Transport system for internal material transport comprising a tugger train and at least one trolley wagon

Abstract

Transport system (1) for internal material transport comprising a tugger train (2) comprising a towing vehicle and at least one tugger train trailer (4a; 4b; 4c; 4d), and at least one trolley wagon (5a; 5b; 5c; 5d), wherein the tugger train trailer (4a; 4b; 4c; 4d) is designed to carry the at least one trolley wagon (5a; 5b; 5c; 5d), wherein the trolley wagon (5a; 5b; 5c; 5d) has at least one longitudinal strut (L1; L2), characterized in that the transport system (1) comprises an autonomous transport robot (10) which is designed to unload the trolley wagon (5a; 5b; 5c; 5d) from the tugger train trailer (4a; 4b; 4c; 4d) and / or to transport the tugger train trailer (4a; 4b; 4c; 4d) with the trolley wagon (5a; 5b; 5c; 5d) to load, wherein the autonomous transport robot (10) has a coupling device (11) designed to be coupled to the longitudinal strut (L1; L2) of the trolley trolley (5a; 5b; 5c; 5d).

Description

[0001] The invention relates to a transport system for internal material transport comprising a tugger train comprising a towing vehicle and at least one tugger train trailer, and at least one trolley wagon, wherein the tugger train trailer is designed to carry the at least one trolley wagon, wherein the trolley wagon has at least one longitudinal strut.

[0002] For the internal transport of loads and thus the internal flow of materials, tugger trains are increasingly being used. These consist of a towing vehicle and at least one tugger train trailer pulled by the towing vehicle. The tugger train trailer is designed to accommodate and tow at least one trolley wagon loaded with the cargo to be transported.

[0003] A trolley cart, also known as a floor trolley, is typically equipped with at least two swivel casters and has a total of four wheels, allowing it to be pulled or pushed along the floor. Trolley carts are known in various configurations, including those capable of transporting a pallet on which the cargo can be placed. Alternatively, the trolley cart can be designed as a wire mesh container that can be loaded with the cargo. Furthermore, the trolley cart can be equipped with a shelving unit into which small parts containers, known as KLT containers, filled with the cargo, can be placed.

[0004] In known tugger trains, whose trailers are designed to carry at least one trolley wagon, loading the trailer with the trolley wagon and unloading the trolley wagons from the trailer are carried out by a single operator who can still control and drive the towing vehicle. However, loading and unloading the trolley wagons from the trailers is an ergonomically inefficient and physically demanding task.

[0005] The present invention is based on the objective of providing a transport system of the type mentioned at the outset, which is improved with regard to loading the tugger train trailers with the trolley trolleys and unloading the trolley trolleys from the tugger train trailers.

[0006] This task is solved by a transport system for internal material transport comprising a tugger train, which includes a towing vehicle and at least one tugger train trailer, and at least one trolley wagon, wherein the tugger train trailer is designed to carry the at least one trolley wagon, wherein the trolley wagon has at least one longitudinal strut, wherein the transport system includes an autonomous transport robot, which is designed to unload the trolley wagon from the tugger train trailer and / or to load the tugger train trailer with the trolley wagon, wherein the autonomous transport robot has a coupling device, which is designed to be coupled with the longitudinal strut of the trolley wagon.

[0007] The transport system according to the invention thus includes an autonomous transport robot that takes over and performs the ergonomically inconvenient and strenuous tasks of loading the trolley carts into the tugger train trailers and unloading the trolley carts from the tugger train trailers, and thus the loading and unloading of the trolley carts in the tugger train. Preferably, the autonomous transport robot is configured to push the trolley cart into the tugger train trailer to load it. Preferably, the autonomous transport robot is configured to pull the trolley cart out of the tugger train trailer to unload it.

[0008] An autonomous transport robot, also known as an AMR (Autonomous Mobile Robot) or AGV (Automated Guided Vehicle), is a self-driving transport robot equipped with suitable sensors for environmental perception to enable autonomous operation.

