the occupancy of each type of workstation. Particularly preferably, the transport of the object to the workstation can be selected according to 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 workstation type, 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 pollution degree of each workstation in each type of workstation.

[0550] The transport device is suitable, in particular, as a component of a processing system 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 can be advantageous if one or more workstations of the transport device are processing stations of a processing plant, which are connected to one another for transporting objects by means of 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 leave the transfer position, is spatially separated from at least one exit area of ​​the transfer area.

[0562] Alternatively or in addition thereto, provision can be made for the approach direction, along which the vehicle can approach the transfer area, to be transverse, in particular at least approximately perpendicular, to the exit direction, along which the vehicle can approach the transfer area and along which the vehicle can exit 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 rotating the two drive wheels in opposite directions.

[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 perpendicular 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 another 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 vehicles 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 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 freely combined 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 figure:

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

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

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

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

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

[0578] Figure 6 Shown Figure 1 Vehicles along Figure 3 a schematic vertical cross-sectional view taken along line 6-6 in FIG.

[0579] Figure 7 Shown 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 Shown Figure 1 Vehicles along Figure 5 a schematic horizontal cross-sectional view taken along line 8-8 in FIG.

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

[0583] Figure 10 Shown Figure 9 Another schematic perspective view of the adapter device in;

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

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

[0586] Figure 13 The corresponding Figure 12 Schematic diagram of the stacking device, wherein the lifting unit is arranged in a raised position;

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

[0588] Figure 15 Shown in the view along the transport direction Figure 14 A schematic top view of the front end portion of the transport device in FIG.

[0589] Figure 16 An alternative embodiment of the transport device is shown corresponding to Figure 15 Schematic diagram of a workstation transport device, wherein a suspended conveyor is provided as a workstation transport device, wherein the suspended conveyor is arranged in a lowered position;

[0590] Figure 17 Shown Figure 16 The transport device in the Figure 16 Schematic diagram of the invention, wherein the overhead conveyor is arranged in a raised position;

[0591] Figure 18 Another alternative embodiment of the transport device is shown corresponding to Figure 15 Schematic diagram of a workstation with a lifting platform for raising an object;

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

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

[0594] Figure 21 Another alternative embodiment of the separator plate is shown. Figure 19 Schematic diagram of a device in which the through-region can be closed by means of a closing element, wherein the closing element is, for example, a flap;

[0595] Figure 22 Another alternative embodiment of the separator plate is shown. Figure 19 Schematic diagram of a device in which the through-region can be closed by means of a closing element designed as a sheet;

[0596] Figure 23 Shown Figure 22 The partition, vehicle and adapter device corresponding to Figure 22 Schematic diagram of a vehicle, wherein one or more receiving elements of the vehicle are arranged in a raised or extended position, and the adapter device is thereby raised from the workstation transport device;

[0597] Figure 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] Figure 25 Shown Figure 24 Other aspects of the processing equipment in the Figure 24 Schematic diagram of;

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

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

[0601] Figure 28 Shown Figure 26 The transfer area in Figure 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] Figure 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] Figure 30 Shown according to Figure 29 A schematic side view of a combination of a vehicle and an object arranged thereon;

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

[0605] Figure 32 Shown Figure 31 Schematic vertical cross section of a separator plate in;

[0606] Figure 33 Shown Figure 31 A schematic perspective view of the separator in FIG. 1 as viewed from the bottom side of the separator; and

[0607] Figure 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 numerals. 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, Figure 11 ) of a transport vehicle without a driver.

[0610] Especially from Figures 1 to 8 As can be seen in FIG, vehicle 100 includes a substantially rectangular base body 104 which forms the supporting structure of vehicle 100 .

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

[0612] The support rollers 108 are arranged, in particular, on the 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 as low an overall height 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 particularly rotatably mounted on opposite ends of the shaft element 124 .

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

[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 a main direction of travel 138 of the vehicle 100 and is preferably also parallel to a 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 supported on the bearing element 126 by means of the pivot connection 142 .

[0625] The pivot axis 144 , about which the shaft element 124 is pivotable 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 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 is apparent from the diagram that, in particular, the drive wheel 118 can thereby 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 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 on the base body 104 substantially centrally 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 in this position.

[0632] Especially from Figure 4 It is apparent from FIG. 1 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 150 of vehicle 100 .

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

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

[0636] The 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 The charging area 158 comprises, in particular, a charging connection point 164 which is fixed, for example, screwed, to a drivable foundation 160 .

[0637] A charging connection point 164 of vehicle 100 that is connectable 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] 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 in vehicle 100, in particular in side walls 166 of base body 104. For example, conventional plug connections may be provided for connecting a charging cable.

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

[0641] Especially from Figure 1 、 2, 7 and 8 , 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 circular cylindrical.

[0645] The receiving element 170 preferably has a height HAE that corresponds at least approximately to the height HGK of the base 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 the vehicle 100 is located on a horizontal plane and the upper side 172 of the main body 104 is oriented upward, the receiving section 174 preferably tapers counter to the direction of gravity g.

[0648] Especially from Figure 7a It is known from the foregoing 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 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 lubricant and a component element 179 for controllably and / or adjustably delivering 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 displaceably arranged 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 moved into the base body 181 .

[0653] The lubricating device 175 is preferably designed such that lubricant can be applied to the object to be lubricated, in particular the screw element 183 , in particular 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 dispensing 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 dispensing element 179 is automatically activated after a predetermined number of lifting and lowering cycles of the receiving element 170 in order to ensure that the lubricant is regularly dispensed 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 towards 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 is seen in FIG. 1 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 are also connected 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 in such a way that 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 as a lifting drive belt 184 , for example, 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] Furthermore, the shaft element 124 and / or the bearing element 126 may be Figure 4 As can be seen in FIG, the lifting drive element 182 preferably also extends through the bottom of the drive device 110.

[0666] The receiving element 170 is therefore particularly 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 sensors 188 are 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 FIG. 1 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 of two diagonally opposite corner regions 112 .

[0672] Sensor device 190 may be used to monitor surrounding area 192 of vehicle 100 , in particular to enable automated driving of vehicle 100 .

[0673] Furthermore, a barcode reader 194 is provided, for example, on the upper side 172 of the base body 104 , by means of which information about the object 102 arranged or to be arranged on the vehicle 100 can be detected, in particular by scanning a barcode arranged, for example, on the object 102 and / or the 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, circumferential support region 198 and closes substantially flush with the support region 198 .

[0676] As a result, the cover 196 is preferably fixed to the base body 104 without the need for additional fixing elements; in particular, the cover 196 cannot be removed by anyone without tools.

[0677] The cover 196 is preferably transparent, for example tinted transparent.

[0678] Components of vehicle 100 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 effect, preventing people from stepping on the upper side 172 of the base body 104. This can, for example, optimize safety during operation of the vehicle 100.

[0680] Vehicle 100 further 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 roadway.

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

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

[0683] Vehicle 100 , in particular individual, several or all of the aforementioned components, can preferably be controlled by means of control device 204 of vehicle 100 .

