Crawler-type ceiling vehicle configured to move along a structure, method for providing crawler-like locomotion along a structure, and use of at least one crawler-type drive unit for providing decoupled / coupled kinematics for the locomotion

Abstract

The invention provides, in particular, a crawler-type ceiling vehicle (10) configured for headlong suspended movement on a ceiling structure (1), the ceiling vehicle exhibiting a plurality of suspended support elements (13, 13b) configured for suspending the vehicle and for coupling the vehicle to the structure (1) and at least one drive unit (11, 11a, 11b, 11c) configured for circumferential movement and housing a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track. The invention provides, in particular, a method for driving a crawler-type vehicle for headlong suspended movement on the structure (1).

Description

[Technical field]

[0001] The invention relates to a crawler-type ceiling vehicle, for example, adapted for hanging and moving upside down in a ceiling structure. Furthermore, the invention relates to a method for hanging (in particular suspending) and optionally actively driving such a crawler-type vehicle as well. In particular, the invention relates to a device and a method according to the features of the enclosed independent claims. [Background technology]

[0002] In the prior art, several design philosophies have already been established in terms of providing vehicles that should be able to ensure a predefined locomotion even on rough terrain, or in terms of unpredictable reaction forces, or at high inclines, or even in overhead arrangements. The present invention focuses on philosophies that move away from the idea that a vehicle or transport medium should engage / interact in a predefined way with a predefined structure or underground, whether it be an arrangement on the ground / floor (e.g. ground vehicles) or a structure on a wall or ceiling (e.g. overhead cranes, wall crawling robots), for example in a warehouse or in a machine hall. Some ideas of providing a reliable contact between underground structures and vehicles have already been published in terms of diagnostics and parameter measurements in nearly inaccessible areas or systems (e.g. ductwork, waterways), including magnetic attraction / interference. Nevertheless, there exists a need for a vehicle that is able to provide both predefined movement and high positioning accuracy (positioning precision) by interacting with a predefined structure, preferably in a very reliable manner, regardless of the type of underground or wall structure, and the predefined structure should preferably be provided in a very flexible and variable manner for many types of underground or wall or ceiling contours / geometry.

[0003] A person skilled in the art can distinguish between vehicles arranged to move underground and those arranged to move along a ceiling structure, especially since the latter must be suspended in a similarly secure manner to avoid falling. Therefore, there may be different approaches in terms of the kinematics that ensure the interaction / engagement at the interfaces of the structures. Summary of the Invention [Problem to be solved by the invention]

[0004] It is an object of the present invention to provide a ceiling vehicle and a drive mechanism, respectively, which allow a highly reliable and precise moving / driving movement and positioning of the vehicle relative to a structure, in particular also relative to an underground structure or to a wall structure or to any further type of structure (not only ceilings). In particular, the object also includes providing a coupling mechanism which allows a reliable coupling of the ceiling vehicle with a support structure of any orientation in space, in order to transfer a predefined driving movement, preferably a driving movement in at least two spatial dimensions / directions (2D), to the support structure in a highly reliable manner. [Means for solving the problem]

[0005] The object of the invention is solved by the features of the independent main claims. Advantageous features are set out in the subclaims. If not expressly excluded, the teachings of the subclaims may be combined in any way with the teachings of the main and subclaims.

[0006] According to a first aspect, the invention relates to the kinematics of suspended holding elements separated / coupled by a driving movement along a circumferential track. In that respect, the invention can also provide a vehicle and a driving mechanism, respectively, which allows a highly reliable and precise movement / driving and positioning of the vehicle, in particular in an arrangement in the ceiling or overhead (upside down), to a structure in terms of a logistic task, in particular also to a cargo or load function. In particular, the invention also provides a coupling mechanism which allows a reliable coupling of the vehicle with a support structure for transferring a predefined driving movement, preferably in at least two spatial dimensions / directions (2D), to the support structure in a highly reliable manner, allowing a reliable positioning of the vehicle and of the load or cargo held by at least one hoist of the vehicle.

[0007] In particular, the object is therefore solved by a crawler type vehicle (in particular a ceiling vehicle) configured for headfirst suspended movement in a structure (in particular a ceiling structure), the vehicle comprising a plurality of suspended support elements configured for suspending the vehicle and for coupling the vehicle to the structure, and at least one circumferential track configured for a circumferential driving / guiding movement (respectively a drive movement along a circumferential track) and configured to accommodate a first circumferential track and a second circumferential track having a circumferential shape / contour different from the first circumferential track. and a drive unit (particularly a crawler type drive unit) of the vehicle, the suspended support elements being mounted on a first circumferential track at a first predefined longitudinal position corresponding to a predefined raster (particularly a / the raster defined by the structure), the vehicle being configured to move along the structure by decoupling a subset of the plurality of suspended support elements, respectively, from being coupled into the structure, when the suspended support elements are guided along the (a / the) two circumferential tracks by a circumferential motion (driving / guiding motion). Such a configuration likewise makes it possible to move the vehicle without being limited to a predefined movement path defined, for example, by rails (or the like) of the structure.

[0008] According to the present disclosure, when a "structure" or "ceiling structure" is referenced, a structure may be specified that may extend on the ground or along a wall or on an inclined plane (or the like). The present invention may be preferably applied for a ceiling vehicle that is disposed on the ceiling structure and moves along the ceiling structure, respectively, and further, the present invention similarly allows any movement along any structure having alternative orientations and / or configurations. Thus, reference to a "structure" or "ceiling structure" includes reference to any other "structure" that exhibits features that allow coupling with / to the vehicle of the present invention and separation / coupling kinematics.

[0009] In accordance with this disclosure, when a "vehicle" or "ceiling vehicle" is referenced, the disclosure generally refers to a crawler-type vehicle and its relative spatial configuration or locomotion (e.g., on the ground or on an inclined plane or on a wall, as well).

[0010] In accordance with the present disclosure, when reference is made to a "circumferential track," the present disclosure generally refers to closed-loop guiding and lines as well as predefined contours along which a suspended support element is guided and / or driven.

[0011] According to the present disclosure, when a "profile" or "T-profile" is referenced, the present disclosure generally refers to different types of profiles as well, such as, for example, an I-profile or an L-profile, which may provide advantageous / preferred configurations in individual applications.

[0012] According to one embodiment, the suspended holding elements are coupled with the ceiling structure on the basis of form-fit (form closure, positive locking), in particular exclusively form-fit (without pressure spring coupling). According to the invention, it has been found that the form-fit can advantageously be provided by wheels or any other bearing points at the free ends of the respective suspended holding elements in order to be in contact with a T-profile or other type of profile rail (e.g. C-profile or L-profile or I-profile) of the ceiling structure. In particular, it has been found that the form-fit provides a preferred / superior method of coupling in many situations, in comparison with a magnetic coupling or similar. Depending on the type of drive unit or vehicle or the spatial orientation of the structure, the skilled person can determine which type of profile (e.g. T-profile) is most appropriate.

[0013] Similarly, depending on the orientation of the structure, the translational movement of the drive unit (with respect to its spatial direction, movement, respectively) can be unique. Those skilled in the art can implement the invention for different types of spatial translational movements without any particular restrictions, i.e., in 2D or even 3D degrees of freedom.

