Transport line device, transport device and method for operating transport device

Abstract

The invention relates to a transport line arrangement and a transport device (1) having a plurality of autonomous transport moving bodies (4), having at least one working surface (2), on which a first code array (9) is arranged, the transport moving bodies (4) being designed to determine their own positions on the first code array (9), on the working surface (2) in a position-controlled manner on the basis of its own position; a second code array (10) is arranged on the running surface (3), the running surface (3) is oriented in the main running direction (100) at least in sections in the same direction as the running surface (2), and the transport mobile body (4) is designed to determine the own position on the second code array (10), the working surface (2) forms a working movement region for transporting the mobile body (4), and the running surface (3) forms a fast route for transporting the mobile body (4), and wherein the working surface (2) forms a working movement region for transporting the mobile body (4) on the running surface (3) on the basis of the position of the working surface (2) during travel in the main direction of travel (100), at least in the transverse direction (200) with respect to the main direction of travel (100). And / or wherein the first code array (9) has a higher spatial resolution than the second code array (10) at least in the main direction of travel (100).

Description

BACKGROUND

[0001] The publication EP 3 699 095 A1 discloses an unmanned transport vehicle in a conveying system, wherein the conveying system provides a plurality of driving levels which are connected to one another via ramps. SUMMARY

[0002] In production technology, self-propelled vehicles are often used for transporting goods or components between various stations of a factory. The self-propelled vehicles are usually controlled by a master computer which prescribes a path for the self-propelled vehicles in the environment. With an increasing number of self-propelled vehicles, delays or even blockages can occur due to an overload of the driving area, which reduce the productivity in production technology.

[0003] The invention relates to a transport line arrangement and to a transport device and to a method for operating the transport device. Preferred or advantageous embodiments of the invention result from the dependent claims, the following description and the figures.

[0004] The subject of the invention is a transport line arrangement, which is in particular suitable and / or configured for logistics applications, manufacturing applications, process applications and / or work applications.

[0005] The transport line arrangement comprises: at least one work surface, wherein a first code array is arranged on the work surface, wherein the first code array can be used to determine a self-position of an autonomous transport mobile on the first code array in order to enable a planar movement of the autonomous transport mobile in a position-controlled manner on the work surface on the basis of the self-position; and at least one driving surface, wherein a second code array is arranged on the driving surface, wherein the driving surface is oriented identically directed at least section-wise with the work surface in a main driving direction, wherein the second code array can be used to determine a self-position of an autonomous transport mobile on the second code array in order to enable a planar movement of the autonomous transport mobile in a position-controlled manner on the driving surface at least in a transverse direction with respect to the main driving direction when driving in the main driving direction on the basis of the self-position.

[0006] The transport line arrangement is characterized in that the work surface constitutes a work movement area for the autonomous transport mobile and the driving surface constitutes a fast line for the autonomous transport mobile, and / or the first code array has a higher spatial resolution than the second code array (10) at least in the main driving direction.

[0007] Further embodiments of the transport line arrangement can be gathered from claims 2 to 5.

[0008] The transport arrangement has a plurality of autonomous transport mobiles. In particular, the respective transport mobiles are configured unmanned. Alternatively or additionally, the transport mobiles are configured for transporting only goods, products, workpieces, etc. For example, the transport mobiles are implemented as transport robots or as flying or levitating mobiles (Mobil). Preferred designs of the transport mobiles are AGVs (Automated Guided Vehicles) and / or FTFs (Free Transporting Vehicles). In particular, the transport mobiles are configured as mobiles which transport small amounts quickly over short distances and which are preferably used for transporting within a production line. Alternatively, also trains consisting of a towing mobile and at least one trailer or a series of trailers are used as transport mobiles.

[0009] The transport arrangement has at least one work surface on which the transport mobiles can move autonomously. Arranged on the work surface is a first code array, wherein the transport mobiles are configured for determining their own position on the work surface from the first code array. In particular, the position information is encoded in the first code array. In particular, the position information is configured as absolute position information. The transport mobiles can move on the work surface in a position-controlled, autonomous and planar manner, in particular in two independent directions, based on their own position.

