System for conveying at least one object to be handled in at least one packaging machine

Abstract

A system (10) for conveying, along at least one conveyance path (TS) that extends between at least a first zone (B1) of the system (10) and at least a second zone (B2) of the system (10), at least one object (30) to be handled, more particularly packaged, in at least one packaging machine.

Description

[0001] System for transporting at least one object to be processed in at least one packaging machine

[0002] The invention relates to a system for transporting at least one object to be processed, in particular to be packaged, in at least one packaging machine along at least one transport path extending between at least a first region of the system and at least a second region of the system.

[0003] Corresponding systems are known from the prior art in a variety of different embodiments and typically comprise a transport path extending between at least a first region of the system and at least a second region of the system. The first region of the system can, for example, be a loading area in which an object to be transported to the second area is transferred onto a conveyor belt by means of a transfer device, such as a robot; the second region of the system can accordingly be, for example, an unloading area in which an object transported to the second area is removed from the conveyor belt by means of a transfer device. The transport path is therefore usually formed by a conveyor belt or the like.

[0004] Corresponding systems can be configured as packaging systems, which comprise one or more packaging machines, each of which can be configured to perform one or more packaging tasks for packaging one or more objects. A corresponding packaging task can, for example, include, within the context of a corresponding transport of an object, placing an article or product in a primary packaging, such as a tray, and placing the primary packaging (along with the article or product arranged therein) in a secondary packaging, such as a carton or box.

[0005] An object to be transported can therefore be, for example, an article to be packed in a corresponding primary or secondary packaging or a product to be packed in a corresponding primary or secondary packaging.

[0006] Although corresponding systems enable reliable transport and packaging of respective objects, they require further development with regard to flexibility and versatility. This is due in particular to the fact that the use of corresponding conveyor belts entails restrictions on the movement options of corresponding objects during transport between a respective first and second area of ​​the system, or vice versa, since not only the movement paths but also other movement parameters of the objects to be transported are defined by the conveying direction and speed of the respective conveyor belt and cannot be changed during the transport of an object from the respective first area to the respective second area of ​​the system - at least without the comparatively complex intervention via transfer devices arranged along the conveyor belt.Proceeding from this, the object of the invention is to provide an improved system for transporting at least one object to be packaged in at least one packaging machine along at least one transport path extending between at least one first region of the system and at least one second region of the system, in particular with regard to flexibility and versatility of the transport options of a respective object between a first and a second region, or vice versa.

[0007] The object is achieved in particular by a system according to independent claim 1. The dependent claims relate to possible embodiments of the system according to independent claim 1.

[0008] A first aspect of the invention relates to a system for transporting at least one object to be packaged in at least one packaging machine along or within at least one transport path extending between at least one first region of the system and at least one second region of the system, or vice versa.

[0009] The system is therefore generally set up to transport at least one object which is to be processed, i.e. in particular to be packaged, in at least one packaging machine, along or within at least one transport route extending between at least a first region of the system and at least a second region of the system, or vice versa. The system is therefore typically also set up to process, i.e. in particular to package, objects. Processing operations can be directly or indirectly related to a packaging operation of an article or product, i.e. for example preparatory operations for a packaging operation, for example by providing packaging, or operations concluding a packaging operation, for example by closing a package filled with one or more articles or products.

[0010] An object to be transported can therefore be, for example, an article or product to be packaged, which may already be packaged in primary packaging. Alternatively or additionally, an object to be transported can be, for example, packaging, such as secondary packaging, i.e., a container, a tray, a box, etc. Further alternatively or additionally, an object to be transported can be, for example, a transport container.

[0011] The at least one first area of ​​the system - in this context, the term "singular" may be used below, although this does not preclude the system from having multiple first areas - can be, for example, a loading area in which an object to be transported into the at least one second area of ​​the system can be transferred onto the transport path by means of a transfer device or handling device, such as a robot. The at least one second area of ​​the system - in this context, the term "singular" may be used below, although this does not preclude the system from having multiple first areas - can accordingly be, for example, an unloading area in which an object transported into the at least one second area of ​​the system is removed from the at least one transport path by means of a transfer device or handling device, such as a robot.

[0012] The system typically comprises one or more packaging machines and can therefore also be referred to as a packaging machine system. Each packaging machine in the system is configured to perform one or more tasks for packaging one or more objects. A corresponding task can include one, several, or all of the following tasks, which are listed as examples and are therefore not exhaustive:

[0013] - Providing and / or preparing at least one packaging element, such as a blank, which can be transferred into a primary packaging, e.g. via an erection process;

[0014] - transferring at least one packaging element which can be transferred into a primary packaging, e.g. by an erecting process, into a primary packaging;

[0015] - Providing and / or preparing at least one packaging element, such as a blank, which can be transferred into a secondary packaging, e.g. via an erection process;

[0016] - transferring at least one packaging element which can be transferred into a secondary packaging, e.g. by an erecting process, into a secondary packaging;

[0017] - Providing at least one article or product to be packaged, in particular in at least one orientation and / or position required or appropriate with regard to an upcoming arrangement or handling operation;

[0018] - Arranging at least one article or product in a primary packaging, such as in a tray, in particular by a corresponding arrangement or handling process;

[0019] - arranging at least one primary packaging (together with the article or product arranged therein) in at least one secondary packaging, such as in a carton or a box, in particular by a corresponding arranging or handling process;

[0020] - Arranging at least one secondary packaging (together with the primary packaging arranged therein and with the article or product arranged therein) in a desired, e.g. stack-like or stack-shaped, configuration with further secondary packaging.

[0021] A corresponding packaging machine, and thus also the system, can thus comprise one or more functional units, possibly also referred to as functional modules, each of which can be configured to perform at least one corresponding task. Specifically, a corresponding packaging machine or system can thus comprise, for example, at least one of the following functional units:

[0022] - at least one functional unit for providing and / or preparing at least one packaging element, such as a blank, which can be transferred into a primary packaging, e.g. via an erection process; and / or

[0023] - at least one functional unit for transferring at least one packaging element transferable into a primary packaging, e.g. by an erecting process, into a primary packaging; and / or

[0024] - at least one functional unit for providing and / or preparing at least one packaging element, such as a blank, which can be transferred into a secondary packaging, e.g. via an erection process; and / or at least one functional unit for transferring at least one packaging element, which can be transferred into a secondary packaging, e.g. via an erection process, into a secondary packaging; and / or

[0025] - at least one functional unit for providing at least one article or product to be packaged, in particular in at least one orientation and / or position required or appropriate with regard to an upcoming arrangement or handling operation; and / or

[0026] - at least one functional unit for arranging at least one article or product in a primary packaging, such as in a tray, in particular by a corresponding arrangement or handling process; and / or

[0027] - at least one functional unit for arranging at least one primary packaging (together with the article or product arranged therein) in at least one secondary packaging, such as in a carton or a box, in particular by a corresponding arrangement or handling process; and / or

[0028] - at least one functional unit for arranging at least one secondary packaging (together with the primary packaging arranged therein and with the article or product arranged therein) in a desired, e.g. stack-like or stack-shaped, configuration with further secondary packaging.

[0029] Each functional unit may comprise a housing structure on or in which one or more functional devices are arranged or formed, which are configured to perform the function that can be or is to be performed by the respective functional unit. Corresponding functional devices may therefore be:

[0030] - one or more devices for, in particular automatable or automated, providing and / or preparing at least one packaging element, such as a blank, which can be transferred into a primary packaging, e.g. via an erection process; and / or

[0031] - one or more devices for transferring, in particular in an automated or automated manner, at least one packaging element transferable into a primary packaging, e.g. by an erecting process, into a primary packaging; and / or

[0032] - one or more devices for, in particular automatable or automated, providing and / or preparing at least one packaging element, such as a blank, which can be transferred into secondary packaging, e.g. via an erection process; and / or at least one functional unit for transferring at least one packaging element, which can be transferred into secondary packaging, e.g. via an erection process, into secondary packaging; and / or

[0033] - one or more devices for, in particular automatable or automated, providing of at least one article or product to be packaged, in particular in at least one orientation and / or position required or appropriate with regard to an upcoming arrangement or handling process; and / or

[0034] - one or more devices for, in particular automatable or automated, arranging of at least one article or product in a primary packaging, such as in a tray, in particular by a corresponding arranging or handling process; and / or

[0035] - one or more devices for, in particular automatable or automated, arranging at least one primary packaging (together with the article or product arranged therein) in at least one secondary packaging, such as in a carton or a box, in particular by means of a corresponding arranging or handling process; and / or

[0036] - one or more devices for arranging, in particular in an automatable or automated manner, at least one secondary packaging (together with the primary packaging arranged therein and with the article or product arranged therein) in a desired, e.g. stack-like or stack-shaped, configuration with further secondary packaging.

[0037] A corresponding device for arranging at least one article or product in a primary packaging, such as e.g. in a tray, by means of a corresponding arranging or handling process, and / or for arranging at least one primary packaging (together with the article or product arranged therein) in at least one secondary packaging by means of a corresponding arranging or handling process, and / or for arranging at least one secondary packaging (together with the primary packaging arranged therein and with the article or product arranged therein) in a desired, e.g. stack-like or stack-shaped, configuration by means of a corresponding arranging or handling process can (in each case) be designed as a transfer device or at least comprise such a device. A corresponding transfer device can specifically be designed as a handling device or comprise such a device which has one or more handling devices for carrying out corresponding arranging or handling processes.Robots configured for handling operations, such as pick-and-place robots.

[0038] Individual, multiple, or all functional units may also include a monitoring device that monitors their proper operation, e.g., implemented by optical monitoring sensors such as cameras. The typically also present hardware and / or software-implemented controls of the respective functional units can generate status information based on the monitoring information provided by the respective monitoring devices, which describes the current and / or future operation of the respective functional units. Corresponding monitoring information and / or status information can be transmitted to a central control device of the system, which will be explained in more detail below, so that information about the current and / or future operation of the respective functional units can be generated or is available in the central control device.In this respect, it is also conceivable that the central control device of the system is set up to generate control information for controlling the operation of individual, several or all functional units and to control the operation of individual, several or all functional units on the basis of such control information.

[0039] The housing structures of the functional units can each be accessible via at least one access opening, wherein the respective access openings are typically dimensioned such that at least one transport vehicle, which will be explained in more detail below and possibly loaded with at least one object, can drive into and / or out of the housing structure. In particular, a corresponding transport vehicle can drive into the housing structure in a first direction and drive out of the housing structure in the first direction or in a second, possibly inverse, direction; a turning area for at least one corresponding transport vehicle can therefore also be provided within the housing structure. The functions to be performed on objects in the respective functional units, ieIn particular, handling functions and processing functions can thus be performed when a corresponding object is moved to or into the housing structure of the respective functional unit by means of a corresponding transport vehicle. One or more travel paths for transport vehicles can also be implemented within the respective housing structures, possibly extending in different spatial directions.

[0040] The housing structures of individual, several, or all functional units can expediently be provided with multiple access openings, wherein at least one access opening can be configured as an entry opening and at least one access opening can be configured as an exit opening; a transport vehicle can thus enter the housing structure of a functional unit via an entry opening and exit the housing structure of the functional unit via an exit opening. Respective entry and exit openings can be arranged on at least two different, in particular opposite, sides of the housing structure, so that a transport vehicle can enter the housing structure of the functional unit on a first side and exit the housing structure of the functional unit on a second side, thus passing through the respective functional unit. This can enable highly efficient processing of objects in respective functional units.

[0041] At least one closing element, such as a door, can be assigned to individual, several, or all access openings, which can be transferred, e.g. via at least one assigned actuator device, into an open position in which access to the respective housing structure is possible, and into a closed position in which access to the respective housing structure is not possible. The operation of a respective actuator device for transferring a respective closing element into the open and / or closed position can be carried out via the control of the respective functional unit or by the central control device. Thus, the central control device can also be configured to generate control information for controlling the operation of the respective actuator device and to transmit it to the respective functional units.The control of the operation of respective actuator devices can be carried out, in particular, on the basis of orientations and / or positions of at least one transport vehicle detected by at least one detection device of the system described in more detail below. For example, a closing element of an access opening of a housing structure of a functional unit can be moved into an open position, for example, if it is detected that a transport vehicle is approaching or has approached the access opening of the housing structure of the functional unit.

[0042] Individual, multiple or all functional units can be configured, arranged or designed along the transport route, e.g. as functional cells. Individual, multiple or all functional units can therefore be arranged or designed adjacent to the transport route, so that it is possible, for example, for objects to be moved via the transport route into one or more functional units and / or for objects to be moved from one or more functional units onto the transport route. Individual, multiple or all functional units can be designed in a standardized manner. This means in particular that individual, multiple or all functional units can have the same connections and / or interfaces for supply media, such as power, air, etc., or for data. The standardized design of functional units has a positive effect on the flexibility and / orThe system's versatility is evident in that functional units can be easily arranged and / or aligned. Furthermore, the system's assembly is simplified.

[0043] The system comprises a plurality of transport vehicles, each of which has a receiving area for receiving at least one object to be transported. A corresponding receiving area can be formed, for example, by a receiving surface, in particular a planar one, designed to receive at least one object to be transported, possibly only a single object to be transported. A corresponding receiving surface can be formed, for example, by an exposed wall of a housing structure of a respective transport vehicle. Specifically, a corresponding receiving surface can be formed, for example, by an exposed wall of the housing structure of a respective transport vehicle, which wall forms an upper side of the respective transport vehicle. An object picked up by means of a respective transport vehicle can therefore, if necessary, be freely received on the housing structure of the transport vehicle.Picking up an object can therefore be understood as arranging or placing the object on the housing structure of a respective transport vehicle.

[0044] The transport vehicles are each movable, in particular dependently or independently of one another, between the at least one first area of ​​the system and the at least one second area of ​​the system, or vice versa, in at least one translational and / or rotational degree of freedom of movement. In particular, combined movements of respective transport vehicles in at least one translational and at least one rotational degree of freedom of movement are also conceivable. The transport vehicles can thus each be moved in arbitrarily configurable movement paths or trajectories, possibly aligned parallel at least in sections, so that an essentially infinite number of degrees of freedom is available for the movement of the respective transport vehicles.

[0045] As mentioned, combined movements of respective transport vehicles in at least one translational and at least one rotational degree of freedom are conceivable. Thus, respective transport vehicles can change their orientation through rotational movements about a rotational axis, such as a vertical axis, while they are (simultaneously) moved translationally along a translational axis through translational movements. This makes it possible, for example, for a respective transport vehicle to be loaded with an object in a loading area of ​​the system in a first orientation and for the object to be unloaded from the respective transport vehicle in an unloading area of ​​the system in a second orientation, wherein a transfer of the respective transport vehicle from the first orientation to the second orientation can be carried out, for example, during a movement of the respective transport vehicle towards the unloading area of ​​the system.A respective transport vehicle can in particular be movable with a rotational degree of freedom of movement, whereby it can be rotated at any desired location about a vertical axis. A respective transport vehicle can therefore rotate on the spot without performing a translational movement. This can be particularly advantageous when there is little space available to change the orientation of a respective transport vehicle on the spot. In concrete terms, this can be useful, for example, in connection with loading and unloading processes when, e.g. due to other transport vehicles, there is little space available to align a respective transport vehicle relative to a transfer device or handling device. Likewise, it is possible in this way for a respective transport vehicle to execute a movement in any spatial direction from a standstill, and thus to start moving in any spatial direction from a standstill.

[0046] To execute corresponding movements, the transport vehicles each comprise one or more drive devices configured to generate drive forces or torques that result in a movement of a respective transport vehicle in the at least one translational and / or rotational degree of freedom. Corresponding drive devices can be designed, for example, as an electric motor or at least comprise one whose power supply can be provided via an electrical energy storage device, such as a rechargeable battery or a battery, a capacitor, in particular a supercapacitor, etc. Both corresponding drive devices and energy storage devices can be arranged or formed on or in a housing structure of a respective transport vehicle.

[0047] At least one drive device can be assigned a transmission; this can be advantageous, for example, to enable the drive device to operate within a desired power range. A drive device can thus be coupled directly or indirectly via a transmission to a power transmission element. A corresponding transmission can also be arranged or formed on or in a housing structure of a respective transport vehicle.