[0014] Likewise, the shape / contour of each circumferential track can be unique, i.e. the skilled person can determine, for example, a specific degree (radius) of curvature in a specific section of each circumferential track. For example, each track presents at least three different guide / rail sections, i.e. a first (straight) section where each suspended retaining element engages with the profile and where the suspended retaining element performs a linear movement, and at least one second (curved) section where each suspended retaining element performs a separation / coupling movement (each track can present two oppositely arranged second sections), and a third (straight) section where the suspended retaining element returns to engage with the profile again (for a continued circumferential movement and engagement process). Thereby, the first and second tracks can define the trajectory of each free end of the suspended support element (in particular referring to at least one roller attached to each suspended support element) by any suitable means configured to predefine a particular contour and to guide the free end, a roller, respectively, to follow that contour of the track (e.g. by a sliding / rolling contour, a chain drive, a timing belt, or any similar mechanism or mechanical feature).

[0015] According to a second aspect, the invention relates to an application in a ceiling in terms of a hoisting function, whereby the suspension support can in particular be provided taking into account a 2D movement movement, also along the ceiling structure.

[0016] In particular, the above stated object can also be solved by a crawler type vehicle, in particular having a ceiling hoist, adapted for moving in a headfirst suspended position in a ceiling structure, the ceiling vehicle comprising: - a plurality of suspension support elements configured to suspend the ceiling vehicle and configured to couple the ceiling vehicle to a ceiling structure; - showing at least one drive unit configured for circumferential movement and housing a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track, the suspended support elements being attached to the first circumferential track at predefined first longitudinal positions corresponding to a predefined raster, and the ceiling vehicle being configured to move along the ceiling structure by detaching a subset of the plurality of suspended support elements from coupling to the ceiling structure, respectively, when the suspended support elements are guided along the two circumferential tracks by the circumferential movement.

[0017] In particular, the above stated object can be solved as well by a crawler type vehicle configured for moving along a structure having a predefined raster, the vehicle comprising a plurality of suspended holding elements configured for coupling the vehicle to the structure, at least one drive unit (in particular crawler-like) configured for a (crawler-type) circumferential driving / guiding movement and housing a first circumferential track and a second circumferential track having a circumferential shape / contour different from the first circumferential track at least in the curved section of the track(s). wherein the suspended retention elements are attached to a first circumferential track at predefined first longitudinal positions corresponding to a raster of the structure, the suspended retention elements are aligned / oriented by a second circumferential track at predefined second longitudinal positions corresponding to the raster of the structure and respectively different from the corresponding first longitudinal positions, and the vehicle is configured to move along the structure in at least one spatial direction by decoupling a subset of the plurality of suspended retention elements from being coupled within the structure, respectively, as the suspended retention elements are guided along a curved section of the circumferential track by the circumferential motion.

[0018] In particular, the above-mentioned object can be solved similarly by a crawler-type ceiling vehicle configured for moving in at least two spatial directions while suspended headfirst in a ceiling structure defining a first spatial direction of said spatial directions, the movement having at least two degrees of freedom, the ceiling vehicle comprising a plurality of suspended holding elements configured for suspending the ceiling vehicle and for coupling the ceiling vehicle to the ceiling structure, whereby the suspended holding elements can be moved (e.g. rolled, slid) along the ceiling structure in said first spatial direction, and at least one drive mechanism configured for accommodating a first circumferential track and a second circumferential track and for a circumferential driving / guiding movement. The present invention also shows a drive unit (in particular, like a crawler track) and a hanging retention element, the hanging retention element being attached to a first circumferential track at a first predefined longitudinal position corresponding to a raster defined by the ceiling structure in a second spatial direction of said spatial direction, the hanging retention element engaging with a second circumferential track at a second predefined longitudinal position, the first and second tracks having different shapes / contours, the first and second tracks being (rigidly) arranged relative to each other such that the hanging retention element is coupled to the ceiling structure, the hanging retention element being separated from the ceiling structure by a / such (crawler track-like) circumferential movement provided by the first and second drive units or tracks, respectively.

[0019] In particular, the above stated object may be solved as well by a crawler type vehicle configured to move / drive along a structure having a predefined raster, the vehicle comprising a plurality of suspended retaining elements configured to couple the vehicle to the structure, and a separation / coupling kinematics comprising a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track at least in a curved section of the track(s), the suspended retaining elements being attached to the first circumferential track at predefined first longitudinal positions corresponding to the raster of the structure, ... It shows decoupled / coupled kinematics guided in / by a second circumferential track at a respective second longitudinal position longitudinally offset relative to the longitudinal position, and at least one drive unit (in particular, like a crawler track) configured for a (crawler-type) circumferential driving / guiding movement and accommodating the first and second circumferential tracks, wherein when the suspended support elements are guided by the circumferential movement along a certain / relevant (temporary) curved section of the circumferential track, the decoupled / coupled kinematics provides both a first (vertical) movement perpendicular to the driving / guiding direction and a second movement that pivots each suspended support element.

[0020] According to a third aspect, the invention relates to a logistic system and a logistic application and a hoist function, in particular in terms of 2D but also 3D movement of the drive units or of a load carried by at least one drive unit or hoist. In particular, the above mentioned object can be solved as well by a hoist arrangement configured for a three-dimensional (3D) movement in / along a structure having a predefined raster, the hoist arrangement showing at least one hoist unit and a crawler type vehicle configured to move along the structure, in particular headfirst in the structure, in particular in a suspended manner, the crawler type vehicle comprising: - a plurality of suspension support elements configured to suspend the crawler type vehicle and configured to couple the crawler type vehicle to a structure; - showing at least one drive unit configured for circumferential motion and housing a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track, the suspended support elements being mounted on the first circumferential track at predefined first longitudinal positions corresponding to a predefined raster of the structure, and the crawler type vehicle being configured to move along the structure by decoupling a subset of the plurality of suspended support elements from coupling to the structure, respectively, when the suspended support elements are guided along the two circumferential tracks by the circumferential motion.

[0021] The present invention similarly makes it possible to overcome the limitations of standard overhead cranes, such as gantry cranes, where only one hoist can operate within a defined workspace.

[0022] The vehicle is configured to move along the ceiling structure in at least one spatial direction by decoupling a subset of the plurality of suspended support elements from being respectively coupled to the structure, in particular when said subset of suspended support elements is guided along the curved section of the circumferential track. According to the present invention, it should be noted that the term "spatial direction" designates a direction in space, and therefore the term "spatial direction" can include a movement along a spatial axis in both directions along the spatial axis. Thus, the term "in at least one spatial direction" refers to a one-dimensional movement (optionally bidirectional, i.e. back and forth) having one degree of freedom (in particular a linear movement). As a result, a / the term "two-dimensional motion" refers to a movement having two degrees of freedom (in particular a linear movement in a first spatial direction and in a second spatial direction, for example perpendicular to the first spatial direction, optionally also in a bidirectional manner).

[0023] It should be noted that according to the present invention, the term "drive unit" may in particular designate the entire assembly of drive and kinematic components required to realize the desired locomotion movement. However, the drive unit does not necessarily include any active motor or drive. Similarly, the drive unit may further comprise a case or chassis housing structural parts and elements for the arrangement of any part of the drive section. Furthermore, the drive unit may also comprise structural parts or supports or beams for the mounting and support of any hoist or passenger / cargo transport components. The shape or dimensions of the at least one drive unit (and similarly of the circumferential track) may be individually defined according to the specific application. For example, the cross-sectional geometry of the at least one drive unit is that of a racecourse (parallel longitudinal sections and opposing semicircular sections). However, alternatively, the cross-sectional geometry may be, for example, circular or elliptical.