[0010] The transport arrangement has a travel surface on which the transport mobiles can move autonomously. Arranged on the travel surface is a second code array, wherein the transport mobiles are configured for determining their own position on the travel surface from the second code array. In particular, the position information is encoded in the second code array. In particular, the position information is configured as absolute position information or as relative position information. The transport mobiles can move in a position-controlled manner, in particular in a transverse direction with respect to the main travel direction, based on their own position when the transport mobiles are traveling in the main travel direction.

[0011] The transport mobiles preferably each have a sensor device for reading out the position information from the first and / or second code array. For example, the code arrays can be configured as optical or magnetic code arrays.

[0012] It is proposed within the scope of the application that the working plane constitutes a working movement area for the transport vehicles and the running plane constitutes at least or exactly one fast lane for the transport vehicles. Thus, the working plane and the running plane are assigned two different functions, wherein the transport vehicles that travel at high speed or are able to travel at high speed are preferably guided on the fast lane. This includes, for example, but not exclusively, transport vehicles that are on the way to a charging station or transport vehicles that pass very long routes. It can be provided in particular that loaded transport vehicles are preferably guided to a large extent or exclusively in the working movement area, whereas unloaded transport vehicles are preferably guided to a large extent or exclusively on the fast lane.

[0013] In the case of the fast lane and / or on the running plane, complex positioning techniques for the transport vehicles can be dispensed with. These positioning techniques can be replaced, for example, by simple and robust spur holding algorithms as well as by a guide line and / or a network of guide lines.

[0014] Alternatively or additionally, it is claimed that the first code array has a higher spatial resolution than the second code array at least in the main running direction. By different spatial resolutions it is reflected that the possible transport paths on the running plane, in particular in the form of the fast lane, are configured less complex and therefore also less complex position information has to be provided. The spatial resolution is understood in particular as the spatial distance between two distinguishable self-positions. In the case of the first code array, the distinguishable distance is configured to be smaller than in the case of the second code array. In particular, in the case of the first code array, the spatial resolution in the main running direction is smaller than in the case of the second code array.

[0015] The use of transport mobiles, in particular very low-cost transport mobiles, allows a very high number of simultaneously driving transport mobiles to be used on the map and / or on the transport means at the same time. Thereby a large number of challenges arise for the road or fleet planning. On the one hand, the communication effort is significantly increased since each transport mobile has to be individually controlled or queried. On the other hand, an increased risk of congestion on the transport path arises. If individual transport mobiles have for example already been loaded with workpieces which force the transport mobiles to a slow driving speed, thereby transport mobiles driving up behind are likewise automatically forced to reduce their driving speed. This also includes transport mobiles which are not currently loaded and which in fact can drive at the maximum permissible speed. Furthermore, the management effort for the fleet manager is greatly increased due to the high number of simultaneously driving transport mobiles. For example, in VDA5050, the nodes of the planned transport path (fixedly defined approach points on the map) are divided into base nodes and horizon nodes. The base nodes are here nodes which have been reserved for the respective transport mobile and which can in any case be approached. The horizon nodes describe the following nodes and can still be replanned if they are occupied by other transport mobiles at the relevant point in time. In the case of a high number of simultaneous transport mobiles, this leads to the base shrinking and the horizon expanding. As a result, the efficiency of the planned transport path decreases since the optimal route cannot be used. In the worst case, if alternative routes (nodes) are not available, the transport mobiles must even wait at a point for the release of the next node. Furthermore, it becomes necessary to increase the occurrence of "updates" to the transport mobiles by more replanning, which in turn requires an increased communication effort. In order to reduce the utilization of the main line (and thereby also the just mentioned disadvantages / challenges), transport mobiles which do not actively perform a task (for example driving to a charging station) can be diverted from the main line on the working face to the fast line on the driving face.