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

[0685] Object 102 may be situated, 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 , the use of adapter devices 208 may be advantageous.

[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 adapted to the object 102 to be transported. For example, each adapter element 212 has one, two, or more than two receiving pins 214, which protrude upward, for example, counter to the direction of gravity g, and engage on their underside 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 Figure 10 It is 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, conically tapering 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 FIG, 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, as from Figure 9 and 10 Adapter device 208 includes a detection aid 220, which is designed, for example, as a through-hole. Detection aid 220 is arranged, in particular with respect to the longitudinal direction of adapter device 208, before or after connection region 216, in particular insertion opening 218, in particular at the same distance from one or both receiving sensors 188 and receiving element 170 of 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, since, 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 in the case of a through-hole when no object is directly above the receiving sensor 188, 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 options are conceivable, such as using contact sensing of the receiving element 170 , in particular the receiving section 174 , 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] The transport device 222 comprises, in particular, 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 an unloading device 225, which is for example Figure 12 and 13 Shown in.

[0703] The unloading device 225 comprises, in particular, a lifting unit 226 which is capable of raising 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 essentially flush with the driveable 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 arranged in the immediate vicinity of the recess 228 and / or the lifting unit 226 then form the basis for a stack of multiple vehicles.

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

[0711] The stacked vehicles 100 can preferably be connected to one another by means of one or more securing devices (not shown). For example, the receiving element 170 of the lower vehicle 100 can be extended to engage with the underside 114 of the upper vehicle 100 in a corresponding engagement region and thus secure the vehicles 100 relative to one another.

[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 each other can be unstacked or unstacking in reverse order. This can be advantageous, in particular, when transporting the vehicles 100 from their production site to their location of use, in order to minimize the transport area required for transport.

[0714] The transport device 222 preferably includes one or more work stations 234 , toward 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 the surface of the object 102 , in particular the 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 Figure 14 and 15 It is apparent from the diagram that the workstation 234 preferably comprises 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. In addition or alternatively, a chain conveyor and / or a rail conveyor can be provided for this purpose.

[0720] The workstation 234 comprises, in particular, a lifting device 246 at a 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] Alternatively or additionally, 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 Figure 15 It is apparent from the drawing 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 divider plate 248 .

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

[0725] Thus, in particular by means of lifting device 246 , partition plate 248 can be raised or lowered in first position 240 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, the object 102 is received by the vehicle 100 at this receiving position.

[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 ultimately transfer the object 102 to the vehicle 100 .

[0730] Figure 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] The vehicle body 206 can be processed, in particular treated, in an intermediate position 258 , which is formed by the processing area 252 and is located between the first position 240 and the 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 when dirt may be generated in the processing area 252, it may be advantageous to configure the partition wall 248 to be closed at least in the processing area 252. The partition wall 248 thus comprises 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 separating 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 the vehicle 100 may project through the penetration region 262 in order to position the object 102 located above the partition plate 248 by moving the vehicle 100 located below the partition plate 248 .

[0736] In particular, with the aid 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, for example, triangular in cross section 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 that is inaccessible to people.

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

[0740] In particular, the area below partition plate 248 may thus 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 not separated from the surroundings of vehicle 100 , 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, as from Figure 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 crossbeam of the adapter device 208 designed as a slide or on a central element arranged on the crossbeam.

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

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

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

[0747] Workstation 234 is Figure 16 and 17 The alternative embodiment shown in Figure 14 and 15 The difference of the embodiment shown in FIG 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 object 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 enables stationary lifting of the object 102 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 workstation 234 Figure 16 and 17 The embodiment shown in FIG is similar in structure and function to that in FIG. Figure 14 and 15 , so reference is made to the previous description thereof in this respect.

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

[0752] Workstation 234 is Figure 18 Another alternative embodiment shown in Figure 16 and 17 The difference from 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 workstation 234 Figure 18 The alternative embodiment shown in FIG is similar in structure and function to the Figure 16 and 17 , so that reference is made to the preceding description thereof in this respect.

[0755] Workstation 234 Figure 18 The embodiment shown in FIG 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 Figure 14 and 15 One or more embodiments and / or alternatives or supplements according to Figure 16 and 17 One or more embodiments of .

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

[0757] The partition plate 248 and / or the through 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 Figure 19 The design of the partition plate 248 shown in FIG. 1 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 below the partition plate 248, it can be provided, for example, that the width of the central element 210 of the adapter device 208 taken transversely to the transport direction 250 is greater than the width of the through gap 264.

[0760] Therefore, the through gap 264 can be covered at least partially by means of the central element 210.

[0761] The two regions of the partition plate 248 which delimit the through region 262 are referred to as through edge regions 276, and in the embodiment shown in Figure 19 are oriented, for example, obliquely to the direction of gravity g. The through edge regions 276 extend, in particular, obliquely upward from the partition plate 248. Thereby, it is possible, in particular, to avoid objects falling or rolling into the through gap 264 in an undesirable manner. Furthermore, by means of a suitable design of the through edge regions 276, it is possible to minimize the potential danger to persons which can be caused by the through gap 264.

[0762] In particular, the through edge regions 276 are components of a protrusion which is constructed in the partition plate 248 in order to provide the receiving element 170 with a movement space.

[0763] As can be gathered from the dashed lines in Figure 19 , in the design of the vehicle 100 and / or of the transport device 222, in addition to or as an alternative to the embodiments described and / or shown, the charging device 156 for charging the energy store 150 of the vehicle 100 can be designed to enable an energy transfer from the charging region 158 to the vehicle 100 in the region of one or more receiving elements 170.

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

[0765] The charging connection point 164 which is associated therewith is constituted, for example, by one or more contact elements 280 which are arranged, in particular, at the partition plate 248 and which protrude in the direction of the receiving element 170, in particular, toward the contact region 278.

[0766] The contact element 280 constitutes, in particular, a sliding contact which can enable a contact-based energy transfer from the charging region 158 to the vehicle 100.

[0767] In order to control the charging process optimally, it is also possible to provide a control contact 282. As an alternative or in addition thereto, it is possible to realize the information transfer necessary for optimizing the charging process wirelessly, for example, by means of WLAN.

[0768] A further embodiment of the partition plate 248 which is shown in Figure 20 differs from the embodiment shown in Figure 19The difference from the embodiment shown in is that the through-edge regions 276 extend substantially parallel to one another and / or project upwards substantially perpendicularly to the separating web 248 and are thus, for example, substantially L-shaped.

[0769] In addition, the partition plate 248 Figure 20 The embodiment shown in FIG is similar in structure and function to the embodiment shown in FIG. Figure 19 , so that reference is made to the preceding description thereof in this respect.

[0770] Partition plate 248 Figure 21 The embodiment shown in Figure 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 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 such 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 conjunction with 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 closure element 248 , to which the receiving element 170 is currently engaged and / or arranged, is always in the open position.