[0024] The vehicle can (optionally) be equipped with different kinds of power units, drives, motors and actuators, not only for the drive units but also for further functions, such as, for example, winch or hoist functions. In general, the vehicle can be provided as a passive vehicle without a motor for driving the vehicle (the vehicle can then be positioned by applying an external force, for example, to a hoist mechanism or similar), or as an active vehicle exhibiting at least one motor interacting with the drive mechanism, respectively, the suspended holding element. In particular, the vehicle exhibits at least one power unit or motor, for example an electric motor, respectively, for at least one drive unit, which is coupled, for example, to a rotation shaft of a gear unit interacting with a respective circumferential track. Similarly, the vehicle can optionally exhibit at least one motor interacting with a / the wheel of the suspended holding element to enable a motorized movement in further spatial directions. The wheels can thus be driven by any drive that actively drives along the profile rail. Similarly, the vehicle, respectively the at least one drive unit, may comprise an energy storage unit, in particular a rechargeable battery pack, that provides energy to the at least one drive / motor without relying on any external energy supply (powering the vehicle, the track, respectively the motor for driving the guided movement along the track). In particular, the vehicle may also exhibit at least one hoist (hoist unit) and a towing mechanism configured to lift a load. For example, the hoist unit may be fixed to and supported by the at least one drive unit.

[0025] Each power unit, drive, motor and / or actuator of the vehicle may be coupled to a control unit of the vehicle. In particular, the control unit may control the type / kind of movement, which may also control, for example, the lifting action of the hoist unit, for example in terms of cargo or logistic tasks in general. For example, the vehicle may exhibit two or three drive units that may be arranged at a predefined lateral distance from each other (for example defined / connected by a cross beam or the like), and if the vehicle is to be actively driven (that configuration is optional), each drive unit may exhibit at least one drive / motor for (actively) driving the suspended holding element along a circumferential track, which drives / motors may be controlled dependent on each other, for example by the rotational speed. So the movement direction may be controlled in particular in combination with an actively driven wheel of the suspended holding element that is driven along a profile rail of the ceiling structure (that active drive aspect is also optional).

[0026] In other words, in this disclosure, the term "drive unit" specifically refers to a unit that houses the kinematics that enable the locomotion of the vehicle. As such, the term "drive unit" does not necessarily imply the presence of an active motor. Rather, locomotion may be induced by external forces as well, so the term "drive unit" does not necessarily imply an actively driven unit. As such, the term "driving motion" (which designates circumferential motion along the first and second circumferential tracks) is distinct from the term "traveling motion," which designates motion of the vehicle itself.

[0027] The kinematics according to the invention make it possible to equip the vehicle with at least one drive unit, i.e. there is no need for more than one drive unit, it has been found that preferably two or even three drive units (especially in view of the improved form-fit) allow even more secure suspension.

[0028] In the following, advantageous aspects of the claimed invention are described, and further in the following, preferred modified embodiments of the invention are described. In particular, the descriptions of the advantages and definitions of features are essentially descriptive and preferred, but not restrictive examples. If the descriptions should be understood as restrictive descriptions / representations, this is explicitly stated.

[0029] According to one embodiment, the ceiling vehicle shows a first drive housing a first and a second circumferential track, and the ceiling vehicle shows a second drive unit housing also a further first and a second circumferential track. The drive units of the vehicle can be scaled up in number. For example, the vehicle shows three drive units, each based on the same kinematic concept, but at least one of these drive units provides a mirror image type / method of decoupled / combined kinematics.

[0030] According to one embodiment, the ceiling vehicle is configured to move along the structure by decoupling a subset of the plurality of suspended support elements from coupling into the ceiling structure, respectively, when the suspended support elements are guided along at least one curved section of the circumferential track by a circumferential driving motion.

[0031] According to one embodiment, at least one drive unit of the crawler type vehicle is configured in particular to enable a closed-loop trajectory of the suspended support element by the respective drive unit(s) along the circumferential track(s), this configuration being likewise preferred in terms of scaling.

[0032] According to one embodiment, the first and second circumferential tracks provide separation / coupling kinematics based on different circumferential shapes / contours at least within the curved section of the track(s), the suspended retaining elements being guided within / by the second circumferential track at respective second longitudinal positions that are longitudinally offset relative to the respective first longitudinal positions, and the separation / coupling kinematics provides both a first (vertical) movement and a second movement that pivots each suspended retaining element when each suspended retaining element is guided along a / that (temporary) curved section of the circumferential track by a circumferential driving movement.

[0033] According to one embodiment, the separation / coupling kinematics provide an S-shaped motion path of a bearing point at the free end of each suspended support element at least in a section along the motion path. It should be noted that other forms of motion of the suspended support element, respectively, clamping arm can be designed, for example different motion paths having a shape resembling the numbers 7 or 3 or resembling the letter / character Z at least in a section along the motion path, providing individual possible optimizations and / or that the separation / coupling kinematics include both vertical and non-circular pivoting motion kinematics of / for / the bearing point at the free end of each suspended support element.

[0034] According to one embodiment, the first and second circumferential tracks (in particular of the respective drive units) are shaped in such a way that the suspended support elements are separated / coupled from / to the ceiling structure only when passing through the curved section of the track, which also makes it possible to provide sections along the straight sections of the track, to which the suspended support elements of the vehicle can be fixed by a scalable number of suspended support elements.

[0035] According to one embodiment, a temporary relative first vertical position of each suspended support element in the first track defines a / an instantaneous center of rotation of that suspended support element, and a corresponding relative second vertical position in the second track defines a temporary amount of rotation of that suspended support element.

[0036] According to one embodiment, the track is shaped such that the temporary vertical coordinate as well as the temporary coordinate in the second spatial direction of each suspended holding element are defined and adjusted by the contour of the track.

[0037] According to one embodiment the tracks have shapes / contours that deviate from the standard racecourse shape of a crawler track at least within the curved section (redirection section) of the track, the first track shape preferably deviating at least in the vertical direction and the second track shape preferably deviating both vertically and in said second direction.

[0038] According to one embodiment, the radius of curvature of the first track is at least approximately constant.

[0039] According to one embodiment, in at least one longitudinal position along the track(s), the radius of curvature of the second track is larger than that of the first track, and in at least one further longitudinal position along the track(s), the radius of curvature of the second track is smaller than that of the first track, the radius of curvature of the tracks preferably differing / varying steadily / continuously depending on the temporal longitudinal position along the track(s). In terms of different / various radii of curvature, it should be noted that the curved sections of the circumferential track can comprise a plurality of respectively different radii of curvature of different sections of the respective curvature, the various types of curvatures allowing for separation / coupling movements of the suspended retention elements, this embodiment is therefore to be understood as an example.

[0040] It should be noted that the individual levels of deflection of the track curvature may be selected by one skilled in the art, so that the curvature may differ from the embodiments described in the context of this disclosure. For example, a first track (e.g., defined by a chain) may have a constant radius in the vicinity, and a second track may have a single radius on one side and a series of multiple radii on the other side. In particular, the specific inheritance of radii and amounts of deflection may be defined as well, depending on the structure and type and size of the suspended support elements and / or rolls / wheels / pulleys.