[0016] For example, express routes can be implemented on the travel surface by alternative workbench modules, which can be installed, for example, beneath the standard workbench modules. For example, transport mobiles that preferably or only can travel at high speed travel on these express routes. This includes, for example, but not exclusively, transport mobiles that are on the way to a charging station or transport mobiles that have to pass very long routes. Thus, the transport mobiles can pass large route sections at significantly increased speed. Since all transport mobiles travel at the same speed and / or are unloaded and in particular are not loaded with sensitive products, the risk of congestion is likewise strongly reduced. Since the principle of a single lane is adhered to, the risk of a collision with other transport mobiles can likewise be greatly reduced on the express routes. Each express route provides one or more defined traffic lanes, on which it is always possible to travel in only one direction. (Reduction of the outlay for road planning and accordingly also for communication). In the case of express routes, complex positioning technology can be dispensed with. This can be replaced by, for example, simple and robust groove-keeping algorithms and a master line. In order not to increase the space requirement, the express routes can be built, for example, beneath the actual traffic lanes. Since the connection to the handling stations is not important, the accessibility plays only a subordinate role here. The transport mobiles can be coupled in and coupled out onto the express routes by various methods. Here, common techniques are conceivable, such as the use of gantries, lifts or ramps.

[0017] In the case of a preferred development of the application, the transport mobiles are moveable and / or move in a mechanically unguided manner on the work surface and / or on the travel surface. In particular, the transport mobiles move in a trackless manner and / or in a mechanically unforced manner on the work surface and / or on the travel surface. Thereby, the transport mobiles are in principle able to maneuver in every direction on the work surface and / or on the travel surface.

[0018] It is particularly preferred that the transport device has a coupling-in section for coupling-in the transport mobiles, in particular from the work surface into the travel surface, and / or a coupling-out section for coupling-out the transport mobiles from the travel surface, in particular into the work surface. The coupling-in section and / or the coupling-out section can be integrated into the workstations and / or manufacturing stations and / or handling stations. The coupling-in section and / or the coupling-out section can be implemented, for example, by means of gantries, lifts or ramps.

[0019] It is particularly preferred that the running surface and / or the rapid line form at least or exactly one single lane for the transport mobile. In this way, possible oncoming traffic by other transport mobiles on the same rapid line is ruled out, which reduces the outlay for transport path planning and accordingly also for communication for controlling the transport mobile. In particular, no avoidance detours have to be implemented for oncoming transport mobiles on the rapid line. It is preferably provided that only in one direction, i.e. in the main running direction, travel is possible on the rapid line. It is possible that the running surface forms a single lane for the transport mobile. Alternatively, the running surface can also have a plurality of mutually independent rapid lines, wherein the rapid lines each form a single lane, however, travel is possible on the mutually independent rapid lines in the main running direction and in the opposite transport direction.

[0020] In the case of a preferred embodiment of the application, the first code array is configured as a two-dimensional code for the preferred absolute position of the transport mobile. For example, the self-position with two independent coordinates, such as an X-coordinate and a Y-coordinate, can be determined from the first code array. The first code array is preferably configured as described in the publication DE 10 2016 216221 A1, the content of which is incorporated by reference into the present disclosure (“incorporated by reference”).

[0021] Alternatively or additionally, it is preferred that the second code array has a coding of the position in the form of at least one main line in the main running direction. Thus, by the transport mobile, the self-position on the working face can be determined at least sectionally only with respect to the lateral direction relative to the main running direction.

[0022] In the simplest case, the second code array thus has only one continuous main line, wherein the transport mobile can only determine the lateral direction relative to the main line as the self-position. This is sufficient for the transport mobile to travel along the main line and / or the rapid line. Alternatively, the second code array has exactly one main line with at least one network point, wherein the position in the main running direction is coded and / or can be determined from the coding at the network point. For example, the network point can be configured as a starting point and / or end point of the rapid line.

[0023] It can also be provided that a plurality of mutually independent main lines are arranged on the running surface in the main running direction, optionally supplemented by corresponding network points. Preferably, the main lines are each configured as a single lane.

