Mobile robot in a container handling system

Abstract

The invention relates to, among others, a container handling system (10) having a conveyor device (20, 30, 32) with a frame (20A, 30A, 32A) and a transport surface (20B, 30B, 32B) for transporting containers (12) during an operation of the conveyor device (20, 30, 32). The container handling system (10) additionally has a mobile robot (34) with a control device which is configured so as to actuate the mobile robot (34) so as to move on the frame (20A, 30A, 32A) relative to the transport surface (20B, 30B, 32B), preferably on and / or next to the transport surface (20B, 30B, 32B).

Description

[0001] DESCRIPTION

[0002] Mobile robot in a container treatment plant

[0003] Technical area

[0004] The invention relates to a container processing system with a conveyor system and a mobile robot. The invention further relates to a method for operating a mobile robot in a container processing system.

[0005] Technical background

[0006] It is known that driverless transport vehicles (AGVs - automated guided vehicles) and mobile robots, such as autonomous mobile robots (AMRs), are used to automatically complete work tasks in industrial environments.

[0007] For a container treatment plant, for example, DE 10 2021 110 009 A1 discloses a mobile robot which can be used to change device elements when the plant is to be converted from the production of a first predetermined container type to a second predetermined container type.

[0008] Even though driverless transport vehicles and mobile robots are constantly being developed to automate repetitive tasks, a considerable proportion of the activities that occur, for example, in a container handling plant still require a human operator to perform.

[0009] The invention is based on the object of creating an improved container treatment system with a mobile robot.

[0010] Summary of the invention

[0011] The problem is solved by the features of the independent claims. Advantageous further developments are specified in the dependent claims and the description.

[0012] One aspect of the present disclosure relates to a container handling system. The container handling system comprises a conveyor device (e.g., a continuous conveyor device, a linear motor conveyor device, or a planar motor conveyor device) with a frame and a preferably movable (e.g., revolving) transport surface for transporting containers during operation of the conveyor device. The container handling system further comprises a (e.g., autonomous) mobile robot (e.g., with a wheeled or tracked chassis and) with a control device configured to operate the mobile robot for moving (e.g., driving) on ​​the frame relative to the transport surface, preferably on and / or next to the transport surface.

[0013] Advantageously, the mobile robot can move along the conveyor to perform a task, e.g., when the conveyor comes to an unintentional standstill. The task could, for example, involve pushing containers off the transport surface, e.g., to remove them from a treatment room or to clear a blockage. This task can now be automated using the mobile robot and therefore no longer needs to be performed manually. This can preferably achieve a short downtime of the container treatment system.

[0014] Containers are preferably also understood to mean containers that have already been combined with other containers to form a package.

[0015] The mobile robot is advantageously dimensioned so that it is at least half the size, but preferably larger, of the container to be treated. This applies particularly to the width and length of the robot. Regarding height, it can be smaller than the container to be treated, but this is not required.

[0016] Advantageously, the robot is at most as wide as the width of the conveyor on which it travels, but preferably at most half as wide, even more preferably at most one third as wide.

[0017] Advantageously, the robot is at most as long as the width of the conveyor on which it travels, but preferably at most half as long, even more preferably at most one third as long.

[0018] In one embodiment, the control device is configured to operate the mobile robot to clean the transport surface and / or to remove the containers from the transport surface, preferably by pushing the containers away from the transport surface and / or during an operation stop or malfunction of the conveyor device.

[0019] In a further embodiment, the container treatment system comprises a container treatment device having an internal treatment space for treating the containers in an interior of the container treatment device. The container treatment device further comprises a preferably tunnel-shaped housing that surrounds (e.g., directly borders) the internal treatment space and has an opening toward the internal treatment space. Preferably, the mobile robot can be dimensioned such that it fits through the opening to reach the internal treatment space for performing a task in the internal treatment space. Advantageously, due to its small size, the mobile robot can move through the opening to perform a task within the internal treatment space. The corresponding task can therefore be automated and no longer needs to be performed manually.This preferably allows a short downtime of the container treatment device to be achieved.

[0020] The mobile robot can also operate during the container processing plant's operation. Furthermore, the proportion of physically demanding work in the container processing plant can be reduced.

[0021] Preferably, the opening can be a container inlet or outlet, or a maintenance opening. Advantageously, therefore, no new or additional opening in the housing for the mobile robot needs to be created by adapting the housing design. Instead, the mobile robot can easily access the internal treatment chamber directly through an existing opening, particularly preferably through an opening for the containers.

[0022] In a further embodiment, the container treatment device comprises the conveyor, and the transport surface of the conveyor is arranged to transport the containers at least partially through the interior treatment space of the container treatment device, wherein the conveyor preferably extends through the opening or is substantially flush with the opening. Advantageously, the mobile robot can thus easily reach the interior treatment space through the opening and be moved within the interior treatment space. Since the mobile robot uses the conveyor used by the containers for movement, the mobile robot can thus preferably reach all those areas in the interior treatment space that can also be reached by the containers in the interior treatment space.