[0048] The movement of the transport vehicles in the respective at least one translational and / or rotational degree of freedom of movement is based on control information generated by a central control device of the system implemented in hardware and / or software. The central control device can use one or more programming elements, such as algorithms, computational models, etc., of artificial intelligence or machine learning, such as artificial neural networks, to generate corresponding control information, on the basis of which the transport vehicles can be moved in the respective at least one translational and / or rotational degree of freedom of movement along or within the transport route or generally within the system.The movement of the transport vehicles is therefore controlled centrally via a central control device of the system, which is configured to generate control information on the basis of which the transport vehicles can be moved in at least one translational and / or rotational degree of freedom along or within the transport route or generally within the system. The central control device is thus not integrated into the transport vehicles, but rather, e.g., due to an arrangement on or in a frame structure of the system, is arranged or configured spatially and physically separate from them.The transport vehicles can therefore be configured very simply with regard to their own control system on the transport vehicle side, because the control information on the basis of which the transport vehicles are movable or are moved in the at least one translational and / or rotational degree of freedom of movement, in particular in order to move an object from the first area of ​​the system into the second area or in the direction of the second area of ​​the system, or vice versa, is generated by the central control device of the system and, as explained below, transmitted to the transport vehicles.It is therefore not necessary for the control system of a respective transport vehicle to generate corresponding control information on the basis of which the respective transport vehicle is moved in the at least one translational and / or rotational degree of freedom of movement in order to move an object by means of the respective transport vehicle from the first area of ​​the system into or towards the second area of ​​the system, or vice versa. In particular, the respective control of the respective transport vehicles can be kept comparatively simple, for example with regard to their hardware and / or software configuration, i.e. in particular their computing and / or storage capacity, which also has a positive effect on the manufacturing costs of the transport vehicles.

[0049] The system further comprises at least one loading device assigned to the at least one first area of ​​the system, which is configured for the at least partially automated loading of an object to be transported onto a respective receiving area of ​​a transport vehicle. The loading device can be formed by or comprise a corresponding transfer device or handling device mentioned above, thus e.g., a robot. Movements of respective transport vehicles into the first area in order to be able to be loaded there with an object to be transported are typically also controlled by the central control device; thus, the central control device is configured, in particular, to generate control information on the basis of which a respective transport vehicle is moved into the first area of ​​the system.The central control device can also be configured to generate control information on the basis of which a respective transport vehicle moves in the first area of ​​the system in a specific orientation, e.g., relative to a transfer or handling device present there, for example, to enable or facilitate a loading process. Movements of a respective transport vehicle within the first area of ​​the system, for example, to assume a suitable loading orientation and / or position, therefore typically occur on the basis of control information generated by the control device. The system further comprises at least one unloading device assigned to the at least one second area of ​​the system, which is configured for the at least partially automated unloading of an object to be transported from a respective receiving area of ​​a transport vehicle.The unloading device can be formed by or comprise a corresponding transfer device or handling device mentioned above, thus e.g., a robot. Movements of respective transport vehicles into the second area in order to be able to unload there are typically also controlled by the central control device; thus, the central control device is in particular configured to generate control information on the basis of which a respective transport vehicle is moved into the second area of ​​the system. The central control device can also be configured to generate control information on the basis of which a respective transport vehicle moves in the second area of ​​the system in a specific orientation, e.g., relative to a transfer or handling device present there, for example, to enable or facilitate an unloading process.Movements of a respective transport vehicle within the second area of ​​the system, for example to assume a suitable unloading orientation and / or position, are therefore typically carried out on the basis of control information generated by the control device.

[0050] Finally, the system comprises a corresponding central control device, which is configured at least to generate control information for controlling movements of the transport vehicles between the at least one first area of ​​the system and the at least one second area of ​​the system, or vice versa. The central control device can, as mentioned, be implemented in hardware and / or software and thus generally enables computer-implemented generation of corresponding control information and thus computer-implemented simultaneous or at least synchronized control of movements of individual, several, or all transport vehicles of the system in respective translational and / or rotational degrees of freedom of movement, in particular in order to move objects to be transported from the first area of ​​the system to the second area of ​​the system, or vice versa.The generation of corresponding control information and, in particular, the control of the movements of the transport vehicles based on it can take place in real time.

[0051] The system therefore does not require a conveyor belt to implement a transport route; instead, the conveyor belt is replaced by the transport vehicles. Since the transport vehicles can essentially be moved independently or dependently of one another in respective translational and / or rotational degrees of freedom, and due to the fact that the movements of the transport vehicles are centrally controlled by the system's central control unit, an extremely high degree of flexibility and versatility is possible, for example with regard to the planning, implementation, and control of transport processes, thus resulting in an improved system. Eliminating a conveyor belt also enables completely new system configurations, because the individual components of the system, such as corresponding functional units, can now essentially be positioned anywhere, as they can always be reached via corresponding transport vehicles.The system typically comprises a first data transmission device assigned to the central control device, e.g. formed by or comprising at least one data transmission antenna, which is configured to transmit at least corresponding control information via a, in particular wireless, data connection to the respective transport vehicles. The first data transmission device can also be configured to receive data, e.g. to receive data sent by the respective transport vehicles, provided the transport vehicles are configured for this purpose. In order to be able to receive the control information generated by the central control device, the transport vehicles each comprise a second data transmission device, e.g. formed by or comprising at least one data transmission antenna, e.g.in particular at least one data receiving device which is configured to receive corresponding control information. A respective second data transmission device can also be configured to transmit data to the first data transmission device. To implement a corresponding data connection between the first data transmission device and the respective second data transmission devices on the transport vehicle side, and thus at least to implement the transmission of corresponding control information from the central control device to the respective transport vehicles, one or more standards or protocols for, in particular wireless, data transmission can be used. Conceivable standards or protocols are, for example, WLAN standards, such as IEEE 802.11 standards, or mobile radio standards, such as 5G. The data connection orData transmission can be encrypted using suitable encryption mechanisms, which may include principles of blockchain technology, to prevent unwanted interference or interactions.

[0052] The first data transmission device can be configured to form a separate system-side communications network, via which data can be transmitted to a communications partner, in particular a respective transport vehicle, within the system or within a component of the system, in particular within a frame structure of the system. By forming its own system-side communications network, which can in particular be a wireless network, the system can therefore have its own data transmission structure which, in particular because it is separate from other communications networks that may be present in a factory environment, enables a(n) more secure data connection between the central control device and the respective transport vehicles, which in turn has a positive effect on the, as explained, data transmission carried out by the central control device.implemented control of the movements of the transport vehicles in the respective degrees of freedom of movement.

[0053] The central control device can be set up to generate movement paths or trajectories that can be assigned or are assigned to a respective transport vehicle. The control information that can be generated or generated by the central control device can therefore in particular contain corresponding movement paths or trajectories. Respective movement paths can in principle be arranged in any desired, in particular linear or linear, path geometry in one or more, in particular vertical, spatial planes, whereby they typically extend between the first and the second region of the system. Linear or linear path geometries can, for example, comprise one or more rectilinear path geometry sections or one or more curved or linear paths.comprise curved path geometry sections of equal or unequal length, so that corresponding path geometries can be both geometrically determined and geometrically indeterminate. At least two corresponding path geometry sections can, for example, be aligned at an angle to each other.

[0054] Respective movement paths or trajectories can therefore contain or be defined by, in particular, starting and end points, i.e., in particular, starting and end coordinates, of a movement to be completed by a respective transport vehicle, in particular along the transport route or within the transport route. Corresponding starting points or coordinates can be located, for example, in the or a first area of ​​the system, and corresponding end points or coordinates can be located, for example, in the or a second area of ​​the system.

[0055] In addition, respective movement paths or trajectories can contain one or more intermediate points or coordinates located between respective starting and end points or starting and end coordinates, so that a respective movement path or trajectory can be described, for example, by corresponding starting, intermediate, and end points or coordinates. Corresponding intermediate points or coordinates can, for example, be assigned to corresponding functional units, so that at least one transport vehicle is moved, e.g., into at least one functional unit within the scope of a movement, e.g., from the first area to the second area of ​​the system, in which, for example, at least one of the tasks described above is performed.

[0056] Alternatively or additionally, respective movement paths or trajectories can contain one or more movement vectors arranged between respective starting and end points or starting and end coordinates, so that a respective movement path or trajectory can be described, for example, by corresponding starting and end points or coordinates and corresponding movement vectors. Corresponding movement vectors can also be assigned, for example, to corresponding functional units, so that at least one transport vehicle is moved, for example, from the first area to the second area of ​​the system, into at least one functional unit in which, for example, at least one of the tasks described above is performed.

[0057] The central control device can therefore generally be configured to generate movement paths or trajectories that can be assigned to or are assigned to at least two transport vehicles, which movement paths or trajectories are the same or different. This provides a high degree of flexibility and versatility with regard to the planning, implementation, and control of transport processes, since, apart from avoiding collisions between the transport vehicles, there are basically no restrictions on the generation of corresponding movement paths or trajectories. The central control device is thus configured to coordinate the movements of the respective transport vehicles, both for the same and for different movement paths or trajectories of at least two transport vehicles, i.e., particularly through appropriate synchronization, to ensure that the risk of a collision between the transport vehicles is eliminated. In this case, one or more parameters, such as the loading status of a particular transport vehicle with an object, the type of object, etc., can also be taken into account.

[0058] The central control device can thus be configured to generate first movement paths or trajectories that are assignable or assigned to a first transport vehicle, and to generate further movement paths or trajectories that are assignable or assigned to at least one further transport vehicle. Respective first and further movement paths or trajectories can intersect or not intersect at at least one intersection point; if respective first and further movement paths or trajectories intersect at at least one intersection point, the central control device is configured to coordinate and / or prioritize the movements of the respective transport vehicles, i.e., to control them in time, in particular through appropriate synchronization, so that any risk of a collision between the respective transport vehicles is excluded.

[0059] In this respect, the central control device can also be configured to assign different priorities to at least two transport vehicles. This may, for example, make it possible to easily regulate which transport vehicle has priority in certain situations, such as a situation at a corresponding intersection of at least two movement paths or trajectories.

[0060] The central control device can also be configured to generate movement paths or trajectories assigned to at least one transport vehicle group comprising at least two transport vehicles. Thus, at least two transport vehicles can be combined to form a corresponding transport vehicle group, the movement of which takes place on the basis of a common movement path or trajectory. The possibility of combining several transport vehicles to form a corresponding transport vehicle group and controlling their movement on the basis of a movement path or trajectory can, if necessary, reduce the computational effort for controlling the movements of several transport vehicles, as one movement path or trajectory can apply to several transport vehicles. Specifically, several transport vehicles can move on the basis of a corresponding movement path or trajectory, e.g.in a parallel arrangement or in a defined offset arrangement with respect to one another in at least one spatial axis, move uniformly, e.g. in the direction of the second area of ​​the system.

[0061] The central control device can also be configured to generate corresponding movement paths or trajectories based on at least one transport criterion relating to the transport of an object by means of a respective transport vehicle and / or an object criterion relating to at least one object to be transported. The central control device can thus be configured to take into account at least one transport criterion relating to the transport of an object by means of a respective transport vehicle and / or an object criterion relating to at least one object to be transported when generating corresponding movement paths or trajectories.

[0062] A corresponding transport criterion can, for example, be or include at least one of the following criteria: a safety criterion relating to the safety of the transport process, e.g. with regard to a collision and / or an undesired loss of a picked-up object, a speed criterion relating to the speed of the transport process, or an efficiency criterion relating to the efficiency of the transport process, e.g. with regard to energy consumption of a respective transport vehicle during the transport process, wear and tear of a respective transport vehicle during the transport process.

[0063] A corresponding object criterion may, for example, comprise at least one of the following criteria: a type criterion relating to the type of object to be transported, a dimension and / or shape criterion relating to the dimensions and / or shape of the object to be transported, a mass criterion relating to the mass of the object to be transported.

[0064] The central control device can also be configured to change at least one movement path or trajectory originally assigned to at least one transport vehicle. Control information generated by the central control information and transmitted to the respective transport vehicle can therefore contain corresponding changes to the movement paths or trajectories originally assigned to at least one transport vehicle and thus updated movement paths or trajectories for the respective transport vehicle. A corresponding change or update of a movement path or trajectory originally assigned to a transport vehicle can, for example, be necessary or expedient if, due to events or the cessation of events - these can, for example,by at least one detection device of the system that is or can be assigned to the central control device - an originally assigned movement path or trajectory within the transport route proves to be no longer feasible or expedient. In concrete terms, a corresponding change or updating of a movement path or trajectory originally assigned to a transport vehicle may be necessary or expedient, for example, if a (possible) obstacle, such as contamination, a lost object, a defective transport vehicle, etc., is detected on the movement path or trajectory; the changed or updated movement path or trajectory then enables the obstacle to be avoided, for example. Likewise, a corresponding change or updating of a movement path or trajectory originally assigned to a transport vehicle may be necessary or expedient, for example, if, for example,Due to the removal of an obstacle, such as contamination, e.g. due to contamination removed by a cleaning vehicle (explained in more detail below), a shorter distance is achieved and thus, for example, the possibility of more efficient or faster transport of an object; the changed or updated movement path or trajectory then enables, for example, a shorter transport and thus typically reduced energy consumption.

[0065] In an analogous manner, the central control device can also be configured to change or update a priority originally assigned to a respective transport vehicle. The priority of a transport vehicle can, for example, be changed from an originally low value to a higher value, or vice versa, particularly during a movement toward the second area of ​​the facility. In this way, for example, situations can be taken into account in which there is a changed demand for an object transported by a respective transport vehicle in the second area of ​​the facility. If the demand for a respective object decreases, the priority of the respective transport vehicle can also be reduced, and vice versa.

[0066] However, other operating modes of the transport vehicles, such as a buffer mode, can also be implemented by means of appropriately modified movement paths or trajectories or prioritizations. If, for example, it turns out that unloading processes are delayed in an unloading area - this can in turn be detected by at least one detection device of the system that is or can be assigned to the central control device - the movement path or trajectory or prioritization of at least one transport vehicle loaded with an object can be changed so that it is not moved in the direction of the unloading area, but rather, for example, is moved into a buffer storage area of ​​the system and / or into a parking area of ​​the system. It is also conceivable that at least one transport vehicle loaded with an object can, in the event of corresponding delays in the unloading area of ​​a first packaging machine, be guided back to the unloading area on the basis of a correspondingly modified movement path or-trajectory or prioritization into an unloading area of ​​another packaging machine in the system.

[0067] At this point, it should therefore be generally noted that at least one transport vehicle can also be set up to be moved within the system from a first packaging machine to at least one further packaging machine. The central control device can therefore also be set up to generate movement paths or trajectories that extend between at least two packaging machines in the system for at least one transport vehicle and to transmit them to the at least one transport vehicle so that it can be moved between at least two packaging machines. This also creates the possibility of dynamically changing the number of transport vehicles available in a respective packaging machine for transporting objects, as transport vehicles can be withdrawn from a packaging machine in which, e.g. with regard to a task orPackaging task, there are too many transport vehicles available, and they can be moved to one or more other packaging machines, in which, e.g. with regard to a task or packaging task, additional transport vehicles would be necessary or expedient. Therefore, the principle described here enables dynamic and efficient control options for the operation of a system with multiple packaging machines. The same can apply, for example, to functional units; the central control device can thus be set up to control movement paths or-trajectories which extend between at least two functional units of a packaging machine or between at least two functional units of several packaging machines, for at least one transport vehicle and to transmit them to the at least one transport vehicle so that it can be moved between at least two functional units of a packaging machine or between at least two functional units of several packaging machines.

[0068] In addition to the possibility of generating movement paths or trajectories and the possibility of changing or updating corresponding movement paths or trajectories, at least one movement parameter of at least one transport vehicle, in particular a positive or negative acceleration, a speed, or at least an upper and / or lower limit value of at least one corresponding movement parameter, can also be controlled via the central control device. The central control device can thus be configured to control at least one movement parameter of at least one transport vehicle, in particular a positive or negative acceleration, a speed, or at least an upper and / or lower limit value of at least one corresponding movement parameter. The central control device can thus also be configured to generate and control movement profiles of at least one transport vehicle.

