Driverless transport vehicle with a loading platform and two robot arms

Abstract

Driverless transport vehicle (10) comprising: - a drive system (12); - a loading platform (18), preferably horizontally oriented, for transported goods, in particular wherein upwardly projecting restraint elements (20) are arranged at the edge of the loading platform (18); and - two robot arms (22a, 22b) for handling the transported goods, in particular for placing the transported goods on the loading platform (18) and for lifting the transported goods from the loading platform (18).

Description

Background of the invention The invention relates to a driverless transport vehicle comprising a drive system and a loading platform for transported goods. Such driverless transport vehicles are well known, for example, for internal goods transport. It is also known to equip such transport vehicles with a robot arm to enable the handling of goods to be transported by the transport vehicle itself. Mobile robots with two arms are particularly well-known as humanoid robots in numerous variations. However, these are typically unsuitable for transporting bulky and / or heavy objects. In so-called collaborative applications, where humans and robots or robotic vehicles work in shared areas, it is of particular importance that the robots or robotic vehicles do not pose a danger to humans. This usually requires sophisticated sensor and control technology and / or limitations on the working speed of the robots or robotic vehicles. Object of the invention One of the aims of the invention is to provide flexible and efficient support for the transport of goods of all kinds in an operational environment. Description of the invention This problem is solved according to the invention by a driverless transport vehicle according to claim 1, a transport vehicle system according to claim 29 and a logistics system according to claim 30. According to the invention, a driverless transport vehicle is provided. The driverless transport vehicle is designed to move autonomously, in particular to operate without active human intervention to control its driving and other functions. It is understood that occasional interventions to assign tasks, etc., are possible. However, the transport vehicle performs the tasks themselves without further intervention. The transport vehicle has a drive system. The drive system enables the transport vehicle to move. The drive system comprises at least one wheel, typically several wheels, and at least one drive motor, typically an electric motor. The transport vehicle may have a rechargeable and / or replaceable battery to supply energy to the electric motor. At least one of the wheels is driven. At least one of the wheels may be steerable. At least one of the wheels may be an omnidirectional wheel. The transport vehicle has a loading platform, preferably horizontally oriented, for transported goods, in particular wherein upwardly projecting restraint elements are arranged at the edge of the loading platform. The loading platform enables the transport of particularly heavy and / or bulky objects. The restraint elements prevent transported goods, for example a transport container, from sliding off the loading platform. For the purposes of describing the present invention, all types of objects to be transported, and also ensembles of several objects to be transported together, possibly including a transport container for smaller objects, are referred to as goods to be transported. The load-bearing capacity of the loading area can be at least 15 kg, preferably at least 20 kg. The loading area can comprise an area of ​​at least 0.3 m x 0.3 m, preferably at least 0.5 m x 0.6 m. The transport vehicle has two robot arms for handling the transported goods. The robot arms enable, in particular, the placement of the transported goods on the loading platform and their removal from the loading platform. The robot arms can be designed as articulated arms with multiple, and preferably at least five, joints. Preferably, each robot arm has six joints. The two robot arms can be mirror images of each other, but otherwise identical. Advantageously, each robot arm has an end effector to which a tool, for example, a gripper, can be attached. Each robot arm has a proximal joint or a proximal axis by means of which it is connected, for example, to a base module of the transport vehicle or to a coupling element. The load-bearing capacity per robot arm can be at least 8 kg, preferably at least 10 kg. The robot arms can be used, in particular, to place the transported goods on the loading platform and to lift them off. Furthermore, the robot arms can take over the transported goods from or transfer them to another system. The other system, such as a shelf or a production machine, generally does not require any special modifications for this purpose. The transport vehicle can move the goods between different systems. In this way, a linking of the various systems can be achieved with relatively little effort. This linking can be easily adapted to different requirements. Advantageously, the transport vehicle features a shared control unit for the drive system and the two robot arms. This shared control unit is aware of the current state of both the drive system and the two robot arms and can influence these states. This enables flexible and safe collaboration with humans. For example, in the event of an impending collision, the shared control unit can decide whether to change the driving state or pose of one or both robot arms, and if so, how. It is understood that the shared control unit can comprise several separate control units that are