[0041] According to one embodiment, when the suspended retention elements are guided along the / the (temporary) curved section of the circumferential track, the contour of the first track provides a / the first (in particular vertical) movement of / the contact / bearing point of the respective suspended retention element, and the contour of the second track and the changing distance of the second track relative to the first track provide a / the pivoting movement of the contact / bearing point of the respective suspended retention element (or vice versa: the second track can provide a first movement at the contact point of the suspended retention element and the first track can provide a pivoting movement). In that respect, it should be noted that both the first and the second track can provide a vertical movement, and in particular the second track can control the / the pivoting movement, in particular after unloading the respective suspended retention element (from the structure).

[0042] It should be noted that according to the present disclosure referring to kinematic aspects, a person skilled in the art may also decide to implement these kinematic features based on kinematic return / reversal. For example, a first track may guide a second pulley, and a second track may guide a first pulley. Therefore, this numbering of kinematic components is understood to be merely an example.

[0043] According to one embodiment, the suspended holding element is firmly attached / coupled to / with the first circumferential track by the first pulley (or vice versa, the second track by the first pulley and the first track by the second pulley), the suspended holding element is guided in the second circumferential track by the second pulley, respectively, the first and second pulleys being preferably arranged on the lever arms of the respective suspended holding element, the respective suspended holding element preferably having an L-shape, an L-profile shape. This likewise favors the relative positioning (relative to each other at a predefined distance) of the two pulleys guided by / in the circumferential tracks.

[0044] According to one embodiment, each suspended support element exhibits a first pulley and a second pulley arranged at a longitudinal distance relative to the first pulley on the lever arm of the suspended support element, the (respective) suspended support element being coupled to a first and a second track by means of the first and second pulleys. This arrangement also allows a high degree of accuracy of the predefined path and of the predefined amount of movement of the free end of each suspended support element (or of a / the wheel).

[0045] According to one embodiment, each suspended retaining element presents a lever arm that accommodates / supports a / the pulley guided by a second track, the pulley being arranged at the free end of the lever arm, and in the straight sections of the track the lever arm points at least approximately in the drive / movement direction (second spatial direction). This also makes it possible to provide a large effective length of the lever arm section between the first and second pulley, thereby ensuring a significant pivoting movement for the decoupling / coupling kinematics.

[0046] According to one embodiment, the shape / profile of the track provides for both lifting and unloading of the suspended retention elements depending on the longitudinal position along the track, in particular first lifting and then unloading in terms of separation, and vice versa in terms of joining.

[0047] According to one embodiment, the relative radial distance of the tracks is constant along straight sections of the tracks and the relative radial distance of the tracks differs / varies, in particular steadily / continuously, along curved sections of the tracks depending on the temporary longitudinal position along the track(s).

[0048] According to one embodiment, the ceiling vehicle exhibits at least one further / third drive unit (such as a crawler track, in particular) housing a third circumferential track, configured for synchronous circumferential drive movement. According to one embodiment, the third drive unit is configured similarly to the first and second tracks and / or the third drive unit provides similar functionality to the first track or the second track.

[0049] According to one embodiment, the ceiling vehicle presents a further / third drive unit housing a third / further circumferential track, configured for suspending the ceiling vehicle and a plurality of further suspension support elements configured for coupling the ceiling vehicle within the ceiling structure are attached to the third / further circumferential track at predefined third / further longitudinal positions corresponding to a / the raster defined by the ceiling structure.

[0050] According to one embodiment, the hanging retention element and the further hanging retention element fix / block the ceiling vehicle in the ceiling structure with respect to the drive direction (second spatial direction) and vice versa, such that sliding off of the ceiling structure is prevented.

[0051] According to one embodiment, the first circumferential track is provided / defined by a chain (respectively a belt or a similar type of traction means) or by a chain forming a closed loop of interrelated chain elements. This configuration also makes it possible to adjust the shape / contour of the track by means of a chain tensioning device or other type of deflection points / pulleys. In particular, the first circumferential track may be defined by a chain connecting the suspended holding elements.

[0052] According to the present disclosure, the term "chain" can also refer to a belt or cable or any other circumferential driving element that allows following / binding to the circumferential track(s). A person skilled in the art can determine which configuration of the chain is most appropriate in / for the individual application.

[0053] According to one embodiment, the ceiling vehicle exhibits a plurality of counter bearings, in particular configured and arranged for interacting in front with the (ceiling) structure, preferably coupled to / with the first circumferential track, in particular coupled to the chain elements of the first circumferential track. This configuration also allows for fixing the position of the vehicle with respect to further spatial directions, in particular perpendicular to the structure, perpendicular to the rail, respectively (if the vehicle is placed upside down, headfirst or in an inclined plane, normal forces are applied to the structure). In particular, the plurality of counter bearings may / can provide a counter force drive module (counter force unit) that allows / facilitates even more secure positioning and suspension of the (upside down) vehicle, for example on an inclined plane or in an overhead arrangement configuration. The free end of the counter bearing may be configured depending on the type / shape of the (ceiling) structure, for example the free end of the counter bearing exhibits at least one wheel or pulley.

[0054] According to one embodiment, the ceiling vehicle exhibits further drive units (especially crawler tracks) that house further first and second circumferential tracks and are configured for synchronous circumferential movement of further suspended holding elements, which facilitates scale-up and favors configurations for vehicles with high stability and security requirements.

[0055] According to one embodiment, the ceiling vehicle presents a further drive unit (in particular like a crawler track) which accommodates further (first and second) circumferential tracks, and a number of suspension support elements are attached to the further circumferential tracks at predefined longitudinal positions corresponding to a / the predefined raster, in particular configured to suspend the ceiling vehicle and to couple the ceiling vehicle into the ceiling structure, such that the ceiling vehicle is fixed in the ceiling structure with respect to the reverse direction. This provides a high security and even an automatic locking suspension support as well.

[0056] According to an embodiment, the suspended retaining element (of a / the first drive unit) and the further suspended retaining element (of a / the further drive unit) fix / block the ceiling vehicle in the ceiling structure both with respect to the drive / movement direction (second spatial direction) and vice versa, in particular such that sliding off the ceiling structure is prevented. This likewise allows a high security level. Optionally, the vehicle can also be equipped with at least three drive units.

[0057] According to one embodiment, the suspended support elements are connected to one another by longitudinal connection elements, in particular by longitudinal connection elements connected at the axis of a / the first pulley of the respective suspended support elements, thereby forming a closed loop of mutually associated suspended support elements spaced apart from one another in a predefined raster. This likewise ensures a correct relative positioning of the multiple suspended support elements relative to one another. Each longitudinal connection element preferably exhibits the shape of a rod or stick or a small lever arm. In other words, the multiple longitudinal connection elements can provide a closed loop of mutually associated elements forming a kind of chain or similar guided / driven along a circumferential track(s).

[0058] According to one embodiment, the ceiling vehicle exhibits a further (second) drive unit, which exhibits the same configuration as the / first drive unit, but has a mirror-image arrangement of the further suspended support elements and the further circumferential tracks, the further suspended support elements being guided / driven in a direction opposite to the guidance direction of the suspended support elements of the first drive unit, in particular such that the respective suspended support element and the further suspended support element are both simultaneously separated / coupled from / to the ceiling structure. This configuration is advantageously adapted to ceiling structures made of or provided by T-profiles or T-shaped support elements (in particular T-shaped ceiling beams).