[0023] Alternatively, the conveying device can be arranged, for example, adjacent to, preferably adjacent to, the container treatment device.

[0024] In one embodiment, the control device is further configured to operate the mobile robot to move, preferably drive, through the opening into the internal treatment space, and / or to operate the mobile robot to perform the work in the internal treatment space.

[0025] Advantageously, the mobile robot can turn around on the conveyor.

[0026] Advantageously, the mobile robot can move backwards on the conveyor.

[0027] Advantageously, the mobile robot has at least three, preferably exactly four, wheels that rest on the transport surface or roll on it when moving. Conveyor belts also include conveyor chains, mat chains, mesh chains, and the like.

[0028] Advantageously, the wheels have projections, e.g. in the form of knobs, which can grip between the links of the transport surface.

[0029] Advantageously, the mobile robot has an energy source, e.g. in the form of a rechargeable battery or a battery.

[0030] In a further embodiment, the control device is configured to operate the mobile robot to remove the containers from the internal treatment space, preferably by pushing the containers out of the internal treatment space. This can advantageously prevent, for example, the containers from remaining in the internal treatment space for too long in the event of an undesired standstill of the container treatment device, which could result in the container treatment being outside a desired treatment tolerance, e.g. due to the supply of too much heat. Contamination or damage in the internal treatment space can also be prevented. In the example of a shrink tunnel, for example, it can be prevented that the film to be shrunk runs or burns and contaminates or damages the internal treatment space. In another example, a jammed container can be removed from the internal treatment space, which would otherwise lead to damage or contamination (e.g.B. product from the container) in the indoor treatment room.

[0031] In a further embodiment, the control device is configured to operate the mobile robot to change and / or adjust a (e.g., format or setup) part, preferably a shaft wall, a guide, or a railing, in the internal treatment room. This advantageously enables maintenance, conversion, or repair by the mobile robot in the internal treatment room in a simple manner. In a further embodiment, the control device is configured to operate the mobile robot to clean the internal treatment room, preferably the transport surface (e.g., formed by a mesh link belt) in the internal treatment room. This advantageously enables cleaning by the mobile robot in the internal treatment room in a simple manner.

[0032] In a further embodiment, the control device is configured to operate the mobile robot to inspect the internal treatment room. This advantageously enables the mobile robot to easily perform an inspection of the internal treatment room.

[0033] In one embodiment, the container treatment device is a shrink tunnel device, a container heating device (e.g. preform heating device), a container manufacturing device, a container cleaning device, a container filling device, a container closing device, a container drying device, a container pasteurizing device or a container packaging device.

[0034] In a further embodiment, the container treatment system further comprises a height-overcoming device, preferably a ramp and / or a lifting device (e.g., elevator), for the mobile robot to reach a height level of the frame and / or the transport area. The height-overcoming device can preferably be arranged adjacent to the container treatment device and / or the conveyor. This advantageously enables the mobile robot to easily reach the interior treatment space or the transport area. For this purpose, it is not necessary for the mobile robot itself to be specially adapted to overcome a height difference.

[0035] In one embodiment, the mobile robot is lifted to the height level by another mobile robot. In this case, the other mobile robot would be the height-overcoming device.

[0036] The other mobile robot can be of the same design and, for example, have a lifting device, or be of a different design, for example, in the form of a consumables transport robot (consumables can be film rolls, labels, closures, containers, etc.) or a blow mold changing robot, and, for example, much larger. The conveyor device can have a door in a container railing at the position where the mobile robot reaches the height level, or the conveyor can be designed without a railing in that section (e.g., after the shrink tunnel).

[0037] By providing a height-overcoming device, the robot can, for example, use the charging stations of other AGVs, etc., which are tied to the ground, to supply itself with electrical energy when not in use. Alternatively, a battery can be swapped there (empty for full). Preferably, the term "control device" refers to electronics (e.g., implemented as a driver circuit or with microprocessor(s) and data storage) that, depending on its design, can perform control and / or regulation tasks and / or processing tasks. Even if the term "control" is used herein, it can also appropriately include or mean "regulation" or "control with feedback" and / or "processing."

[0038] In one embodiment, the control device of the mobile robot comprises a KI component, and / or the container handling system comprises a system control device with a KI component configured to adapt the operation of the mobile robot. Advantageously, this allows the operation of the mobile robot to be continuously adapted and improved.

[0039] In a further embodiment, the mobile robot has at least one manipulator, preferably one that can be automatically docked and / or undocked, for performing the work in the internal treatment chamber. The mobile robot can thus advantageously be used very versatilely in the container treatment system and the container treatment device.