[0009] The autonomous transport robot has a coupling device for connecting to the trolley trolley, designed to engage with the trolley trolley's longitudinal support. This allows the autonomous transport robot to be easily coupled to the trolley trolley's longitudinal support, enabling the trolley trolley to be moved on its wheels with the autonomous transport robot. Coupling the autonomous transport robot to the trolley trolley's longitudinal support does not require it to move underneath the trolley trolley. Therefore, in the transport system according to the invention, various tugger train trailers can be loaded and unloaded using the autonomous transport robot, particularly tugger train trailers with a chassis module located beneath the loaded trolley trolley.

[0010] The autonomous transport robot can also be used to easily move the trolley trolley unloaded from the tugger train trailer to a staging position, or to retrieve a trolley trolley to be loaded onto the tugger train trailer from a staging position, move it to the tugger train trailer and load it.

[0011] According to an advantageous embodiment of the invention, the coupling device can be actuated between a coupling position and a release position, wherein in the coupling position the coupling device can be brought into engagement with the longitudinal strut of the trolley cart and in the release position it can be brought out of engagement with the longitudinal strut of the trolley cart. By actuating the coupling device into the coupling position, the autonomous transport robot can be easily coupled and thus connected to the longitudinal strut of the trolley cart in order to move the trolley cart with the autonomous transport robot for loading and unloading the tugger train trailer.

[0012] According to an advantageous embodiment of the invention, the coupling device has at least one coupling hook that can be actuated between the coupling position and the release position. With one or more coupling hooks, the autonomous transport robot can be easily coupled to the longitudinal strut of the trolley.

[0013] According to an advantageous embodiment of the invention, the tugger train trailer has a locking device by means of which the trolley can be locked to the tugger train trailer in a transport position, wherein the autonomous transport robot is provided with an actuator configured to actuate the locking device of the tugger train trailer into a release position. This allows the autonomous transport robot to easily actuate the locking device into the release position in order to unload the trolley from the tugger train trailer.

[0014] According to an advantageous embodiment of the invention, the tugger train is manually operated by an operator. In the transport system according to the invention, the operator is only responsible for guiding and thus driving the towing vehicle. The loading and unloading of the tugger train trailers with the trolleys is handled and carried out by the autonomous transport robot.

[0015] According to an alternative and equally advantageous embodiment of the invention, the tugger train operates autonomously and thus without a driver. An autonomous tugger train is equipped with a towing vehicle that also drives autonomously and therefore without a driver. With the autonomous transport robot, in conjunction with an autonomously driving tugger train, simple loading and unloading of the tugger train trailers using trolleys can be achieved, since for an autonomous tugger train comprising multiple trailers, only a single autonomous transport robot is required for loading and unloading all trailers. In contrast, in known autonomous tugger trains of the prior art, each trailer of the tugger train must be equipped with a corresponding device that enables automated loading and unloading of the respective trailer using a trolley.

[0016] According to an advantageous embodiment of the invention, the tugger train is provided with a transport platform onto which the autonomous transport robot can drive for transport within the tugger train. This makes it easy for the autonomous transport robot, as a functional component of the tugger train, to travel along the tugger train to corresponding staging positions where a trolley cart is to be loaded or unloaded by the autonomous transport robot. The transport platform can be formed by a suitable trailer that is carried along in the tugger train.

[0017] According to an alternative and equally advantageous embodiment of the invention, the autonomous transport robot can be ready at the staging position and, upon arrival of the tugger train at the staging position, unload or load the desired trolley from the tugger train trailer.