[0024] In a further development of the present invention, the second code array comprises a main routing network with a plurality of main routings and network points, wherein the network points interconnect the main routings. This allows the transport vehicle to determine its own position relative to the main routing network. However, the spatial resolution is significantly lower than with the first code array, particularly in the main direction of travel, since only the network points are available as spatial resolution in the main direction of travel. The distances between the network points in the main direction of travel are greater than the distances between adjacent positions encoded in the first code array and / or the determinable own position.

[0025] In principle, the running surface can be arranged laterally offset from the working surface. However, it is preferred that the working surface and the running surface are arranged with a height offset relative to one another and optionally, in addition, overlap in a top view from above, or at least overlap and / or overlap in sections, thereby forming an overtaking path and / or a return path. In particular, the coupling-in section and / or the coupling-out section can be designed as a ramp between the running surface and the running surface, resulting in a particularly compact transport device.

[0026] In a preferred application, the transport device has a workstation, which can be designed as a storage station, a manufacturing station, a production station, a processing station, etc. The work surface forms the entrance for the transport moving body to the workstation, and the travel surface forms the exit from the workstation.

[0027] In one refinement of the present invention, the transport device includes a master computer system, which can be configured, for example, as a digital data processing device, such as a computer, a cloud, or the like. The master computer system is configured to control the transport vehicle and, in particular, calculate the transport route and / or transmit the transport route to the transport vehicle. It is provided that the master computer system is configured to cause the transport vehicle to travel, on average, faster on the driving surface than on the working surface. This possibility arises from the fact that the driving surface is configured as an express route.

[0028] Particularly preferably, the master computer is configured to control the mobile transport bodies so that at least a plurality of, or all, of the mobile transport bodies on the travel surface are configured as unladen mobile transport bodies. Because the mobile transport bodies are unladen, they can travel at a higher speed than laden mobile transport bodies. By selecting a faster mobile transport body for the travel surface, it is possible to cause the mobile transport bodies to travel faster on the travel surface configured as an express route.

[0029] Another subject matter of the invention relates to a method for operating a transport device as described above or according to any of the preceding claims. Provision is made for the transport moving body to be guided over a working surface and a running surface.

[0030] In the case of a preferred refinement of the application, the transport mobiles are conveyed through the working plane in the loaded state to the work station and are guided away from the work station through the running plane in the unloaded state. BRIEF DESCRIPTION OF DRAWINGS

[0031] Further features, advantages and effects of the application result from the following description of preferred embodiments of the application and the accompanying drawings. The drawings show: Figure 1 schematic view of a transport device as an embodiment of the application; Figure 2 schematic view of a first code array for a transport device in Figure 1 schematic view of a second code array for a transport device in Figure 3a schematic view of a second code array for a transport device in Figure 1 schematic view of a second code array for a transport device in DETAILED DESCRIPTION

[0032] Figure 1 schematic side view of a transport device 1 as an embodiment of the application. The transport device 1 comprises a transport line device, which comprises a working plane 2 and a running plane 3. The working plane 2 and the running plane 3 are arranged in a high degree of vertical offset to one another and overlap or even coincide when viewed from above in a plan view. A plurality of transport mobiles 4 are arranged on the working plane 2 and / or the running plane 3, which can be moved on the planes 2, 3. The working plane 2 and the running plane 3 are arranged on one common work table or a plurality of work tables.

[0033] The transport device 1 has a treatment station 6, in which products 7, such as workpieces, are transported through the working plane 2 with the transport mobiles as loaded transport mobiles 4 to the treatment station 6, in which the transport mobiles are unloaded.

[0034] Between the working plane 2 and the running plane 3, a coupling input section 8 is arranged, which is configured as a ramp in the present embodiment and which allows the transport mobiles 4 to be guided from the working plane 2 and / or the treatment station 6 to the running plane 3. Starting from the treatment station 6, the transport mobiles 4 are guided in the unloaded state through the coupling input section 8 onto the running plane 3.

[0035] The transport device 1 works in particular in a cyclic manner, in which the loaded transport mobiles 4 are guided through the working plane 2 to the treatment station 6, are unloaded therein and are optionally guided away in the main running direction 100 through the running plane 3 as unloaded transport mobiles 4. The transport mobiles 4 travel on the running plane 3 at a much higher speed than on the working plane 2.