[0069] The central control device can, in particular, be configured to take into account location and / or time information and / or information derived therefrom, such as current and / or future position information, of a respective transport vehicle when generating corresponding movement profiles. Corresponding movement profiles of a respective transport vehicle can thus, for example, contain location- and / or time-dependently variable movement parameters of at least one respective transport vehicle, so that the entire movement sequence of a respective transport vehicle can be controlled via the central control device.

[0070] When generating corresponding movement profiles, the central control device can thus be configured to consider one or more criteria. Alternatively or in addition to corresponding location and / or time criteria, the corresponding criteria can include, for example, the loading status of a respective transport vehicle, the energy consumption of a respective transport vehicle, the charge status of at least one electrical energy storage device of a respective transport vehicle, the condition of a subsurface, such as a roadway, on which a respective transport vehicle is moving, etc.

[0071] The central control device can also be configured to assign specific movement paths or trajectories and / or specific movement parameters for specific areas within the system to at least one transport vehicle. Thus, the central control device can also be configured to assign movement profiles for specific areas within the system to a respective transport vehicle, so that a transport vehicle can move at a different speed, in particular minimum or maximum speed, in a first area of ​​the system than in a second area of ​​the system. The same applies to other movement parameters of the respective transport vehicle.

[0072] Corresponding areas of the system can be areas within a packaging machine, so that a first area can be, for example, a first section or part of a transport route, and a second area can be, for example, a second section or part of the transport route within a packaging machine. Alternatively or additionally, corresponding areas of the system can each be, for example, an (entire) transport route within a specific packaging machine, so that a first area can be, for example, a transport route within a first packaging machine, and a second area can be a transport route within a second packaging machine.

[0073] The central control device can also be set up to generate control information on the basis of which at least two transport vehicles are brought into a specific formation, in particular into a specific spatial orientation and / or position relative to one another, or adopt such a specific formation during a movement along the transport route. By forming corresponding formations, larger loading and unloading areas can be created as required, as the loading and unloading areas of the transport vehicles arranged in a corresponding formation can add up to a resulting loading or unloading area. The transport vehicles can therefore be arranged or arranged adjacent to one another on the basis of corresponding control information generated by the central control device, e.g. in rows and / or columns, in such a way that their respective loading and unloading areas add up to a resulting loading or unloading area.Unloading areas can be added or combined. By determining the number and arrangement or orientation of transport vehicles arranged in a corresponding formation, individually dimensioned loading and unloading areas can be created, which also enables the transport of objects that, for example, cannot be transported with a single transport vehicle due to their dimensions.

[0074] The control information that can be generated or is generated by the central control device, on the basis of which at least two transport vehicles are brought into a specific formation, in particular into a specific spatial orientation and / or position relative to one another, or assume such a specific formation during a movement along the transport route, can thus be generated on the basis of at least one transport criterion relating to the transport of an object by means of the respective transport vehicle and / or an object criterion relating to at least one object to be transported. The central control device can thus be configured to generate corresponding control information on the basis of at least one transport criterion relating to the transport of an object by means of the respective transport vehicle and / or an object criterion relating to at least one object to be transported.A corresponding transport criterion may, for example, be or include at least one of the following criteria: a safety criterion relating to the safety of the transport process, an efficiency criterion relating to the efficiency of the transport process.

[0075] A corresponding object criterion may, for example, be or include at least one of the following criteria: type of object to be transported, dimensions and / or shape of the object to be transported, mass of the object to be transported.

[0076] As mentioned above, a respective transport vehicle can have a housing structure. A corresponding receiving area, which, as also mentioned, can be a support surface, in particular a flat one, is typically arranged or formed on or in the housing structure.

[0077] A corresponding receiving area of ​​at least one transport vehicle can, for example, be assigned at least one securing device, via which an object to be transported can be secured to the receiving area and thus generally to the transport vehicle, as needed. A corresponding securing device can be designed to be active and thus transferable into an active securing state. A corresponding actively designed securing device can, for example, have at least one securing element that can be transferred into a securing state in which it engages a respective object to secure it, and into a non-securing state in which it does not engage a respective object to secure it. A corresponding securing element can be designed as a form-fitting or friction-locking element or at least comprise one such element. A corresponding actively designed securing device can, for example,It can also be designed as a vacuum device that secures an object in a secured state by applying a vacuum. A corresponding passively designed securing device can, for example, be implemented by an adhesion-enhancing surface or surface structure, e.g., in the form of a rubber coating, on the receiving area.

[0078] At least one of the following components of the respective transport vehicle can be arranged or formed on or in a respective housing structure: at least one drive device for generating drive forces or moments, at least one energy storage device that can be assigned or is assigned to the at least one drive device, at least one force transmission element, such as a wheel, a roller, etc., via which drive forces or moments generated by the drive device can be transmitted to a surface, a corresponding second data transmission device, a controller (on-board controller), a detection device, such as a camera, for detecting a surface or a surface structure on which the respective transport vehicle can be moved or traveled.A corresponding force transmission element can therefore in particular be a mechanical force transmission element, since mechanical forces can be transmitted to a substrate via this. Corresponding components can in particular be arranged or formed at least in sections, if necessary completely, within a receiving space defined by one or more walls of the housing structure, so that they are protected from external influences. The receiving space can have receiving compartments formed by one or more wall sections, wherein each receiving compartment can be designed to receive at least one component of the respective transport vehicle. The dimensions of a respective receiving compartment can therefore e.g.be selected with regard to the dimensions of at least one component of the respective transport vehicle, so that at least one component can be accommodated, if necessary precisely, in the respective receiving compartment without being lost.

[0079] Corresponding drive devices and power transmission elements can form drive units of a respective transport vehicle. It is expedient to form several separate drive units, with at least one drive device assigned to each power transmission element, so that each power transmission element is subjected to force or torque and thus driven independently of other power transmission elements. In other words, the operation of each drive unit can be controlled individually, so that each power transmission element of a drive unit can be set into motion in a specific direction of movement or blocked independently of power transmission elements of other drive units of the respective transport vehicle. This makes it possible, for example, to rotate a respective transport vehicle in place, as described, and thus, for example, to align it in the desired manner, without performing a translation.

[0080] In a specific embodiment, a respective transport vehicle can comprise three corresponding drive units arranged offset by 120°. A respective transport vehicle can thus comprise three drive axles arranged offset by 120° from one another, each of which has at least one power transmission element, such as a wheel, a roller, etc. This not only enables the transport vehicle to rest stably on a surface, i.e., in particular, secured against tipping, but also allows the described rotational movements of the transport vehicle to be realized on-site.

[0081] In a specific embodiment, a corresponding power transmission element can be designed as an omnidirectional wheel (omniwheel) or at least comprise such a wheel. A corresponding omnidirectional wheel comprises at least one base structure that can be driven rotatably about a rotational axis and has a running surface formed by a plurality of roller or cylinder bodies whose axes of rotation are arranged at right angles to the rotational axis of the base structure. A configuration with a plurality of corresponding base structures is expedient, the roller or cylinder bodies of which are arranged offset from one another in the circumferential direction, so that a roller or cylinder body is always in contact with the ground. The rolling and wear properties of the omnidirectional wheel can be improved in this way.

[0082] Corresponding control commands for controlling the operation of respective drive units of a respective transport vehicle can also be included in the control information transmitted to the respective transport vehicle; the central control device can thus also be configured to control the operation of respective drive units of respective transport vehicles. However, it is also conceivable for a control system of a respective transport vehicle to generate corresponding control commands for controlling the operation of respective drive units based on the respective control information transmitted by the central control device.

[0083] The housing structures of the transport vehicles can each have a polygonal, in particular quadrangular, pentagonal, or hexagonal, basic shape. A corresponding polygonal basic shape can enable or simplify a (directly) adjacent arrangement of at least two transport vehicles, forming a corresponding formation that forms a common, in particular closed, receiving area for at least one object.

[0084] The housing structures of the transport vehicles can be designed in one or more parts. In particular, a multi-part configuration of a housing structure with a lower part and an upper part mounted relative to the lower part so as to be rotatable about a vertical axis is conceivable, wherein the upper part has a corresponding receiving area, which, as also mentioned, can in particular be a support surface, in particular a flat one. This can be expedient in order to align an object located on the receiving area in the desired manner, regardless of the orientation of the lower part, by corresponding rotational movements of the upper part relative to the lower part, or to maintain a desired orientation regardless of the orientation of the lower part. To implement corresponding rotational movements of the upper part, at least one drive device, e.g. designed as an electric motor, can be assigned to the upper part.

[0085] At least two transport vehicles can have at least one coupling interface, for example, a magnetic or mechanical one. These coupling interfaces are configured to couple the at least two transport vehicles to one another, forming a transport vehicle arrangement, in particular detachably as needed. Thus, at least two transport vehicles can be coupled to one another, forming a transport vehicle arrangement, in particular detachably as needed. This can be useful, for example, for moving several transport vehicles together. In particular, several transport vehicles coupled to form a transport vehicle arrangement can be moved together, for example, from a first packaging machine to a second packaging machine of the system.It is also possible to expediently carry out movements of the respective transport vehicle arrangements into a cleaning device, a maintenance device, or a loading device of the system, etc., which are explained in more detail below.

[0086] Due to the coupling of the transport vehicles, it is fundamentally possible to generate control information for corresponding transport vehicle arrangements only for at least one transport vehicle serving as a pusher and / or towing vehicle, since the other transport vehicles of the respective transport vehicle arrangement follow the movement path or trajectory of the at least one pusher or towing vehicle. The central control device can therefore be set up to generate control information on the basis of which at least one transport vehicle of a corresponding transport vehicle arrangement is defined as a pusher and / or towing vehicle of the transport vehicle arrangement and at least one transport vehicle of the transport vehicle arrangement is defined as a non-pusher and / or towing vehicle, wherein the at least one transport vehicle defined as a pusher or towing vehicle transmits forces orMoments are generated via which the at least one transport vehicle defined as a non-push and / or towing vehicle can be moved or is moved, in particular by pushing or pulling forces generated by the push or towing vehicle.

[0087] A corresponding coupling interface of at least one first transport vehicle can comprise at least one coupling element that can be transferred into a coupling state and a non-coupling state. The at least one coupling element can interact in the coupling state to form a coupling with the coupling interface of at least one other transport vehicle, and in the non-coupling state, can not interact to form a coupling with the coupling interface of at least one other transport vehicle. The central control device can be configured to generate coupling information on the basis of which the at least one coupling element of a respective transport vehicle can be transferred into the coupling state and / or the non-coupling state.In this respect, an actuator device can be assigned to the at least one coupling element of the respective transport vehicle, which transfers the at least one coupling element into the coupling state and / or into the non-coupling state on the basis of corresponding coupling information.

[0088] The configuration of the respective transport vehicles should, in principle, be comparatively simple, for example in order to keep manufacturing costs low, since their function is only to transport an object, as described, along at least one transport route extending between at least a first area of ​​the system and at least a second area of ​​the system. A plurality of the transport vehicles of the system can thus have a minimal configuration with at least a corresponding receiving area, at least one drive unit, at least one second data transmission device, and at least one controller, which, as mentioned, can be arranged or formed on or in a corresponding housing structure.

[0089] However, it is conceivable that the system may have transport vehicles configured differently or additionally with regard to their function:

[0090] It is conceivable, for example, for the system to have at least one transport vehicle which comprises at least one effector unit, i.e. a gripping or suction unit, which is configured to grip an object and / or a potential obstacle located on the transport route, at least in sections, and thus remove it from the transport route. A corresponding effector unit can be configured to attach an object and / or a potential obstacle located on the transport route to the respective transport vehicle, e.g. by gripping, suction, etc., and thus move it to an area outside the transport route. In this way, efficient operation of the system can be ensured because control interventions by the central control device can be reduced or avoided to prevent collisions between transport vehicles and objects and / or potential obstacles located on the transport route.The operation of a correspondingly configured transport vehicle is typically also controlled based on control information generated by the central control device.

[0091] It is also conceivable for at least one transport vehicle to comprise at least one cleaning unit, e.g., a brush, blower, suction, or rinsing unit, which is configured to clean a travel surface intended for the transport vehicle. A corresponding cleaning unit can thus clean a travel surface, e.g., by mechanical cleaning using a brush unit, by blowing away or sucking up contaminants using a blower or suction unit, or by applying a rinsing or cleaning fluid using a rinsing unit. The operation of a correspondingly configured transport vehicle is typically also controlled based on control information generated by the central control device.

[0092] The system can further comprise at least one transfer vehicle configured to accommodate multiple transport vehicles in a designated receiving area and move them collectively within the system. This provides an efficient way to move multiple transport vehicles within the system, as these can be moved indirectly via the at least one transfer vehicle, so that the respective transport vehicles do not consume any energy for corresponding transfers within the system.

[0093] It was mentioned above that at least two transport vehicles can be brought into a formation to create a resulting loading or unloading area. A similar approach can be for at least one transport vehicle to have at least one extension structure that expands its receiving area, in particular a receiving area, which can be arranged or is arranged on the at least one transport vehicle via an interface, e.g., a mechanical interface. By means of a corresponding extension structure, it is thus possible to expand the receiving area of ​​a transport vehicle even without forming a corresponding formation of at least two transport vehicles.The extension structure can in particular be arranged or formed on the outer circumference of the housing structure of the respective transport vehicle and form an enlarged receiving surface with at least one extension surface element arranged in alignment with the receiving surface of the respective transport vehicle.

[0094] A corresponding extension structure can therefore have one or more extension surface elements which are movable relative to one another in at least one degree of freedom of movement, so that the extension structure has a first configuration having a first surface dimension and at least one further configuration which is different from the first configuration and in which it has a further surface dimension which is different from the first surface dimension, i.e. in particular enlarged or reduced. It was mentioned at the beginning that the system can comprise a plurality of packaging machines. In a corresponding configuration with a first packaging machine and at least one further packaging machine, the central control device can be set up to generate control information on the basis of which at least one transport vehicle can be moved from the first packaging machine into the at least one further packaging machine, or vice versa.

[0095] It was also mentioned that transport vehicles can be moved between at least two packaging machines in the system. In this case, it may be expedient, for example with regard to safety and control-related aspects, for a first packaging machine to be connected to at least one further packaging machine via at least one, in particular tunnel-like or tunnel-shaped, connecting structure. Respective transport vehicles can thus be moved between respective packaging machines in the system via a corresponding connecting structure; since a corresponding connecting structure typically also limits or defines the travel path between respective packaging machines in the system, complex control of the movements of the transport vehicles by the central control device is not required, as the transport vehicles can be guided, for example, by the walls of the connecting structure during their movement along or through it.

[0096] A further advantage of using such transport vehicles is that they can be moved not (only) on flat surfaces, but also on surfaces that are inclined or curved relative to a horizontal reference plane. Thus, the system's transport route, or at least one of its transport routes, can be arranged within a transport plane that is at least partially inclined and / or curved. However, the system's transport route, or at least one of its transport routes, is generally aligned (essentially) parallel to a horizontally aligned surface, such as the floor of a hall.

[0097] This also means that the system can generally comprise a plurality of transport routes arranged in different spatial directions and / or spatial levels. In particular, a stack-like or stacked arrangement of a plurality of transport routes on several spatial levels one above the other is conceivable; this can be achieved, for example, using a frame construction which enables a stack-like or stacked arrangement of a plurality of transport routes on several spatial levels one above the other. Corresponding transport routes and the resulting transport route levels can be connected to one another, for example, via ramp-like or ramp-shaped connecting sections, so that a transport vehicle can be moved, for example, from a lower transport route via a corresponding connecting section to an upper transport route, or vice versa. Likewise, one or more lifting devices, such as, for example,Elevators may be present, via which one or more transport vehicles can be moved to respective transport route levels. The operation of respective lifting devices can also be controlled on the basis of control information generated by the central control device. The system can comprise at least one guide device which has one or more guide elements. The guide device is in particular designed to implement a guided movement of at least one transport vehicle along at least one guide element. Guided movements of respective transport vehicles can reduce the control-related effort for implementing movements of respective transport vehicles, as at least one movement path or trajectory of corresponding transport vehicles is at least partially predefined by corresponding guide elements. A corresponding guide element can, for example,be formed by a surface element arranged or formed on or within the system, in particular a standing, lying, hanging, etc., or comprise such a surface element which has or delimits a surface along which a transport vehicle is movably guided. Such surface elements can have a one- or multi-dimensional spatial extension, so that corresponding guide elements can be, for example, but not exclusively, wall elements, rail elements, pin elements, rod elements, grid elements, fence elements, etc.