interconnected. A master control unit can be functionally superior to the other control units (slaves). This ensures the coordinated operation of the multiple control units within the shared control unit. With independent, non-communicating control systems for the drive and the robot arms, no single control component would have an overview of the entire transport vehicle's condition. It is conceivable that, in combination, unsuitable or excessive measures would be taken to influence the transport vehicle's condition. In contrast, the joint control body can ensure that coordinated measures are implemented. Advantageously, the (especially shared) control unit meets Performance Level d according to EN ISO 13849-1:2023. This effectively reduces risks to people and other equipment. By monitoring and influencing all functions of the transport vehicle, the shared control unit significantly facilitates compliance with stringent safety requirements, even at relatively high operating speeds or close proximity. The drive system, the loading platform, and preferably components of the common control unit, for example one or more control units, can be provided on a basic module of the transport vehicle. Such basic modules can be provided in various designs and equipped for different purposes by suitable attachments, for example, forming a transport vehicle according to the invention with two robot arms or being used for transport tasks without robot arms. Advantageously, the two robot arms are attached to the base module of the transport vehicle by means of a common coupling element, in particular where the coupling element is detachably attached to the base module. This simplifies the attachment of the two robot arms to the base module. The base module can have an interface to which the coupling element can be attached. Depending on the requirements, different coupling elements and / or robot arms can be attached to one base module without having to make any modifications to the base module. The transport vehicle advantageously has an object detection system for monitoring its surroundings. The object detection system can be configured specifically for distance measurement and preferably also for object recognition. Preferably, the object detection system includes at least one radar sensor. Radar sensors are particularly suitable for distinguishing between different types of objects and between moving and stationary objects. Alternatively or additionally, the object detection system can include an image capture sensor and / or an ultrasonic distance sensor and / or a lidar sensor. At least one sensor, and in particular all sensors, of the object detection system can be mounted on the base module of the transport vehicle. When attaching different robot arms, no adjustments to the object detection sensors are then necessary. Preferably, a control unit, preferably the shared control unit, is configured to distinguish, based on the data provided by the object detection system, between objects moving in the vicinity of the transport vehicle, in particular persons and / or other transport vehicles, and between stationary objects in the vicinity, in particular items. The control unit can be configured, in particular, to distinguish between persons and items even when persons are temporarily stationary. This ability to differentiate can increase the efficiency of the transport vehicle in collaborative environments. A transport vehicle with a control device designed to distinguish between moving and stationary objects in the environment, in particular complying with the requirements of Performance Level d according to EN ISO 13849-1:2023, is also considered an invention in its own right in the case of a driverless transport vehicle with only one robot arm. The invention therefore also relates to a driverless transport vehicle comprising: - a drive system; - a loading platform for transported goods, preferably horizontally oriented, in particular wherein upwardly projecting restraint elements are arranged at the edge of the loading platform; - at least one robot arm for handling the transported goods, in particular for placing the transported goods on the loading platform and for lifting the transported goods from the loading platform; and - an object detection system, preferably with at least one radar sensor; wherein a control device, preferably a common control device for the drive system and the robot arm, is configured to distinguish, on the basis of the data provided by the object detection system, between objects moving in the vicinity of the transport vehicle, in particular persons and / or other transport vehicles, and between objects stationary in the vicinity, in particular objects. The control unit can be configured to slow down or prevent movements of the transport vehicle and / or the robot arm(s) towards a moving object, and to execute movements of the transport vehicle and / or the robot arm(s) towards stationary objects, in particular with a predefined dynamic range or with the maximum possible dynamic range (in terms of control and drive technology). In this way, the control unit's ability to distinguish between objects can be used to achieve increased operating speed without creating hazards. The control unit can be configured to activate a first safety mode if only stationary objects are detected in the vicinity of the transport vehicle, and a second safety mode if moving objects, especially people, are detected in the vicinity. In the first safety mode, a higher operating speed of the transport vehicle, particularly its drive system and / or robot arms, may be permitted than in the second safety