[0036] The work surface 2 has a first code array 9, wherein the code array 9 codes positions on the work surface 2. The transport mobile 4 is configured to read out the positions from the code array 9 and to determine the own position therefrom. On the basis of the own position, the transport mobile 4 can be enabled to move freely on the work surface 2, i.e. in particular in a planar manner. The possibility of planar movement allows the loaded transport mobile 4 to be able to be transported from any direction. Thereby, the controllability with respect to the transport mobile 4 gives a very high flexibility on the work surface 2.

[0037] On the travel surface 3, in contrast, only the reverse transport of unloaded transport mobiles 4 takes place in the main travel direction 100. Alternatively or additionally, the transport mobiles 4 can take other simplified paths on the travel surface 3, for example paths to a loading station, paths to a charging station (electrically). The speed of the transport mobiles 4 is on average greater on the travel surface 3 than on the work surface 2, so that the travel surface 3 implements a fast line, in particular an overtaking line, for the transport vehicles 4.

[0038] The work surface 2 thus constitutes a work movement area for the transport mobiles 4, while the travel surface 3 constitutes at least or exactly one fast line for the transport mobiles 4, since here only simple transport paths are traversed and / or only unloaded transport mobiles 4 are used.

[0039] The second code array 10 is arranged on the travel surface 3, wherein the transport mobile 4 is configured to determine the own position on the basis of the second code array 10. However, the own position does not have to represent a two-dimensional absolute position, as on the work surface 2 as work movement area. Rather, it is sufficient if the own position is determined to such an extent that the transport mobile can be guided in a position-controlled manner at least in the transverse direction 200 with respect to the main travel direction 100 when travelling in the main travel direction 100.

[0040] It is thus provided that the first code array 9 has a higher spatial resolution than the second code array 10 at least in the main travel direction 100.

[0041] The transport mobile 4 can be controlled in terms of the planning of the transport path by the master computer device 14, the transport path being traversed autonomously by the transport mobile 4. For example, the transport path can be transmitted to the transport mobile 4 from the master computer device 14, which then autonomously traverses the transport path.

[0042] For example, the running surface 3 constructed on the express line workbench module is printed with a second code array 10 as a simplified master system (e.g., master line). Here, the actual position of the transport moving body 4 does not need to be determined absolutely in two dimensions. The express line workbench module can also be built below a standard workbench module with a running surface with the first code array 9, so that no additional space is required. In addition, coupling-in and coupling-out modules are provided as coupling-in sections 8 or coupling-out sections (gantry, elevator, ramp, etc.), which can place and remove individual transport moving bodies 4 on the express line.

[0043] exist Figure 2 An example for a first code array 9 is shown schematically in FIG, wherein the first code array is configured as a dot grid with X and Y coordinates. The first code array 9 can be oriented along the main direction of travel 100, but any other orientation is also conceivable. Using the dot grid, the respective transport vehicle 4 can determine its own position absolutely with a spatial resolution that corresponds at least to the distance between the points in the dot grid. Higher spatial resolutions can be achieved if necessary.

[0044] Figures 3 ac show various exemplary embodiments for the second code array 10. The second code array 10 includes at least one main conductor 11, which is oriented in the same direction as the main direction of travel 100. As shown in Figure 3 a, the second code array 10 can have only one main conductor 11, which extends along the entire length of the driving surface 3 in the main direction of travel 100. In this embodiment, the second code array 10 does not have any position information with respect to the main direction of travel 100, so that the spatial resolution in the main direction of travel 100 is non-existent and therefore smaller than the spatial resolution of the code array 9 in the transport device 100. A lower spatial resolution is also achieved in the transverse direction 200.

[0045] FIG3 b shows a modified embodiment in which two additional grid points 12 a, b are provided in the second code array 10 , which, for example, form the starting position ( 12 a ) and / or the end position ( 12 b ) of the main line 11 . Consequently, the spatial resolution in the main direction of travel 100 is limited to the two grid points 12 a, b, so that the spatial resolution of the second code array 10 in the transport device 100 is smaller than the spatial resolution of the first code array 9 .