[0098] As mentioned, the at least one first area of ​​the system can be, for example, a loading area in which an object to be transported into the second area can be transferred onto the transport path by means of a transfer device or handling device, such as a robot, for example, and the second area of ​​the system can accordingly be, for example, an unloading area in which an object transported into the second area is removed from the transport path by means of a transfer device or handling device, such as a robot.

[0099] The operation of the respective transfer devices can also be controlled by the central control device. The central control device can, in particular, be configured to control the operation of the transfer devices based on the current and / or future orientations and / or positions of the respective transport vehicles.

[0100] The system can accordingly comprise at least one detection device configured to detect current and / or future orientations and / or positions of respective transport vehicles. The at least one detection device can, in particular, be configured to detect the current and / or future orientation and / or position of respective transport vehicles in the at least one first area of ​​the system and / or in the at least one second area of ​​the system and / or to detect movements of respective transport vehicles between the at least one first area and the at least one second area, or vice versa.The at least one detection device can transmit corresponding detection information describing current and / or future orientations and / or positions of respective transport vehicles to the central control device; the central control device can thus communicate with the at least one detection device via a data connection, e.g., a wireless one.

[0101] The at least one detection device can be arranged or formed, for example, on or in the region of a ceiling of a frame structure of a packaging machine of the system. Thus, the at least one detection area can be arranged at a sufficient distance from the transport path to achieve the largest possible detection area. The detection area of ​​the at least one detection device can, if necessary, cover the entire transport path between a first and a second area of ​​the system. Alternatively or additionally, it is conceivable to provide several detection devices whose respective detection areas together cover the entire transport path between a first and a second area of ​​the system.Accordingly, it is generally expedient if the at least one detection device is arranged at a higher level than the respective transport path, as the detection range of the respective detection device can typically be increased in this way.

[0102] Corresponding detection devices can have one or more optical detection elements, which can be configured, for example, in the form of one or more cameras, e.g., as optical sensors, in particular orientation and / or position sensors. Respective detection elements can generate detection information that describes, for example, the orientation and / or position of respective transport vehicles in space.

[0103] The detection information generated by respective detection elements can be evaluated by an evaluation device implemented in hardware and / or software with regard to at least one evaluation criterion. The evaluation device can optionally be integrated into the central control device in terms of hardware and / or software. In particular, if the evaluation criterion is, for example, a target orientation and / or target position of a respective transport vehicle, the evaluation device can be configured to compare an actual orientation and / or actual position of a respective transport vehicle with a target orientation and / or target position of the respective transport vehicle in order to determine any deviations of the transport vehicle from a movement path or trajectory originally specified by the central control device.If a current and / or future deviation is detected, the central control device can, if necessary, make corrective changes or updates to the movement path or trajectory in the manner described above.

[0104] At this point, it should be noted that, although, as mentioned, these should generally be configured as simply as possible, transport vehicles can also be equipped with detection sensors, in particular optical detection sensors, such as a camera. Such detection sensors can, in particular, be configured to detect patterns arranged or formed on or in a transport route, other components of the system, such as a frame structure of the system, or other transport vehicles, i.e., in particular machine-readable codes, such as barcodes, QR codes, etc. This can, for example, provide additional security to prevent transport vehicles from colliding.

[0105] The system can comprise at least one cleaning device, in particular configured as a cleaning station, which is designed for the, in particular automatable or automated, cleaning of at least one component of respective transport vehicles, in particular of, for example, wheel- or roller-shaped, power transmission elements of respective transport vehicles. A corresponding cleaning device can be a further example of a functional unit of the system, into which a respective transport vehicle can be moved on the basis of control information from the central control device. A corresponding cleaning device can therefore also be arranged, for example, adjacent to a transport route. A corresponding cleaning device can, analogous to a car wash for motor vehicles, comprise one or more cleaning units or tools, e.g.in a housing structure of the cleaning device that is accessible at least temporarily from at least one side, which enables chemical and / or physical cleaning of at least one component of a respective transport vehicle. Corresponding cleaning units or tools can also be designed as, or include, brush, blow, suction, or rinsing units, for example.

[0106] The system can further comprise at least one maintenance device, in particular configured as a maintenance station, which is set up for the, in particular automatable or automated, maintenance of at least one component of respective transport vehicles. A corresponding maintenance device can be a further example of a functional unit of the system, into which a respective transport vehicle can be moved on the basis of control information from the central control device. A corresponding maintenance device can thus also be arranged, for example, adjacent to a transport route. A corresponding maintenance device can, analogous to a workshop for motor vehicles, comprise one or more maintenance units or tools, for example in a housing structure of the cleaning device that is at least temporarily accessible on one side, which can carry out maintenance, i.e.in particular, enable the repair and / or replacement of at least one component of a respective transport vehicle. Corresponding maintenance units or tools can be designed, for example, as or include screw units, welding units, etc.

[0107] The system can further comprise at least one charging device, in particular configured as a charging station, which is designed for charging, in particular contactlessly, an electrical energy storage device of a respective transport vehicle. A corresponding charging device can be a further example of a functional unit of the system, into which a respective transport vehicle can be moved based on control information from the central control device. A corresponding charging device can thus also be arranged, for example, adjacent to a transport route. A corresponding charging device can, analogous to a charging station for electric motor vehicles, comprise one or more charging units or plugs, e.g. in a housing structure of the charging device that is at least temporarily accessible on at least one side.It is also conceivable that respective charging units are configured to exchange a respective energy storage device and / or to charge inductively; in the latter case, a respective transport vehicle may even be moved during a charging process.

[0108] In all cases, the central control device can be configured to generate control information on the basis of which at least one transport vehicle can be moved into the cleaning device and / or the maintenance device and / or the loading device. The central control device can also be configured to control and / or monitor the operation of the respective cleaning, maintenance, and / or loading devices.

[0109] Finally, it should be noted that a respective transport vehicle is typically an unmanned ground vehicle that can move on a floor or subsurface. Such a subsurface could be, for example, the floor of a factory hall, so it is fundamentally possible, although not impossible, to construct at least one corresponding transport route (directly) on the floor of a factory hall, for example, without additional frames, which can considerably simplify the installation of the system. As mentioned, such a subsurface is typically horizontally oriented.

[0110] However, a corresponding subsurface can also be formed by one or more track elements arranged at a height of at least 10 cm, in particular at least 25 cm, and more particularly at least 50 cm, above a hall floor. Corresponding track elements can be designed as track modules, e.g., frame-like or frame-shaped, which can be connected to one another to form a track for the transport vehicles. For this purpose, the track elements can each have one or more interfaces, e.g., mechanical ones, via which they can be connected to one another. Corresponding track elements can also be supports for one or more data and / or supply lines, e.g., for corresponding functional units; thus, one or more data and / or supply lines, e.g., for corresponding functional units, can be arranged or formed on or in a respective track element.

[0111] In principle, it is also conceivable for one, several, or all of the transport vehicles to be designed as unmanned aerial vehicles, i.e., in particular, as flying drones, or as watercraft, i.e., in particular, as water drones. A design as an air cushion vehicle is also conceivable. It is also conceivable for at least one transport vehicle to be designed as a ground vehicle and at least one other transport vehicle to be designed as an air, water, or air cushion vehicle.

[0112] A second aspect of the invention relates to a transport vehicle for a system according to the first aspect of the invention. The transport vehicle is typically comparatively small; the maximum dimensions of the transport vehicle in the length and / or width and / or height directions typically do not exceed 50 cm, in particular 40 cm, further in particular 30 cm, further in particular 25 cm.

[0113] A third aspect of the invention relates to a method for transporting at least one object to be packaged in at least one packaging machine along or within a transport route extending between at least a first region of the system and at least a second region of the system according to the first aspect of the invention. The method comprises, in particular, the following steps: - loading at least one transport vehicle movable between the at least one first region of the system and the at least one second region of the system, or vice versa, on the basis of control information generated by the central control device of the system in at least one translational and / or rotational degree of freedom of movement, with at least one object to be transported at or in a first region of the system by means of a loading device or a transfer device configured as a loading device;

[0114] - controlling a movement of the transport vehicle loaded with the at least one object to be transported by means of the central control device to a second area of ​​the system along at least one movement path or trajectory defined by the central control device; and

[0115] - Unloading the at least one object to be transported at or in the at least one second area of ​​the system by means of an unloading device or a transfer device configured as an unloading device.

[0116] All statements in connection with the system according to the first aspect of the invention apply analogously to the transport vehicle according to the second aspect of the invention and / or to the method according to the third aspect of the invention, and vice versa.

[0117] The invention is explained again below with reference to the exemplary embodiments shown in the figures.

[0118] Fig. 1 - 4 and 12 each show a schematic diagram of a system according to an embodiment; Fig. 5, 8, 9 and 11 each show a schematic diagram of a transport vehicle according to an embodiment; Fig. 6 shows a schematic diagram of a formation comprising several transport vehicles according to an embodiment; Fig. 7 shows a schematic diagram of several transport vehicles coupled to one another to form a transport vehicle arrangement; Fig. 10 shows a schematic diagram of a transfer vehicle according to an embodiment; and Fig. 13 shows a schematic diagram of a power transmission element of a transport vehicle according to an embodiment.

[0119] Fig. 1 shows a schematic diagram of a system 10 for transporting at least one object 30 to be packaged in at least one packaging machine 20 along or within at least one transport path TS extending between at least one first region B1 of the system 10 and at least one second region B2 of the system 10, or vice versa.

[0120] The system 10 is therefore generally set up to transport at least one object 30, which is to be processed, i.e. in particular to be packaged, in at least one packaging machine 20, along or within at least one transport route TS extending between at least one first area B1 of the system 10 and at least one second area B2 of the system 10, or vice versa. The system 10 is therefore typically also set up to process, i.e. in particular to package, objects 30. Corresponding processing operations can be directly or indirectly related to a packaging operation for an article or product, i.e., for example, preparatory operations for a packaging operation, for example by providing packaging, or operations concluding a packaging operation, for example by closing a package filled with one or more articles or products.

[0121] An object 30 to be transported can therefore be, for example, an article or product to be packaged, which may already be packaged in primary packaging. Alternatively or additionally, an object 30 to be transported can be, for example, packaging, such as secondary packaging, i.e., a container, a tray, a box, etc. Further alternatively or additionally, an object 30 to be transported can be, for example, a transport container.

[0122] The at least one first area B1 can, as schematically shown in Fig. 1, be a loading area in which an object 30 to be transported into the second area B2 can be transferred, for example, onto the transport path TS by means of a transfer device 40 or handling device, which is also purely schematically indicated, such as a multi-axis robot. The at least one second area B2 can, as schematically shown in Fig. 1, correspondingly be an unloading area in which an object 30 transported into the second area B2 is removed from the transport path TS by means of a transfer device 50 or handling device, which is also purely schematically indicated, such as a multi-axis robot.

[0123] The system 10 typically comprises one or more packaging machines 20 and can therefore also be referred to as a packaging machine system. Each packaging machine 20 is configured to perform one or more tasks for packaging one or more objects 30. A corresponding task can include one, several, or all of the tasks listed below as examples and thus not exhaustively:

[0124] - Providing and / or preparing at least one packaging element, such as a blank, which can be transferred into a primary packaging, e.g. via an erection process;

[0125] - transferring at least one packaging element which can be transferred into a primary packaging, e.g. by an erecting process, into a primary packaging;

[0126] - Providing and / or preparing at least one packaging element, such as a blank, which can be transferred into a secondary packaging, e.g. via an erection process;

[0127] - transferring at least one packaging element which can be transferred into a secondary packaging, e.g. by an erecting process, into a secondary packaging;

[0128] - Providing at least one article or product to be packaged, in particular in at least one orientation and / or position required or appropriate with regard to an upcoming arrangement or handling operation;

[0129] - Arranging at least one article or product in a primary packaging, such as in a tray, in particular by a corresponding arrangement or handling process;

[0130] - Arranging at least one primary packaging (together with the article or product arranged therein) in at least one secondary packaging, such as a carton or box, in particular by a corresponding arrangement or handling process; - Arranging at least one secondary packaging (together with the primary packaging arranged therein and with the article or product arranged therein) in a desired, e.g. stack-like or stack-shaped, configuration with further secondary packaging.

[0131] A corresponding packaging machine 20 and thus also the system 10 can thus comprise one or more functional units 11, which can also be referred to as functional modules (see, for example, the exemplary embodiment according to Fig. 3), each of which can be configured to perform at least one corresponding task. Specifically, a corresponding packaging machine 20 or the system 10 can thus comprise, for example, at least one of the following functional units 11:

[0132] - at least one functional unit for providing and / or preparing at least one packaging element, such as a blank, which can be transferred into a primary packaging, e.g. via an erection process; and / or

[0133] - at least one functional unit for transferring at least one packaging element transferable into a primary packaging, e.g. by an erecting process, into a primary packaging; and / or

[0134] - at least one functional unit for providing and / or preparing at least one packaging element, such as a blank, which can be transferred into a secondary packaging, e.g. via an erection process; and / or at least one functional unit for transferring at least one packaging element, which can be transferred into a secondary packaging, e.g. via an erection process, into a secondary packaging; and / or

[0135] - at least one functional unit for providing at least one article or product to be packaged, in particular in at least one orientation and / or position required or appropriate with regard to an upcoming arrangement or handling operation; and / or

[0136] - at least one functional unit for arranging at least one article or product in a primary packaging, such as in a tray, in particular by a corresponding arrangement or handling process; and / or

[0137] - at least one functional unit for arranging at least one primary packaging (together with the article or product arranged therein) in at least one secondary packaging, such as in a carton or a box, in particular by a corresponding arrangement or handling process; and / or

[0138] - at least one functional unit for arranging at least one secondary packaging (together with the primary packaging arranged therein and with the article or product arranged therein) in a desired, e.g. stack-like or stack-shaped, configuration with further secondary packaging.

[0139] Each functional unit 11 may comprise a housing structure 11.1, on or in which one or more functional devices 11.2 are arranged or formed, which functional devices 11.2 are configured to perform the function that can be performed or is to be performed by means of the respective functional unit 11-17. Corresponding functional devices 11.2 may thus be, for example: - one or more devices for, in particular, automatable or automated, providing and / or preparing at least one packaging element, such as a blank, that can be transferred into a primary packaging, e.g., via an erection process; and / or

[0140] - one or more devices for transferring, in particular in an automated or automated manner, at least one packaging element transferable into a primary packaging, e.g. by an erecting process, into a primary packaging; and / or

[0141] - one or more devices for, in particular automatable or automated, providing and / or preparing at least one packaging element, such as a blank, which can be transferred into secondary packaging, e.g. via an erection process; and / or at least one functional unit for transferring at least one packaging element, which can be transferred into secondary packaging, e.g. via an erection process, into secondary packaging; and / or

[0142] - one or more devices for, in particular automatable or automated, providing of at least one article or product to be packaged, in particular in at least one orientation and / or position required or appropriate with regard to an upcoming arrangement or handling process; and / or

[0143] - one or more devices for, in particular automatable or automated, arranging of at least one article or product in a primary packaging, such as in a tray, in particular by a corresponding arranging or handling process; and / or

[0144] - one or more devices for, in particular automatable or automated, arranging at least one primary packaging (together with the article or product arranged therein) in at least one secondary packaging, such as in a carton or a box, in particular by means of a corresponding arranging or handling process; and / or

[0145] - one or more devices for arranging, in particular in an automatable or automated manner, at least one secondary packaging (together with the primary packaging arranged therein and with the article or product arranged therein) in a desired, e.g. stack-like or stack-shaped, configuration with further secondary packaging.