[0059] According to one embodiment, the ceiling vehicle exhibits at least one ceiling hoist, or the ceiling vehicle exhibits at least two or three ceiling hoists.

[0060] According to one embodiment, the at least one drive unit is configured in particular to lift the respective suspended support element from the ceiling structure in an unloaded state, such that the at least one crawler type drive unit simultaneously provides both the separation / coupling kinematics for the temporarily unloaded subset of suspended support elements and the suspension support of the vehicle by the temporarily loaded subset of suspended support elements. This kind of separation / coupling kinematics also provides a completely energy-efficient and force-efficient way of driving / moving / advancing. Likewise, minimizing the forces and momentum in terms of the separation / coupling process favors possibly also very fast crawling movement(s), even if the vehicle exhibits a significant weight or has to lift a significant load.

[0061] According to one embodiment, at least one drive unit has a substantially planar configuration in lateral view. According to one embodiment, the drive units (in particular two or three drive units) are arranged parallel to one another. This also favors the implementation of two or even three drive units, respectively, in a quite narrow / slim arrangement.

[0062] According to one embodiment, the circumferential tracks are guided / driven, respectively, in a plane extending in two dimensions, which also favours the implementation of linear translational movements which may be combined with further movements along the ceiling structure, in particular perpendicular to the direction of the translational movement.

[0063] According to one embodiment, the vehicle is configured to move in at least two spatial directions, a first spatial direction predefined by the ceiling structure and a second spatial direction predefined by a driven / guided movement along a circumferential track, the second spatial direction being perpendicular to the first spatial direction, which likewise further increases the flexibility and variability of the type of movement and positioning of the vehicle.

[0064] According to one embodiment, each suspended support element exhibits at least one wheel arranged and configured for being guided along the ceiling structure, in particular on the wheel tread of the respective / corresponding T-profile of the ceiling structure. This kind of coupling / suspended support in / on the ceiling structure also facilitates two-dimensional locomotion movements.

[0065] According to one embodiment, each drive unit is coupled by at least three suspended support elements, which also provides for distributing any forces and thrusts by the multiple suspended support elements, thereby also ensuring a good security and stability level.

[0066] According to one embodiment, each suspended support element has an L-shape (respectively the shape of an L-profile), which provides two arms that define the relative arrangement of a / the wheel of each suspended support element and the first and second pulleys (engaging with the first and second circumferential tracks). This also allows for a robust design. Likewise, the suspended support elements can be easily designed individually according to the specific application and the specific ceiling construction by adapting the design of the lever arms.

[0067] The above-mentioned object is likewise solved by a crawler type vehicle arrangement (particularly a ceiling vehicle arrangement) comprising at least one vehicle (particularly a ceiling vehicle) as described above and a / that structure (particularly a ceiling structure) exhibiting a plurality of profiles (particularly T-profiles) defining a / that raster of the structure, the raster of the relative arrangement of the suspended support elements corresponds to the raster of the structure, a subset of the suspended support elements (i.e. the suspended support elements temporarily engaging the profiles) are arranged / configured to be guided (particularly rolled) along the profiles in a (first) spatial direction defined by the structure, the locomotion of the vehicle thereby having at least two degrees of freedom, which provides the above-mentioned advantages, in particular in view of an optimized form-fit at the bonding interface between the suspended support elements and the structure.

[0068] According to one embodiment, the ceiling structure exhibits a number of profiles (in particular T-profiles) defining a certain / respective raster of the ceiling structure, and the ceiling vehicle exhibits a number of further (second type) suspended holding elements that suspend the ceiling vehicle together with the (certain / respective first type) suspended holding elements, the suspended holding elements and the further suspended holding elements fixing / blocking the ceiling vehicle in the ceiling structure with respect to the driving / moving direction (second spatial direction). This can further increase the security and stability level. In such an arrangement, the at least one drive unit preferably exhibits a certain / respective first circumferential track (which may for example be provided / defined by a chain) and two second circumferential tracks, one of the second circumferential tracks being arranged such that its shape / contour is asymmetrically arranged with respect to the shape / contour of the other / corresponding second circumferential track. Such an arrangement is likewise preferred for advantageously positioning and aligning both the suspended holding elements and the further suspended holding elements by one drive unit.

[0069] According to one embodiment, each T-profile (or any other suitable type of profile rail) exhibits at least one power rail, and the ceiling vehicle is configured to (actively) drive at least one drive unit by energy provided by the power rail, in particular by current collectors provided in the suspended holding elements. This can also facilitate the energy supply regardless of any relative position or time / duration of operation. Alternatively, the at least one drive unit can provide itself with energy (e.g. electrical energy), for example by an on-board battery.

[0070] According to one embodiment, the ceiling structure is modular and scalable, in particular based on the profile of the structure, in particular on tiles equipped with a T-profile.

[0071] According to one embodiment, the crawler type ceiling vehicle arrangement configuration presents at least one elevator extending over at least two different levels of elevation and interconnecting said levels of elevation, the elevator presenting an elevator ceiling structure that geometrically corresponds to / with ceiling structures arranged on at least two different levels of elevation (in particular on different ceilings of rooms arranged on different floors of the building).

[0072] The above-stated object is likewise solved by a method for suspending / suspending a crawler-type ceiling vehicle, in particular a crawler-type ceiling vehicle as described above, to / from a ceiling structure for suspended movement headfirst from the ceiling structure (in particular for actively driving the crawler-type ceiling vehicle as well), the ceiling vehicle being suspended by a plurality of suspended support elements coupling the ceiling vehicle to the ceiling structure, the circumferential guiding / driving movement being provided by at least one drive unit housing first and second circumferential tracks having different circumferential shapes / contours, the suspended support elements being attached to the first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the ceiling structure, the ceiling vehicle being suspended such that when the suspended support elements are guided along the circumferential tracks by a circumferential movement (guiding / driving movement), the ceiling vehicle can move along the ceiling structure by detaching a subset of the plurality of suspended support elements, respectively, from coupling into the ceiling structure. This offers the advantages mentioned above, in particular in view of the high degree of autonomy (mobility) and security of any movement along the ceiling structure.

[0073] The above-stated object can likewise be solved by a method for providing a two-dimensional crawler-like movement or two-dimensional positioning by means of a crawler-type ceiling vehicle, in particular by means of the crawler-type ceiling vehicle described above, which is suspended upside down in a ceiling structure defining a first spatial direction, a plurality of suspended support elements which suspend the ceiling vehicle are temporarily coupled to the ceiling structure such that the suspended support elements can be moved (e.g. rolled, slid) along the ceiling structure in said first spatial direction, and the circumferential guiding / driving movement is achieved by at least one drive unit (in particular a crawler-like drive unit) which accommodates a first circumferential track and a second circumferential track. wherein the suspended retention element is attached to a first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the ceiling structure in a second spatial direction of said spatial direction, and the suspended retention element engages with a second circumferential track at a predefined second longitudinal position, the first and second tracks having different shapes / contours, and the suspended retention element is separated from being coupled into the ceiling structure by a / the said circumferential guiding / driving movement of at least one drive unit or track, respectively, and during the circumferential guiding / driving movement the first and second tracks remain in a (fixed) relative arrangement configuration, in particular a parallel arrangement configuration, relative to each other.