[0046] In the case of the embodiment in Fig. 3 c, the second code array 10 has three or more parallel oriented main lines 11 which meet in further network points 12 c, d, which are configured as branch points. Thereby the main line network 13 is configured as the second code array 10. It also applies here that the spatial resolution of the second code array 10 in the main driving direction 100 is configured significantly smaller than the spatial resolution of the first code array 9 in the same direction.

[0047] The commonality in the case of the embodiments in Fig. 3 a-c is that the main lines 11 and / or the main line structure 13 are configured as one-way streets and can only be driven in one direction. Thereby due to the lower spatial resolution the effort for detecting the position in the main driving direction 100 is significantly reduced on the one hand. Furthermore, the control effort for controlling the transport mobile 4 by the main computer device 14 is also significantly reduced due to the fact that oncoming transport mobiles 4 do not have to be considered.

[0048] It is possible in the case of further embodiments that different main lines 11 and / or different main line networks 13 are configured as independent one-way structures and constitute the second code array 10, so that even in the case of multiple main lines 11 or main line networks 13 the previously described advantages are given. However, the direction of the different and in particular mutually independent main lines 11 and / or main line networks 13 can be differently oriented on the driving surface 3, as this is indicated in Figure 1 Fig. 3 d.

Claims

1. A transport line arrangement, having at least one work surface (2), wherein a first code array (9) is arranged on the work surface (2), wherein the first code array (9) can be used to determine a self-position of an autonomous transport vehicle (4) on the first code array (9) in order to enable a position-controlled planar movement of the autonomous transport vehicle (4) on the work surface (2) based on the self-position; and having a running surface (3), wherein a second code array (10) is arranged on the running surface (3), wherein the running surface (3) is oriented identically directed at least section-wise with the work surface (2) in a main running direction (100), wherein the second code array (10) can be used to determine a self-position of the autonomous transport vehicle (4) on the second code array (10) in order to enable a position-controlled planar movement of the autonomous transport vehicle (4) on the running surface (3) at least in a transverse direction (200) relative to the main running direction (100) when running in the main running direction (100) based on the self-position, characterized in that the work surface (2) constitutes a work movement area for the autonomous transport vehicle (4) and the running surface (3) constitutes a rapid line for the autonomous transport vehicle (4), and / or the first code array (9) has a higher spatial resolution than the second code array (10) at least in the main running direction (100).

2. Transport line arrangement according to any of the preceding claims, characterized in that The first code array (9) has a two-dimensional coding of positions for the autonomous transport vehicle (4).

3. The transport route arrangement according to any one of the preceding claims, characterized in that The second code array (10) has a coding of positions in the form of at least one main guide line (11) in the main running direction (100).

4. Transport line arrangement according to any of the preceding claims, characterized in that The second code array (10) has a network of main guide lines (10) with a plurality of main guide lines (11) and network points (12a, b, c, d), wherein the network points (12a, b, c, d) connect the main guide lines (11) to one another.

5. Transport line arrangement according to any of the preceding claims, characterized in that The work surface (2) and the running surface (3) are arranged in a high degree of mutual misalignment.

6. A transport arrangement (1), in particular comprising a transport line arrangement according to any one of the preceding claims, having a plurality of autonomous transport vehicles (4), having at least one work surface (2), wherein a first code array (9) is arranged on the work surface (2), wherein the transport vehicles (4) are configured for determining a self-position on the first code array (9) in order to move planarly in a position-controlled manner on the work surface (2) based on the self-position; and having a running surface (3), wherein a second code array (10) is arranged on the running surface (3), wherein the running surface (3) is oriented identically directed at least section-wise with the work surface (2) in a main running direction (100), wherein the second code array (10) can be used to determine a self-position of the autonomous transport vehicle (4) on the second code array (10) in order to enable a position-controlled planar movement of the autonomous transport vehicle (4) on the running surface (3) at least in a transverse direction (200) relative to the main running direction (100) when running in the main running direction (100) based on the self-position, characterized in that the work surface (2) constitutes a work movement area for the autonomous transport vehicle (4) and the running surface (3) constitutes a rapid line for the autonomous transport vehicle (4), and / or the first code array (9) has a higher spatial resolution than the second code array (10) at least in the main running direction (100). The first code array (9) has a two-dimensional coding of positions for the autonomous transport vehicle (4). The second code array (10) has a coding of positions in the form of at least one main guide line (11) in the main running direction (100). The second code array (10) has a network of main guide lines (10) with a plurality of main guide lines (11) and network points (12a, b, c, d), wherein the network points (12a, b, c, d) connect the main guide lines (11) to one another. The work surface (2) and the running surface (3) are arranged in a high degree of mutual misalignment.