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

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

[0778] The closing element 248 can be used in principle according to Figure 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 closing element 248 for charging energy storage device 150 of vehicle 100 .

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

[0780] As especially from Figure 22 and 23 As known from , it can be provided that the receiving elements 170 each include a receiving socket 286 that already projects beyond 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 and / or into it.

[0781] The receiving sleeve 286 can be designed, for example, such that it always protrudes beyond the through-region 262, in particular the through-slot 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, can be lowered (see Figure 22 ) or elevated (see Figure 23 ).

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

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

[0784] The processing device 224 comprises a plurality of workstations 234 , in particular a processing station 236 for processing and / or controlling an object 102 , in particular a vehicle body.

[0785] Figure 24 and 25In this illustration two different levels of the same processing plant 224 are shown, so for the following description both figures are observed together Figure 24 , 25 .

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

[0787] The transfer devices 290 are inter alia elevators or other lifting devices.

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

[0789] For the sake of clarity, the objects 102 and the vehicles 100 are not shown in Figure 24 and 25 . Furthermore, in these figures a transport path 292 and a return path 294 are shown, along which the vehicles 100 can travel.

[0790] The objects 102 can be transported along the transport path 292.

[0791] Only the vehicles 100, not including the objects 102 arranged thereon, can travel along the return path 294, inter alia in order to return the vehicles 100 from the end position of the processing section of the processing plant 224 to the starting position. The stations 234 are shown in a rectangle and are provided with letters, which indicate an exemplary transport sequence. In particular, the objects are transported by means of the vehicles 100 successively to the subsequent stations 234:

[0792] The objects 102 are successively forced by means of one or more vehicles 100, for example from a sorting warehouse 296, to the stations A, B, C and D (see Figure 25 ).

[0793] The stations E and F are optional and can be omitted selectively or passed through several times, inter alia in a different order.

[0794] The objects 102 are then transported to the transfer devices 290 and transferred by means of the transfer devices to the levels 288 shown in Figure 24 .

[0795] The objects 102 are then forced to the stations H, J, K, L, O, Q and R before the objects 102 are transferred back by means of another transfer device 290 to the levels 288 shown in Figure 25 . The objects are then transported there to the station S and finally transferred by means of another transfer device 290 to the not shown levels 288 for further processing.

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

[0797] In particular, the work station M can be provided by bypassing the work station L.

[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 Figure 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 permanently enter the workstations 234, so that Figure 24 Vehicle 100 on level 288 shown in FIG is preferably in the safety mode for the majority of its usage time and / or driving path, in particular for 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 Figure 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 with the aid of a robot 238 or other machine. Therefore, personnel preferably only have to temporarily enter the workstations 234 for maintenance or control purposes. Figure 25 Vehicle 100 at level 288 shown in FIG can preferably be in the fast mode for the majority of its usage period, in particular at least approximately 90%, for example at least approximately 95%, in the uncharged state and / or the charged state.

[0805] In addition, Figure 25 Vehicle 100 on level 288 shown in FIG 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 Figure 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 permanently enter the workstations 234, so that Figure 25 Vehicle 100 in level 288 shown in FIG is preferably in the safety mode for the majority of its usage time and / or driving path, in particular for 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 Figure 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 with the aid of a robot 238 or other machine. Therefore, personnel preferably only have to temporarily enter the workstations 234 for maintenance or control purposes. Figure 24 Vehicle 100 at level 288 shown in FIG can preferably be in the fast mode for the majority of its usage period, in particular at least approximately 90%, for example at least approximately 95%, in the uncharged state and / or the charged state.

[0815] In addition, Figure 24 Vehicle 100 on level 288 shown in FIG 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 remain on the same level 288 in each case. However, the transport of objects 102 can also be provided such 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 objects 102 , a plurality of charging zones 158 are required.

[0821] exist Figure 24 and 25 In FIG. 1 , all charging areas 158 are shown by circles. Figure 24 and 25 All hollow marks or shaded circles in FIG. 1 are charging areas 158 .

[0822] In particular, when energy storage units 150 of vehicles 100 include supercapacitors 154 instead of lithium-ion batteries 155, it is necessary to be able to recharge energy storage units 150 of the respective vehicles 100 in relatively short time intervals and / or spatial intervals. Therefore, charging areas 158 are particularly arranged at each work station 234, preferably at a delivery position 242 of the respective work station 234. These charging areas 158 are preferably stationary charging areas 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 , a charging area 158 may also be provided in transport path 292 and / or return path 294 instead of and / or in addition to a charging area 158 assigned to workstation 234 .

[0826] In this case, the charging area 158 can be arranged in particular at Figure 24 and 25 The vehicle 100 is then positioned on the optimal path and / or shortest path mapped 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 devices 150, vehicle 100 temporarily deviates from optimal and / or shortest transport route 292 and / or return route 294 and, for example, drives into charging parking space 302. After charging is completed, vehicle 100 then preferably returns to optimal and / or shortest transport route 292 and / or optimal and / or shortest return route 294.

[0829] Charging parking space 302 may in particular be 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 must 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 manually and / or automatically maintained or repaired. 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 such that as much of transport path 292 and / or return path 294 as possible is covered with the shortest possible line lengths and the smallest possible number of 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. This makes it possible, in particular, to reduce the length of the lines for supplying charging areas 158 with power.

[0834] Arranging one or more charging areas 158 in multidirectional transport area 310 allows for optimal utilization of one or more charging areas 158, since one or more vehicles 100 can sequentially or simultaneously traverse and / or pass through one or more charging areas 158 in different directions of travel in multidirectional transport area 310. Therefore, time-consuming alignment of vehicles 100 may be unnecessary.

[0835] Therefore, the one or more charging areas 158 arranged in the multi-directional transport area 310 can be used more frequently 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 that overlap and / or intersect one another can 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] The safety area 270 is in this case in particular an area in which the vehicle 100 together with the object 102, if necessary mounted thereon, is accessible to personnel, so that the personnel must be protected in particular.

[0839] To this end, the vehicle 100 has in particular a predefined maximum speed and additional safety measures to ensure the safety of the personnel and at the same time to protect the object 102 to be transported from damage.

[0840] In addition to the safety area 270, a fast area 268 can be provided.

[0841] The fast area 268 is in particular an area which is spatially separated from the safety area 270 and which is at least temporarily inaccessible to personnel.

[0842] In particular, one or more return paths 294 are preferably configured as fast area 268, so that the vehicle 100 can be returned from the end position of the machining section to the start position, for example, at an increased speed compared to the maximum speed in the safety area 270.

[0843] Thereby, the vehicle 100 can be used more quickly for a further transport process, so that the efficiency of the transport device 222 can be increased.

[0844] The vehicle 100 can in particular pass through one or more access openings 312 in one or more separating devices, in particular separating walls, for separating the fast area 268 from the safety area 270.

[0845] The access opening 312 is in this case in particular matched in its shape to the outer contour of the vehicle 100, so that it can be ensured, preferably without the use of a locking mechanism for locking the access opening 312, that personnel cannot enter the fast area 268 without authorization and thereby put themselves in danger.