[0040] In a further embodiment, the at least one manipulator has a pushing device, preferably a push bar, for pushing containers. As already explained, this can advantageously prevent excessively long container treatment, damage to the container treatment device, and / or contamination of the interior treatment space. Alternatively, a push bar can also be arranged on the mobile robot without a manipulator.

[0041] A shock absorber can be provided between the push bar and the mobile robot to absorb shocks. For example, if a container or the packaging containing multiple containers is jammed or stuck in or to a conveyor belt section, the mobile robot can move against the containers at increased speed to release them from the conveyor belt. In one embodiment, the at least one manipulator has a container holder, preferably a container gripper, for holding at least one container. The mobile robot can thus advantageously pick up and move containers in the internal treatment space, e.g., tipped-over or jammed containers.

[0042] In one embodiment, the at least mobile robot has two manipulators. One or both can be configured to move and / or lift containers. The other can alternatively be provided for other tasks.

[0043] In a further embodiment, the at least one manipulator has an inspection device, preferably a camera, for inspecting the internal treatment space, and / or a cleaning device, preferably a (e.g. rotatable) brush, for cleaning the internal treatment space, and / or a tool for adjusting or converting a (e.g. format or setup) part in the internal treatment space.

[0044] In a further embodiment, the container treatment system further comprises (at least) one additional (e.g., autonomous) mobile robot with a control device. The control device of the mobile robot and the control device of the additional mobile robot are configured so that the mobile robot and the additional mobile robot perform tasks (e.g., on the transport area and / or in the interior treatment chamber) in a coordinated and joint manner.

[0045] Preferably, the further mobile robot can be dimensioned such that it fits through the opening to reach the indoor treatment space for carrying out a work in the indoor treatment space.

[0046] Preferably, the mobile robot and the additional mobile robot can be configured (e.g., each using its own control device) to perform the work in the indoor treatment room in a coordinated and joint manner. Advantageously, even comparatively complex tasks or tasks that require considerable force can be performed by the mobile robots in the indoor treatment room.

[0047] Preferably, the container treatment system can be designed for manufacturing, cleaning, coating, testing, filling, sealing, labeling, printing, and / or packaging containers for liquid media, preferably beverages or liquid foodstuffs. Preferably, the container treatment system can have a path arranged at a higher level relative to the floor, which is used exclusively by one or more mobile robots.

[0048] Preferably, the container treatment plant can be connected to another container treatment plant by such a path.

[0049] For example, the containers can be designed as bottles, barrels, cans, canisters, cartons, flasks, etc.

[0050] Preferably, the mobile robot may have a height that substantially corresponds to a height of the containers or is smaller than a height of the containers.

[0051] The height of the push bar is preferably at least approximately at the height of the center of gravity of the containers to be moved. The push bar is preferably positioned between 0.1 mm and 50 cm, more preferably between 1 mm and 20 cm, above the ground. The full range can be utilized.

[0052] Furthermore, a push bar or manipulator change magazine can be provided in the container handling system, where the mobile robot can equip itself with (or deposit) different types of push bars and / or tools.

[0053] A further aspect of the present disclosure relates to a method for operating a (e.g., autonomous) mobile robot in a container handling system, preferably as disclosed herein. The container handling system comprises a conveyor device with a frame and with a preferably movable (e.g., rotating) transport surface for transporting containers during operation of the conveyor device. The method comprises moving, preferably driving, the mobile robot on a frame of the conveyor device, preferably on and / or next to the transport surface and / or during an operational stoppage or a malfunction of the conveyor device. Advantageously, the method can achieve the same advantages as have already been described with reference to the container handling system. The same applies to the preferred variants of the method listed below.

[0054] In one embodiment, the mobile robot travels on wheels on the transport surface and / or the frame and manipulates the containers, preferably moving the containers away from the transport surface, particularly preferably pushing them away. In another embodiment, the method further comprises moving the mobile robot to a height level of the frame and / or the transport surface via a height-overcoming device, preferably a ramp and / or a lifting device (e.g., elevator).

[0055] In one embodiment, the container treatment system further comprises a container treatment device with an internal treatment space for treating containers in an interior of the container treatment device and a preferably tunnel-shaped housing that surrounds (e.g., directly delimits) the internal treatment space and has an opening (e.g., container inlet opening, container outlet opening, or maintenance opening) to the internal treatment space. The method further comprises moving, preferably driving, the mobile robot through the opening into the internal treatment space and performing a task in the internal treatment space, preferably during an operational stoppage or a malfunction of the container treatment device.

[0056] In one embodiment, performing the work in the indoor treatment room comprises at least one of:

[0057] Removing containers from the internal treatment room, preferably by pushing the containers out;

[0058] Changing and / or adjusting a part (e.g. formatting or setup), preferably a shaft wall, a guide or a railing, in the internal treatment room;

[0059] Cleaning the internal treatment space, preferably a conveyor element or a mesh link belt in the internal treatment space;

[0060] Inspecting the internal treatment room, preferably using a camera of the mobile robot; and

[0061] Cooperate with at least one other mobile robot to perform the work together.