mode. In the first safety mode, the distance to objects that triggers an emergency stop may be greater than in the second safety mode. This allows for particularly effective minimization of risks to people. Preferably, the size and / or shape of the monitored environment are predefined depending on the pose of the two robot arms and / or the speed (magnitude and / or direction) of the transport vehicle. The size and / or shape of the monitored environment are adjusted accordingly during operation of the transport vehicle, depending on the current state. This increases the efficiency of the transport vehicle. Outside of a conditionally defined danger zone (the monitored environment), people can remain safely, even if the transport vehicle is operating nearby, for example, when it is moving away from them. The proximal joints of the two robot arms can be arranged at the same height above the loading platform, preferably with the proximal joints connecting the coupling element to a first segment of the respective robot arm. A symmetrical design is advantageous from a control engineering perspective and with regard to the use of identical parts. The proximal joints can each have one or more degrees of freedom, in particular rotational degrees of freedom. The vertical distance between the loading platform and the proximal joints can be at most 1 m, preferably at most 0.7 m, particularly preferably at most 0.5 m, and most preferably at most 0.35 m. This allows for a low center of gravity of the transport vehicle. This is advantageous for its driving dynamics and safety, including in the vicinity of the transport vehicle. The two robot arms can be rotatable about a common proximal axis, in particular wherein the respective first segments of the two robot arms are rotatable independently of one another about the common proximal axis, preferably wherein the proximal axis is horizontally oriented. For the two robot arms, the common proximal axis corresponds to a proximal joint with one rotational degree of freedom each, wherein the respective axes coincide in the common axis. This has proven to be particularly advantageous in the inventors' investigations. The vertical distance between the loading platform and the proximal joints can be at most 1 m, preferably at most 0.7 m, particularly preferably at most 0.5 m, and most preferably at most 0.35 m. This allows for a low center of gravity of the transport vehicle. This is advantageous for its driving dynamics and safety, including in the vicinity of the transport vehicle. The proximal axis can run through the coupling element. This allows for a compact design. At least one of the two robot arms, and in particular both robot arms, can have a reach of at least 1.5 m, preferably at least 1.8 m, and most preferably 2.2 m. This increases the transport vehicle's versatility when handling the transported goods. The reach can be measured between an end effector of the respective robot arm and its proximal joint or common proximal axis. A control unit, preferably the common control unit, can be configured to control the drive system for directed movement while one or both robot arms are moving, particularly while one or both robot arms are moving or transporting goods relative to the loading platform. Simultaneous movement and arm motion can save time during transport, for example, by placing gripped goods onto the loading platform only after the transport vehicle has already started moving. It is also conceivable to move the robot arms into a space-saving pose after the journey has begun and to prepare for a subsequent handling task by assuming a corresponding pose shortly before the end of the journey. Preferably, a control unit, more often the common control unit, is configured to perform reciprocating compensatory movements via the drive system while one or both robot arms move the transported goods relative to the loading platform. This can increase the permissible dynamics during the handling of the transported goods. This is particularly useful when the transported goods comprise a transport container with movable parts. The compensatory movements can be reciprocating movements with a reversal of the direction of movement. It is also conceivable that, during directed movement, alternating accelerations are superimposed as compensatory movements without causing a reversal of the direction of the directed movement. For example, the transport vehicle can move slightly forwards and backwards while stationary, as the robot arms move cargo. If the cargo is moved by the robot arms during forward travel, the drive system can alternately accelerate and decelerate and / or navigate curves. By selectively controlling the drive system, vibrations of the cargo can be reduced. A control unit, preferably the shared control unit, can be configured to control the two robot arms to simultaneously remove goods from different containers. In this way, the two robot arms can be used to increase efficiency. Alternatively or additionally, a control unit, preferably the shared control unit, can be configured to control the two robot arms to move a piece of cargo together. The two robot arms can thus be used to handle heavy and / or bulky cargo. In particular, it is possible to handle cargo that could not be handled by a single robot arm. A control unit, preferably the shared control unit, can be configured to control both robot arms to transfer goods from one to the other. This increases flexibility in linking processes. Preferably, the control unit is configured to define a transfer point for the transported goods depending on the position of the transport vehicle, in particular