[0018] According to an advantageous embodiment of the invention, the autonomous transport robot is in communication with a higher-level control unit, wherein the higher-level control unit is configured to provide control commands to the autonomous transport robot. The control commands can, in particular, consist of loading or unloading one or more of the tugger train trailers of the tugger train with specific trolleys at a particular staging position. This allows, for example, the autonomous transport robot to be easily controlled in a tugger train operated manually by an operator.The higher-level control unit can, for example, be operated by the operator of the tugger train, who enters a work order for the autonomous transport robot at the control unit, such as to unload a specific trolley in the tugger train or to load a tugger train trailer of the tugger train with a specific trolley, whereby the control unit provides corresponding control commands for the autonomous transport robot to process the work order.

[0019] According to an advantageous embodiment of the invention, the tugger train and the autonomous transport robot are in communication with a higher-level control unit, wherein the higher-level control unit is configured to provide control commands to the tugger train and the autonomous transport robot. This allows, for example, the simple control of both the tugger train and the autonomous transport robot in the case of an autonomous tugger train. The higher-level control unit can, for example, be a goods management system that provides corresponding control commands for the tugger train to move to a corresponding staging position and provides corresponding control commands for the autonomous transport robot to unload a specific trolley in the tugger train at the approached staging position or to load a tugger train trailer of the tugger train with a specific trolley.

[0020] According to an advantageous embodiment of the invention, the tugger train is in communication with a higher-level control unit, and the autonomous transport robot is in communication with a tugger train controller of the tugger train, wherein the higher-level control unit is configured to provide control commands to the tugger train, and the tugger train controller of the tugger train is configured to provide control commands to the autonomous transport robot. This allows, for example, the tugger train and the autonomous transport robot to be controlled in a simple manner.The higher-level control unit can, for example, be a goods management system that provides the appropriate control commands for the tugger train's control system to move to a specific staging position and, at that position, either unload a specific trolley in the tugger train or load a specific trolley into a trailer. At the staging position, the tugger train's control system can then provide suitable control commands for the autonomous transport robot, enabling the robot to unload the specific trolley in the tugger train or load the trailer with the specific trolley.

[0021] According to an advantageous embodiment of the invention, the tugger train trailer has a loading platform for receiving the trolley, wherein the loading platform has at least one support rail, in particular at least one lifting rail that can be raised and lowered by means of a lifting drive, or wherein the loading platform has at least one lifting platform that can be raised and lowered by means of a lifting drive, wherein the lifting platform can be lowered onto a roadway in a lowered position and can be raised from the roadway in the raised position. In the transport system according to the invention, both tugger train trailers with support rails and tugger train trailers with a lifting platform can be used to receive trolleys, which can be loaded and unloaded by means of the autonomous transport robot with a trolley.

[0022] According to an advantageous embodiment of the invention, the tugger train trailer is provided with a front chassis module and a rear chassis module, with the loading platform arranged between the chassis modules. With such a tugger train trailer, the loading platform can be easily loaded with or unloaded from a trolley using an autonomous transport robot.

[0023] According to an advantageous embodiment of the invention, the tugger train trailer is equipped with a chassis module arranged essentially centrally in the longitudinal direction of the vehicle. With such a tugger train trailer, the loading area can be easily loaded with or unloaded from a trolley trolley using an autonomous transport robot.

[0024] In the transport system according to the invention, the towing vehicle and the autonomous transport robot can be formed by two separate vehicles.

[0025] According to an advantageous embodiment of the invention, the autonomous transport robot is designed as the towing vehicle of the tugger train. The autonomous transport robot thus performs the function of unloading and loading the tugger train trailers with trolleys, and additionally the function of the towing vehicle, pulling the tugger train trailers. For this purpose, the autonomous transport robot can be equipped with an automated coupling device with which the autonomous transport robot can be coupled to a drawbar of the foremost tugger train trailer.

[0026] The invention has a number of advantages.

[0027] With the transport system according to the invention, in particular in the case of an automated tugger train with the autonomous transport robot, various tugger train trailers with trolley trolleys can be loaded and unloaded and the trolley trolleys can be moved to a provision position, for example at an assembly line or at a storage location or picked up at the provision position.