[0846] If, despite precautions, a person nevertheless enters the fast area 268, it is possible, preferably by means of a (not shown) sensor device, to recognize this intrusion in the fast area 268. The vehicle 100 arranged in or driven into the fast area 268 is then preferably no longer placed in the fast mode, but remains in the safety mode in which the vehicle is when it is located in the safety area 270.

[0847] Variants of the layout shown in Figure 24 and 25 of the workstations 234 and / or of the arrangement and / or design of the charging areas 158 are merely exemplary and can be used in any combination with the remaining described and / or shown embodiments of other workstations 234 and / or other charging areas 158.

[0848] exist Figures 26 to 28 , an embodiment of a transfer area 400 is shown, which is used, for example, to transfer an object 102 (not shown in these figures, but which may be arranged on the adapter device 208) from the vehicle 100 to the workstation transport device 244. Furthermore, 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 directions and / or method sequences described below are adapted accordingly 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 connection, in particular to the Figure 14 and 15 Description.

[0850] As from Figure 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 particularly 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 subsequently positioned such that the adapter device 208 and / or the object 102 can be lowered, for example by moving the receiving element 170 in, 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 track, 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 together 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 support elements 408 are arranged on a plurality of sides of the transfer point 404 .

[0858] It may be advantageous to arrange a plurality of support elements 408 spaced apart from one another, so that in particular a drive-in area 402 is formed between two support elements 408 .

[0859] Furthermore, at least one exit area 410 is preferably formed between two, in particular two further, mutually spaced supporting elements 408 .

[0860] It may be advantageous if the two exit areas 410 are arranged and / or formed on opposite sides of the transfer position 404 .

[0861] A workstation 234 or at least a section of a workstation transport device 244 leading to the workstation 234 is preferably arranged on the side of the transfer position 404 that is opposite the entry area 402 .

[0862] As from Figures 26 to 28 It is apparent from the diagram 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 maintain 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-rotating the drive wheel 120 (see Figure 4 ).

[0866] For example, it is rotated 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 can 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 the maximum lifting height of the receiving element 170, and / or the type and design of the workstation transport device 244, it may be provided that a plurality of support elements 408 are connected to one another. However, it may also be provided that at least two support elements 408, in particular the support elements 408 that define the entry area 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 areas 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 that 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 is structurally and functionally identical to the embodiment according to Figure 14 and 15 The receiving position 256 and / or delivery position 242 of WO 2012 / 070768 are identical, so that 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 corresponding surrounding area 192 of vehicle 100 can be detected.

[0873] In particular, a three-dimensional surrounding environment, 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 two-dimensionally or also three-dimensionally, i.e., objects detected within detected surrounding area 192 are preferably detected with respect to their size and position relative to vehicle 100. In particular, the size and position of the detected objects 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 or includes a plurality of subareas. These subareas can be constructed to overlap one another 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 partition is divided, for example, by selecting boundary lines at different distances from the vehicle. Figure 29 It is known from FIG. 1 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 at the shortest distance from vehicle 100 , in particular the subzone directly adjacent to vehicle 100 , is, for example, a protection subzone SZ.

[0878] This protection zone SZ is preferably an area in which, in particular for undisturbed operation, no objects other than the vehicle 100 itself (and possibly the object 102) may be located. If an object is detected in this protection zone SZ, the operation of the vehicle 100 is preferably stopped immediately and / or automatically.

[0879] The protective zone SZ is designed to be annular, in particular, in horizontal section.

[0880] Another 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, and in which 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, in particular, objects that should not be at the detected location during the intended 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 essential.

[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 zones are preferably changed depending on the current state of vehicle 100, in particular whether vehicle 100 is loaded or unloaded with object 102 and / or the current speed and direction of movement of vehicle 100. 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, thereby expanding the zones ahead of vehicle 100, in particular the warning zones and / or the protective zones.

[0887] When driving around a bend, for example, the curvature and / or at least partial lateral displacement of the subareas can be arranged 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 very closely, so that the subareas, in particular the part of the warning and / or protective subareas 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 the vehicle 100 undergoes a change of state, 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 that has an influence, in particular, on the course of the boundary lines of the partitions.

[0892] In particular, the subareas can be varied in their size and / or shape depending on 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 the components 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 components 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 components 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 workstation 234 , the lateral surroundings detection can be reduced or completely eliminated.

[0895] As an alternative or in addition thereto it can be provided that the station mode is activated when the vehicle 100 approaches the station 234, in which station mode the maximum speed of the vehicle 100 is reduced in order to compensate for the increased potential danger caused by the reduced monitoring of the surroundings. The approach to the station 234 can be ascertained, for example, by means of a scan of an auxiliary positioning device and / or by means of a position sensor and / or a distance sensor.

[0896] With regard to Figure 29 In particular, a partitioning in the horizontal direction has been described. In addition, it can be advantageous for a partitioning in the vertical direction to be carried out as an alternative or in addition to the partitioning in the horizontal direction.

[0897] As is apparent from Figure 30 In particular, it can be provided that a partition is defined in the vertical direction within which the vehicle 100 is arranged. This partition is in particular the vehicle partition FZ.

[0898] The vehicle partition FZ extends in the vertical direction in particular from the ground on which the vehicle 100 can drive up to the upper side 172 of the base body 104 of the vehicle 100 or to the upper end of the one or more receiving elements 170.

[0899] Thus, by detecting the spatial region of the environment region 192, which forms or comprises the vehicle partition FZ, it can be ascertained in particular whether the vehicle 100 is approaching another vehicle 100.

[0900] A further partition in the vertical direction is derived from the dimensions of the object 102 arranged at the vehicle 100. The partition covering the object 102 extends in the vertical direction in particular from the underside of the object 102, if necessary including an adapter or a skid or the like, and / or up to the upper side of the object 102, preferably from the lowest point of the object 102, if necessary including an adapter or a skid or the like, and / or up to the highest point of the object 102. This partition is referred to here as the object partition GZ.

[0901] It can be provided that the object partition GZ directly adjoins the vehicle partition 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 extends in particular from the upper side 172 of the base body 104 of the vehicle 100 and / or up to the underside of the object 102, if necessary including an adapter or a skid or the like, preferably up to the lowest point of the object 102, if necessary including an adapter or a skid or the like.

[0903] In addition, it can be provided that the intermediate partition ZZ extends in the vertical direction at least approximately to the extent to which the one or more receiving elements 170 protrude from the base body 104 of the vehicle 100.

[0904] It can be advantageous if the zones divided in the vertical direction overlap the zones divided in the horizontal direction, in particular in order to enable optimal detection of the surroundings for the combination of the vehicle 100 and the object 102 and to avoid hazards.

[0905] Preferably, the vehicle zone FZ is equipped with a warning zone WZ and / or a protection zone SZ, in order to be able to monitor, in particular, whether the vehicle 100 is approaching other vehicles 100 or other objects.

