Transport system for internal material transport comprising a tugger train

Abstract

Transport system (1) for the internal transport of materials, comprising a tugger train (2) which comprises a towing vehicle (3) and at least one tugger train trailer (4a; 4b; 4c; 4d) which is designed to carry a load carrier (5a; 5b; 5c; 5d), in particular a trolley cart (15a; 15b; 15c; 15d), characterized in that the transport system (1) comprises a humanoid robot (10) which is designed to control the towing vehicle (3), wherein the humanoid robot (10) is designed to operate a steering actuating element of a steering drive of the towing vehicle (3), to operate a driving actuating element of a driving drive of the towing vehicle (3) and / or to operate a braking actuating element of a braking device of the towing vehicle (3).

Description

[0001] The invention relates to a transport system for internal material transport comprising a tugger train which comprises a towing vehicle and at least one tugger train trailer which is designed to carry a load carrier, in particular a trolley.

[0002] For the internal or factory-internal transport of loads within a company's premises, and thus for the internal material flow, tugger trains are increasingly being used. These consist of a towing vehicle and at least one tugger trailer pulled by the towing vehicle. The tugger trailers are designed to accommodate and carry at least one load carrier equipped with the load to be transported.

[0003] The load carrier can be designed as a trolley, also known as a floor roller, which is usually equipped with at least two swivel castors and a total of four castors, with which the trolley can be pushed along the floor. In this case, designs of trolleys are known with which a pallet can be transported, onto which the load to be transported can be placed. Furthermore, the trolley can be designed as a so-called lattice box, which can be loaded with the load to be transported. Furthermore, the trolley can be equipped with a shelf structure into which small parts containers, so-called KLT containers, filled with the load to be transported, can be placed.

[0004] In the case of known tugger trains, the tugger train trailer of which is designed to carry at least one load carrier, the loading of the tugger train trailer with the load carrier and the unloading of the load carrier from the tugger train trailer is carried out by a human operator who can still control and drive the towing vehicle.

[0005] Furthermore, it is already known to operate the towing vehicle of the tugger train autonomously or automatically, whereby the towing vehicle travels driverless and thus without a human operator. Such an autonomously or automatically operated towing vehicle drives and navigates within a company premises using markings or reflectors, which are detected by appropriate sensors on the towing vehicle, or using GPS navigation. To enable safe operation of the autonomously or automatically operated towing vehicle on the company premises, the autonomously or automatically operated towing vehicle is also equipped with a safety system, a so-called safety system, which detects obstacles in the vicinity of the towing vehicle, in particular in the towing vehicle's path, and triggers a corresponding vehicle reaction when an obstacle is detected, for example, braking or stopping the towing vehicle when an obstacle is detected.The safety system usually includes several safety sensors designed as laser scanners that are installed on the towing vehicle.

[0006] Due to the sensors and safety system required for autonomous driving or autonomous navigation, an autonomously or automatically operated towing vehicle that drives without a human operator requires a high level of construction effort, so that an autonomously or automatically operated tugger train whose towing vehicle drives without a human operator requires a high level of construction effort.

[0007] The present invention is based on the object of providing a transport system of the type mentioned above comprising a tugger train, the towing vehicle of which can be operated without a human operator with reduced construction effort.

[0008] This object is achieved by a transport system for internal material transport comprising a tugger train which comprises a towing vehicle and at least one tugger train trailer which is designed to carry a load carrier, in particular a trolley, wherein the transport system comprises a humanoid robot which is designed to control the towing vehicle, wherein the humanoid robot is designed to operate a steering actuating element of a steering drive of the towing vehicle, to operate a driving actuating element of a driving drive of the towing vehicle and / or to operate a braking actuating element of a braking device of the towing vehicle.

[0009] According to the invention, a humanoid robot is thus provided which is designed to control the towing vehicle of the tugger train and thus to drive it. The towing vehicle is thus operated and controlled by the humanoid robot. For this purpose, the humanoid robot is designed to actuate and thus operate the corresponding operating elements of the towing vehicle provided for the driving operation of the towing vehicle, which essentially include a steering actuating element of a steering drive of the towing vehicle, a driving actuating element of a driving drive of the towing vehicle and / or a braking actuating element of a braking device of the towing vehicle. A humanoid robot has corresponding sensors for detecting and perceiving the environment, for example one or more cameras, with which the humanoid robot can detect the environment and which the humanoid robot can use to control the driving operation of the towing vehicle and to detect obstacles.The humanoid robot can thus drive, steer, and, if necessary, brake the towing vehicle using its existing sensors. In conjunction with a humanoid robot that controls and thus drives and operates the towing vehicle, a transport system comprising a tugger train can be provided with minimal construction effort. The towing vehicle can be operated autonomously or automatically without a human operator with reduced construction effort. For autonomous or automated operation of the towing vehicle, in particular, no sensors for autonomous driving or autonomous operation are required on the towing vehicle.Autonomous navigation and, if applicable, no safety system with corresponding safety sensors on the towing vehicle is required and therefore no automation of the towing vehicle is required, since the function of the sensors for autonomous driving and, if applicable, the function of the safety sensors of the safety system can be taken over by the humanoid robot with its sensors.