[0074] The above stated object can likewise be solved by a method for providing crawler-like locomotion or positioning by a crawler type vehicle coupled to a structure having a predefined raster, in particular by a crawler type vehicle as described above, wherein a plurality of suspended support elements of the vehicle are temporarily coupled to the structure, and the circumferential guiding / driving movement is provided by at least one drive unit (in particular like a crawler track) which accommodates a first circumferential track and a second circumferential track having a circumferential shape / contour different from the first circumferential track at least in the curved section of the track(s), and the suspended support elements are adapted to move relative to the raster of the structure. the suspended retention elements are attached to the first circumferential track at predefined first longitudinal positions corresponding to the raster of the structure, the suspended retention elements are aligned / oriented by the second circumferential track at predefined second longitudinal positions corresponding to the raster of the structure and respectively different from the corresponding first longitudinal positions, and a moving movement or positioning of the vehicle is provided, moving the vehicle along the structure in at least one spatial direction based on a circumferential guiding / driving motion, the circumferential guiding / driving motion including / causing a subset of the plurality of suspended retention elements, respectively, to be separated from being coupled within the structure as the suspended retention elements are guided along the curved section of the circumferential track by the circumferential motion.

[0075] The above stated object may likewise be solved by a method for providing crawler-like locomotion or positioning by a crawler type vehicle coupled to a structure having a predefined raster, in particular by a crawler type vehicle as described above, wherein a plurality of suspended retaining elements of the vehicle are temporarily coupled to the structure, and a separation / coupling kinematics comprising at least in the curved section of the track(s) a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track is provided, when guiding / driving the suspended retaining elements along the curved section of the circumferential track, in particular at least one drive unit accommodating the first and second circumferential tracks. (in particular, such as a crawler track) respectively provides for decoupling / coupling a subset of the suspended support elements from / to the structure, the suspended support elements being coupled to a first circumferential track at a predefined first longitudinal position corresponding to a raster of the structure and the suspended support elements being guided in / by a second circumferential track at a respective second longitudinal position longitudinally offset relative to the respective first longitudinal position, and the decoupling / coupling kinematics provides both a first (vertical) movement perpendicular to the movement / driving direction and a second movement for pivoting each suspended support element as the suspended support elements are guided along a certain / relevant (temporary) curved section of the circumferential track by the circumferential guiding / driving movement.

[0076] According to one embodiment, the circumferential motion is transmitted / transferred by a suspended retaining element that temporarily engages the ceiling structure. This also allows any force and thrust to be distributed by the suspended retaining element that temporarily engages the ceiling structure. In other words, scaling can be easily done with the length of the vehicle. It should be noted that the action can be provided by the (respective) drive unit(s) and only the reaction is provided by the ceiling structure. There is no need for any active components or drives acting in the ceiling structure.

[0077] According to one embodiment, the guiding / driving movement is provided by a first and a second drive unit, the first drive unit providing a circumferential movement of a first subset of the suspended holding elements on a first closed-loop trajectory (particularly in a first direction) and the second drive unit providing a circumferential movement of a second subset of the suspended holding elements on a second closed-loop trajectory (particularly in a second direction, the direction of movement of which is optionally the same or different from the first closed-loop trajectory, in particular opposite to the first closed-loop trajectory). This arrangement likewise favors a secure method of coupling, the vehicles can be fixed in different spatial directions.

[0078] According to one embodiment, at least one load / cargo is held by at least one hoist housed on the vehicle.

[0079] The above mentioned object is also solved by a computer program comprising instructions for causing a computer to carry out, when the program is executed by the computer, the steps of the above described method, in particular with respect to providing and controlling a circumferential guidance / drive movement by controlling at least one drive, which provides the above mentioned advantages, in particular in view of the remote control of the vehicle.

[0080] The above-stated object is likewise solved by the use of at least one crawler-type drive unit housing first and second circumferential tracks having different circumferential shapes / contours, in particular for suspending / holding and optionally also actively driving a crawler-type ceiling vehicle in the above-described manner, in particular for moving the crawler-type ceiling vehicle in a head-on suspended manner in a ceiling structure, the ceiling vehicle being suspended by a plurality of suspended support elements coupling the ceiling vehicle to the ceiling structure, the suspended support elements being attached to the first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the ceiling structure, and a / said circumferential guiding / driving movement is provided by the at least one drive unit, in such a way that the vehicle moves along the ceiling structure, by detaching a subset of the plurality of suspended support elements, respectively, from coupling into the ceiling structure, when the suspended support elements are guided / driven along the circumferential track. This provides the advantages mentioned above, especially considering that it also allows for a simple and cost-effective ceiling construction. In other words, at least one crawler type drive unit provides both the separation / connection kinematics and the suspension of the vehicle at the same time (simultaneously). In that respect, using battery technology (embedded in the vehicle to provide energy to the vehicle, e.g., to power the on-board controller, hoist(s), and motor(s) for locomotion) can make the vehicle even more autonomous.

[0081] The above mentioned object is also solved by the use of at least one drive unit (in particular like a crawler track) housing first and second circumferential tracks for providing at least one-dimensional crawler-like locomotion movement along / in a ceiling structure, the first and second tracks being arranged firmly relative to each other, in particular in a crawler type vehicle suspended and supported by a plurality of suspended support elements, head-over-head in the (ceiling) structure, the suspended support elements being arranged to provide a circumferential guiding / driving movement (in particular like a drive track) for the tracks by the at least one drive unit. When providing a circumferential guiding / driving movement of the drive unit (synchronous movement of both tracks), the drive unit is guided by a circumferential track, which has different shapes / contours from each other at least in the curved sections of the tracks, such that when providing a circumferential guiding / driving movement, a subset of the suspended holding elements are separated from being coupled into the structure, respectively, and in particular, only a subset includes (those) suspended holding elements that are temporarily positioned in one / respective curved sections of the tracks, in particular for / in the method described above, in particular the use of at least one drive unit in the vehicle described above.

[0082] The above stated object is likewise solved by the use of at least one drive unit housing first and second circumferential tracks for providing at least one-dimensional crawler-like locomotion movement along / in a ceiling structure, in particular along a structure having a predefined raster, the first and second tracks being tightly arranged relative to one another in a crawler type vehicle, in particular head-over-head in the (ceiling) structure, suspended by a plurality of suspended retention elements configured for coupling the vehicle to the structure, the suspended retention elements being guided by the circumferential track when providing a crawler type circumferential guiding / driving movement relative to / by the tracks, the suspended retention elements being attached to the first circumferential track at a predefined first longitudinal position corresponding to the raster of the structure. the suspended retention elements are aligned / oriented by a second circumferential track at predefined second longitudinal positions which correspond to the raster of the structure and are respectively different from the corresponding first longitudinal positions, the circumferential track having shapes / contours which differ from each other at least in the curved sections of the track such that when providing a circumferential guiding / driving movement, a subset of the suspended retention elements are respectively separated from being coupled into the structure, thereby moving the vehicle along the structure in at least one spatial direction, in particular where only a subset include (those) suspended retention elements which are temporarily positioned in a / each of the curved sections of the track, in particular for / in the method described above, in particular the use of at least one drive unit in the vehicle described above.

[0083] Each drive unit housing a track can also provide (passive) decoupled / coupled kinematics for the suspended support elements, i.e. actively driving the vehicle is one of several options for implementing the invention.