the position of the transport vehicle relative to an object detected in its surroundings. This provides additional flexibility in confined or difficult-to-access environments. For example, when loading production machines, collisions with machine parts can be avoided. Nevertheless, the transported goods can still be moved between a specific position within the working area of ​​the production machine and the loading platform of the transport vehicle. A control unit, preferably the shared control unit, can be configured to decide, depending on a handling task and / or the position of the transport vehicle relative to an object, whether both robot arms should grasp the transported item, or whether one, and if so, which of the two robot arms should grasp the transported item, and / or whether the second robot arm should assist the first robot arm in handling the transported item. This also increases handling flexibility. For example, in cases of accessibility problems, it can be provided that only the robot arm with the best reach grasps the transported item directly. The other robot arm can be used to support the grasping robot arm. It is also conceivable that one of the robot arms first moves the transported item slightly, and then the second robot arm also grasps the transported item directly.When transporting heavy goods, depending on their position relative to the transport vehicle, it may be necessary for both robot arms to hold the goods. The transport vehicle can have at least one tool magazine, in particular wherein the magazine is arranged on the base module of the transport vehicle. Preferably, the transport vehicle has several different tools that can be selectively attached to a respective end effector of one of the robot arms or stored in the magazine. A control unit, preferably the common control unit, is advantageously configured to control the two robot arms to perform a tool change. In this way, the flexibility and efficiency of the transport vehicle's operation can be further increased. The transport vehicle thus carries various tools, for example, different gripping tools. Depending on the handling task, the control unit can select a suitable tool. The transport vehicle can automatically attach the appropriate tool to the corresponding robot arm.This can reduce unproductive downtime of the transport vehicle. At least one of the robot arms can be equipped with a camera; in particular, both robot arms can each be equipped with a camera, preferably with the camera being attached to an end effector of the respective robot arm or to a tool held on the end effector. The camera can be used to identify the transported goods and / or to determine the position or orientation of the transported goods. A control unit, preferably the common control unit, can be configured to evaluate images captured by the camera, in particular to identify the transported goods and / or to determine the position and / or orientation of the transported goods. The transport vehicle can thus also be used when the exact location or position of the transported goods in space is not known. The invention further relates to a transport vehicle system. The transport vehicle system comprises a driverless transport vehicle according to the invention, as described above, which has a base module with the drive system, the loading platform, and preferably components of a common control unit. The transport vehicle system has at least two robot modules, each comprising two robot arms and a common coupling element. The base module of the transport vehicle has an interface to which one of the robot modules can be selectively attached by means of its respective coupling element. In this way, different robot modules can be attached to the same base module to obtain different transport vehicles with two robot arms. In particular, it is possible to reconfigure the transport vehicle for different tasks by exchanging the robot module. Furthermore, the invention relates to a logistics system comprising at least one first driverless transport vehicle according to the invention (as described above) and at least one second driverless transport vehicle with a loading platform, in particular a second driverless transport vehicle according to the invention (as described above). The second transport vehicle can be configured without a robot arm or to have one or two robot arms. The control unit of the first transport vehicle is configured to control at least one of the robot arms of the first transport vehicle to place transport goods on the loading platform of the second transport vehicle and / or to pick them up from the loading platform of the second transport vehicle. A particularly flexible and efficient chaining of transport goods can be established by transferring transport goods.For example, one or more first transport vehicles according to the invention can be used as storage and retrieval systems or for machine loading. The loading areas can be used as buffers or for shorter transport distances. One or more second transport vehicles can carry out the transport of the goods over longer distances. Advantageously, second transport vehicles without their own robot arm can be used for this purpose. An operating method for a driverless transport vehicle with two robot arms, in particular a transport vehicle according to the invention as described above, is described below. The transport vehicle is moved at least intermittently by means of the drive system, and the robot arms are moved at least intermittently. One or more of the processes described above can be carried out within the operating method. Preferably, the transport vehicle