[0028] In conjunction with an autonomous tugger train, the entire intralogistics process and material transport carried out by the transport system can thus be automated.

[0029] Further advantages and details of the invention are explained in more detail by way of example with reference to the embodiment shown in the schematic figures. Here, Fig. 1 a transport system according to the invention for internal material transport and Fig. 2 a tugger train trailer with a loaded trolley and an autonomous transport robot of the Fig. 1.

[0030] In the Fig. Figure 1 shows a transport system 1 according to the invention for internal material transport.

[0031] The transport system 1 comprises a tugger train 2, which includes a towing vehicle 3 and at least one tugger train trailer 4a, 4b, 4c, 4d pulled by the towing vehicle 3. The tugger train trailer 4a, 4b, 4c, 4d is designed to carry a trolley wagon 5a, 5b, 5c, 5d. The trolley wagons 5a, 5b, 5c, 5d can be loaded with appropriate loads L1, L2, L3, L4.

[0032] Trolleys 5a, 5b, 5c, 5d show - as can be seen from the Fig. As can be seen in more detail in Figure 2, a support frame TR is provided with several rollers 6, which allow the respective trolley cart 5a, 5b, 5c, 5d to be moved on the floor. The support frame TR has a front cross member Q1, a rear cross member Q2, and outer longitudinal members L1, L2, which connect the cross members Q1, Q2. The load L1, L2, L3, L4 can be placed on the support frame TR.

[0033] In the illustrated embodiment, the tugger train trailers 4a, 4b, 4c, 4d are provided with loading platforms 7a, 7b, 7c, 7d. In the illustrated embodiment, the loading platforms 7a, 7b, 7c, 7d are each designed as a lifting platform onto which the trolley trolleys 5a, 5b, 5c, 5d can be pushed with their rollers 6.

[0034] The tugger train trailers 4a, 4b, 4c, 4d are equipped with a lifting drive (not shown) that lowers and raises the loading platforms 7a, 7b, 7c, 7d, which are designed as lifting platforms, to the ground. During operation of the tugger train 2, the loading platforms 7a, 7b, 7c, 7d are raised off the ground, so that the trolley trolleys 5a, 5b, 5c, 5d standing on the loading platforms 7a, 7b, 7c, 7d do not move with their wheels 6 on the ground. To load and unload the trolley trolleys 5a, 5b, 5c, 5d, the loading platforms 7a, 7b, 7c, 7d are lowered to the ground so that the trolley trolleys 5a, 5b, 5c, 5d can be pushed into the loading platforms 7a, 7b, 7c, 7d with their rollers 6 or pulled out of the loading platforms 7a, 7b, 7c, 7d.

[0035] The transport system 1 further includes an autonomous transport robot 10, which is trained to unload the trolley trolley 5a, 5b, 5c, 5d from the tugger train trailer 4a, 4b, 4c, 4d and / or to load the tugger train trailer 4a, 4b, 4c, 4d with the trolley trolley 5a, 5b, 5c, 5d.

[0036] The autonomous transport robot 10 is preferably designed as an AMR (Autonomous Mobile Robot).

[0037] The autonomous transport robot 10 has a coupling device 11 which is designed to be coupled to the longitudinal strut L1 or L2 of the trolley trolley 5a, 5b, 5c, 5d.

[0038] The coupling device 11 of the autonomous transport robot 10 can be actuated between a coupling position and a release position. In the coupling position, the coupling device 11 can be brought into engagement with the longitudinal strut L1 or L2 of the trolley cart 5a, 5b, 5c, 5d. In the release position, the coupling device 11 can be brought out of engagement with the longitudinal strut L1 or L2 of the trolley cart 5a, 5b, 5c, 5d.

[0039] In the illustrated embodiment, the coupling device 11 – as in the Fig. 2 is shown in more detail - at least one coupling hook 12a, 12b that can be actuated between the coupling position and the release position.