[0906] The assignment of the zones resulting from the horizontal division (warning zone WZ, protection zone SZ) to the zones resulting from the vertical division (vehicle zone FZ, intermediate zone ZZ, object zone GZ) can be understood, in particular, such that the spatial area forming a zone (FZ, ZZ, GZ) defined only in the vertical direction and thus not limited in the horizontal direction is divided in the horizontal direction into a plurality of zones (WZ, SZ).

[0907] It can furthermore be provided that the object zone GZ is equipped with a warning zone WZ and / or a protection zone SZ, in order to be able to monitor, in particular, whether the vehicle 100 is approaching other vehicles 100 or other objects.

[0908] It can furthermore be provided that the intermediate zone ZZ is equipped with a warning zone WZ and / or a protection zone SZ, in order to be able to monitor, in particular, whether the vehicle 100 is approaching objects in the area of one or more receiving elements 170.

[0909] The spatial dimensions, in particular the spatial dimensions in the horizontal direction and / or the shape of the warning zone WZ assigned to the vehicle zone FZ and / or of the protection zone SZ assigned to the vehicle zone FZ depend, in particular, on whether the vehicle 100 is loaded and / or on the position of the vehicle 100 in the transport device and / or in the handling apparatus.

[0910] The spatial dimensions, in particular the spatial dimensions in the horizontal direction and / or the shape of the warning zone WZ assigned to the object zone GZ and / or of the protection zone SZ assigned to the object zone GZ depend, in particular, on whether an object 102 is arranged at the vehicle 100, on the size of the object 102 itself and / or on the position of the vehicle 100 together with the object 102 arranged thereon in the transport device and / or in the handling apparatus. It can be provided, in particular, when the vehicle 100 is not loaded, i.e. when there is no object 102, that the monitoring of the surroundings 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 central zone ZZ, in particular in the horizontal direction, depend in particular on whether the object 102 is situated 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, including the object 102 situated thereon, in the transport device and / or the handling system. In particular, provision can be made for the surrounding monitoring within the central zone ZZ to be 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 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 assigned route or its assigned 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 unit) of the respective vehicle states and / or the 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. This allows for the deliberate tolerance of planned overlaps in the zones, which may occur, for example, when two vehicles 100 are driving past each other in opposite directions, without triggering unnecessary warning operations.

[0914] It may be advantageous to also assign an object zone GZ and / or a warning zone WZ and / or a protection zone SZ to one or more or all objects 102, in particular vehicle body 206, if the corresponding object 102 is not located on 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 potential risk of 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, designated overall by 248 , can in principle be used in all variants of the transport device.

[0917] The partition plate 248 serves in particular to separate the processing region 252 of the workstation 234 , in particular the 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 area 252 , in particular the treatment space 500 , is arranged above the partition wall 248 .

[0919] As already described with reference to the further embodiments, the separating plate 248 preferably comprises a through-region 262 , in particular a through-slot 264 .

[0920] Furthermore, preferably, a plurality of closing elements 284 are provided, by means of which the through-region 262 can be closed.

[0921] The closing element 284 in particular forms a closing region 502 of the separating plate 248 .

[0922] The enclosed area 502 preferably forms, together with the plurality of support panels 504 of the divider panel 248 , an at least substantially fully passable surface 506 of the divider panel 248 .

[0923] The closing element 284 is designed, for example, as a lamella 508 and / or as a closing disk 510 .

[0924] The separator plate 248 preferably includes a support structure 512 (see in particular Figure 32 ), which serves on the one hand to receive the support plate 504 and on the other hand 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 there 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 relative 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 as to be displaceable, 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 assigned one or more closure element receptacles 524 .

[0931] The closure element receptacle or receptacles 524 are in particular designed as screws and serve to respectively receive a 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 Figure 33 As can be seen in FIG. 5 , each resetting device 516 preferably includes a stop element 526 and a guide opening 528 .

[0934] The stop element 526 is particularly movable in the guide opening 528 , wherein the maximum length of the guide opening 528 along the displacement direction of the restoring element 518 predetermines the maximum displacement stroke of the restoring element 518 due to the stop element 526 abutting at the end of the guide opening 528 .

[0935] As especially from Figure 31 and 32 It is apparent from the drawing that the closing elements 284 of the partition plate 248 are arranged in particular overlapping one another, 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] The closing element 284 is in particular 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] Centering of the receiving element 170 within the penetration region 262 can preferably be achieved 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 .

[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, the opening of the closed area 502, in particular the manipulation of one or more closing elements 284, can be achieved in such a way that the receiving element 170 is introduced into the through-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 Figure 33It is understood 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 receptacles 514 and / or closing element receptacles 524 and / or closing elements 284.

[0942] The plate modules 540 are in particular each connected to other components of the support structure 512 at a mounting region 542 , wherein the mounting region 542 is arranged and / or formed at the end of the plate module 540 facing away from the penetration region 262 .

[0943] The plate module 540 projects in particular unsupported from the assembly 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 Figure 34 shows an example of a circuit diagram according to which energy storage device 150 of vehicle 100 can be charged. For example, one or more charging areas 158 and / or charging connection points 164 can be arranged and / or designed according to this circuit diagram. Furthermore, according to alternative embodiments, one or more of the features described below can be provided in an insulated manner at one or more charging areas 158, in particular, only one charging device 156 for only one type of energy storage cell.

[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 includes 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 as supercapacitors 154 , for example.

[0950] Alternatively or in addition thereto, it may be provided that energy store 150 includes one or more buffer storage 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, on the one hand, one or more drive energy storage cells 152 a and, on the other hand, one or more buffer energy storage cells 152 p have mutually different standard operating voltages and / or charging voltages.

[0954] For example, it may be provided that one or more drive energy storage cells 152a are operable with 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 152p are operable with a voltage of at least approximately 24 V, in particular a DC voltage.

[0956] To charge energy storage device 150 at charging region 158, charging region 158 preferably includes 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 having different high voltage values, so that different energy storage cells 152 can be charged simultaneously at the respective required voltages.

[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 such that lateral contact between contact regions 278 and / or contact elements 280 of non-particular pairs of contact regions 278 and / or contact elements 280 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 outer pair 281 a of contact elements 280 , which serves in particular for charging at least one drive energy storage cell 152 a .

[0961] Furthermore, it can 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 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 outer pair 281 a of contact regions 278 and / or contact elements 280 .

[0963] Alternatively, it can also be provided that the contact areas 278 and / or contact elements 280 are used in reverse, so that at least one pair 281i of the contact areas 278 and / or contact elements 280 located on the inside is used, for example, to charge at least one drive energy storage cell 152a, while at least one pair 281a of the contact areas 278 and / or contact elements 280 located on the outside 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 performed.