[0062] Preferably, lubrication of the conveyor belts or transport surface is reduced or stopped while the mobile robot travels on the conveyor belts or transport surfaces that are lubricated during operation.

[0063] Preferably, the mobile robot operates mainly outside of regular operation of the container treatment plant.

[0064] The previously described preferred embodiments and features of the invention can be combined with one another as desired. the characters

[0065] Further details and advantages of the invention are described below with reference to the accompanying drawings. They show:

[0066] Figure 1 is a schematic representation of a container treatment plant with a mobile

[0067] Robot according to an embodiment of the present disclosure;

[0068] Figure 2 shows a schematic representation of the exemplary container treatment system during operation of the mobile robot;

[0069] Figure 3 is a schematic representation of the exemplary container treatment system during operation of the mobile robot;

[0070] Figure 4 is a schematic representation of the exemplary container treatment system during operation of the mobile robot; and

[0071] Figure 5 is a schematic representation of the exemplary container treatment system during operation of the mobile robot.

[0072] The embodiments shown in the figures correspond at least partially, so that similar or identical parts are provided with the same reference numerals and for their explanation reference is also made to the description of the other embodiments or figures in order to avoid repetition.

[0073] Detailed description of exemplary embodiments

[0074] Figure 1 shows an area of ​​a container treatment plant 10 for treating containers

[0075] 12.

[0076] The container treatment plant 10 comprises at least one conveyor device 20, 30, 32 and a mobile robot 34. It is possible for the container treatment plant 10 to further comprise at least one container treatment device 14, 28, at least one ramp 38, at least one lifting device 40, and / or at least one further mobile robot 42, as shown purely by way of example in Figure 1.

[0077] It is also possible for the container handling device 14, the mobile robot 34, and optionally the further container handling device 28, the at least one conveyor device 30, 32, the at least one ramp 38, the at least one lifting device 40, and / or the at least one further mobile robot 42 to be arranged within a common housing (not shown in the figures). The housing can, for example, be designed as a partition wall surrounding the aforementioned units, optionally with door(s), window(s), and / or lock(s).

[0078] The container treatment device 14 may include an internal treatment chamber 16 and a housing 22. Preferably, the container treatment device 14 may include the conveyor device 20.

[0079] The container treatment device 14 can treat the containers 12 within its interior, i.e., in the interior treatment chamber 16. The treatment may depend on the type of container treatment device 14. Preferably, the container treatment device 14 is designed, for example, as a shrink tunnel device. For example, in the shrink tunnel device, a packaging film applied to one or more containers 12 can be shrunk onto the container(s) 12. The shrinking of the packaging film can be achieved, for example, by applying heat.

[0080] The shrink tunnel device can preferably have at least one so-called shaft wall 18. The shaft wall 18 can, for example, be aligned in a direction of movement of the containers 12 through the shrink tunnel device. The shaft wall 18 can have a plurality of outlet openings for discharging a heated gas, e.g., air, from an interior of the shaft wall 18. The shaft wall 18 can preferably be adjustable, e.g., in a longitudinal, width, and / or height direction. The shaft wall 18 can be arranged in the internal treatment chamber 16.

[0081] Alternatively, however, it is also possible for the container treatment device 14 to perform a different form of container treatment on the containers 12. Purely by way of example, the container treatment device 14 can manufacture, clean, coat, inspect, fill, seal, pasteurize, dry, label, print, or package the containers 12 in the internal treatment space 16. Accordingly, as an alternative to being designed as a shrink tunnel device, the container treatment device 14 can be designed, for example, as a container heating device (e.g., preform heating device), a container manufacturing device, a container cleaning device, a container filling device, a container sealing device, a container pasteurizing device, a container drying device, or a container packaging device. The conveying device 20 can convey the containers 12 at least partially, preferably completely, through the internal treatment space 16.The conveying device 20 can preferably support the containers 12 from below during conveying. The conveying device 20 is preferably a so-called continuous conveyor.

[0082] The conveyor device 20, 30 and / or 32 may comprise a frame 20A, 30A, 32A and a transport surface 20B, 30B, 32B.

[0083] The frame 20A, 30A, 32A can support the respective transport surface 20B, 30B, 32B. The frame 20A, 30A, 32A can, for example, comprise a conveyor frame and / or support legs.

[0084] The transport surface 20B, 30B, 32B is preferably movable. The containers 12 can stand on the transport surface 20B, 30B, 32B. The transport surface 20B, 30B, 32B can be driven for movement, e.g., by an electric drive. For example, the transport surface 20B, 30B, 32B can be circumferential. The transport surface 20B, 30B, 32B can be formed by a conveyor element. The transport surface 20B, 30B, 32B can preferably be formed by a conveyor belt, preferably as a mesh link belt. Alternatively, the transport surface 20B, 30B, 32B can be designed, for example, as mat(s), belt(s), plate(s), or chain(s), etc.