[0010] According to an advantageous embodiment of the invention, the towing vehicle of the tugger train is provided with a standing area and / or a seating area for the humanoid robot, on which the humanoid robot can ride on the towing vehicle and control the towing vehicle. This makes it easy for the humanoid robot to ride on the towing vehicle as a functional component of the towing vehicle and to control and thus operate the towing vehicle.

[0011] According to an advantageous embodiment of the invention, the towing vehicle is provided with a battery, and a charging device is provided, which is designed to charge the humanoid robot located on the towing vehicle with electrical energy from the battery. If the towing vehicle is provided with an electric battery, which, for example, supplies an electric drive system of the towing vehicle with electrical energy, the charging device can be used to easily charge the humanoid robot traveling on the towing vehicle with electrical energy from the battery of the towing vehicle. For example, an electrical energy storage device of the humanoid robot traveling on the towing vehicle can be electrically charged while the towing vehicle is traveling.

[0012] According to one embodiment, the charging device can comprise charging contacts on the towing vehicle and charging contacts on the humanoid robot, which are automatically connected to one another when the humanoid robot is in a predetermined standing position on the base of the towing vehicle or when the humanoid robot is in a predetermined sitting position on the seat of the towing vehicle.

[0013] According to an alternative embodiment, the charging device can be designed as an inductive charging device which enables charging of the humanoid robot with electrical energy from the battery of the towing vehicle when the humanoid robot is located on the standing area or seat of the towing vehicle.

[0014] According to an alternative embodiment, the charging device can comprise a charging cable that can be connected to a charging plug, wherein the humanoid robot is configured to connect the charging cable to the charging plug for charging. The charging cable can be arranged on the towing vehicle, and the charging plug on the humanoid robot. Alternatively, the charging cable can be arranged on the humanoid robot, and the charging plug on the towing vehicle.

[0015] According to an advantageous embodiment of the invention, the humanoid robot is in communication with a higher-level control device, wherein the higher-level control device is configured to provide tugger train transport orders to the humanoid robot. The higher-level control device, which may be formed, for example, by a goods management system, sends tugger train transport orders via the communication connection to the humanoid robot, which executes them accordingly. The tugger train transport orders preferably comprise driving orders to drive the tugger train within the company premises to at least one staging position at which the tugger train trailer is to be loaded with a load carrier and / or at which the tugger train trailer is to be unloaded from a load carrier.

[0016] According to an advantageous embodiment of the invention, the humanoid robot is further designed to load a tugger train trailer with the load carrier and / or to unload a tugger train trailer from the load carrier. The humanoid robot driving and thus operating the towing vehicle is thus further provided to take over and carry out the ergonomically unfavorable and strenuous activity of loading the tugger train trailers with load carriers and unloading the load carriers from the tugger train trailers, and thus unloading and loading the load carriers in the tugger train. When the load carriers are designed as trolley carts, the humanoid robot is preferably designed to push or pull the trolley cart into the tugger train trailer to load the tugger train trailer with a trolley cart and / or to pull or push the trolley cart out of the tugger train trailer to unload the trolley cart from the tugger train trailer.The tugger train transport orders, which are sent from the higher-level control device to the humanoid robot via the communication connection, include, in addition to the driving orders to drive the tugger train within the company premises to at least one staging position at which the tugger train trailer is to be loaded with a load carrier and / or at which the tugger train trailer is to be unloaded from a load carrier, also loading orders to load one or more of the tugger train trailers of the tugger train with at least one specific load carrier at the staging position approached and / or to unload one or more of the tugger train trailers of the tugger train from at least one specific load carrier at the staging position approached.With the humanoid robot driving and thus operating the towing vehicle, simple loading and unloading of the tugger train trailers with the load carriers can also be achieved at a staging position to which the tugger train has been driven by the humanoid robot. This is because an autonomously operated tugger train with multiple tugger train trailers requires only a single humanoid robot to drive the towing vehicle and load and unload all tugger train trailers. In contrast, in known autonomous tugger trains of the state of the art, each tugger train trailer of the tugger train must be equipped with a corresponding device that enables automated loading and unloading of the corresponding tugger train trailer with a load carrier.