[0965] For example, one or more pairs of position contacts 283 can be provided, which are in particular arranged internally between the contact areas 278 and / or contact elements 280 of the corresponding charging connection points 164 and / or arranged externally, so that the 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 for 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 , to 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 the 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 the energy storage device 150 when using the contact area 278 and / or contact element 280 and / or position contact 283 to identify and / or monitor the 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 the contact area 278 and / or contact element 280 and / or position contact 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 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, it can be determined whether vehicle 100 is correctly positioned at the corresponding charging connection point 164 by measuring the voltage at contact area 278 and / or contact element 280 using measuring device 287. 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 event of correct positioning, the charging mode is then activated.

[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] substrate (104);

[0976] a running gear (106), by means of which the base body (104) is placed on a drivable foundation (160) and / or the base body is movable on the 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, characterized in that the receiving device (168) comprises only two receiving elements (170).

[0980] 3. A vehicle (100) according to embodiment 1 or 2, 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, 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. The 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. Vehicle (100) according to claim 6, characterized in that the lifting drive (178) of the vehicle (100) comprises a lifting drive element (182), in particular a lifting drive belt (184) or a lifting drive chain, wherein the lifting drive element (182) interconnects a lifting drive motor (180) and the two or more receiving elements (170) such that the two or more receiving elements (170) can be moved jointly by means of the lifting drive motor (180), in particular can be raised and / or lowered relative to the base body (104).

[0985] 8. Vehicle (100) according to claim 7, characterized in that

[0986] a) the lifting drive element (182) extends through a drive shaft (148) of the drive arrangement (110) for driving the vehicle (100), and / or

[0987] b) the lifting drive element (182) extends through underneath a drive shaft (148) of the drive arrangement (110) for driving the vehicle (100).

[0988] 9. Vehicle (100) according to any one of claims 1 to 8, characterized in that the drive arrangement (110) has a drive shaft (148) which interconnects two drive elements (118), in particular drive wheels (120), of the drive arrangement (110), wherein the drive shaft (148) is oriented substantially transversely to a longitudinal center axis (140) and / or a main driving direction (138) of the vehicle (100), in particular at least approximately perpendicularly to a longitudinal center axis (140) and / or a main driving direction (138) of the vehicle (100).

[0989] 10. Vehicle (100) according to any one of claims 1 to 9, characterized in that the drive arrangement (110) has a drive shaft (148) which interconnects two drive elements (118), in particular drive wheels (120), of the drive arrangement (110), wherein the drive shaft (148) is arranged at least approximately centrally with respect to a longitudinal center axis (140) and / or a main driving direction (138) of the vehicle (100) at the base body (104) of the vehicle (100).

[0990] 11. The vehicle (100) according to any one of the preceding claims 1 to 10, characterized in that the drive arrangement (110) has a drive shaft (148) which interconnects two drive elements (118), in particular drive wheels (120), of the drive arrangement (110), wherein the drive elements (118) are jointly supported at the base body (104) by means of the drive shaft (148).

[0991] 12. The vehicle (100) according to any one of the preceding claims 1 to 11, characterized in that a plurality of drive elements (118), in particular drive wheels (120), of the drive arrangement (110) can be driven independently of one another.

[0992] 13. The vehicle (100) according to any one of the preceding claims 1 to 12, characterized in that the drive arrangement (110) comprises a drive shaft (148) and / or one or more drive elements (118), which drive shaft and / or drive element can be lowered and / or pressed onto the ground and / or can be raised from the ground by means of a handling 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 handling device (146) is preferably accessible on the outside of the vehicle (100) in order to handle the handling device.

[0994] 14. The vehicle (100) according to any one of the preceding claims 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 one receiving section (174) which tapers towards an upper end with respect to the direction of gravity (g).

[0995] 15. The vehicle (100) according to claim 14, characterized in that one or more receiving sections (174), in particular all receiving sections (174), are essentially configured conically, partially conically, frustoconically or partially frustoconically.

[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), which 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) is capable of detecting an object (102) arranged at at least one receiving element (170) and / or is capable of monitoring the correct fastening of said object; and / or

[1000] b) The orientation and / or position of an object (102) arranged at a distance from the at least one receiving element (170) can be detected.

[1001] 19. The vehicle (100) according to embodiment 18, 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 lubricating device (175) includes a container (177) for containing lubricant and a component element (179) for transporting the lubricant from the container (177) in a controllable and / or adjustable manner to the object to be lubricated, in particular parts of the lifting drive device (178).

[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 flush with the supporting area (198) of the base body (104) at least approximately completely around it.

[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 essentially rectangular.

[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 designed to be essentially rectangular.

[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 approximately 250°, in particular approximately 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 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 vehicle (100)'s travel path or 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 standstill, 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 higher-level control device for controlling and / or monitoring multiple vehicles.

[1024] 32. The vehicle (100) according to embodiment 31, characterized in that the alarm signal and / or emergency signal includes a requirement for clearing the driving path and / or 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 processing equipment and / or 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, characterized in that the control device (204) can be used to test whether the corresponding vehicle (100) must be forced into emergency operation, 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 one another, 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 manipulation 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 by means of an emergency signal, and by means 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 in particular by means of the signal, in order to, for example, 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, by means of 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) comprises one charging connection point (164) or multiple charging connection points (164) for charging the 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 above the corresponding charging connection point (164) of 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 one of the charging connection points (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 contactlessly, for example inductively.

[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 units are configured as capacitors, in particular supercapacitors (154) or ultra-high-grade capacitors.

[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 store (150), which comprises:

[1049] a) one or more drive energy store units (152a) for storing energy for driving the vehicle as a whole and / or for driving the lifting drive, and

[1050] b) one or more buffer energy store units (152p) by means of which energy can be provided, for example, for operating control devices (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, characterized in that the one or more drive energy store units (152a) and the one or more buffer energy store units (152p) have different standard operating voltages and / or charging voltages from one another.

[1052] 49. The vehicle (100) according to any one of embodiments 1 to 48, characterized in that the vehicle (100) comprises control devices (204) which are configured and designed in such a way that the vehicle (100) is operated in a selected manner in a safety mode or in a fast mode,

[1053] wherein the vehicle (100) is placed in the safety mode in the event that a person is detected in the surroundings of the vehicle (100) and / or drives over an area accessible to persons, and

[1054] wherein the vehicle (100) is placed in the fast mode in the event that no person is detected in the surroundings of the vehicle (100) and / or drives over an area inaccessible to persons.

[1055] 50. The vehicle (100) according to embodiment 49, characterized in that the vehicle (100) can be placed in the safety mode or in the fast mode by means of devices, in particular sensor devices (190), which are not located at the vehicle (100), for example in the case of application of external safety contacts or the like.

[1056] 51. The vehicle (100) according to any one of embodiments 1 to 50, characterized in that the vehicle (100) comprises 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 one of the embodiments 51, characterized in that a three- dimensional environmental region (192) is detectable three-dimensionally by means of the one or more sensor devices (190), wherein objects detected within the detected environmental region (192) are preferably detectable with respect to their dimensions and positioning relative to the vehicle (100).

[1058] 53. The vehicle (100) according to one of the embodiments 52, characterized in that the dimensions and positioning of the detected objects are calculated from sensor data of the one or more sensor devices (190) by means of a control device (204) of the vehicle (100).