[0085] It is also possible for the transport surface 20B, 30B, 32B to be stationary. For example, the conveyor device 20, 30, and / or 32 can be designed as a linear motor conveyor device or a planar motor conveyor device, which, by means of magnetic interaction with movers or shuttles carrying the containers 12, moves the movers or shuttles and thus transports the containers 12. For example, the transport surface 20B, 30B, 32B can be designed as a (magnetic) drive surface of the linear motor conveyor device or the planar motor conveyor device.

[0086] The housing 22 can surround the internal treatment chamber 16. The housing 22 can separate or shield the internal treatment chamber 16 from the surroundings of the container treatment device 14. The housing 22 can delimit the internal treatment chamber 16 on all sides. Preferably, only a single internal treatment chamber 16 is arranged within the housing 22. The housing 22 can be an external housing.

[0087] The housing 22 can be a single-piece or multi-piece. For example, the housing 22 can be a sheet metal housing. The housing 22 can, for example, have a tunnel shape. The tunnel shape is preferably straight or curved. Alternatively, the housing 22 can have any other conceivable shape.

[0088] The housing 22 may have at least one opening 24, 26 towards the internal treatment space 16.

[0089] Containers 12 can enter the internal treatment chamber 16 through the opening 24. The containers 12 can be conveyed through the opening 24 into the internal treatment chamber 16, preferably by means of the transport surface 20B of the conveyor device 20. The opening 24 can therefore also be referred to as a container inlet opening.

[0090] Containers 12 treated in the internal treatment chamber 16 can exit the internal treatment chamber 16 through the opening 26. The containers 12 can be conveyed out of the internal treatment chamber 16 through the opening 26, preferably by means of the transport surface 20B of the conveyor device 20. The opening 26 can therefore also be referred to as a container outlet opening.

[0091] Preferably, the openings 24 and 26 can be arranged on opposite sides of the housing 22. It is possible for the housing 22 to have at least one alternative or additional opening, e.g., a maintenance opening (not shown in the figures).

[0092] The opening 24 and / or 26 can be covered or closed, for example, with a flap, a gate, a lock, or a curtain. Alternatively, the opening 24 and / or 26 can be uncovered.

[0093] The conveyor device 20 can be arranged at least partially, preferably substantially completely, within the housing 22. The conveyor device 20 can extend through the container inlet opening 24 and / or the container outlet opening 26. For example, a first end of the conveyor device 20 can protrude outward through the container inlet opening 24, and / or a second end of the conveyor device 20 can protrude outward through the container outlet opening 26. Alternatively, for example, a first end of the conveyor device 20 can be substantially flush with the container inlet opening 24, and / or a second end of the conveyor device 20 can be substantially flush with the container outlet opening 26.

[0094] At least one further container treatment device 28 for treating the containers 12 can be arranged upstream and / or downstream of the container treatment device 14. The at least one further container treatment device 28 can be connected to the container treatment device 14, preferably its conveyor device 20, by means of at least one conveyor device 30, 32 for conveying or transporting the containers 12. For example, a downstream end of the conveyor device 30 can be connected to a first end of the conveyor device 20. An upstream end of the conveyor device 32 can be connected to a second end of the conveyor device 20.

[0095] The mobile robot 34 can move freely through the container handling system 10. The mobile robot 34 can preferably have a chassis for movement. The chassis can have wheels or tracks. Preferably, the chassis can have at least one driven wheel or at least one driven track.

[0096] The mobile robot 34 may include a controller that can operate the mobile robot 34 to move and perform work. Particularly preferably, the mobile robot 34 is an autonomous mobile robot (AMR).

[0097] The control device of the mobile robot 34 can have an AI component (artificial intelligence component). The AI ​​component can, for example, adapt the movement and / or execution of the work by the mobile robot 34, preferably continuously. To this end, the AI ​​component can, for example, access previously recorded movement profiles and / or work profiles of the mobile robot 34 and analyze and compare them with each other with regard to at least one target variable (e.g., time, performance, and / or quality). It is also possible for a system control device of the container treatment system 10 to have a corresponding AI component, and for movement and / or work profiles adapted by this AI component to be sent from the system control device to the control device of the mobile robot 34.

[0098] The mobile robot 34 can have (at least) one manipulator 36 for performing work in the internal treatment room 16. Preferably, the manipulator 36 can be dockable and undockable. The manipulator 36 can be adapted to its respective work or task. The manipulator 36 can be rigid or movable.

[0099] As shown in Figure 1, the at least one manipulator 36 can, for example, have a pushing device. With the pushing device, the mobile robot 34 can push objects in front of it, e.g., the containers 12. The pushing device can, for example, be designed as a pushing beam. Preferably, the pushing device is arranged at a front and / or at a rear of the mobile robot 34. It is possible for the at least one manipulator 36 to have alternative or additional components.