and at least one of the robot arms, in particular both robot arms, are moved simultaneously in a coordinated manner. Further features and advantages of the invention will become apparent from the description, the claims, and the drawings. According to the invention, the features mentioned above and those further elaborated can each be used individually or in any suitable combination. The embodiments shown and described are not to be understood as an exhaustive list, but rather serve as examples for illustrating the invention. Detailed description of the invention and drawing The invention is illustrated in the drawing and described with reference to exemplary embodiments. Fig. 1 shows a driverless transport vehicle according to the invention in a schematic perspective view; Fig. 2 shows another schematic perspective view of the transport vehicle from Fig. 1; Fig. 3 shows a schematic diagram of a transport vehicle system according to the invention with a mobile base module having a loading platform and with two robot modules that can be selectively attached to the base module; Fig. 4 shows a schematic diagram of a control device with several control units. Figures 1 and 2 show a driverless transport vehicle 10. The transport vehicle 10 has a drive unit 12. In Fig. 1, wheels 14 of the drive unit 12 can be seen, at least one of which is driven and at least one of which is steerable. The drive unit 12 is formed on a base module 16 of the transport vehicle 10. The transport vehicle 10 has a loading platform 18, see also Fig. 2, which in this embodiment is formed on the base module 16. The loading platform 18 is horizontally oriented. Retaining elements 20 can be arranged at the edge of the loading platform 18. The retaining elements 20 can secure transported goods arranged on the loading platform 18, for example, a transport container with several parts. The transport vehicle 10 has two robot arms 22a, 22b (hereinafter referred to collectively as 22, unless a distinction between them is important). The two robot arms 22a, 22b are attached to the base module 16 via a common coupling element 24. The proximal joints 26 of the two robot arms 22, which connect them to the coupling element 24, are designed with exactly one rotational degree of freedom. A common proximal axis 28 is provided, about which the first segments 30 of the two robot arms 28 can rotate independently of one another. The proximal axis 28 is horizontally oriented and, in this embodiment, is positioned less than half a meter above the loading platform 18 in the vertical direction. Tools 34, for example grippers (see Fig. 3), can be picked up at each end effector 32 of the two robot arms 22. Different tools 34 can be carried in a magazine 36 with several tool holders 38 from the transport vehicle 10 (further tool holders 38 are hidden in Fig. 1 and Fig. 2). The robot arms 22 can change the tools 34 automatically. In addition to the tools 34, a camera 40 can be arranged at each of the end effectors 32, see Fig. 1 and Fig. 2. The cameras 40 can assist in handling the transported goods. Figure 3 shows that the base module has an interface 42 for connecting different coupling elements 24. Two different robot modules 44.1 and 44.2, each with different coupling elements 24 and different robot arms 22, are shown as examples. Depending on the task to be performed, one of the robot modules 44.1 or 44.2 can be attached to the mobile base module 16 with the loading platform 18. This allows for modularity in the manufacture of the transport vehicles 10. Furthermore, additional application areas can be opened up during the use of the transport vehicle 10 by exchanging the robot module 44.1 or 44.2 depending on the intended use. The transport vehicle 10 has an object detection system 46, see Fig. 1 and Fig. 2. In this embodiment, sensors 48 of the object detection system 42 are arranged on the base module 16. The sensors 48 serve to determine distances to objects in the vicinity of the transport vehicle 10. Preferably, the object detection system 46 enables a distinction between moving and stationary objects, and particularly preferably between persons and objects, for example, other transport vehicles or stationary objects. Some of the sensors 48 can, for example, be lidar and / or radar sensors. Fig. 4 schematically shows an exemplary structure of a control unit 50 for the coordinated control of the drive 12 and the robot arms 22. The common control unit 50 has a robot arm control unit 52a, 52b for each robot arm 22a, 22b. A robot module control unit 54 interacts with the two robot arm control units 52a, 52b and serves to coordinate the movements of the two robot arms 22a, 22b. A drive control unit 56 is used to control the functions of the drive 12. The object detection system 46 can include a sensor control unit 58. However, it is also conceivable, for example, to integrate the evaluation and control of the sensors 48 into the drive control unit 56. It is conceivable that the sensor control unit 58 communicates directly with the drive control unit 56 (indicated by dashed lines in Fig. 4). A central control unit 60 serves to coordinate the control units 54, 56 and, if applicable, 58. In particular, the central control unit 60 serves to coordinate the movements of the robot arms 22a, 22b and the movement of the transport vehicle 10 by the drive unit 12. In some operating procedures, the central control unit 60 may only allow movements of the robot arms 22 when the transport vehicle 10 is stationary, and may only allow movements of the transport vehicle 10 by means of the drive 12 when the robot arms 22 are stationary in a rest position. In other