[0040] The tugger train trailer 4a, 4b, 4c, 4d has a locking device 15 by means of which the loaded trolley trolley 5a, 5b, 5c, 5d can be locked to the tugger train trailer 4a, 4b, 4c, 4d in a transport position. In the illustrated embodiment, the locking device 15 has several locking elements 16a, 16b, 16c, 16d which, in a locked position, interact with the longitudinal struts L1, L2 of the trolley trolley 5a, 5b, 5c, 5d. The locking device 15 has an actuating device 17, the actuation of which moves the locking device 15 into a release position.

[0041] The autonomous transport robot 10 is equipped with an actuator 20 configured to actuate the locking device 15 of the tugger train trailer 4a, 4b, 4c, 4d into the release position. The actuator 20 is preferably configured to actuate the actuating device 17 in order to actuate the locking device 15 of the tugger train trailer 4a, 4b, 4c, 4d into the release position.

[0042] The tugger train 2 is preferably operated autonomously, wherein the towing vehicle 3 of the tugger train 2 is preferably designed as an autonomous and thus driverless towing vehicle 3.

[0043] In the transport system 1 according to the invention, the autonomous towing vehicle 3 and the autonomous transport robot 10 can be designed as two separate vehicles.

[0044] In the transport system 1 according to the invention, the autonomous transport robot 10 can alternatively be designed as an autonomous towing vehicle 3 of the tugger train 2, wherein the autonomous transport robot 10 loads or unloads the tugger train trailers 4a, 4b, 4c, 4d with the trolley trolleys 5a, 5b, 5c, 5d and additionally takes over the function of the towing vehicle 3 and pulls the tugger train trailers 4a, 4b, 4c, 4d.

[0045] To unload a trolley car 5a, 5b, 5c, 5d from the tugger train trailer 4a, 4b, 4c, 4d, the tugger train 2 is driven by the towing vehicle 3 to a staging position and stopped there. The autonomous transport robot 10 is then moved laterally to the corresponding tugger train trailer 4a, 4b, 4c, 4d to be unloaded, and the coupling device 11 is actuated into the coupling position, so that the autonomous transport robot 10 is connected to the longitudinal strut L1 or L2 of the trolley car 5a, 5b, 5c, 5d to be unloaded. The autonomous transport robot 10 then uses the actuator 20 to actuate the locking device 15 into the release position. The trolley trolley 5a, 5b, 5c, 5d can then be unloaded from the tugger train trailer 4a, 4b, 4c, 4d by means of the autonomous transport robot 10. For this purpose, the trolley trolley 5a, 5b, 5c, 5d is pulled out of the loading platform 7a, 7b, 7c, 7d, which is lowered to the ground, by the autonomous transport robot 10.Subsequently, the unloaded trolley 5a, 5d, 5c, 5d can be moved by the autonomous transport robot 10 to a desired target position, where the trolley 5a, 5b, 5c, 5d with the load L1, L2, L3, L4 is to be made available, and the coupling device 11 is to be activated in the release position.

[0046] To load the tugger train trailer 4a, 4b, 4c, 4d with a trolley wagon 5a, 5b, 5c, 5d, the autonomous transport robot 10 is moved laterally towards a trolley wagon 5a, 5b, 5c, 5d provided at a source position, and the coupling device 11 is activated in the coupling position, so that the autonomous transport robot 10 is connected to the longitudinal strut L1 or L2 of the provided trolley wagon 5a, 5b, 5c, 5d. The trolley wagon 5a, 5b, 5c, 5d can then be loaded onto the tugger train trailer 4a, 4b, 4c, 4d by means of the autonomous transport robot 10. For this purpose, the trolley trolley 5a, 5b, 5c, 5d is moved by the autonomous transport robot 10 from the source position to the tugger train trailer 4a, 4b, 4c, 4d and pushed up onto the loading platform 7a, 7b, 7c, 7d which is lowered to the ground.The locking device 15 on the tugger train trailer 4a, 4b, 4c, 4d is preferably actuated by the trolley trolley 5a, 5b, 5c, 5d and locks the pushed-on trolley trolley 5a, 5b, 5c, 5d automatically in the transport position. The coupling device 11 can then be actuated into the release position.