[0017] According to an advantageous embodiment of the invention, the humanoid robot is further configured to uncouple a tugger train trailer from the tugger train or to couple it to the tugger train. If, at a staging position, not only individual load carriers are to be unloaded or loaded from the tugger train, but an entire tugger train trailer is to be parked or picked up at a staging position, this task can also be easily taken over and performed by the humanoid robot. The humanoid robot uncouples an individual tugger train trailer from the tugger train and distributes it at the staging position, or couples a tugger train trailer standing at the staging position to the tugger train.For this purpose, the tugger train trailers are preferably each provided with a drawbar that can be coupled or uncoupled to a trailer coupling on the towing vehicle and / or to a trailer coupling of a tugger train trailer in the tugger train.

[0018] According to an advantageous embodiment of the invention, the towing vehicle has at least one safety sensor designed to monitor the surroundings of the towing vehicle for obstacles. The safety sensor is preferably designed as a laser scanner that monitors a monitoring plane parallel to the roadway on which the towing vehicle is traveling, acting as a monitoring area, for obstacles. If an obstacle is detected in the monitoring plane, it triggers a vehicle reaction, for example, braking or stopping the towing vehicle. If the towing vehicle is equipped with at least one safety sensor, the requirements for the capabilities of the humanoid robot can be reduced, since the humanoid robot, with its sensor technology, for example one or more cameras, only has to drive the towing vehicle in the surroundings and thus navigate.

[0019] According to an advantageous embodiment of the invention, the humanoid robot is in communication with at least one safety sensor. This enables the humanoid robot to trigger and execute a suitable vehicle reaction, such as braking or stopping the towing vehicle, by actuating the corresponding control element, for example, the drive control element and / or the brake control element, when the safety sensor detects an obstacle in the monitoring plane.

[0020] Alternatively, the safety sensor can be connected to a vehicle control system of the towing vehicle and a suitable vehicle reaction, for example braking or stopping of the towing vehicle, can be triggered and carried out by the vehicle control system when the safety sensor detects an obstacle in the monitoring plane.

[0021] The transport system according to the invention makes it possible for the tugger train to be driven by the humanoid robot to a staging position for loading the tugger train trailer with a load carrier, and for the tugger train trailer standing at the staging position to be loaded with the load carrier, in particular for the tugger train trailer standing at the staging position to be loaded with the load carrier by the humanoid robot, and / or for the tugger train trailer to be driven by the humanoid robot to a staging position for unloading a load carrier from the tugger train trailer, and for the load carrier to be unloaded from the tugger train trailer standing at the staging position, in particular for the load carrier to be unloaded from the tugger train trailer standing at the staging position by the humanoid robot. The humanoid robot can therefore be used in a simple manner to create an autonomous orautomated operation of the tugger train without human operator can be achieved.

[0022] The transport system according to the invention further enables a tugger train trailer to be uncoupled from the tugger train stationed at the staging position by the humanoid robot and pushed to a target position, and / or a tugger train trailer to be pushed from a source position to the tugger train stationed at the staging position by the humanoid robot and coupled to the tugger train. This allows the humanoid robot to easily uncouple an entire tugger train trailer from the tugger train at the staging position and make it available at the target position, or to couple a tugger train trailer stationed at the source position to the tugger train.

[0023] 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 figure.

[0024] In the Fig. 1 shows a transport system 1 according to the invention for internal material transport.

[0025] The transport system 1 comprises a tugger train 2, which has a towing vehicle 3 and at least one tugger train trailer 4a, 4b, 4c, 4d pulled by the towing vehicle 3. The transport system 1 further comprises at least one load carrier 5a, 5b, 5c, 5d. In the illustrated embodiment, the load carriers 5a, 5b, 5c, 5d are designed as trolleys 15a, 15b, 15c, 15d.

[0026] The tugger train trailer 4a, 4b, 4c, 4d is each designed to carry at least one load carrier 5a, 5b, 5c, 5d.

[0027] The trolleys 15a, 15b, 15c, and 15d each have several rollers 6, which allow the respective trolley 15a, 15b, 15c, and 15d to be moved along the floor. The trolleys 15a, 15b, 15c, and 15d can be loaded with a load L1, L2, L3, and L4.