[0100] For example, the at least one manipulator 36 can have a container holder for holding at least one container 12. The container holder can preferably be designed as a container gripper or a container clamp. The container holder can be active or passive.

[0101] For example, the at least one manipulator 36 can comprise an inspection device for inspecting the internal treatment chamber 16. The inspection device can preferably comprise a camera. Alternatively or additionally, the inspection device can comprise, for example, a radar, a lidar, an ultrasonic sensor, a laser scanner, an LED scanner, and / or an infrared sensor.

[0102] For example, the at least one manipulator 36 can comprise a cleaning device for cleaning the internal treatment chamber 16. The cleaning device can comprise a brush. The brush can preferably be rotatable. Alternatively or additionally, the cleaning device can comprise, for example, a cleaning sponge, a cleaning cloth, a cleaning agent container, a waste container, a suction device, and / or a spray device.

[0103] For example, the at least one manipulator 36 can have a tool for adjusting or reconfiguring a part in the internal treatment chamber 16. The part can be, for example, a format part, a setup part, a railing, a guide, or the shaft wall 18. The tool can be, for example, a gripper or a gripper arm.

[0104] The mobile robot 34 is dimensioned to fit through the opening 24, 26 and / or another opening, e.g., a maintenance opening, of the housing 22 to access the internal treatment chamber 16 to perform a task in the internal treatment chamber 16. Specifically, the mobile robot 34 may have a width that is smaller than a width of the opening 24, 26. The mobile robot 34 may have a height that is smaller than a height of the opening 24, 26. The mobile robot 34 may also be referred to as a mobile mini-robot.

[0105] The mobile robot 34 can move on the transport surfaces 20B, 30B, 32B and / or on the frames 20A, 30A, 32A of the at least one conveyor device 20, 30, 32. The mobile robot 34 can preferably travel on the transport surfaces 20B, 30B, 32B and / or on the frames 20A, 30A, 32A. The mobile robot 34 can preferably reach the opening 24, 26 via the ramp 38. The ramp 38 can preferably extend to approximately the same height as the frame 20A, 30A, 32A and / or the transport surface 20B, 30B, 32B of the conveyor device 20, 30 and / or 32. The ramp 38 can, for example, begin at the level of a system floor or substructure of the container treatment system 10. The ramp 38 may be arranged adjacent to the container handling device 14. For example, the ramp 38 may be arranged next to the container handling device 14, the conveyor device 30, and / or the conveyor device 32.

[0106] Alternatively, the mobile robot 34 can reach the opening 24, 26, for example, via the lifting device 40. Preferably, the lifting device 40 can be designed as an elevator for the mobile robot 34. The lifting device 40 can enable a vertical lift of the mobile robot 34 up to approximately a height level of the frame 20A, 30A, 32A and / or the transport surface 20B, 30B, 32B of the conveyor device 20, 30 and / or 32, e.g., from a plant floor or subsurface of the container treatment plant 10. The lifting device 40 can be arranged adjacent to the container treatment device 14. For example, the lifting device 40 can be arranged next to the container treatment device 14, the conveyor device 30 and / or the conveyor device 32.

[0107] It is possible to include a parking station for the mobile robot 34 (not shown in the figures). The parking station can preferably be arranged substantially at the same height as the transport surface 20B, 30B, 32B of the conveyor device 20, 30 and / or 32. For example, the parking station can be arranged next to the conveyor device 30 or 32.

[0108] It is possible for the container treatment system 10 to have at least one additional mobile robot 42 (shown only in Figure 1). The additional mobile robot 42 can be designed like the mobile robot 34. The mobile robots 34, 42 can cooperate, preferably autonomously, to perform a task, e.g., in the interior treatment room 16. The work can be coordinated and performed jointly by the mobile robots 34, 42.

[0109] Preferably, the mobile robot 34 and optionally the mobile robot 42 can be used during operational interruptions, operational breaks, maintenance breaks, setup breaks, etc. of the container treatment system 10 or the container treatment device 14 or the conveyor device 20, 30 and / or 32 in order to carry out work automatically.

[0110] Figures 1 to 3 show an exemplary method for operating the mobile robot 34. The mobile robot 34 can move to the container treatment device 14 when the container treatment device 14 is at a standstill. The mobile robot 34 can use the ramp 38 to reach a level of the transport surface 20B of the conveyor device 20 of the container treatment device 14. The mobile robot 34 can move through the opening 24 into the internal treatment space 16. In the internal treatment space 16, the mobile robot 34 can contact the containers 12 still located in the internal treatment space 16 and remove them from the internal treatment space 16. Preferably, the mobile robot 34 can push the containers 12 out of the container treatment device 14 through the opening 26 using the manipulator 36, e.g., the pushing device. The containers 12 can preferably be pushed onto the conveyor device 32, e.g.,moved together, and optionally be further promoted by this.