[0146] A corresponding device for arranging at least one article or product in a primary packaging, such as e.g. in a tray, by means of a corresponding arranging or handling process, and / or for arranging at least one primary packaging (along with the article or product arranged therein) in at least one secondary packaging by means of a corresponding arranging or handling process, and / or for arranging at least one secondary packaging (along with the primary packaging arranged therein and the article or product arranged therein) in a desired, e.g. stack-like or stack-shaped, configuration by means of a corresponding arranging or handling process can (in each case) be designed as a transfer device 60 or at least comprise such a device. A corresponding transfer device 60 can specifically be designed as a handling device or comprise such a device which has one or more handling devices for carrying out corresponding arranging or handling processes.A multi-axis robot configured for handling operations, such as a pick-and-place robot, can be included. Individual, several, or all functional units 11 can also include a monitoring device 11.3 that monitors their proper operation, e.g., implemented by optical monitoring sensors such as cameras. The controllers 11.7, which are typically also present in hardware and / or software, of the respective functional units 11 can generate status information describing the current and / or future operation of the respective functional units 11 based on the monitoring information supplied by the respective monitoring devices 11.3.Corresponding monitoring information and / or status information can be transmitted to a central control device 70 of the system 10, so that information about the current and / or future operation of respective functional units 11 can be generated or is available in the central control device 70. In this respect, it is also conceivable that the central control device 70 is configured to generate control information for controlling the operation of individual, multiple, or all functional units 11 and to control the operation of individual, multiple, or all functional units 11 based on such control information.

[0147] As can be seen in particular from Figs. 3 and 4, the housing structures 11.1 of the functional units 11 can be accessible via at least one access opening 11.4, wherein the respective access openings 11.4 are typically dimensioned such that at least one transport vehicle 80, which will be explained in more detail below and possibly loaded with at least one object 30, can drive into and / or out of the housing structure 11.1. In particular, a corresponding transport vehicle 80 can drive into the housing structure 11.1 in a first direction and drive out of the housing structure 11.1 in the first direction or in a second, possibly inverse, direction; accordingly, a turning area for at least one corresponding transport vehicle 80 can also be provided within the housing structure 11.1. The functions to be performed in the respective functional units 11 on individual or multiple objects 30, ieIn particular, handling functions, processing functions, etc., can thus be carried out when a corresponding object 30 is moved to or into the housing structure 11.1 of the respective functional unit 11 by means of a corresponding transport vehicle 80. One or more travel paths for transport vehicles 80 extending in different spatial directions can also be realized within respective housing structures 11.1.

[0148] Based on Fig. 4, it can be seen by way of example that the housing structures 11.1 of some functional units 11 can be provided with a plurality of access openings 11.4, wherein at least one access opening 11.4 can be configured as an entry opening and at least one access opening 11.4 can be configured as an exit opening. A transport vehicle 80 can, as shown in Fig. 4 by the arrows indicating exemplary movement paths or trajectories of one or more transport vehicles 80, thus enter the housing structure 11.1 of a functional unit 11 via an entry opening and exit the housing structure 11.1 of the functional unit 11 via an exit opening. Respective entry and exit openings can, as also shown in Fig. 4 by way of example for the centrally arranged functional units 11, be provided on at least two different, in particular opposite, sides of the housing structure 11.1 of the respective functional unit 11, so that a transport vehicle 80 can enter the housing structure 11.1 of the respective functional unit 11 on a first side and exit the housing structure 11.1 of the functional unit 11 on a second side, thus passing through the functional unit 11. This can enable highly efficient processing of objects 30 in respective functional units 11.

[0149] At least one closing element 11.5, such as a door, can be assigned to individual, several, or all access openings 11.4, which can be transferred, e.g., via an assigned actuator device 11.6, into an open position in which access to the respective housing structure 11.1 is possible, and into a closed position in which access to the respective housing structure 11.1 is not possible. The operation of a respective actuator device 11.6 for transferring a respective closing element 11.5 into the open and / or closed position can be carried out via the controller 11.7 of the respective functional unit 11 or by the central control device 70. Thus, the central control device 70 can also be configured to generate control information for controlling the operation of respective actuator devices 11.6 and to transmit it to the respective functional units 11. The control of the operation of respective actuator devices 11.6 can be carried out in particular on the basis of orientations and / or positions of at least one transport vehicle 80 detected by at least one detection device 90 of the system 10; for example, a closing element 11.5 of an access opening 11.4 can be moved into an open position, for example, if it is detected that a transport vehicle 80 is approaching or has approached the access opening 11.4.

[0150] The detection device 90 of the system is configured in particular to detect current and / or future orientations and / or positions of respective transport vehicles 80. The detection device 90 can be configured in particular to detect the current and / or future orientation and / or position of respective transport vehicles 80 in the at least one first area B1 of the system 10 and / or in the at least one second area B2 of the system 10 and / or to detect movements of respective transport vehicles 80 between the at least one first area B1 of the system 10 and the at least one second area B2 of the system 10, or vice versa.The detection device 90 can transmit corresponding detection information describing current and / or future orientations and / or positions of respective transport vehicles 80 to the central control device 70; the central control device 70 can thus communicate with the detection device 90 via a data connection, e.g., a wireless one.

[0151] The detection device 90 can, for example, be arranged or formed on or in the region of a ceiling of a frame structure of a packaging machine 20 of the system 10. In this way, the detection device 90 can be arranged at a sufficient distance from the transport path TS in order to realize the largest possible detection area. The detection area of ​​the detection device 90 can, if necessary, cover the entire transport path TS between the first area B1 and the second area B2 of the system 10. Alternatively or additionally, it is conceivable to provide several detection devices 90 whose respective detection areas together cover the entire transport path TS between the first area B1 and the second area B2 of the system 10.Accordingly, it is generally expedient if the detection device 90 is arranged at a higher level than the respective transport path TS, as the detection range can typically be increased in this way.

[0152] The detection device 90 can have one or more optical detection elements 90.1, which can be configured, for example, in the form of one or more cameras, e.g., as optical sensors, in particular orientation and / or position sensors. Respective detection elements 90.1 can generate detection information that describes, for example, the orientation and / or position of respective transport vehicles 80 in space.

[0153] The detection information generated by respective detection elements 90.1 can be evaluated by an evaluation device (not shown) implemented in hardware and / or software with regard to at least one evaluation criterion. The evaluation device can optionally be integrated into the central control device 70 in terms of hardware and / or software. In particular, if the evaluation criterion is, for example, a desired orientation and / or desired position of a respective transport vehicle 80, the evaluation device can be configured to compare an actual orientation and / or actual position of a respective transport vehicle 80 with a desired orientation and / or desired position of the respective transport vehicle 80 in order to determine any deviations of the transport vehicle 80 from a movement path or trajectory originally specified by the central control device 70.Upon detecting a current and / or future deviation, the central control device 70 may, if necessary, make corrective changes or updates to the movement path or trajectory of the respective transport vehicle 80 in the manner described above.

[0154] At this point, it should be noted that, although these should generally be configured as simply as possible, transport vehicles 80 can also be equipped with a detection sensor system (not shown), in particular an optical detection sensor system, such as a camera. A corresponding detection sensor system can in particular be configured to detect patterns arranged or formed on or in a transport route TS, other components of the system 10, such as a frame structure of the system 10, or other transport vehicles 80, i.e. in particular machine-readable codes, such as barcodes, QR codes, etc. In this way, for example, additional security can be created to ensure that transport vehicles 80 do not collide.

[0155] 3 and 4 show, by way of example and not exhaustively, various possible arrangements of functional units 11 in an exemplary configuration of the system 10. The functional units 11, which may also be referred to as functional cells, can thus, as shown in Fig. 3, be arranged or designed, for example, along the transport path TS. Individual, several or all of the functional units 11 can thus be arranged or designed adjacent to the transport path TS, so that it is possible, for example, for objects 30 to be moved via the transport path TS into one or more functional units 11 and / or for objects to be moved from one or more functional units 11 onto the transport path TS, as is indicated by the arrows in Figs. 3 and 4.

[0156] In the embodiment according to Fig. 4, functional units 11 are located between the functional units 11 arranged in the first area B1 and the second area B2. These functional units 11 can, for example, be or comprise devices for arranging articles or products, possibly packaged in primary packaging, in secondary packaging. The functional units 11 arranged in the first area B1 can, for example, be or comprise devices designed to form secondary packaging, e.g. by erecting corresponding blanks. The functional units 11 arranged in the second area B2 can, for example, be or comprise devices designed to arranging at least one secondary packaging (together with the primary packaging arranged therein and with the article or product arranged therein) in a desired, e.g. stack-like or stack-shaped, configuration with further secondary packaging.

[0157] As indicated, the system 10 comprises a plurality of transport vehicles 80, each of which has a receiving area 81 for receiving at least one object 30 to be transported (see Fig. 5). A corresponding receiving area 81 can be formed, for example, by a receiving surface, in particular a planar one, designed to receive at least one object 30 to be transported, possibly only a single object 30 to be transported. A corresponding receiving surface can be formed, for example, by an exposed wall of a housing structure 80.1 of a respective transport vehicle 80. Specifically, as Fig. 5 shows by way of example, a corresponding receiving surface can be formed, for example, by an exposed wall of the housing structure 80.1 of a respective transport vehicle 80, which wall forms an upper side of the respective transport vehicle 80.An object 30 picked up by a respective transport vehicle 80 can thus optionally be picked up freely on the housing structure 80.1 of the transport vehicle 80. Picking up an object 30 can therefore be understood as arranging or placing the object 30 on the housing structure 80.1 of a transport vehicle 80.

[0158] The transport vehicles 80 are each movable, in particular dependently or independently of one another, between the at least one first region B1 and the at least one second region B2, or vice versa, in at least one translational and / or rotational degree of freedom of movement. In particular, combined movements of respective transport vehicles 80 in at least one translational and at least one rotational degree of freedom of movement are also conceivable, as schematically indicated by the arrows in Fig. 5. The transport vehicles 80 can thus each be moved in arbitrarily configurable movement paths or trajectories, so that an essentially infinite number of degrees of freedom is available for the movement of the respective transport vehicles 80. As mentioned, combined movements of respective transport vehicles 80 in at least one translational and at least one rotational degree of freedom of movement are conceivable.Thus, respective transport vehicles 80 can change their orientation by rotational movements about a rotational axis indicated in Fig. 5, such as a vertical axis, while they are moved translationally (simultaneously) along a translational axis by translational movements. This makes it possible, for example, for a respective transport vehicle 80 to be loaded with an object 30 in a loading area of ​​the system 10 in a first orientation and for the object 30 to be unloaded from the respective transport vehicle 80 in an unloading area of ​​the system 10 in a second orientation. Transferring the respective transport vehicle 80 from the first orientation to the second orientation can be carried out, for example, during a movement of the respective transport vehicle 80 toward the unloading area of ​​the system 10.

[0159] Fig. 5 also schematically illustrates that a respective transport vehicle 80 can be movable in a rotational degree of freedom, being rotatable about a vertical axis at any desired location. A respective transport vehicle 80 can therefore rotate on the spot without performing a translational movement. This can be particularly advantageous when little space is available to change the orientation of a respective transport vehicle 80 on the spot. Specifically, this can be useful, for example, in connection with loading and unloading processes when, e.g., due to other transport vehicles 80, little space is available to align a respective transport vehicle 80 relative to a transfer device 40, 50 or handling device.Likewise, it is possible for a respective transport vehicle 80 to move in any spatial direction from a standstill, and thus to move in any spatial direction from a standstill.

[0160] To execute corresponding movements, the transport vehicles 80 each comprise one or more drive devices 80.2, which are configured to generate drive forces or torques that result in a movement of a respective transport vehicle 80 in the at least one translational and / or rotational degree of freedom. Corresponding drive devices 80.2 can, for example, be designed as an electric motor or at least comprise one whose power supply can be provided via an electrical energy storage device 80.3, such as a rechargeable battery or a battery, a capacitor, etc. Both corresponding drive devices 80.2 and energy storage devices 80.3 can, as indicated in Fig. 5, be arranged or formed on or in a housing structure 80.1 of a respective transport vehicle 80.

[0161] At least one drive device 80.2 can be assigned a transmission; this can be advantageous, for example, to enable the drive device 80.2 to operate within a desired power range. A drive device 80.2 can thus be coupled directly or indirectly via a transmission to at least one power transmission element 80.6 of the transport vehicle 80. A corresponding transmission can also be arranged or formed on or in the housing structure 80.1 of a respective transport vehicle 80.

[0162] The movement of the transport vehicles 80 in the respective at least one translational and / or rotational degree of freedom of movement is based on control information generated by the aforementioned central control device 70 of the system 10, implemented in hardware and / or software. The central control device 70 can use one or more programming elements, such as algorithms, computational models, etc., of artificial intelligence or machine learning, such as artificial neural networks, to generate corresponding control information, on the basis of which the transport vehicles 80 can be moved in the respective at least one translational and / or rotational degree of freedom of movement along or within the transport route TS or generally within the system 10.

[0163] The movement of the transport vehicles 80 is thus controlled centrally via a central control device 79 of the system 10, which is configured to generate control information on the basis of which the transport vehicles 80 can be moved in the respective at least one translational and / or rotational degree of freedom along or within the transport path, or generally within the system 10. The central control device 70 is thus not integrated into the transport vehicles 80, but rather, e.g., due to an arrangement on or in a frame structure (not shown) of the system 10, is arranged or configured spatially and physically separate from them. The transport vehicles 80 can therefore be controlled with respect to their own control system 80 present on the transport vehicle side.4 can be configured very simply, because the control information on the basis of which the transport vehicles 80 are movable or are moved in the at least one translational and / or rotational degree of freedom of movement, in particular in order to move an object 30 from the at least one first area B1 into the at least one second area B2 or in the direction thereof, or vice versa, is generated by the central control device 70 and, as explained below, transmitted to the transport vehicles 80 via a data connection. It is therefore not necessary for the controller 80 to4 of a respective transport vehicle 80, corresponding control information is generated, on the basis of which the respective transport vehicle 80 is moved in the at least one translational and / or rotational degree of freedom of movement in order to move an object 30 by means of the respective transport vehicle 80 from the at least one first area B1 into or in the direction of the at least one second area B2, or vice versa. In particular, the respective control 80.4 of the respective transport vehicles 80 can be kept comparatively simple, for example with regard to their hardware and / or software configuration, ie in particular their computing and / or storage capacity, which also has a positive effect on the manufacturing costs of the transport vehicles 80.

[0164] Fig. 1 shows, representative of the remaining exemplary embodiments, that the system 10 can comprise at least one loading device assigned to the at least one first area B1, which is configured for the at least partially automated loading of an object 30 to be transported onto a respective receiving area 81 of a transport vehicle 80. The loading device can be formed by or comprise the transfer device 40 or handling device, thus e.g., by a robot. Movements of respective transport vehicles 80 into the first area B1 in order to be able to be loaded there with an object 30 to be transported are likewise controlled by the central control device 70; thus, the central control device 70 is configured, in particular, to generate control information on the basis of which a respective transport vehicle 80 is moved into the first area B1.The central control device 70 can also be configured to generate control information on the basis of which a respective transport vehicle 80 moves in the first area B1 in a specific orientation, e.g., relative to a transfer or handling device present there, for example, to enable or facilitate a loading process. Movements of a respective transport vehicle 80 within the first area B1, for example, to assume a suitable loading orientation and / or position, are therefore typically also based on control information generated by the control device 70.

[0165] Furthermore, Fig. 1 shows, representative of the remaining exemplary embodiments, that the system 10 can further comprise at least one unloading device assigned to the at least one second area B2, which is configured for the at least partially automated unloading of an object 30 to be transported from a respective receiving area 81 of a transport vehicle 80. The unloading device can be formed by or comprise a corresponding transfer device 50 or handling device mentioned above, thus e.g., by a robot. Movements of respective transport vehicles 80 into the second area B2 in order to be able to be unloaded there are likewise controlled by the central control device 70; thus, the central control device 70 is configured, in particular, to generate control information on the basis of which a respective transport vehicle 80 is moved into the second area B2.The central control device 70 can also be configured to generate control information on the basis of which a respective transport vehicle 80 moves in the second area B2 in a specific orientation, e.g., relative to a transfer or handling device present there, for example, to enable or facilitate an unloading process. Movements of a respective transport vehicle 80 within the second area B2, for example, to assume a suitable unloading orientation and / or position, therefore typically also occur on the basis of control information generated by the control device 70.