[0028] In the illustrated embodiment, the tugger train trailers 4a, 4b, 4c, 4d are provided with loading platforms 7a, 7b, 7c, 7d onto which the trolley carts 15a, 15b, 15c, 15d with their rollers 6 can be pushed.

[0029] The tugger train trailers 4a, 4b, 4c, 4d are equipped with a lifting drive (not shown in detail) with which the loading platforms 7a, 7b, 7c, 7d can be lowered to the ground and raised from the ground. During operation of the tugger train 2, the loading platforms 7a, 7b, 7c, 7d are raised from the ground, so that the trolleys 15a, 15b, 15c, 15d standing on the loading platforms 7a, 7b, 7c, 7d do not run with their rollers 6 on the ground. For loading and unloading the trolley carts 15a, 15b, 15c, 15d, the loading platforms 7a, 7b are lowered to the ground so that the trolley carts 15a, 15b, 15c, 15d with their rollers 6 can be pushed up or pulled up onto the loading platforms 7a, 7b, 7c, 7d or pushed out of or pulled into the loading platforms 7a, 7b, 7c, 7d.

[0030] The transport system 1 further comprises a humanoid robot 10, which is designed to control and thus operate the towing vehicle 3. The humanoid robot 10 is particularly designed to control a drive and a steering drive of the towing vehicle 3 and thus the driving and steering operations of the towing vehicle 3.

[0031] For this purpose, the towing vehicle 3 has a steering actuation element (not shown in detail), for example, a steering wheel, with which a steering drive of the towing vehicle can be controlled, and a driving actuation element (not shown in detail), for example, a drive switch arranged on the steering wheel, with which a drive of the towing vehicle can be controlled. The towing vehicle 3 can further have a brake actuation element (not shown in detail), with which a braking device of the towing vehicle can be controlled. The brake actuation element can be formed by the drive switch or a separate brake switch.

[0032] The humanoid robot 10 is preferably designed to operate the steering actuating element of the steering drive of the towing vehicle 3, to operate the driving actuating element of the driving drive of the towing vehicle 3 and / or to operate the braking actuating element of the braking device of the towing vehicle 3.

[0033] The towing vehicle 3 is provided with a standing surface 11 and / or a seating surface for the humanoid robot 10, on which the humanoid robot 10 is located during the control of the driving operation and the steering operation of the towing vehicle 3 and thus during the driving operation of the towing vehicle 3.

[0034] The towing vehicle 3 is equipped with a battery (not shown in detail), which supplies an electric drive system of the tugger train 2, for example, an electric drive of the towing vehicle 3 and / or an electric lifting drive of the tugger train trailers 4a, 4b, 4c, 4d, with electrical energy. According to a further development, the towing vehicle 3 has a charging device (not shown in detail), which is designed to charge the humanoid robot 10 located on the towing vehicle 3 with electrical energy from the battery of the towing vehicle 3.

[0035] The humanoid robot 10 is in communication connection 21 with a higher-level control device 20, for example a goods management system. The higher-level control device 20 is designed to provide tugger train transport orders to the humanoid robot 10.

[0036] The humanoid robot 10 can further be designed to unload the load carrier 5a or 5b or 5c or 5d from the tugger train trailer 4a or 4b or 4c or 4d and / or to load the tugger train trailer 4a or 4b or 4c or 4d with a load carrier 5a or 5b or 5c or 5d.

[0037] Alternatively or additionally, the humanoid robot 10 can be designed to uncouple a tugger train trailer 4a or 4b or 4c or 4d from the tugger train 2 or to couple it to the tugger train 2.

[0038] The Fig. 1 shows the tugger train 2 in driving operation, wherein the towing vehicle 3 of the tugger train 2 is controlled and thus driven by the humanoid robot 10 located on the standing area 11 and / or a seat.

[0039] In the illustrated embodiment, the towing vehicle 3 of the tugger train 12 has no sensors for autonomous driving or autonomous navigation and no safety system with corresponding safety sensors on the towing vehicle 3.

[0040] To load the tugger train trailer 4a, 4b, 4c, 4d with a load carrier 5a, 5b, 5c, 5d, the tugger train 2 is driven by the humanoid robot 10 to a staging position, stopped there, and the tugger train trailer 4a, 4b, 4c, 4d standing at the staging position is loaded with the load carrier 5a, 5b, 5c, 5d. During the journey to the staging position, the humanoid robot 10 is located on the standing area 11 and / or a seat of the towing vehicle 3 and controls the driving and steering operation of the towing vehicle 3 by appropriately actuating the steering actuating element and the driving actuating element and / or the braking actuating element of the towing vehicle 3. The humanoid robot 10 uses its sensors, for example cameras, to detect the surroundings and navigates the tugger train 2 to the desired staging position.