[1059] 54. The vehicle (100) according to one of the embodiments 51 to 53, characterized in that the environmental region (192) consists of or comprises a plurality of sub-zones, wherein the sub-zones are configured overlapping one another or cover spatial regions that are completely different from one another.

[1060] 55. The vehicle (100) according to one of the embodiments 51 to 54, characterized in that the sub-zones of the environmental region (192) that are different from one another are detectable by means of the one or more sensor devices (190).

[1061] 56. The vehicle (100) according to one of the embodiments 51 to 55, characterized in that the environmental region (192) is divided into a plurality of sub-zones, in particular into three sub-zones, in the horizontal direction.

[1062] 57. The vehicle (100) according to embodiment 56, characterized in that one of the sub-zones is a safety zone (SZ) in which objects are not allowed to be arranged, in particular for an undisturbed operation, except for the vehicle (100) itself and, if necessary, objects (102) arranged at the vehicle (100).

[1063] 58. The vehicle (100) according to one of the embodiments 56 or 57, characterized in that one of the sub-zones is a warning zone (WZ) which, in particular, encompasses the safety zone (SZ) and / or in which objects are not to be arranged, except for the vehicle (100) itself and, if necessary, objects (102) arranged at the vehicle (100), wherein the detection of an object does not necessarily lead to the triggering of a standstill operation of the vehicle (100).

[1064] 59. The vehicle (100) according to one of the embodiments 51 to 58, characterized in that the environmental region (192) is divided into a plurality of sub-zones, in particular into three sub-zones, in the vertical direction.

[1065] 60. 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. Vehicle (100) according to any one of embodiments 59 or 60, characterized in that one of the zones is an object zone (GZ) in which an object (102) is arranged when the object is received by means of the vehicle (100).

[1067] 62. Vehicle (100) according to any one of embodiments 59 to 61, characterized in that between a zone configured as a vehicle zone (FZ) and a zone configured as an object zone (GZ) an intermediate zone (ZZ) is arranged, which extends in the vertical direction at least approximately to the extent to which the one or more receiving elements (170) protrude from the base body (104) of the vehicle (100).

[1068] 63. Vehicle (100) according to any one of embodiments 51 to 62, characterized in that it is possible, in particular is calculated, by means of the control device (204) of the vehicle (100) and / or by means of a superior control facility, whether an object detected by means of the one or more sensor devices (190) is an unexpected and / or unknown and / or disturbing object or whether it is an object whose presence is acceptable.

[1069] 64. Vehicle (100) according to any one of embodiments 51 to 63, characterized in that the control device (204) of the vehicle (100) changes the boundary line between different zones of the environmental region (192) depending on the current state of the vehicle (100).

[1070] 65. Vehicle (100) according to embodiment 64, characterized in that for the current state of the vehicle (100) single or multiple ones of the following state features are taken into account:

[1071] a) whether the vehicle (100) is loaded or unloaded with objects (102); and / or

[1072] b) in which direction and at which speed the vehicle (100) is moving; and / or

[1073] c) at which position the vehicle (100) is arranged in a transport device (222) and / or a handling facility (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 a superior 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. The 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 a plurality of partitions 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 protective 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 adapted 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 joined 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, 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. Transport device (222) for transporting objects (102), in particular workpieces such as vehicle bodies (206), characterized in that the transport device (222) comprises one or more vehicles (100) according to one of the embodiments 1 to 67.

[1086] 72. Transport device (222) according to embodiment 71, characterized in that the transport device (222) comprises one or more stations (234) to which the objects (102) can be transported by means of the vehicles (100) and / or at which the objects (102) can be delivered and / or received.

[1087] 73. Transport device (222) according to embodiment 72, characterized in that two or more positions (240, 254) for two or more objects (102) are provided in at least one of the stations (234), wherein an object (102) can be delivered to the station (234) in a first position (240) by means of the vehicle (100), and wherein an object (102) can be received by means of the vehicle (100) in a second position (254) and then transported away from the station (234).

[1088] 74. Transport device (222) according to embodiment 73, characterized in that the objects (102) can be transported by means of a station transport device (244) of the transport device (222) which is different from the vehicles (100), in particular from the first position (240) to the second position (254).

[1089] 75. Transport device (222) according to embodiment 74, characterized in that the objects (102) can be processed during the transport from the first position (240) to the second position (254) or in an intermediate position (258) provided between the first position and the second position.

[1090] 76. Transport device (222) according to one of the embodiments 73 to 75, characterized in that at least one vehicle (100) is configured and arranged to deliver an object (102) to a station (234) in the first position (240), and that an object (102) which has been delivered in the first position (240) before and which has been transported to the station (234) in the meantime can be received in the second position (254) of the station (234).

[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 be moved under the partition while one or more objects (102) can be moved over the partition (248) and / or in order to enable one or more objects (102) to move over the partition (248).

[1092] 78. The transport device (222) according to embodiment 77, characterized in that the partition (248) is passable for people.

[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 approximately five times, in particular at most approximately four times, preferably at most approximately 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 constructed to be completely closed and thereby the object (102) to be transported is completely spatially separated 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. Transport device (222) according to claim 82, characterized in that the through region (262), in particular the through gap (264), extends along or predefines the transport path (292) of the transport device (222).

[1098] 84. Transport device (222) according to claim 83, characterized in that on one or both sides of the through region (262), in particular of the through gap (264), a through edge region (276) is formed, which is formed in particular elevated compared to the remaining partition plates (248).

[1099] 85. Transport device (222) according to claim 84, characterized in that the average free or openable distance between two through edge regions (276) opposite one another with respect to the through region (262) is at most about four times, preferably at most about three times, in particular at most about two times, the average horizontal thickness taken perpendicular to the transport path (292) of at least one receiving element (170) of at least one vehicle (100).

[1100] 86. Transport device (222) according to claim 84 or 85, characterized in that the average free or openable distance between two through edge regions (276) opposite one another with respect to the through region (262) is at most about 150%, preferably at most about 100%, in particular at most about 80%, of the average horizontal length taken perpendicular to the transport path (292) of a central element (210) of an adapter device (208) for receiving at least one object (102).

[1101] 87. Transport device (222) according to any one of claims 84 to 86, characterized in that the through edge region (276) is configured substantially L-shaped in a cross section taken perpendicular to the transport path (292).

[1102] 88. Transport device (222) according to any one of claims 84 to 87, characterized in that the through edge region (276) extends oblique to the direction of gravity (g) and / or oblique to the horizontal.

[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), in which 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 the 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 the 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 help of at least one vehicle (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 section, which continuously or temporarily, in particular alternately, constitutes a section of a transport path (292) of one or more vehicles (100) and a section of a return path (294) of 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 through-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 work station (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), into 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. The transport device (222) according to any one of the embodiments 94 to 106, characterized in that one or more charging areas (158) are arranged at the delivery position (242) of the station (234) and / or at the receiving position (256) of the station (234) in such a way that the energy store (150) of the vehicle (100) can be charged, in particular during a positioning process in which the vehicle (100) is positioned relative to the station (234).