[0084] These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter. Individual features disclosed in the embodiments can constitute aspects of the invention alone or in combination. Features of different embodiments can be carried over from one embodiment to another. [Brief description of the drawings]

[0085] [Figure 1A] 1 is a perspective view of components of a ceiling vehicle according to one embodiment. [Figure 1B] 1 is a perspective view of components of a ceiling vehicle according to one embodiment. [Figure 1C] 1 is a perspective view of components of a ceiling vehicle according to one embodiment. [Figure 1D] 1 is a perspective view of components of a ceiling vehicle according to one embodiment. [Figure 1E] 1 is a perspective view of components of a ceiling vehicle according to one embodiment. [Figure 1F] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1G] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1H] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1J] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1K] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1L] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1M] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1N] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1O]2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 2A] 1 is a perspective view of the arrangement of suspended support elements and their respective placement along a circumferential track of a ceiling vehicle according to one embodiment; FIG. [Figure 2B] 1 is a perspective view of the arrangement of suspended support elements and their respective placement along a circumferential track of a ceiling vehicle according to one embodiment; FIG. [Figure 2C] 1 is a perspective view of the arrangement of suspended support elements and their respective placement along a circumferential track of a ceiling vehicle according to one embodiment; FIG. [Figure 3A] FIG. 2 is a detailed perspective view of a suspended support element of a ceiling vehicle according to one embodiment. [Figure 3B] FIG. 2 is a detailed perspective view of a suspended support element of a ceiling vehicle according to one embodiment. [Figure 3C] FIG. 2 is a detailed perspective view of a suspended support element of a ceiling vehicle according to one embodiment. [Figure 4A] 13 is a perspective view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4B] 13 is a perspective view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4C] 13 is a perspective view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4D] 13 is a perspective view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4E] 13 is a perspective view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4F] 13 is a perspective view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4G] 13 is a perspective view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 5A] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle according to one of the embodiments. [Figure 5B] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle according to one of the embodiments. [Figure 5C] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle according to one of the embodiments. [Figure 5D] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle according to one of the embodiments. [Figure 6A] FIG. 13 is a side view of components of a ceiling vehicle according to a further embodiment (full suspension support). [Figure 6B] FIG. 13 is a side view of a component of a ceiling vehicle according to a further embodiment (suspension support for vertical inertial forces and lateral forces). [Figure 7A] 1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle according to one of the embodiments. [Figure 7B] 1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle according to one of the embodiments. [Figure 7C] 1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle according to one of the embodiments. [Figure 7D] 1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle according to one of the embodiments. [Figure 8A] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment (with counter bearing). [Figure 8B] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment (with counter bearing). [Figure 9A] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment (without counter bearing). [Figure 9B] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment (without counter bearing). [Figure 10A] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment. [Figure 10B] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment. [Figure 11A]11 is a detailed perspective view of the suspended support elements (and their suspended supports) of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10. FIG. [Figure 11B] 11 is a detailed perspective view of the suspended support elements (and their suspended supports) of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10. FIG. [Figure 11C] 11 is a detailed perspective view of the suspended support elements (and their suspended supports) of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10. FIG. [Figure 14A] 11 is a detailed perspective view of the suspended support elements (and their suspended supports) of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10. FIG. [Figure 14B] 11 is a detailed perspective view of the suspended support elements (and their suspended supports) of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10. FIG. [Figure 12A] 11 is a detailed side view of a suspended support element of a ceiling vehicle according to an embodiment, particularly according to the embodiment shown in FIG. 10. [Figure 12B] 11 is a detailed side view of a suspended support element of a ceiling vehicle according to an embodiment, particularly according to the embodiment shown in FIG. 10. [Figure 13] 11 is a detailed perspective view of a ceiling vehicle according to an embodiment, particularly according to the embodiment shown in FIG. 10. [Figure 15] 11 is a side view of components of a drive unit of a ceiling vehicle according to an embodiment, particularly according to the embodiment shown in FIG. 10. [Figure 16A] 11 is a perspective view of a portion of a detail of a suspended support element of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10 . [Figure 16B] 11 is a perspective view of a portion of a detail of a suspended support element of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10 . DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0086] Initially, reference will be made in general terms and specific reference will be made to the respective figures.

[0087] The invention provides a ceiling vehicle 10 having at least one drive unit 11 (in particular like a crawler track), in particular a first drive unit 11a and a further (second) drive unit 11b and optionally also a further (third) drive unit 11c. The vehicle 10 is configured to move along a ceiling structure 1 exhibiting a predefined raster 1a, for example defined by a T-profile, a T-rail 1.1 or any such profile rail, respectively. The profile 1.1 exhibits at least one wheel tread 1.2, and optionally a power rail 1.3 providing an energy supply may also be arranged on the profile. The vehicle 10 is coupled to the structure 1 and is suspended by a number of suspension support elements 13 (for example each including at least one element of a chain). The crawler type ceiling vehicle arrangement 100 consists of at least one ceiling vehicle 10 and at least one ceiling structure 1.

[0088] At least one drive unit 11 provides a drive mechanism 11.1 (with or without motor(s) or actuator(s)) that allows a circumferential movement of the suspended holding element 13 along the circumferential track 12, i.e. simultaneously along a first and a second circumferential track 12a, 12b exhibiting respective shapes / contours XZa, XZb. Preferably, the tracks only extend in two dimensions (2D), i.e. in a plane, and the shapes differ at least in the curved sections of the tracks. Each track 12a, 12b exhibits a parallel / straight section 12p (respectively, two parallel sections) and a redirection / curved section 12r (respectively, two curved sections). The lateral area, surface shell 11.2, respectively, of the at least one drive unit is preferably flat, planar, horizontal, respectively, on each side. Such an arrangement is likewise preferred in view of the interconnection of several drive units.

[0089] According to an embodiment, the vehicle 10 presents at least one further (second) drive unit 11b presenting first and second circumferential tracks 12a, 12b and accommodating a number of further suspended holding elements 13b arranged in mirror image with respect to the suspended holding elements 13 of the first drive unit 11a. The first and second drive units 11a, 11b can provide a movement movement (e.g. by synchronous guiding / driving movement of / with respect to the suspended holding elements), the drive units 11a, 11b can be interconnected, for example, by a cross beam or similar. Similarly, the first and second drive units 11a, 11b can provide different driving movements, for example to enforce non-linear, but curved / curved, movement movements. The desired / required movement movement can be controlled by a control unit 30, which can be coupled to at least one motor or actuator 17 (optional). In particular, the vehicle may be provided as a kind of passive vehicle whose locomotion is induced by external forces. In such a configuration, the kinematics of the present invention provide for suspending / holding the vehicle but not for actively driving it for any locomotion. The drive section may also comprise at least one gear unit 18 configured to interact with the track(s) and at least one energy storage unit 19. A sensor arrangement 40, for example comprising position and speed sensors and / or weight sensors and / or gyroscopes, may provide sensor data to the control unit.

[0090] Each suspended retaining element 13 presents a first pulley 13.1 and a second pulley 13.2, optionally a wheel 13.3, which is provided at the free end of the suspended retaining element 13 (bearing point P13). The first and second pulleys are arranged on a lever arm 13.5 at a distance from / to each other (y offset, longitudinal extension y13 of the lever arm). The bearing point P13, respectively, and the wheel 13.3 are arranged on a protruding section, respectively, of the suspended retaining arm 13.6 (z offset). At the free end of the suspended retaining arm, optionally a current collector, respectively, a power slider 13.4 (conductive slider for energy transfer) is provided in an arrangement that corresponds geometrically to a / the power rail 1.3 of the respective profile 1.1. The suspended support elements 13 of one or each drive unit 11 may be interconnected via longitudinal connection elements 15 which may ensure a closed loop 15a of the mutually associated suspended support elements so that the suspended support elements 13 are coupled to the respective circumferential tracks.