6. A transport arrangement (1), in particular comprising a transport line arrangement according to any one of the preceding claims, having a plurality of autonomous transport vehicles (4), having at least one work surface (2), wherein a first code array (9) is arranged on the work surface (2), wherein the transport vehicles (4) are configured for determining a self-position on the first code array (9) in order to move planarly in a position-controlled manner on the work surface (2) based on the self-position; and Travel surface (3), wherein a second code array (10) is arranged on the travel surface (3), wherein the travel surface (3) is oriented identically to the working surface (2) at least section-wise in the main travel direction (100), wherein the transport mobiles (4) are configured for determining a self-position on the second code array (10) in order to move in a position-controlled manner on the travel surface (3) when traveling in the main travel direction (100) based on the self-position at least in a transverse direction (200) relative to the main travel direction (100), characterized in that the working surface (2) forms a working movement area for the transport mobiles (4) and the travel surface (3) forms a fast track for the transport mobiles (4), and / or the first code array (9) has a higher spatial resolution than the second code array (10) at least in the main travel direction (100).

7. Transport device (1) according to claim 6, characterized in that The transport mobiles (4) can move in a mechanically unguided manner on the working surface (2) and / or on the travel surface (3).

8. Transport device (1) according to claim 6 or 7, characterized in that The transport device (1) has a coupling-in section (8) for coupling-in transport mobiles (4) from the working surface (2) into the travel surface (3) and / or a coupling-out section for coupling-out transport mobiles (4) from the travel surface (3) into the working surface (2).

9. Transport device (1) according to any one of claims 6 to 8, characterized in that The travel surface (3) and / or the fast track form a single track for the transport mobiles (4).

10. Transport device (1) according to any one of claims 6 to 9, characterized in that The first code array (9) has a two-dimensional coding of the position of the transport mobiles (4) and / or the second code array (10) has a coding of the position in the form of at least one main guide line (11) in the main travel direction (100), or the second code array (10) has a network of main guide lines (10) having a plurality of main guide lines (11) and network points (12a, b, c, d), wherein the network points (12a, b, c, d) connect the main guide lines (11) to one another.

11. Transport device (1) according to any one of claims 6 to 10, characterized in that The working surface (2) and the travel surface (3) are arranged in a high degree of mutual misalignment.

12. Transport device (1) according to any one of claims 6 to 11, characterized in that Work station (6), wherein the working surface (2) forms an entrance for the transport mobiles (4) to the work station (6) and the travel surface (3) forms an exit from the work station (6).

13. Transport device (1) according to any one of claims 6 to 12, characterized in that Master computer device (14), wherein the master computer device (14) is configured to control the transport mobiles (4) such that the transport mobiles (4) are moved more quickly on average on the travel surface (3) than on the working surface (2).

14. Transport device (1) according to any one of claims 6 to 13, characterized in that Master computer device (14) or the master computer device (14), wherein the master computer device (14) is configured to control the transport mobiles (4) such that at least a plurality of the transport mobiles (4) on the travel surface (2) are configured as unloaded transport mobiles (4).

15. Method for operating a transport device (1) according to any one of claims 6 to 14, characterized in that The transport mobile (4) is guided by means of a working surface (2) and a running surface (3), wherein the transport mobile (4) is preferably conveyed in a loaded state by means of the working surface (2) to a work station (6) and / or is preferably led out in an unloaded state by means of the running surface (3).

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