[0166] The central control device 70 is, as mentioned, implemented in hardware and / or software and thus generally enables a computer-implemented generation of corresponding control information and thus a computer-implemented simultaneous or at least synchronized control of movements of individual, several, or all transport vehicles 80 of the system 10 in respective translational and / or rotational degrees of freedom, in particular to move objects 30 to be transported from the or a first area B1 of the system 10 to the or a second area B2 of the system 10, or vice versa. The generation of corresponding control information and, in particular, the control of the movements of the transport vehicles 80 based thereon can take place in real time. The system 10 therefore does not require a conveyor belt to implement a transport route TS; rather, the conveyor belt is replaced by the transport vehicles 80.Since the transport vehicles 80 can essentially be moved independently or independently of one another in respective translational and / or rotational degrees of freedom, and due to the fact that the movements of the transport vehicles 80 are centrally controlled by the central control device 70, an extremely high degree of flexibility and versatility is possible, for example with regard to the planning, implementation, and control of transport processes. Eliminating a conveyor belt also enables completely new system configurations, because the individual components of the system 10, such as corresponding functional units 11, can now essentially be positioned as desired, as they can always be reached via corresponding transport vehicles 80.

[0167] The system 10 typically comprises a first data transmission device 70.1 assigned to the central control device 70, e.g. formed by or comprising at least one data transmission antenna, which is configured to transmit at least corresponding control information via a, in particular wireless, data connection to the respective transport vehicles 80. The first data transmission device 70.1 can also be configured to receive data, i.e., for example, to receive data sent by respective transport vehicles 80, provided the transport vehicles 80 are configured for this purpose. In order to be able to receive the control information generated by the central control device 70, the transport vehicles 80 each comprise a second data transmission device 80.5, e.g. formed by or comprising at least one data transmission antenna, i.e.in particular at least one data receiving device which is configured to receive corresponding control information. A respective second data transmission device 80.5 can also be configured to transmit data to the first data transmission device 70.1. To implement a corresponding data connection between the first data transmission device 70.1 and the respective second data transmission devices 80.1 on the transport vehicle side, and thus at least to implement the transmission of corresponding control information from the central control device 70 to the respective transport vehicles 80, one or more standards or protocols for, in particular wireless, data transmission can be used. Conceivable standards or protocols are, for example, WLAN standards, such as, for example, IEEE 802.11 standards, or mobile radio standards, such as, for example, 5G. The data connection orData transmission can be encrypted using suitable encryption mechanisms, which may include principles of blockchain technology, to prevent unwanted interference or interactions.

[0168] The first data transmission device 70.1 can be configured to form a separate system-side communications network, via which data can be transmitted to a communications partner, in particular a respective transport vehicle 80, within the system 10 or within a component of the system, in particular within a frame structure of the system 10. The system 10 can therefore, by forming its own system-side communications network, which can in particular be a wireless network, have its own data transmission structure, which, in particular because it is separate from other communications networks that may be present in a factory environment, enables a(n) more secure data connection between the central control device 70 and the respective transport vehicles 80, which in turn has a positive effect on the, as explained, data transmission carried out by the central control device 70.implemented control of the movements of the transport vehicles 80 in the respective degrees of freedom of movement.

[0169] The central control device 70 is designed in particular to generate movement paths or trajectories that can be assigned or are assigned to a respective transport vehicle 80, which are indicated by arrows in Figs. 1-4, as mentioned. The control information that can be generated or is generated by the central control device 70 can therefore contain, in particular, corresponding movement paths or trajectories. Respective movement paths can in principle be arranged in any desired, in particular linear or linear, path geometry in one or more, in particular vertical, spatial planes, whereby they typically extend between the first and the second region of the system. Linear or linear path geometries can, for example, comprise one or more rectilinear path geometry sections or one or more curved orcomprise curved path geometry sections of equal or unequal length, so that corresponding path geometries can be both geometrically determined and geometrically indeterminate. At least two corresponding path geometry sections can, for example, be aligned at an angle to each other.

[0170] Respective movement paths or trajectories can thus contain, or be defined by, in particular, starting and end points, i.e., in particular, starting and end coordinates, of a movement to be completed by a respective transport vehicle 80, in particular along the transport route TS or within the transport route ZS. Corresponding starting points or coordinates can be arranged, for example, in the or a first area B1 of the system 10, and corresponding end points or coordinates can be arranged, for example, in the or a second area B2 of the system 10.

[0171] In addition, respective movement paths or trajectories can contain one or more intermediate points or coordinates lying between respective starting and end points or starting and end coordinates, so that a respective movement path or trajectory can be described, for example, by corresponding starting, intermediate, and end points or coordinates. Corresponding intermediate points or coordinates can, for example, be assigned to corresponding functional units 11, so that at least one transport vehicle 80 is moved, for example, into at least one functional unit 11 during a movement, for example, from the first area B1 to the second area B2 of the system 10, in which, for example, at least one of the tasks described above is carried out. This is illustrated by way of example in Figs. 3 and 4.

[0172] Alternatively or additionally, respective movement paths or trajectories can contain one or more movement vectors arranged between respective starting and end points or starting and end coordinates, so that a respective movement path or trajectory can be described, for example, by corresponding starting and end points or coordinates as well as corresponding movement vectors. Corresponding movement vectors can also be assigned, for example, to corresponding functional units 11, so that at least one transport vehicle 80 is moved, for example, into at least one functional unit during a movement, for example, from the first area to the second area of ​​the system, in which, for example, at least one of the tasks described above is carried out. This is illustrated by way of example in Figs. 3 and 4.

[0173] The central control device 70 can therefore generally be configured to generate movement paths or trajectories that can be assigned to or are assigned to at least two transport vehicles 80, which movement paths or trajectories are the same or different. This provides a high degree of flexibility and versatility with regard to the planning, implementation, and control of transport processes, since, apart from avoiding collisions between the transport vehicles 80, there are basically no restrictions on generating corresponding movement paths or trajectories. The central control device 70 is thus configured to coordinate the movements of the respective transport vehicles 80, both for identical and different movement paths or trajectories of at least two transport vehicles 80, i.e., in particular by appropriate synchronization, to control the timing so that the risk of a collision between the transport vehicles 80 is excluded. In this case, one or more parameters, such as the loading status of a respective transport vehicle 80 with an object 30, the type of object 30, etc., can also be taken into account.

[0174] The central control device 70 can thus be configured to generate first movement paths or trajectories that are assignable or assigned to a first transport vehicle 80, and to generate further movement paths or trajectories that are assignable or assigned to at least one further transport vehicle 80. Respective first and further movement paths or trajectories can intersect or not intersect at at least one intersection point, as shown by way of example in Fig. 4, for example. If respective first and further movement paths or trajectories intersect at at least one intersection point, the central control device 70 is configured to coordinate and / or prioritize the movements of the respective transport vehicles 80, i.e., to control them in time, in particular through appropriate synchronization, so that any risk of a collision between the respective transport vehicles 80 is excluded.

[0175] In this respect, the central control device 70 can also be configured to assign different priorities to at least two transport vehicles 80. In this way, it may be possible, for example, to easily regulate which transport vehicle 80 has priority in certain situations, such as a situation at a corresponding intersection point of at least two movement paths or trajectories. The central control device 70 can also be configured to generate movement paths or trajectories assigned to at least one transport vehicle group comprising at least two transport vehicles 80. Thus, at least two transport vehicles 80 can be combined to form a corresponding transport vehicle group, the movement of which takes place on the basis of a common movement path or trajectory.The possibility of combining several transport vehicles 80 into a corresponding transport vehicle group and controlling their movement based on a movement path or trajectory can potentially reduce the computational effort required to control the movements of several transport vehicles 80, as one movement path or trajectory can be considered for several transport vehicles 80. Specifically, several transport vehicles 80 can move uniformly, e.g., in the direction of the second area B2 of the system 10, based on a corresponding movement path or trajectory, e.g., in a parallel arrangement or in a defined offset arrangement with respect to one another along at least one spatial axis.

[0176] The central control device 70 can also be configured to generate corresponding movement paths or trajectories based on at least one transport criterion relating to the transport of an object 30 by means of a respective transport vehicle 80 and / or an object criterion relating to at least one object 30 to be transported. The central control device 70 can thus be configured to take into account at least one transport criterion relating to the transport of an object 30 by means of a respective transport vehicle 80 and / or an object criterion relating to at least one object 30 to be transported when generating corresponding movement paths or trajectories.

[0177] A corresponding transport criterion can, for example, be or include at least one of the following criteria: a safety criterion relating to the safety of the transport process, e.g. with regard to a collision and / or an undesired loss of a picked-up object 30, a speed criterion relating to the speed of the transport process, or an efficiency criterion relating to the efficiency of the transport process, e.g. with regard to energy consumption of a respective transport vehicle 80 during the transport process, wear and tear of a respective transport vehicle 80 during the transport process.

[0178] A corresponding object criterion may, for example, comprise at least one of the following criteria: a type criterion relating to the type of object 30 to be transported, a dimension and / or shape criterion relating to the dimensions and / or shape of the object 30 to be transported, a mass criterion relating to the mass of the object 30 to be transported.

[0179] The central control device 70 can also be configured to change at least one movement path or trajectory originally assigned to at least one transport vehicle 80. Control information generated by the central control information and transmitted to the respective transport vehicle 80 can thus contain corresponding changes to the movement paths or trajectories originally assigned to at least one respective transport vehicle 80 and thus updated movement paths or trajectories for the respective transport vehicle 80. A corresponding change or update of a movement path or trajectory originally assigned to a transport vehicle 80 can, for example, be necessary or expedient if, due to events or the omission of events - these can, for example,detected by the detection device 90 that is assigned or can be assigned to the central control device 70 - within the transport route TS, an originally assigned movement path or trajectory proves to be no longer feasible or expedient. Specifically, a corresponding change or updating of a movement path or trajectory originally assigned to a transport vehicle 80 can be necessary or expedient, for example, if a (possible) obstacle, indicated schematically in Fig. 1 with a triangle, such as contamination, a lost object 30, a defective transport vehicle 80, etc., is detected on the movement path or trajectory; the changed or updated movement path or trajectory then makes it possible, for example, to avoid the obstacle (as indicated by way of example in Fig. 1). Likewise, a corresponding change or updating of a movement path or trajectory originally assigned to a transport vehicle 80A modified movement path or trajectory may be necessary or expedient, for example, if, due to the removal of an obstacle, such as contamination, for example due to contamination removed by a cleaning vehicle explained in more detail below, a shorter route and thus, for example, the possibility of more efficient or faster transport of an object 30 arises. The modified or updated movement path or trajectory then enables, for example, a shortened transport and thus typically reduced energy consumption.

[0180] In an analogous manner, the central control device 70 can also be configured to change or update a priority originally assigned to a respective transport vehicle 80. The priority of a transport vehicle 80 can, for example, be changed from an originally low value to a higher value, or vice versa, particularly during a movement toward the second area B2 of the system 10; in this way, for example, situations can be taken into account in which there is a changed demand for an object 30 transported by a respective transport vehicle 80 in the second area of ​​the system 10. If the demand for a respective object 30 decreases, the priority of the respective transport vehicle 80 can also be reduced, and vice versa.

[0181] However, other operating modes of the transport vehicles 80, such as a buffer mode, can also be implemented via correspondingly modified movement paths or trajectories or prioritizations. Should it become apparent, for example, that unloading processes are delayed in an unloading area—this can again be detected via at least one detection device 90 that is assignable or assigned to the central control device 70—the movement path or trajectory or prioritization of at least one transport vehicle 80 loaded with an object 30 can be changed so that it is not moved toward the unloading area, but rather, for example, into a buffer storage area of ​​the system 10 and / or into a parking area of ​​the system 10.It is also conceivable that at least one transport vehicle 80 loaded with an object 30 is moved into an unloading area of ​​a second packaging machine 20 in the event of corresponding delays in the unloading area of ​​a first packaging machine 20 on the basis of a correspondingly changed movement path or trajectory or prioritization, as indicated in the embodiment according to Fig. 2, which shows a system 10 with several packaging machines 10 and thus several loading and unloading areas.

[0182] At least one transport vehicle 80 can therefore also be configured to be moved within the system 10 from a first packaging machine 20 to at least one further packaging machine 20 (see, for example, Fig. 2). The central control device 70 can therefore also be configured to generate movement paths or trajectories that extend between at least two packaging machines 20 of the system 10 for at least one transport vehicle 80 and to transmit them to the at least one transport vehicle 80 so that it can be moved between at least two packaging machines 20 of the system 10. This also creates the possibility of dynamically changing the number of transport vehicles 80 available in a respective packaging machine 20 for transporting objects 30, as transport vehicles 80 can be withdrawn from a packaging machine 20 in which, for example,with regard to a packaging task, too many transport vehicles 80 are present, and can be moved into one or more further packaging machines 20, in which, e.g. with regard to a packaging task, additional transport vehicles 80 would be necessary or expedient. Thus, dynamic and efficient control options for the operation of a system 10 with several packaging machines 20 are possible.

[0183] The same may apply, for example, to functional units 11; the central control device 70 may thus be configured to generate movement paths or trajectories extending between at least two functional units 11 of a packaging machine 20 or between at least two functional units 11 of a plurality of packaging machines 20 for at least one transport vehicle 80 and to transmit them to the at least one transport vehicle 80 so that the latter can be moved between at least two functional units 11 of a packaging machine 11 or between at least two functional units 11 of a plurality of packaging machines 20.

[0184] In addition to the possibility of generating movement paths or trajectories and the possibility of changing or updating corresponding movement paths or trajectories, at least one movement parameter of at least one transport vehicle 80, in particular a positive or negative acceleration, a speed, or at least an upper and / or lower limit value of at least one corresponding movement parameter, can also be controlled via the central control device 70. The central control device 70 can thus be configured to control at least one movement parameter of at least one transport vehicle 80, in particular a positive or negative acceleration, a speed, or at least an upper and / or lower limit value of at least one corresponding movement parameter. The central control device 70 can thus also be configured to generate and control movement profiles of at least one transport vehicle 80.The central control device 70 can, in particular, be configured to take into account location and / or time information and / or information derived therefrom, such as current and / or future position information, of a respective transport vehicle 80 when generating corresponding movement profiles. Corresponding movement profiles of a respective transport vehicle 80 can thus, for example, contain location- and / or time-dependent variable movement parameters of at least one respective transport vehicle 80, so that the entire movement sequence of a respective transport vehicle 80 can be controlled via the central control device 70.

[0185] When generating corresponding movement profiles, the central control device 70 can thus be configured to consider one or more criteria. Alternatively or in addition to corresponding location and / or time criteria, the corresponding criteria can be, for example, a loading state of a respective transport vehicle 80, the energy consumption of a respective transport vehicle 80, the charge state of an electrical energy storage device 80.3 of a respective transport vehicle 80, the condition of a subsurface U, such as a roadway on which a respective transport vehicle 80 is moving, etc.

[0186] The central control device 70 can also be configured to assign specific movement paths or trajectories and / or specific movement parameters for specific areas within the system 10 to at least one transport vehicle 80. Thus, the central control device 70 can also be configured to assign specific movement profiles for specific areas within the system 10 to a respective transport vehicle 80, so that a transport vehicle can be moved in a first area of ​​the system 10, for example, at a different speed, in particular a minimum or maximum speed, than in a second area of ​​the system 10.

[0187] Corresponding areas of the system 10 can be areas within a packaging machine 20, so that a first area can be, for example, a first section or part of a transport route TS and a second area can be, for example, a second section or part of the transport route TS within a packaging machine 20. Alternatively or additionally, corresponding areas of the system 10 can each be, for example, an (entire) transport route within a specific packaging machine 20, so that a first area can be, for example, a transport route TS within a first packaging machine and a second area can be a transport route TS within a second packaging machine 20 of the system 10.