[0111] It is possible for the additional mobile robot 42 to assist in removing the containers 12 from the internal treatment space 16 (not shown in Figures 1 to 3). For example, the mobile robots 34, 42 can jointly push the containers 12 out of the internal treatment space 16. For this purpose, the mobile robots 34, 42 can, for example, be physically coupled to one another. For example, the mobile robot 42 can push the mobile robot 34 while the mobile robot 34 pushes the containers 12 out of the internal treatment space 16.

[0112] Figure 4 shows another exemplary method for operating the mobile robot 34. The mobile robot 34 can adjust a part, e.g., the shaft wall 18, within the internal treatment chamber 16. The adjustment can preferably take place during an operating or setup break of the container treatment device 14.

[0113] It is possible for the additional mobile robot 42 to assist in moving the part in the internal treatment chamber 16 (not shown in Figure 4). For example, the mobile robots 34, 42 can move the part, e.g., the shaft wall 18, together. The mobile robots 34, 42 can, for example, contact and move the part at opposite ends.

[0114] Figure 5 shows a further exemplary method for operating the mobile robot 34. The mobile robot 34 can clean the internal treatment chamber 16. For example, the mobile robot 34 can clean the transport surface 20B, preferably formed by a mesh link belt, of the conveyor device 20. The mobile robot 34 can preferably carry out the cleaning using a manipulator 36 designed as a cleaning device, e.g., having a rotatable brush. The cleaning can preferably take place during an operating or setup break of the container treatment device 14. It is possible for the additional mobile robot 42 to assist in cleaning the internal treatment chamber 16 (not shown in Figure 5). For example, the mobile robots 34, 42 can clean different areas of the internal treatment chamber 16.

[0115] The invention is not limited to the preferred embodiments described above. Rather, a multitude of variants and modifications are possible which also make use of the inventive concept and therefore fall within the scope of protection. In particular, the invention also claims protection for the subject matter and features of the subclaims, independently of the claims referred to. In particular, the individual features of independent claim 1 are each disclosed independently of one another. In addition, the features of the subclaims are also disclosed independently of all features of independent claim 1 and, for example, independently of the features relating to the presence and / or configuration of the container handling device and / or the mobile robot of independent claim 1.

[0116] List of reference symbols

[0117] 10 Container treatment plant

[0118] 12 containers

[0119] 14 Container treatment device

[0120] 16 Indoor treatment room

[0121] 18 Shaft wall

[0122] 20 conveyor system

[0123] 20A frame

[0124] 20B Transport area

[0125] 22 housings

[0126] 24 (Container inlet) opening

[0127] 26 (Container outlet) opening

[0128] 28 additional container treatment devices

[0129] 30 conveyor system

[0130] 30A frame

[0131] 30B Transport area

[0132] 32 conveyor system

[0133] 32A frame

[0134] 32B Transport area

[0135] 34 mobile robots

[0136] 36 Manipulator

[0137] 38 Ramp

[0138] 40 lifting device

[0139] 42 additional mobile robots

Claims

CLAIMS 1. Container treatment plant (10) comprising: a conveyor device (20, 30, 32) with a frame (20A, 30A, 32A) and with a preferably movable transport surface (20B, 30B, 32B) for transporting containers (12) during operation of the conveyor device (20, 30, 32); and a mobile robot (34) with a control device configured to operate the mobile robot (34) for moving on the frame (20A, 30A, 32A) relative to the transport surface (20B, 30B, 32B), preferably on and / or next to the transport surface (20B, 30B, 32B).

2. Container treatment plant (10) according to claim 1, wherein: the control device is configured to operate the mobile robot (34) to clean the transport surface (20B, 30B, 32B) and / or to remove the containers (12) from the transport surface (20B, 30B, 32B), preferably by pushing the containers (12) away from the transport surface (20B, 30B, 32B) and / or during an operation stop or a malfunction of the conveyor device (20, 30, 32).

3. Container treatment plant (10) according to claim 1 or claim 2, further comprising: a container treatment device (14) having an internal treatment space (16) for treating the containers (12) in an interior of the container treatment device (14) and a, preferably tunnel-shaped, housing (22) surrounding the internal treatment space (16) and having an opening (24, 26) towards the internal treatment space (16), wherein: the mobile robot (34) is dimensioned such that it fits through the opening (24, 26) to reach the internal treatment space (16) to carry out a work in the internal treatment space (16).

4. Container treatment system (10) according to claim 3, wherein: the container treatment device (14) has the conveyor (20) and the transport surface (20B, 30B, 32B) of the conveyor (20) for transporting the containers (12) is arranged at least partially through the internal treatment space (16) of the container treatment device (14), wherein preferably the conveyor (20) extends through the opening (24, 26) or is substantially flush with the opening (24, 26); or the conveying device (30, 32) is arranged adjacent to, preferably adjacent to, the container treatment device (14).