operating procedures, the central control unit 60 can initiate simultaneous movements of the robot arms 22 and the transport vehicle 10. In particular, movements of the robot arms 22 and travel movements can be coordinated. This can serve to accelerate or enable handling tasks. Furthermore, the drive unit 12 can perform compensating movements, for example, to enable movements of the robot arms 22 with higher dynamics, especially if the transported goods have moving parts that can vibrate. Control units 56, 58, and 60 can be located in the basic module 16. Control units 52a, 52b, and 54 can be located in the coupling element 24. In summary, the invention relates to a driverless transport system with a loading platform and at least two robot arms. A control unit, which may include several distributed control units, can coordinate the movements of the robot arms and a drive system and execute them taking into account information about objects in the environment. This information can be obtained using an object detection system of the transport vehicle. Reference symbol list 10 Transport vehicle 12 Drive unit 14 Wheels 16 Base module 18 Loading platform 20 Restraint elements 22, 22a, 22b Robot arms 24 Coupling element 26 Proximal joints 28 Proximal axis 30 First segments 32 End effector 34 Tools 36 Magazine 38 Tool holder 40 Camera 42 Interface 44.1, 44.2 Robot modules 46 Object detection system 48 Sensors 50 Control unit 52a, 52b Robot arm control unit 54 Robot module control unit 56 Drive unit control unit 58 Sensor control unit 60 Central control unit

Claims

Driverless transport vehicle (10) comprising: - a drive system (12); - a loading platform (18), preferably horizontally oriented, for transported goods, in particular wherein upwardly projecting restraint elements (20) are arranged at the edge of the loading platform (18); and - two robot arms (22a, 22b) for handling the transported goods, in particular for placing the transported goods on the loading platform (18) and for lifting the transported goods from the loading platform (18). Transport vehicle (10) according to claim 1, further comprising a common control unit (50) for the drive (12) and the two robot arms (22a, 22b), in particular wherein the control unit (50) meets Performance Level d according to EN ISO 13849-1:2023. Transport vehicle (10) according to one of the preceding claims, wherein the drive (12), the loading platform (18) and preferably components of the common control unit (50) are provided on a basic module (16) of the transport vehicle (10). Transport vehicle (10) according to claim 3, wherein the two robot arms (22a, 22b) are attached to the base module (16) of the transport vehicle (10) by means of a common coupling element (24), in particular wherein the coupling element (24) is detachably attached to the base module (16). Transport vehicle (10) according to one of the preceding claims, further comprising an object detection system (46) for monitoring an environment of the transport vehicle (10), preferably with at least one radar sensor. Transport vehicle (10) according to claim 5, wherein the object detection system (46) comprises an image acquisition sensor and / or an ultrasonic distance sensor and / or a lidar sensor. Transport vehicle (10) according to claim 5 or 6, wherein at least one sensor (48), in particular all sensors, of the object detection system (46) is / are arranged on the base module (16) of the transport vehicle (10). Transport vehicle (10) according to one of claims 5 to 7, wherein a control device, preferably the common control device (50), is configured to distinguish between objects moving in the vicinity of the transport vehicle (10), in particular persons and / or other transport vehicles, and between objects stationary in the vicinity, in particular objects, on the basis of the data provided by the object detection system (46). Transport vehicle (10) according to claim 8, wherein the control device (50) is configured to slow down or prevent movements of the transport vehicle (10) and / or the robot arms (22a, 22b) towards a moving object, and to perform movements of the transport vehicle (10) and / or the robot arms (22a, 22b) towards stationary objects, in particular with a predefined dynamic or a maximum possible dynamic. Transport vehicle (10) according to claim 8 or 9, wherein the control device (50) is configured to activate a first safety mode when only stationary objects have been detected in the environment of the transport vehicle (10), and to activate a second safety mode when moving objects, in particular persons, have been detected in the environment. Transport vehicle (10) according to one of claims 5 to 10, wherein the size and / or shape of the monitored environment are predefined depending on a pose of the two robot arms (22a, 22b) and / or depending on a travel speed of the transport vehicle (10). Transport vehicle (10) according to one of the preceding claims, wherein proximal joints (26) of the two robot arms (22a, 22b) are arranged at the same height above the loading platform (18), preferably wherein the proximal joints (26) connect the coupling element (24) with a first segment (30) of the respective robot arm (22a, 22b). Transport vehicle (10) according to claim 12, wherein the distance measured in the vertical direction between the loading platform (18) and the proximal joints (26) is at most 1 m, preferably at most 0.7 m, particularly preferably at most 0.5 m, most particularly preferably at most 0.35 m. Transport vehicle (10) according to one of the preceding claims, wherein the two robot arms (22a, 22b) are rotatable about a common proximal axis (30), in