[0188] The central control device 70 can, as shown purely schematically in a plan view in Fig. 6, also be configured to generate control information on the basis of which at least two transport vehicles 80 are brought into a specific formation F, in particular into a specific spatial orientation and / or position relative to one another, or assume such a specific formation F during a movement along the transport route TS. By forming corresponding formations F, enlarged loading and unloading areas can be formed as needed, as the loading and unloading areas of the transport vehicles 80 arranged in a corresponding formation can be added together to form a resulting loading and unloading area. The transport vehicles 80 can therefore be arranged adjacent to one another, e.g. in rows and / or columns, on the basis of corresponding control information generated by the central control device 70.arranged so that their respective loading and unloading areas can be added or combined to form a resulting loading and unloading area. By determining the number and arrangement or orientation of respective transport vehicles 80 placed in a corresponding formation F, individually dimensioned loading and unloading areas can be realized, which also enables the transport of objects 30 that, for example, could not be transported with a single transport vehicle 80 due to their dimensions. In Fig. 6, further transport vehicles 80 are indicated by dashed lines as examples as components of formation F.

[0189] The control information that can be generated or is generated by the central control device 70, on the basis of which at least two transport vehicles 80 are brought into a specific formation F, in particular into a specific spatial orientation and / or position relative to one another, or assume such a specific formation during a movement along the transport route TS, can thus be generated on the basis of at least one transport criterion relating to the transport of an object 30 by means of the respective transport vehicle 80 and / or an object criterion relating to at least one object 30 to be transported.The central control device 70 can thus be configured to generate corresponding control information on the basis of at least one transport criterion relating to the transport of an object 30 by means of the respective transport vehicle 80 and / or an object criterion relating to at least one object 30 to be transported.

[0190] A corresponding transport criterion may, for example, be or include at least one of the following criteria: a safety criterion relating to the safety of the transport process, an efficiency criterion relating to the efficiency of the transport process.

[0191] A corresponding object criterion can, for example, be or include at least one of the following criteria: type of object 30 to be transported, dimensions and / or shape of the object 30 to be transported, mass of the object 30 to be transported.

[0192] Fig. 6 further indicates that the housing structures 80.1 of the transport vehicles 80 can have a polygonal, for example, a square or hexagonal, basic shape. A corresponding polygonal basic shape can enable a (directly) adjacent arrangement of at least two transport vehicles 80, forming a corresponding formation F, which forms a common, in particular closed, receiving surface for at least one object 30.

[0193] Fig. 5 shows a schematic diagram of a transport vehicle 80 in a side view. As mentioned, a respective transport vehicle 80 can have a housing structure 80.1. A corresponding receiving area 81, which, as also mentioned, can in particular be a, in particular flat, support surface, is typically arranged or formed on or in the housing structure 80.1. At least one of the following components of the respective transport vehicle 80 is arranged or formed on or in the housing structure 80.1: at least one drive device 80.2 for generating drive forces or moments, at least one energy storage device 80.3 that can be assigned to or is assigned to the at least one drive device 80.2, at least one force transmission element 80.6, such as a wheel, a roller, a chain, etc., via which drive forces or moments generated by means of the drive device 80.2 are transmitted.-moments can be transmitted to a substrate U, a corresponding second data transmission device 80.5, a controller 80.4 (on-board controller), a detection device, such as a camera, for detecting a substrate U or a substrate structure on which the respective transport vehicle 80 is movable or displaceable. Corresponding components can in particular be arranged or formed at least in sections, if necessary completely, within a receiving space defined by one or more walls of the housing structure 80.1, so that they are arranged and protected from external influences. The receiving space can have receiving compartments (not shown) formed by one or more wall sections, wherein each receiving compartment can be configured to receive at least one component of the respective transport vehicle 80. The dimensions of a respective receiving compartment can therefore, for example,be selected with regard to the dimensions of at least one component of the respective transport vehicle 80, so that at least one component can be accommodated, if necessary precisely, in the respective receiving compartment without being lost.

[0194] Corresponding drive devices 80.2 and power transmission elements 80.6 can form drive units of a respective transport vehicle 80. It is expedient if, while forming several separate drive units, at least one drive device 80.2 is assigned to each power transmission element 80.6, so that each power transmission element 80.6 is subjected to force independently of other power transmission elements. In other words, the operation of each drive unit can be controlled independently, so that each power transmission element 80.6 of a drive unit can be set in motion or blocked in a specific direction of movement independently of power transmission elements of other drive units of the respective transport vehicle 80, making it possible, for example, to rotate a respective transport vehicle 80 in place, as described.

[0195] In a specific embodiment, a respective transport vehicle 80 can comprise three corresponding drive units arranged offset by 120°. Each transport vehicle 80 can thus comprise three drive axles arranged offset by 120° from one another, each of which has at least one power transmission element 80.6. This not only enables a stable support of the transport vehicle 80 on a base U, i.e., in particular, secured against tipping over, but also allows the described rotational movements of the transport vehicle 80 to be realized on site.

[0196] Corresponding control commands for controlling the operation of respective drive units of a respective transport vehicle 80 can also be contained in the control information transmitted to the respective transport vehicle 80; the central control device 70 can thus also be configured to control the operation of respective drive units of respective transport vehicles 80. However, it is also conceivable for the controller 80.4 of a respective transport vehicle 80 to generate corresponding control commands for controlling the operation of respective drive units based on the respective control information transmitted by the central control device 70.

[0197] Fig. 7 shows a schematic diagram of a plurality of transport vehicles 80 coupled to one another to form a transport vehicle arrangement in a side view. Fig. 7 therefore schematically shows that at least two transport vehicles 80 can have at least one, for example magnetic or mechanical, coupling interface 82, which coupling interfaces 82 are set up to couple the at least two transport vehicles 80 to one another to form a transport vehicle arrangement, in particular detachably as required. Thus, at least two transport vehicles 80 can be coupled to one another to form a transport vehicle arrangement, in particular detachably as required. This can be expedient, for example, in order to move a plurality of transport vehicles 80 together. In particular, a plurality of transport vehicles 80 coupled to form a transport vehicle arrangement can be moved together, e.g.from a first packaging machine 20 into a second packaging machine 20 of the system 10. It is also expedient to carry out movements of the respective transport vehicle arrangements into a cleaning device 100 (explained in more detail below), a maintenance device 110 (explained in more detail below), or a loading device 120 of the system (explained in more detail below), etc.

[0198] Due to the coupling of the transport vehicles 80, it is fundamentally possible to generate control information for corresponding transport vehicle arrangements only for at least one transport vehicle 80 serving as a pusher and / or towing vehicle (in Fig. 7 this is the right-hand transport vehicle 80), since the other transport vehicles 80 of the respective transport vehicle arrangement follow the movement path or trajectory of the at least one pusher or towing vehicle. The central control device 70 can therefore be set up to generate control information on the basis of which at least one transport vehicle 80 of a corresponding transport vehicle arrangement is defined as a pusher and / or towing vehicle of the transport vehicle arrangement and at least one transport vehicle of the transport vehicle arrangement is defined as a non-pusher and / or towing vehicle, wherein the at least one transport vehicle 80 defined as a pusher or towing vehicle transmits forces orMoments are generated via which the at least one transport vehicle 80 defined as a non-push and / or towing vehicle can be moved or is moved, in particular by pushing or pulling forces generated by the push or towing vehicle.

[0199] A corresponding coupling interface 82 of at least one first transport vehicle 80, shown purely schematically in Fig. 7, can comprise at least one coupling element 82.1 that can be transferred into a coupling state and into a non-coupling state. The at least one coupling element 82.1 can interact in the coupling state to form a coupling with the coupling interface 82 of at least one other transport vehicle 80, and in the non-coupling state can not interact to form a coupling with the coupling interface 82 of at least one other transport vehicle 80. The central control device 70 can be configured to generate coupling information on the basis of which the at least one coupling element 82.1 of at least one transport vehicle 80 can be transferred into the coupling state and / or into the non-coupling state.1 can be assigned an actuator device (not shown) which transfers the at least one coupling element 82.1 into the coupling state and / or into the non-coupling state on the basis of corresponding coupling information.

[0200] The configuration of respective transport vehicles 80 can, for example, in order to keep manufacturing costs low, be comparatively simple in principle, as their function is only to transport an object 30, as described, along at least one transport route TS extending between at least one first area B1 of the system 10 and at least one second area B2 of the system 10. A plurality of the transport vehicles 80 of the system 10 can thus have a minimal configuration with at least one corresponding receiving area 81, at least one drive unit, at least one second data transmission device 80.5 and at least one controller 80.4, which, as mentioned, can be arranged or formed on or in a corresponding housing structure 80.1.

[0201] However, it is conceivable that the system 10 has transport vehicles 80 configured differently or additionally with regard to their function, which is illustrated by the embodiments according to Figs. 8 and 9:

[0202] Fig. 8 shows an embodiment of a transport vehicle 80, which comprises at least one effector unit 83, e.g., a gripping or suction unit, which is configured to grip an object located on the transport route TS and / or a potential obstacle at least in part and thus remove it from the transport route TS. A corresponding effector unit 83 can be configured to attach an object located on the transport route TS and / or a potential obstacle to the transport vehicle 80, e.g., by gripping, suction, etc., and thus move it to an area outside the transport route TS. In this way, efficient operation of the system 10 can be ensured because collisions between transport vehicles 80 and objects located on the transport route TS and / or potential obstacles can be reduced or avoided by control interventions of the central control device 70.The operation of a correspondingly configured transport vehicle 80 is typically also controlled based on control information generated by the central control device 70.

[0203] Fig. 9 shows an embodiment of a transport vehicle 80, which comprises at least one cleaning unit 84, e.g., a brush, blower, suction, or rinsing unit, which is configured to clean a travel surface provided for the transport vehicle 80. A corresponding cleaning unit 84 can thus clean a travel surface, e.g., by mechanical cleaning using a brush unit, by blowing away or sucking up contaminants using a blower or suction unit, or by applying a rinsing or cleaning fluid using a rinsing unit. The operation of a correspondingly configured transport vehicle 80 is typically also controlled based on control information generated by the central control device 70.

[0204] As the exemplary embodiment according to Fig. 10 schematically shows, the system can further comprise at least one transfer vehicle 130, which is configured to receive a plurality of transport vehicles 80 in a receiving area 131 provided for this purpose and to move them collectively within the system 10. This provides an efficient way of moving a plurality of transport vehicles 80 within the system 10, since these can be moved indirectly via the at least one transfer vehicle 130, so that the respective transport vehicles 80 do not consume any energy for corresponding transfers within the system 10.

[0205] It was mentioned above that at least two transport vehicles 80 can be brought into a formation F in order to create a resulting loading or unloading area. A similar approach can be taken if at least one transport vehicle 80, as schematically shown in the exemplary embodiment according to Fig. 11, has at least one extension structure 140 that expands its receiving area 81, in particular its receiving area, which can be arranged or is arranged on the at least one transport vehicle 80 via an interface (not shown), e.g., a mechanical one. By means of the extension structure 140, it is thus possible to expand the receiving area 81 of a transport vehicle 80 even without forming a corresponding formation F of at least two transport vehicles 80. The extension structure 140 can be arranged on the outer circumference of the housing structure 80.1 of the respective transport vehicle 80 and (together) form an enlarged receiving surface with at least one extension surface element 141 arranged in alignment with the receiving surface of the respective transport vehicle 80.

[0206] The extension structure 140 can therefore have one or more extension surface elements 141 which, as indicated in Fig. 11 by way of example by the double arrows, are movable relative to one another in at least one degree of freedom of movement, so that the extension structure 140 has a first configuration having a first surface dimension and at least one second configuration different from the first configuration, in which it has a further surface dimension different from the first surface dimension, ie in particular enlarged or reduced.

[0207] Likewise, it was mentioned, particularly with reference to the embodiment according to Fig. 2, that transport vehicles 80 can be moved between at least two packaging machines 20 of the system 10. Fig. 2 also indicates in this context that it can be expedient, for example with regard to safety and control technology aspects, if a first packaging machine 20 is connected to at least one further packaging machine 20 via at least one, in particular tunnel-like or -shaped, connecting structure 150. Respective transport vehicles 80 can thus be moved between respective packaging machines 20 of the system 10 by means of a corresponding connecting structure 150; since a corresponding connecting structure 150 typically also limits ordefined, complex controls of the movements of the transport vehicles 80 by the central control device 70 are not required, as the transport vehicles 80 can be guided during their movement along or through the connecting structure 150, for example by its walls 151.

[0208] For all exemplary embodiments, the system 10 can comprise at least one guide device having one or more guide elements. The guide device is particularly configured to implement a guided movement of at least one transport vehicle 80 along at least one guide element. Guided movements of respective transport vehicles 80 can reduce the control-related effort required to implement movements of respective transport vehicles, as at least one movement path or trajectory of corresponding transport vehicles 80 is at least partially predefined by corresponding guide elements. A corresponding guide element can be formed, for example, by a surface element arranged or formed on or within the system 10, in particular in a standing, lying, hanging, etc. manner, or can comprise one which has or delimits a surface along which a transport vehicle 80 is movably guided.Corresponding surface elements can have a one- or multi-dimensional spatial extension, so that corresponding guide elements can be, for example, wall elements, rail elements, pin elements, rod elements, grid elements, fence elements, etc.

[0209] For all exemplary embodiments, transport vehicles 80 can be moved not only on flat surfaces U, but also on surfaces U that are inclined or curved with respect to a horizontal reference plane. Thus, the or at least one transport route TS of the system 10 can be arranged within a transport plane that is inclined and / or curved at least in sections.

[0210] This also means that the system 10, as the exemplary embodiment according to Fig. 12 shows by way of example in a side view, can generally comprise a plurality of transport routes TS arranged in different spatial directions and / or spatial levels. Specifically, Fig. 12 shows an exemplary stack-like or stack-shaped arrangement of a plurality of transport routes TS in several spatial levels one above the other; this can be realized, for example, via a frame construction which enables a stack-like or stack-shaped arrangement of a plurality of transport routes TS in several spatial levels one above the other. Corresponding transport routes TS and the transport route levels resulting therefrom can be connected to one another, for example, via ramp-like or ramp-shaped connecting sections (not shown), so that a transport vehicle 80 can be moved, for example, from a lower transport route TS via a corresponding connecting section into an upper transport route TS, or vice versa.can move. Likewise, one or more lifting devices (not shown), such as elevators, may be present, via which one or more transport vehicles 80 can be moved to respective transport route levels. The operation of the respective lifting devices can also be controlled based on control information generated by the central control device 70.

[0211] Returning to the exemplary embodiment shown in Fig. 3, it should be mentioned that the system 10 can comprise at least one cleaning device 160, in particular configured as a cleaning station, which is designed for the, in particular automatable or automated, cleaning of at least one component of respective transport vehicles 80, in particular of, e.g., wheel- or roller-shaped, power transmission elements 80.6 of respective transport vehicles 80. The cleaning device 160 can be a further example of a functional unit 11 of the system, into which a respective transport vehicle 80 can be moved based on control information from the central control device 70. The cleaning device 160 can therefore also be arranged, for example, adjacent to a transport route TS. The cleaning device 160 can, analogous to a car wash for motor vehicles, have one or more cleaning units or tools 161, e.g.in a housing structure 161.2 of the cleaning device 160, which is accessible at least temporarily on one side, which enables chemical and / or physical cleaning of at least one component of a respective transport vehicle 80. Corresponding cleaning units or tools 161 can also be designed, for example, as brush, blow, suction, or rinsing units or include such.

[0212] Fig. 3 further shows that the system 10 can comprise at least one maintenance device 170, configured in particular as a maintenance station, which is set up for the, in particular automatable or automated, maintenance of at least one component of respective transport vehicles 80. The maintenance device 170 can be a further example of a functional unit 11 of the system 10, into which a respective transport vehicle 80 can be moved on the basis of control information from the central control device 70. The maintenance device 170 can therefore also be arranged, for example, adjacent to a transport route TS. The maintenance device 170 can, analogous to, for example, a workshop for motor vehicles, comprise one or more maintenance units or tools 171, for example in a housing structure 171.1 of the maintenance device 170 that is at least temporarily accessible on one side, which can carry out maintenance, i.e.in particular, enable a repair and / or replacement of at least one component of a respective transport vehicle 80. Corresponding maintenance units or tools 171 can be designed, for example, as screw units, welding units, etc., or include such.