5. Container treatment plant (10) according to claim 3 or claim 4, wherein: the control device is further configured to: operate the mobile robot (34) to move, preferably drive, through the opening (24, 26) into the internal treatment space (16), and / or operate the mobile robot (34) to carry out the work in the internal treatment space (16).

6. Container treatment system (10) according to one of claims 3 to 5, wherein the control device is configured to operate the mobile robot (34): to remove the containers (12) from the internal treatment space (16), preferably by pushing the containers (12) out of the internal treatment space (16); and / or to change and / or adjust a part, preferably a shaft wall (18), a guide, or a railing, in the internal treatment space (16); and / or to clean the internal treatment space (16), preferably the transport surface (20B, 30B, 32B) or a mesh link belt in the internal treatment space (16); and / or to inspect the internal treatment space (16).

7. Container treatment plant (10) according to one of claims 3 to 6, wherein: the container treatment device (14) is a shrink tunnel device, a container heating device, a container manufacturing device, a container cleaning device, a container filling device, a container closing device, a container drying device, a container pasteurizing device or a container packaging device.

8. Container treatment plant (10) according to one of the preceding claims, further comprising: a height-overcoming device, preferably a ramp (38) and / or a lifting device (40), for the mobile robot (34) to reach a height level of the frame (20A, 30A, 32A) and / or the transport surface (20B, 30B, 32B), wherein the height-overcoming device is preferably arranged adjacent to the conveying device (20, 30, 32).

9. Container treatment system (10) according to one of the preceding claims, wherein: the control device of the mobile robot (34) comprises a Kl component; and / or the container treatment system (10) comprises a system control device with a Kl component configured to adapt an operation of the mobile robot (34).

10. Container treatment plant (10) according to one of the preceding claims, wherein: the mobile robot (34) has at least one manipulator (36), preferably one that can be docked and / or undocked automatically, for carrying out the work in the internal treatment space (16).

11. Container treatment system (10) according to claim 10, wherein the at least one manipulator (36) comprises: a pushing device, preferably a push bar, for pushing the containers (12); and / or a container holder, preferably a container gripper, for holding at least one container (12); and / or an inspection device, preferably a camera; and / or a cleaning device, preferably a brush; and / or a tool for adjusting or retooling.

12. Container treatment plant (10) according to one of the preceding claims, further comprising: a further mobile robot (42) with a control device, wherein the control device of the mobile robot (34) and the control device of the further mobile robot (42) are configured such that the mobile robot (34) and the further mobile robot (42) carry out work in a coordinated and joint manner.

13. Method for operating a mobile robot (34) in a container treatment plant (10), preferably according to one of the preceding claims, comprising a conveyor device device (20, 30, 32) with a frame (20A, 30A, 32A) and with a, preferably movable, transport surface (20B, 30B, 32B) for transporting containers (12) during operation of the conveyor device (20, 30, 32), the method comprising: Moving, preferably driving, the mobile robot (34) on a frame (20A, 30A, 32A) of the conveyor device (20, 30, 32), preferably on and / or next to the transport surface (20B, 30B, 32B) and / or during an operational stop or a malfunction of the conveyor device (20, 30, 32).

14. The method according to claim 13, wherein the mobile robot (34) travels on wheels on the transport surface (20B, 30B, 32B) and / or the frame (20A, 30A, 32A) and manipulates the containers (12), preferably away from the transport surface (20B, 30B, 32B), particularly preferably pushing them away.

15. The method according to claim 13 or 14, further comprising: Moving the mobile robot (34) to a height level of the frame (20A, 30A, 32A) and / or the transport surface (20B, 30B, 32B) via a height-overcoming device, preferably a ramp (38) and / or a lifting device (40).

16. The method according to any one of claims 13 to 15, wherein the container treatment plant (10) comprises a container treatment device (14) with an internal treatment space (16) for treating containers (12) in an interior of the container treatment device (14) and a preferably tunnel-shaped housing (22) surrounding the internal treatment space (16) and having an opening (24, 26) towards the internal treatment space (16), the method comprising: Moving, preferably driving, the mobile robot (34) through the opening (24, 26) into the internal treatment space (16); and Carrying out a work in the internal treatment space (16), preferably during an operation stop or a malfunction of the container treatment device (14).

17. The method of claim 16, wherein performing the work in the interior treatment room (16) comprises at least one of: Removing containers (12) from the internal treatment space (16), preferably by pushing out the containers (12); Changing and / or adjusting a part, preferably a shaft wall (18), a guide or a railing, in the internal treatment room (16); Cleaning the internal treatment space (16), preferably a conveyor element or a mesh link belt in the internal treatment space (16); Inspecting the internal treatment space (16), preferably by means of a camera of the mobile robot (34); and cooperating with at least one other mobile robot (42) to jointly carry out the work.

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