[0041] If the humanoid robot 10 is configured to load the tugger train trailer 4a, 4b, 4c, or 4d with a load carrier 5a, 5b, 5c, or 5d, the tugger train trailer 4a, 4b, 4c, 4d standing at the staging position is loaded with the load carrier 5a, 5b, 5c, 5d by the humanoid robot 10. For this purpose, the humanoid robot 10 leaves the standing area 11 and / or seat area of the towing vehicle 3.

[0042] When the load carrier 5a or 5b or 5c or 5d is designed as a trolley 15a, 15b, 15c, 15d, in order to load a tugger train trailer 4a, 4b, 4c, 4d with a trolley 15a, 15b, 15c, 15d, the trolley 15a, 15b, 15c, 15d is pushed by the humanoid robot 10 from a source position at which the trolley to be loaded is parked to the desired tugger train trailer 4a, 4b, 4c, 4d and loaded onto the tugger train trailer 4a, 4b, 4c, 4d, for example pushed or pulled onto the loading platform 7a, 7b, 7c, 7d lowered to the ground.

[0043] The humanoid robot 10 then returns to the standing area 11 or seat area of the tugger train 2 so that the humanoid robot can drive the tugger train 2 to another staging position where another load carrier 5a or 5b or 5c or 5d is to be loaded or unloaded.

[0044] To unload a load carrier 5a, 5b, 5c, 5d from the tugger train trailer 4a, 4b, 4c, 4d, the tugger train 2 is driven by the humanoid robot 10 to a staging position, stopped there, and the load carrier 5a, 5b, 5c, 5d is unloaded from the tugger train trailer 4a, 4b, 4c, 4d standing at the staging position. During the journey to the staging position, the humanoid robot 10 is located on the standing area 11 and / or a seat of the towing vehicle 3 and controls the driving and steering operation of the towing vehicle 3 by appropriately actuating the steering actuating element and the driving actuating element and / or the braking actuating element of the towing vehicle 3. The humanoid robot 10 uses its sensors, for example cameras, to detect the surroundings and navigate the tugger train 2 to the desired staging position.

[0045] If the humanoid robot 10 is configured to unload the load carrier 5a, 5b, 5c, or 5d from the tugger train trailer 4a, 4b, 4c, or 4d, the load carrier 5a, 5b, 5c, or 5d is unloaded from the tugger train trailer 4a, 4b, 4c, 4d located at the staging position by the humanoid robot 10. For this purpose, the humanoid robot 10 leaves the standing area 11 and / or seat area of the towing vehicle 3.

[0046] When the load carrier 5a or 5b or 5c or 5d is designed as a trolley 15a, 15b, 15c, 15d, the desired trolley 15a, 15b, 15c, 15d is unloaded from the tugger train trailer 4a or 4b or 4c or 4d located at the staging position. For this purpose, the trolley 15a, 15b, 15c, 15d is unloaded from the tugger train trailer 4a by the humanoid robot 10, for example, pulled or pushed out from the loading platform 7a, 7b, 7c, 7d lowered to the ground, and pushed to a desired target position where the trolley 15a, 15b, 15c, 15d is to be made available with the load L1.

[0047] The humanoid robot 10 then returns to the standing area 11 or seat area of the tugger train 2 so that the humanoid robot can drive the tugger train 2 to another staging position where another load carrier 5a or 5b or 5c or 5d is to be loaded or unloaded.

[0048] For this purpose, the humanoid robot 10 receives tugger train transport orders from the higher-level control device 20, which include corresponding driving orders to drive the tugger train 2 within the company premises to at least one staging position at which the tugger train trailer 4a or 4b or 4c or 4d is to be loaded with a load carrier 5a or 5b or 5c or 5d and / or at which the tugger train trailer 4a or 4b or 4c or 4d is to be unloaded from a load carrier 5a or 5b or 5c or 5d. The communication connection 21 is preferably designed as a wireless communication connection.