[0213] Finally, Fig. 3 shows that the system 10 can further comprise at least one charging device 180, in particular configured as a charging station, which is designed for charging, in particular contactlessly, an electrical energy storage device 80.3 of a respective transport vehicle 80. The charging device 180 can be a further example of a functional unit 11 of the system 10, into which a respective transport vehicle 80 can be moved based on control information from the central control device 70. The charging device 180 can thus also be arranged, for example, adjacent to a transport route TS. The charging device 180 can, analogous to a charging station for electric motor vehicles, comprise one or more charging units 181 or plugs, for example in a housing structure 180.1 of the charging device 180 that is at least temporarily accessible on at least one side.It is also conceivable that respective charging units 181 are configured to exchange a respective energy storage device 80.3 and / or to charge it inductively; in the latter case, a respective transport vehicle 80 may even be moved during a charging process.

[0214] In all cases, the central control device 70 can be configured to generate control information on the basis of which at least one transport vehicle 80 can be moved into the cleaning device 160, the maintenance device 170, and / or the loading device 180. The central control device 170 can also be configured to control and / or monitor the operation of respective cleaning, maintenance, and / or loading devices 160, 170, 180.

[0215] In the exemplary embodiments, a respective transport vehicle 80 is an unmanned ground vehicle movable on a floor or subsurface U. The subsurface U can be, for example, the floor of a factory hall, so that it is fundamentally possible, although not excluded, to construct at least one corresponding transport route TS without additional frames (directly) on the floor of, for example, a factory hall, which can considerably simplify the construction of the system 10. In principle, however, it is also conceivable for one, several, or all of the transport vehicles 80 to be constructed as unmanned aerial vehicles, i.e., in particular, as flying drones.

[0216] However, a corresponding subsurface U can also be formed by one or more track elements arranged at a height of at least 10 cm, in particular at least 25 cm, and more particularly at least 50 cm, relative to a hall floor. Corresponding track elements can be designed as track modules, e.g., frame-like or frame-shaped, which can be connected to one another to form a track for the transport vehicles 80. For this purpose, the track elements can each have one or more, e.g., mechanical, interfaces via which they can be connected to one another. Corresponding track elements can also be supports for one or more data and / or supply lines, e.g., for corresponding functional units 11; thus, one or more data and / or supply lines, e.g., for corresponding functional units 11, can be arranged or formed on or in a respective track element.

[0217] It is also conceivable that at least one transport vehicle 80 is designed as an unmanned ground vehicle and at least one further transport vehicle 80 is designed as an unmanned aerial vehicle.

[0218] With the systems 10 shown in the figures, a method for transporting at least one object 30 to be packaged in at least one packaging machine 20 along a transport path TS extending between at least one first region B1 of the system 10 and at least one second region B2 of the system 10 can be implemented.

[0219] The method comprises in particular the following steps: - Loading at least one transport vehicle 80 which is movable between the at least one first area B1 of the respective system 10 and the at least one second area B2 of the respective system 10, or vice versa, on the basis of control information generated by the central control device 70 of the respective system 10 in at least one translational and / or rotational degree of freedom of movement with at least one object 30 to be transported at or in the first area B1 of the respective system 10 by means of a transfer device configured as a loading device;

[0220] - controlling at least one movement of the transport vehicle 80 loaded with the at least one object 30 to be transported by means of the central control device 70 to the second area B2 of the respective installation 10 along at least one movement path or trajectory defined by the central control device 70; and

[0221] - Unloading the at least one object 30 to be transported at or in the at least one second area B2 of the respective system 10 by means of a transfer device configured as an unloading device.

[0222] Fig. 13 shows a schematic diagram of a power transmission element 80.6 of a transport vehicle 80 according to an exemplary embodiment. The power transmission element 80.6 is designed as an omnidirectional wheel (omniwheel) or comprises such an omnidirectional wheel. The omnidirectional wheel clearly comprises at least one base structure 80.6.1 which can be driven rotatably about an axis of rotation and which has a running surface 80.6.2 formed by a plurality of roller or cylinder bodies 80.6.3 whose axes of rotation are arranged at right angles to the axis of rotation of the base structure 80.6.1. Specifically, a configuration with a plurality of corresponding base structures 80.6.1 is shown, the roller or cylinder bodies 80.6.3 of which are arranged offset from one another in the circumferential direction, such that a roller or cylinder body 80.6.3 always contacts a subsurface.

[0223] For all exemplary embodiments, at least one securing device can be assigned to a receiving area 81 of a transport vehicle 80, via which securing device an object 30 to be transported can be secured to the receiving area 81 and thus generally to the transport vehicle 80, if required. A corresponding securing device can be designed to be active and thus transferable into an active securing state. A corresponding actively designed securing device can, for example, have at least one securing element that can be transferred into a securing state in which it engages the respective object 30 in a securing manner, and into a non-securing state in which it does not engage the respective object 30 in a securing manner. A corresponding securing element can be designed as a form-fitting or friction-locking element or at least comprise one such element. A corresponding actively designed securing device can, for example,It can also be designed as a vacuum device that secures an object in a secured state by applying a vacuum. A corresponding passively designed securing device can be implemented, for example, by an adhesion-enhancing surface or surface structure, e.g., in the form of a rubber coating, of the receiving area 81. Individual, multiple, or all features described in connection with one exemplary embodiment can be combined with individual, multiple, or all features described in connection with at least one other exemplary embodiment.

Claims

PATE N TANS PRAYERS 1. A system for transporting at least one object to be processed, in particular packaged, in at least one packaging machine along or within at least one transport path extending between at least one first area of ​​the system and at least one second area of ​​the system, the system comprising: - a plurality of transport vehicles, each movable between the at least one first area of ​​the system and the at least one second area of ​​the system, or vice versa, on the basis of control information generated by a central control device of the system in at least one translational and / or rotational degree of freedom of movement, which transport vehicles each have a receiving area for receiving at least one object to be transported; - at least one loading device assigned to the at least one first area of ​​the system, which is designed for the at least partially automated loading of an object to be transported onto a respective receiving area of ​​a transport vehicle; - at least one unloading device assigned to the at least one second area of ​​the system, which is designed for the at least partially automated unloading of a transported object from a respective receiving area of ​​a transport vehicle; - a central control device which is configured to generate control information for controlling movements of the transport vehicles between the at least one first area of ​​the system and the at least one second area of ​​the system, or vice versa.

2. System according to claim 1, comprising a first data transmission device assigned to the central control device, which is set up to transmit at least corresponding control information via a, in particular wireless, data connection to the respective transport vehicles, wherein the respective transport vehicles each comprise a second data transmission device which is set up to receive corresponding control information.

3. System according to claim 1 or 2, wherein the first data transmission device is configured to form a separate system-side communication network via which information can be transmitted to a communication partner, in particular a respective transport vehicle, within the system or within a component of the system, in particular within a frame structure of the system.

4. System according to one of the preceding claims, wherein the central control device is configured to generate movement paths or trajectories that can be assigned or are assigned to a respective transport vehicle and the control information contains corresponding movement paths or trajectories.

5. Installation according to one of the preceding claims, wherein the central control device is designed to generate movement paths or paths assigned to at least two transport vehicles. trajectories is set up, which movement paths or trajectories are the same or different, wherein the control information contains the movement paths or trajectories assigned to the at least two transport vehicles.

6. Installation according to one of the preceding claims, wherein the central control device is configured to generate movement paths or trajectories assigned to at least one transport vehicle group comprising at least two transport vehicles, wherein the control information contains the movement paths or trajectories assigned to the at least one transport vehicle group.

7. System according to one of claims 4 to 6, wherein the central control device is configured to generate corresponding movement paths or trajectories on the basis of at least one transport criterion relating to the transport of an object by means of the respective transport vehicle and / or an object criterion relating to at least one object to be transported.

8. The system according to claim 7, wherein the transport criterion is or comprises at least one of the following criteria: a safety criterion relating to the safety of the transport process, a speed criterion relating to the speed of the transport process, an efficiency criterion relating to the efficiency of the transport process; and / or wherein the object criterion is or comprises at least one of the following criteria: type of object to be transported, dimensions and / or shape of the object to be transported, mass of the object to be transported.

9. System according to one of claims 5 to 8, wherein the central control device is configured to change movement paths or trajectories originally assigned to at least one transport vehicle and the control information contains corresponding changes to the movement paths or trajectories originally assigned to the at least one transport vehicle.

10. Installation according to one of the preceding claims, wherein the central control device is configured to assign different priorities to at least two transport vehicles and / or to change corresponding priorities.

11. Installation according to one of the preceding claims, wherein the central control device is configured to control at least one movement parameter of at least one transport vehicle, in particular a positive or negative acceleration, a speed, or at least one upper and / or lower limit value of at least one corresponding movement parameter.

12. System according to one of the preceding claims, wherein the central control device is configured to assign specific movement paths or trajectories and / or specific movement parameters for specific areas within the system to at least one transport vehicle.

13. Installation according to one of the preceding claims, wherein the central control device is configured to generate control information on the basis of which at least two transport vehicles are moved into a specific formation, in particular a specific spatial orientation and / or position relative to each other, or assume such a formation during a movement along or within the transport route.

14. System according to claim 13, wherein the central control device is configured to generate the control information on the basis of at least one transport criterion relating to the transport of an object by means of the respective transport vehicle and / or an object criterion relating to at least one object to be transported.

15. The system according to claim 14, wherein the transport criterion is or comprises at least one of the following criteria: a safety criterion relating to the safety of the transport process, an efficiency criterion relating to the efficiency of the transport process; and / or wherein the object criterion is or comprises at least one of the following criteria: the type of object to be transported, the dimensions and / or shape of the object to be transported, the mass of the object to be transported.

16. Installation according to one of the preceding claims, wherein a respective transport vehicle is movable in a rotational degree of freedom, being rotatable about a vertical axis at any location.

17. System according to one of the preceding claims, wherein a respective transport vehicle has a housing structure on or in which the at least one receiving area is arranged or formed.

18. System according to one of the preceding claims, wherein a respective transport vehicle has a housing structure on or in which at least one of the following components is arranged or formed: at least one drive device for generating drive forces, at least one energy storage device assignable or assigned to the at least one drive device, at least one force transmission element via which drive forces generated by means of the drive device can be transmitted to a subsurface, a second data transmission device, a controller.

19. Installation according to one of the preceding claims, wherein the housing structure has a polygonal, in particular four-, five- or hexagonal, basic shape, which allows an adjacent arrangement of at least two transport vehicles to form a common, in particular a closed, receiving surface for at least one object forming formation.

20. System according to one of the preceding claims, wherein the housing structure is mounted on a drive axle having two or more, in particular wheel- or roller-shaped, force transmission elements, via which drive forces generated by means of a drive device can be transmitted to a subsurface.

21. Installation according to one of the preceding claims, wherein at least two transport vehicles have at least one, in particular magnetic or mechanical, coupling interface which is configured to couple the at least two transport vehicles to one another to form a transport vehicle arrangement.

22. Installation according to claim 21, wherein the central control device is configured to generate control information on the basis of which at least one transport vehicle of a corresponding transport vehicle arrangement is defined as a push or pull vehicle of the transport vehicle arrangement and at least one transport vehicle of the transport vehicle arrangement is defined as a non-push or pull vehicle, wherein the transport vehicle defined as a push or pull vehicle generates forces by means of which the transport vehicle defined as a non-push or pull vehicle is moved.

23. System according to claim 21 or 22, wherein the coupling interface of at least one first transport vehicle comprises at least one coupling element which can be transferred into a coupling state and into a non-coupling state, which coupling element cooperates in the coupling state to form a coupling with the coupling interface of at least one other transport vehicle, and in the non-coupling state does not cooperate to form a coupling with the coupling interface of at least one other transport vehicle, wherein the central control device is configured to generate coupling information transferring the at least one coupling element into the coupling state and / or into the non-coupling state.

24. Installation according to one of the preceding claims, wherein at least one transport vehicle comprises at least one gripping unit which is configured to grip an object located on the transport route and / or a potential obstacle.

25. Installation according to one of the preceding claims, wherein at least one transport vehicle comprises at least one cleaning unit which is configured to clean a driving surface provided for the transport vehicle.

26. Installation according to one of the preceding claims, comprising at least one transfer vehicle which is designed to receive a plurality of transport vehicles and to move them collectively within the installation.

27. Installation according to one of the preceding claims, comprising at least one extension structure which extends the receiving area, in particular a receiving surface, of at least one transport vehicle and which can be arranged or is arranged on the at least one transport vehicle via an interface.

28. System according to claim 27, wherein the extension structure has one or more extension surface elements which are movable relative to one another in at least one degree of freedom of movement, so that the extension structure can be converted into a first configuration having a first surface dimension and into at least one second configuration different from the first configuration and having a further surface dimension different from the first surface dimension.

29. Plant according to one of the preceding claims, comprising a first packaging machine and at least one further packaging machine, wherein the central control device is arranged to generate control information on the basis of which at least one transport vehicle can be moved from the first packaging machine into the at least one further packaging machine, or vice versa.

30. Installation according to one of the preceding claims, comprising at least one first functional unit and at least one further functional unit, wherein the central control device is configured to generate control information on the basis of which at least one transport vehicle can be moved into the at least one first functional unit, into the at least one further functional unit or from the first functional unit into the at least one further functional unit, or vice versa.

31. Plant according to one of the preceding claims, wherein the first packaging machine is connected to the at least one further packaging machine via at least one, in particular tunnel-like or -shaped, connecting structure.

32. Installation according to one of the preceding claims, wherein the transport path is arranged within a transport plane which is at least partially inclined and / or curved with respect to a horizontal reference plane.

33. Installation according to one of the preceding claims, further comprising a guide device comprising one or more guide elements, which is configured to realize a guided movement of at least one transport vehicle along at least one guide element.

34. Installation according to one of the preceding claims, wherein the central control device is arranged to control the operation of at least one conversion device of the installation on the basis of current and / or future orientations and / or positions of respective transport vehicles.

35. Installation according to one of the preceding claims, comprising a detection device which is set up to detect the orientation and / or position of respective transport vehicles in the at least one first area of ​​the installation and / or in the at least one second area of ​​the installation and / or to detect movements of respective transport vehicles between the at least one first area and the at least one second area of ​​the installation.

36. Plant according to claim 35, wherein the at least one detection device is arranged or formed on or in the region of a ceiling of a frame construction of at least one packaging machine of the plant.

37. Installation according to one of the preceding claims, comprising a cleaning device, in particular configured as a cleaning station, for cleaning at least one component of respective transport vehicles, in particular of, for example, wheel- or roller-shaped, power transmission elements of respective transport vehicles.

38. Installation according to one of the preceding claims, comprising a maintenance device, in particular configured as a maintenance station, for servicing at least one component of respective transport vehicles.

39. System according to one of the preceding claims, comprising a charging device, in particular configured as a charging station, for charging, in particular contact-free, an electrical energy storage device of a respective transport vehicle.

40. Installation according to one of claims 37 to 39, wherein the central control device is arranged to generate control information on the basis of which at least one transport vehicle can be moved into the cleaning device and / or into the maintenance device and / or into the loading device.

41. Installation according to one of the preceding claims, wherein the respective transport vehicles are designed as unmanned ground or aerial vehicles.

42. Transport vehicle for a system according to one of the preceding claims.

43. A method for transporting at least one object to be packaged in at least one packaging machine along or within at least one transport path extending between at least one first region of the system and at least one second region of the system, in particular by means of a system according to one of claims 1 to 41, which method comprises the following steps: - Loading at least one transport vehicle movable between the at least one first area of ​​the system and the at least one second area of ​​the system, or vice versa, on the basis of control information generated by a central control device of the system in at least one translational and / or rotational degree of freedom of movement with at least one object to be transported at or in a first area of ​​the system by means of a loading device; - controlling a movement of the transport vehicle loaded with the at least one object to be transported by means of the central control device to the second region of the system along at least one movement path or trajectory defined by the central control device; - Unloading the at least one object to be transported from the respective transport vehicle in the at least one second area of ​​the system by means of an unloading device.

Images