[0047] The autonomous transport robot 10 receives the control commands to unload a corresponding trolley 5a, 5b, 5c, 5d from a tugger train trailer 4a, 4b, 4c, 4d and move it to a target position, or to move a corresponding trolley 5a, 5b, 5c, 5d from a source position to the tugger train trailer 4a, 4b, 4c, 4d and load it onto the tugger train trailer 4a, 4b, 4c, 4d, from a higher-level control unit 30, with which the autonomous transport robot 10 is in communication link 31, in particular a wireless communication link.

[0048] If the tugger train 2 is designed as an autonomously operated tugger train 2, the tugger train 2 is preferably also in communication connection 32 with the higher-level control unit 30, in particular a wireless communication connection, wherein the higher-level control unit 30 provides corresponding control commands for the tugger train 2 to approach the desired staging positions, at which the autonomous transport robot 10 is to load and / or unload the tugger train trailer 4a, 4b, 4c, 4d with a trolley wagon 5a, 5b, 5c, 5d.

[0049] Provided that the autonomous transport robot 10 is further configured as a towing vehicle 3 of the tugger train 2, the autonomous transport robot 10 is preferably equipped with an automatically operating trailer device with which the autonomous transport robot 10 can be coupled to a drawbar of the foremost tugger train trailer 4a (not shown in detail).

[0050] The autonomous transport robot 10, which can be coupled to the longitudinal strut L1 or L2 of the trolley wagon 5a, 5b, 5c, 5d by means of the coupling device 11, can be used in particular to transport tugger train trailers 4a, 4b, 4c, 4d, which - as in the Fig. 2 is further clarified - are equipped with a running gear module FM which is arranged essentially in the middle in the longitudinal direction of the vehicle, which is located below the loaded trolley wagon 5a, 5b, 5c, 5d and which does not allow the trolley wagon 5a, 5b, 5c, 5d to be driven under, and are loaded and unloaded with trolley wagon 5a, 5b, 5c, 5d.

[0051] However, the invention is not limited to the invention described in the Fig. 2. The depicted design of tugger train trailers 4a, 4b, 4c, 4d is limited.

[0052] As an alternative to the design of the tugger train trailers 4a, 4b, 4c, 4d with a chassis module FM arranged essentially centrally in the longitudinal direction of the vehicle, the tugger train trailer 4a, 4b, 4c, 4d can be provided with a front chassis module and a rear chassis module, with the loading platform arranged between the two chassis modules.

[0053] As an alternative to the design of the loading surfaces 7a, 7b, 7c, 7d as lifting platforms onto which the trolley trolleys 5a, 5b, 5c, 5d with their rollers 6 can be pushed, the tugger train trailers 4a, 4b, 4c, 4d can be provided with liftable and lowerable support rails that cooperate with the crossbars Q1, Q2 of the trolley trolleys 5a, 5b, 5c, 5d.