[0049] If the humanoid robot 10 is designed to unload the load carrier 5a or 5b or 5c or 5d from the tugger train trailer 4a or 4b or 4c or 4d or to load the tugger train trailer 4a or 4b or 4c or 4d with a load carrier 5a or 5b or 5c or 5d, the tugger train transport orders sent to the humanoid robot 10 further comprise loading orders to load one or more of the tugger train trailers 4a or 4b or 4c or 4d of the tugger train 2 with at least one specific load carrier 5a or 5b or 5c or 5d at the approached provision position and / or to unload one or more of the tugger train trailers 4a or 4b or 4c or 4d of the tugger train 2 from at least one specific charge carrier 5a or 5b or 5c or 5d to be discharged

[0050] Alternatively or additionally, the humanoid robot 10 can be designed to uncouple a tugger train trailer 4a or 4b or 4c or 4d from the tugger train 2 or to couple it to the tugger train 2.

[0051] For this purpose, a specific tugger train trailer 4a or 4b or 4c or 4d can be uncoupled from the tugger train 2 located at the staging position by the humanoid robot 10 and pushed to a target position and parked there, and / or a tugger train trailer (not shown in detail), which is parked at a source position, can be pushed from the source position to the tugger train 2 by the humanoid robot 10 and coupled to the tugger train 2. The loading orders sent to the humanoid robot 10 include the instructions as to which tugger train trailer 4a or 4b or 4c or 4d is to be uncoupled at a specific staging position or which tugger train trailer 4a or 4b or 4c or 4d is to be coupled at a specific staging position.

[0052] The invention is not limited to the illustrated embodiment, in which the towing vehicle 3 of the tugger train 12 does not have any sensors for autonomous driving or autonomous navigation and no safety system with corresponding safety sensors on the towing vehicle 3.

[0053] Alternatively, the towing vehicle 3 of the tugger train 2 may not have any sensors for autonomous driving or autonomous navigation, but may be equipped with at least one safety sensor of a safety system. Preferably, in such a towing vehicle 3 equipped with at least one safety sensor, the humanoid robot 10 is in communication with the at least one safety sensor. Preferably, the humanoid robot 10 is configured to trigger and execute a suitable vehicle reaction of the towing vehicle 3, for example, braking or stopping the towing vehicle 3, by actuating the corresponding control element, for example, the drive control element and / or the brake control element, when the safety sensor detects an obstacle in the monitoring area.

Claims

[1] Transport system (1) for the internal transport of materials comprising a tugger train (2) which comprises a towing vehicle (3) and at least one tugger train trailer (4a; 4b; 4c; 4d) which is designed to carry a load carrier (5a; 5b; 5c; 5d), in particular a trolley (15a; 15b; 15c; 15d), characterized by in that the transport system (1) comprises a humanoid robot (10) which is designed to control the towing vehicle (3), wherein the humanoid robot (10) is designed to operate a steering actuating element of a steering drive of the towing vehicle (3), to operate a driving actuating element of a driving drive of the towing vehicle (3) and / or to operate a braking actuating element of a braking device of the towing vehicle (3). [2] Transport system according to claim 1, characterized bythat the towing vehicle (3) of the tugger train (2) is provided with a standing area (11) and / or a seating area for the humanoid robot (10), on which the humanoid robot (10) can ride on the towing vehicle (3) and control the towing vehicle (3). [3] Transport system according to claim 1 or 2, characterized by that the towing vehicle (3) is provided with a battery and a charging device is provided which is designed to charge the humanoid robot (10) located on the towing vehicle with electrical energy from the battery. [4] Transport system according to one of claims 1 to 3, characterized by that the humanoid robot (10) is in communication connection (21) with a higher-level control device (20), wherein the higher-level control device (20) is designed to provide tugger train transport orders to the humanoid robot (10). [5] Transport system according to one of claims 1 to 4, characterized bythat the humanoid robot (10) is further designed to load a tugger train trailer (4a; 4b; 4c; 4d) with the load carrier (5a; 5b; 5c; 5d) and / or to unload a tugger train trailer (4a; 4b; 4c; 4d) from the load carrier (5a; 5b; 5c; 5d). [6] Transport system according to one of claims 1 to 5, characterized by that the humanoid robot (10) is designed to uncouple a tugger train trailer (4a; 4b; 4c; 4d) from the tugger train (2) or to couple it to the tugger train (2). [7] Transport system according to one of claims 1 to 6, characterized by that the towing vehicle (3) has at least one safety sensor which is designed to monitor the surroundings of the towing vehicle (3) for obstacles. [8] Transport system according to claim 6, characterized by that the humanoid robot (10) is in communication with the at least one safety sensor.

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