particular wherein respective first segments (30) of the two robot arms (22a, 22b) are rotatable independently of each other about the common proximal axis (30), preferably wherein the proximal axis (30) is horizontally oriented. Transport vehicle (10) according to claim 14, wherein the proximal axis (30) is arranged above the loading platform (18), in particular wherein a distance measured in the vertical direction between the loading platform (18) and the proximal axis (30) is at most 0.7 m, preferably at most 0.5 m, particularly preferably at most 0.35 m. Transport vehicle (10) according to claim 14 or 15, wherein the proximal axis (30) passes through the coupling element (24). Transport vehicle (10) according to one of the preceding claims, wherein at least one of the two robot arms (22a, 22b), in particular both robot arms (22a, 22b), have a reach of at least 1.5 m, preferably at least 1.8 m, particularly preferably 2.2 m. Transport vehicle (10) according to one of the preceding claims, wherein a control device, preferably the common control device (50), is configured to control the drive (12) for directed movement while one of the robot arms (22a, 22b) or both robot arms (22a, 22b) are moving, in particular while one of the robot arms (22a, 22b) or both robot arms (22a, 22b) are moving or moving transported goods relative to the loading platform (18). Transport vehicle (10) according to one of the preceding claims, wherein a control device, preferably the common control device (50), is configured to perform reciprocating compensatory movements by means of the drive (12) while one of the robot arms (22a, 22b) or both robot arms (22a, 22b) moves or move transported goods relative to the loading platform (18). Transport vehicle (10) according to one of the preceding claims, wherein a control device, preferably the common control device (50), is configured to control the two robot arms (22a, 22b) to simultaneously remove transport goods from different containers. Transport vehicle (10) according to one of the preceding claims, wherein a control device, preferably the common control device (50), is configured to control the two robot arms (22a, 22b) to move a piece of transported goods together. Transport vehicle (10) according to one of the preceding claims, wherein a control device, preferably the common control device (50), is configured to control the two robot arms (22a, 22b) to transfer transport goods from one to the other robot arm (22a, 22b). Transport vehicle (10) according to claim 22, wherein the control device (50) is configured to determine a transfer point for the transported goods depending on a position of the transport vehicle (10), in particular the position of the transport vehicle (10) relative to an object detected in the environment. Transport vehicle (10) according to one of the preceding claims, wherein a control device, preferably the common control device (50), is configured to decide, depending on a handling task and / or a position of the transport vehicle (10) relative to an object, whether both robot arms (22a, 22b) should grasp the transported goods or whether one and, if applicable, which of the two robot arms (22a, 22b) should grasp the transported goods or whether the second robot arm (22a, 22b) should assist the first robot arm (22a, 22b) in handling the transported goods. Transport vehicle (10) according to one of the preceding claims, further comprising at least one magazine (36) for tools (34), in particular wherein the magazine (36) is arranged on the base module (16) of the transport vehicle (10). Transport vehicle (10) according to claim 25, further comprising several different tools (34) which can be optionally attached to a respective end effector (32) of one of the robot arms (22a, 22b) or can be accommodated in the magazine (36). Transport vehicle (10) according to claim 25 or 26, wherein a control device, preferably the common control device (50), is configured to control the two robot arms (22a, 22b) to perform a tool change. Transport vehicle (10) according to one of the preceding claims, wherein at least one of the robot arms (22a, 22b) has a camera (40), in particular both robot arms (22a, 22b) each have a camera (40), preferably wherein the camera (40) is attached to an end effector (32) of the respective robot arm (22a, 22b) or to a tool (34) held on the end effector (32). Transport vehicle system with a driverless transport vehicle (10) according to one of the preceding claims, wherein the transport vehicle (10) has a basic module (16) with the drive, the loading platform (18) and preferably components of a common control unit (50), and with at least two robot modules (44.1, 44.2), each having two robot arms (22a, 22b) and a common coupling element (24), wherein the basic module (16) has an interface (42) to which one of the robot modules (44.1, 44.2) can be selectively attached by means of its respective coupling element (24). Logistics system with at least one first driverless transport vehicle (10) according to one of claims 1 to 28 and with at least one second driverless transport vehicle with a loading platform, in particular a second driverless transport vehicle (10) according to one of claims 1 to 28, wherein a control device, preferably the common control device (50), of the first transport vehicle (10) is configured to control at least one of the robot arms (22a, 22b) of the first transport vehicle (10) to place transport goods on the loading platform (18) of the second transport vehicle (10) and / or pick them up from the loading platform (18) of the second transport vehicle (10).

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