Claims

[1] Transport system (1) for internal material transport comprising a tugger train (2) comprising a towing vehicle and at least one tugger train trailer (4a; 4b; 4c; 4d), and at least one trolley wagon (5a; 5b; 5c; 5d), wherein the tugger train trailer (4a; 4b; 4c; 4d) is designed to carry the at least one trolley wagon (5a; 5b; 5c; 5d), wherein the trolley wagon (5a; 5b; 5c; 5d) has at least one longitudinal strut (L1; L2), characterized by , that the transport system (1) comprises an autonomous transport robot (10) configured to unload the trolley trolley (5a; 5b; 5c, 5d) from the tugger train trailer (4a; 4b; 4c; 4d) and / or to load the tugger train trailer (4a; 4b; 4c; 4d) with the trolley trolley (5a; 5b; 5c; 5d), wherein the autonomous transport robot (10) has a coupling device (11) configured to be coupled to the longitudinal strut (L1; L2) of the trolley trolley (5a; 5b; 5c; 5d). [2] Transport system according to claim 1, characterized by, that the coupling device (11) can be actuated between a coupling position and a release position, wherein in the coupling position (11) the coupling device (11) can be brought into engagement with the longitudinal strut (L1; L2) of the trolley carriage (5a; 5b; 5c; 5d) and in the release position can be brought into disengagement with the longitudinal strut (L1, L2) of the trolley carriage (5a; 5b; 5c; 5d). [3] Transport system according to claim 1 or 2, characterized by , that the coupling device (11) has at least one coupling hook (12a; 12b) that can be actuated between the coupling position and the release position. [4] Transport system according to any one of claims 1 to 3, characterized by, that the tugger train trailer (4a; 4b; 4c; 4d) has a locking device (15) by means of which the trolley trolley (5a; 5b; 5c; 5d) can be locked in a transport position on the tugger train trailer (4a; 4b; 4c; 4d), wherein the autonomous transport robot (10) is provided with an actuator (20) which is configured to actuate the locking device (15) of the tugger train trailer (4a; 4b; 4c; 4d) into a release position. [5] Transport system according to any one of claims 1 to 4, characterized by , that the route train (2) is operated manually by an operator. [6] Transport system according to any one of claims 1 to 4, characterized by , that the route train (2) is operated autonomously. [7] Transport system according to any one of claims 1 to 6, characterized by , that the tugger train (2) is equipped with a transport surface onto which the autonomous transport robot (10) can drive for transport in the tugger train (2). [8] Transport system according to any one of claims 1 to 7, characterized by , that the autonomous transport robot (10) is in communication connection (31) with a superior control unit (30), wherein the superior control unit (30) is configured to provide control commands to the autonomous transport robot (10). [9] Transport system according to any one of claims 1 to 7, characterized by , that the tugger train (2) and the autonomous transport robot (10) are in communication link (31; 32) with a higher-level control unit (30), wherein the higher-level control unit (30) is configured to provide control commands to the tugger train (2) and the autonomous transport robot (10). [10] Transport system according to any one of claims 1 to 7, characterized by, that the tugger train (2) is in communication link (32) with a superior control unit (30) and the autonomous transport robot (10) is in communication link with a tugger train controller of the tugger train (2), wherein the superior control unit (30) is configured to provide control commands of the tugger train (2) and the tugger train controller of the tugger train (2) is configured to provide control commands of the autonomous transport robot (10). [11] Transport system according to any one of claims 1 to 10, characterized by, that the tugger train trailer (3) has a loading platform (7a; 7b; 7c; 7d) for receiving the trolley trolley (4a; 4b; 4c; 4d), wherein the loading platform (7a; 7b; 7c; 7d) has at least one support rail, in particular at least one lifting rail that can be raised and lowered by means of a lifting drive, or wherein the loading platform (7a; 7b; 7c; 7d) has at least one lifting platform that can be raised and lowered by means of a lifting drive, wherein the lifting platform can be lowered onto a roadway in a lowered position and can be raised from the roadway in the raised position. [12] Transport system according to any one of claims 1 to 11, characterized by , that the tugger train trailer (4a; 4b; 4c; 4d) is provided with a front chassis module and a rear chassis module, wherein the loading platform (7a; 7b; 7c; 7d) is arranged between the chassis modules. [13] Transport system according to any one of claims 1 to 11, characterized by, that the tugger train trailer (4a; 4b; 4c; 4d) is equipped with a chassis module (FM) arranged essentially centrally in the longitudinal direction of the vehicle. [14] Transport system according to any one of claims 1 to 13, characterized by , that the autonomous transport robot (10) is designed as a towing vehicle (3) of the tugger train (2).

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