[1122] 108. The transport device (222) according to any one of the embodiments 94 to 107, characterized in that the transport device (222) extends over multiple levels (288) and comprises one or more charging areas (158) arranged in a transfer device (290) for transferring one or more vehicles (100) from one level (288) to another level (288).

[1123] 109. The transport device (222) according to any one of the embodiments 94 to 108, characterized in that the transport device (222) comprises one or more charging nodes (308) each comprising multiple charging areas (158) for charging multiple vehicles (100) simultaneously.

[1124] 110. The transport device (222) according to embodiment 109, characterized in that one or more charging nodes (308) are arranged at positions at which multiple transport paths (292) and / or return paths (294) intersect and / or overlap.

[1125] 111. The transport device (222) according to any one of the embodiments 71 to 110, characterized in that, for charging the energy store (150), at least one charging area (158) comprises one or more charging connection points (164) each comprising multiple contact areas (278) and / or contact elements (280) for providing voltages having different magnitudes.

[1126] 112. The transport device (222) according to embodiment 111, characterized in that two or more pairs of contact areas (278) and / or contact elements (280) for providing different charging voltages, in particular simultaneously, are provided at one or more charging connection points (164) each.

[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 said vehicles (100) in said 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 fast zones (268) can be placed in a fast 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 safe areas (270) are interconnected by means of one or more passages (312), wherein the one or more passages (312) preferably have at least partially 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 traversable.

[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 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 of the individual workstations (234) according to their respective types, 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 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), the transfer position (404) of the transfer area (400) is accessible to the vehicle (100) through the entry area, and the vehicle (100) can leave 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), which has 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 through-region (262), in particular the through-gap (264), can be closed automatically and / or temporarily and / or locally and / or in particular when no receiving element (170) extends through the through-region (262) and / or in particular in a section of the through-region (262), in particular the through-gap (264), in which just no receiving element (170) passes through the through-region (262), in particular the through-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. The 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 through-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 closure 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 support 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 the 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 predetermines the transport path (292) of the transport device (222).

[1160] 138. The transport device (222) according to any one of embodiments 124 to 137, characterized in that the partition (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] substrate (104);

[1163] a running gear (106), by means of which the base body (104) is placed on a drivable foundation (160) and / or the base body is movable on the 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 vehicle body (206), characterized in that the processing device (224) comprises 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 workstations (236) of the processing equipment (224), and the workstations are connected to each other for transporting objects (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 transport device (222) for transporting objects (102), wherein the transport device (222) comprises a partition plate (248), the partition plate having a through-region (262), one or more receiving elements (170) for receiving at least one object (102) extending through the through-region and / or being able to pass through the through-region, wherein the partition plate (248) comprises a plurality of closing elements (284) by means of which the through-region (262) can be closed, It is characterized by: The plurality of closing elements (284) are arranged in different, parallel, horizontal layers and are movable in the layers. The partition plate (248) comprises a return device (516), and the closing element (284) can be moved from an open position to a closed position after the return device (516) is actuated.

2. The transport device (222) according to claim 1, characterized in that The through-region (262) can be closed automatically and / or temporarily and / or partially and / or when no receiving element (170) extends through the through-region (262) and / or in a section of the through-region (262) in which no receiving element (170) extends through the through-region (262) by means of the multiple closing elements (284).

3. The transport device (222) according to claim 1 or 2, characterized in that The through region (262) is a through gap (264).

4. The transport device (222) according to claim 1 or 2, characterized in that The plurality of closure elements (284) can be actuated by means of the receiving element (170).

5. The transport device (222) according to claim 4, characterized in that The plurality of closing elements (284) can be brought into an open position and / or a closed position by means of the receiving element (170).

6. The transport device (222) according to claim 1 or 2, characterized in that The plurality of closure elements (284) can be moved from an open position to a closed position elastically and / or automatically under the action of gravity.

7. The transport device (222) according to claim 1 or 2, characterized in that The plurality of closing elements (284) are designed as lamellae (508) and / or flaps and / or closing disks (510).

8. The transport device (222) according to claim 1 or 2, characterized in that The plurality of closure elements (284) are deflectable to temporarily open the pass-through region (262) to allow passage of the one or more receiving elements (170).

9. The transport device (222) according to claim 8, characterized in that The plurality of closure elements (284) are capable of being deflected in a horizontal direction to temporarily open the pass-through region (262) to allow the one or more receiving elements (170) to pass therethrough.

10. The transport device (222) according to claim 1 or 2, characterized in that The closure elements are arranged overlapping one another in their closed position and / or open position.

11. The transport device (222) according to claim 1 or 2, characterized in that The plurality of closure elements (284) a) accessible; and / or b) supported on each other and / or on one or more support plates (504) of the separating plate (248); c) is movable in a direction extending obliquely to the transport direction (250); and / or d) is arranged rotatably and / or rotatably through 360° on a closure element receptacle (524) of the separating plate (248).

12. The transport device (222) according to claim 1 or 2, characterized in that The plurality of closure elements (284) a) accessible; and / or b) bear against one another and / or against one or more bearing plates (504) of the separating plate (248) in their closed and / or open position; c) capable of linear movement in a direction extending perpendicularly to the transport direction (250); and / or d) is arranged so as to be freely rotatable and / or rotatable through 360° on a closure element receptacle (524) of the separating plate (248).

13. The transport device (222) according to claim 1 or 2, characterized in that The through-region (262) extends along a transport path (292) of the transport device (222) or predetermines a transport path (292) of the transport device (222).

14. The transport device (222) according to claim 13, characterized in that The through region (262) is a through gap (264).

15. The transport device (222) according to claim 1 or 2, characterized in that The partition plate (248) is passable for people.

16. The transport device (222) according to claim 1 or 2, characterized in that The transport device (222) includes one or more vehicles (100), wherein each vehicle (100) includes: substrate (104); a running gear (106), by means of which the base body (104) is placed on a drivable foundation (160) and / or the base body is movable on the 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), 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.

17. The transport device (222) according to claim 16, characterized in that One or more stations (234) include a divider (248) beneath which at least one of the vehicles (100) is movable.

18. The transport device (222) according to claim 17, characterized in that At least one of the vehicles (100) is capable of moving beneath the divider (248) during and / or in order to enable one or more objects (102) to move above the divider (248).

19. The transport device (222) according to claim 1 or 2, characterized in that The object (102) is a workpiece.

20. The transport device (222) according to claim 19, characterized in that The workpiece is a vehicle body (206).

21. Processing apparatus (224) for processing an object (102), wherein the processing apparatus (224) comprises one or more transport devices (222) according to any one of claims 1 to 20.

22. A method for transporting and / or processing an object (102), wherein the object (102) is transported by means of a transport device (222) according to any one of claims 1 to 20, and / or wherein the object (102) is processed in a processing device (224) according to claim 21 and / or by means of a processing device (224) according to claim 21.

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