[0091] In other words, the suspended holding element preferably presents a wheel 13.3 which performs a rolling movement on the profile, allowing a movement which is perpendicular to the movement predefined and caused by the track, the wheel being positioned perpendicular to the first and second pulleys. Optionally, the wheel can be motorized, for example by a further actuator or motor. The first pulley 13.1 engages with the first or second circumferential track, thereby following said track. Similarly, the second pulley 13.2 engages with the first or second circumferential track, thereby following said track (different from the track engaged by the first pulley, i.e. vice versa). The lever arm 13.5 is preferably L-shaped and is provided as a one-piece (bulk, solid) integral element, in particular.

[0092] Preferably, the structure 1 and its raster 1a are defined by profiles 1.1 arranged parallel to and having a similar distance (pitch) to adjacent profiles. Each profile (e.g. T-profile, C-profile, L-profile, I-profile) is preferably configured to support a suitable geometry / surface(s) for interaction with the wheel(s) of the suspended holding element, and a series of such profiles preferably provides a planar surface at least in several sections.

[0093] By means of the circumferential track and the suspended support elements, the (respective) drive unit provides a separation / coupling kinematics 20 that ensures both a vertical movement kinematics 20a and a non-circular pivoting movement kinematics 20b. Thereby, separation / coupling of each suspended support element can be brought about by a circumferential movement along the track, without the need for any axial telescopic movement within each suspended support element. That is to say, the suspended support elements can be designed purely as mechanical engineering units.

[0094] In particular, in terms of logistic tasks, the vehicle 10 provides a towing mechanism 51 (in particular having a rope winch) and can exhibit at least one hoist unit 50 having at least one transmission means 53 (in particular a rope).

[0095] In the following, the kinematics provided by the guide / drive motion along the circumferential track are generally described, first: The first pulley 13.1 of each suspended retaining element 13 rotates about a first pulley axis X13.1 and defines a first induction point G13.1 (connecting the first track and the respective suspended retaining element) and vice versa, the corresponding point of the corresponding circumferential track defines for each suspended retaining element its first induction point G13.1. Similarly, the second pulley 13.2 of each suspended retaining element 13 rotates about a second pulley axis X13.2 (preferably aligned in parallel) and defines a second induction point G13.2 (connecting the second track and the respective suspended retaining element). When referring to the kinematics of each suspended support element, the instantaneous center of rotation Cr of each suspended support element is defined by the axis X13.1 of the first pulley 13.1 coupled to the first track 12a, the coupling / attachment / fixing can be ensured, for example, in the axial section between one / the suspended support arm 13.6 and the first pulley 13.1 (see FIG. 3B). The two tracks 12a, 12b are arranged relative to another such that the contact / bearing point / area P13 of the respective suspended support element 13 can be fastened or hung on the ceiling structure. According to a preferred arrangement, the wheel 13.3 of each suspended support element rotates around a wheel axis Y13.3 that is preferably aligned perpendicularly to the first and second pulley axes X13.1, X13.2. Each suspended holding element 13 is coupled to the tracks 12a, 12b at a predefined position, i.e. at a predefined first longitudinal position y12a by the first pulley 13.1 and at a predefined second longitudinal position y12b by the second pulley 13.2, respectively, when driving the tracks and guiding the suspended holding element along the tracks, so that the bearing point P13 at the free end of the suspended holding element 13 is guided according to the relative position / contour and distance of the tracks.

[0096] In the figure, (x) designates a / the first spatial direction (in particular the transverse direction, in particular the direction of the longitudinal extension of the T-profile), (y) designates a / the second spatial direction (in particular the longitudinal direction or the temporary drive direction of the drive unit), and (z) designates a / the third spatial direction (in particular the vertical direction).

[0097] Fig. 1A shows a ceiling vehicle 10 showing drive units 11 and suspended support elements 13, a subset of which is temporarily coupled to a / the ceiling structure 1, i.e. a T-profile. The suspended support elements 13 are guided (and, optionally, also actively driven) along two circumferential tracks (not shown, see Fig. 1C), and the separation / coupling is performed within curved sections of the tracks.

[0098] 1B, 1C, 1D, 1E show the separate components of each drive unit 11, 11a, 11b, 11c. At least one drive 17 (optional, i.e. can be provided if an active drive movement for the suspended retaining elements is desired) provides a circumferential movement of the tracks 12a, 12b, in particular by means of at least one gear unit 18 engaging the tracks. It is shown that a separation / coupling kinematics is provided in the curved section 12r of the first and second circumferential tracks 12a, 12b. In contrast, in the parallel section(s) 12p, the suspended retaining elements 13 remain in a predefined relative position in / with respect to the ceiling structure. In that section, the axis Y13.3 of the wheel 13.3 of the respective suspended retaining element 13 is aligned parallel to the parallel section(s) 12p of the tracks.

[0099] If the vehicle shows several drive units 11a, 11b, some of these components, in particular the suspended support elements (see FIG. 4A), may be arranged similarly in a mirror image, so that any detailed description in the figures relating to any separate / single component of the respective drive unit can also describe a similar configuration of any further drive units or any further redundant components.

[0100] 1F, 1G show the curved section 12r in more detail. It can be seen that both the radius of curvature of the tracks and the distance of the tracks relative to each other are deflected / changed in value and direction, thereby resulting in a pivoting movement (in particular in the plane yz and around the x-axis and the instantaneous center of rotation Cr shown in FIG. 1F) of the bearing point P13 of the respective suspended retaining element 13 of the suspended retaining arm 13.6 (projecting section) and the wheel 13.3, respectively. Thus, both the vertical motion kinematics 20a and the non-circular pivoting motion kinematics 20b can be provided by hard / rigid components guided / driven along two circumferential tracks with different shapes / contours.

[0101] 1H, 1J, 1K, 1L, 1M, 1N, 1O show some more details of the separation / coupling kinematics 20. In particular, it can be seen that the first track 12a has a curved bent-up, i.e. resulting in a slight lifting of the wheel 13.3 from the wheel tread 1.2, i.e. when the first pulley 13.1 passes through that section. In particular, except for one section, the shape / contour XZb of the second circumferential track 12b extends (is located) within the shape / contour XZa of the first circumferential track 12a.

[0102] 2A, 2B, 2C show a number of suspended support elements 13 interconnected by longitudinal connecting elements 15, thereby ensuring a closed loop 15a of interrelated suspended support elements. The suspended support elements 13 are coupled to respective circumferential tracks 12a, 12b by first and second pulleys 13.1, 13.2.

[0103] In the embodiment shown in Figure 2, the first and second pulleys 13.1, 13.2 are arranged on opposite sides of the respective suspended support element 13. Thus, the closed loop 15a of the mutually associated suspended support element is arranged between the first and second tracks 12a, 12b which extend on both sides of the closed loop 15a.

[0104] The tracks 12a, 12b may be made of any kind of rail guide system components, including, inter alia, at least one chain, belt, cable, or similar traction or transmission means. The tracks 12a, 12b may comprise different guide / rail sections joined together, each of which may be straight or exhibit a different radius of curvature. Similarly, the tracks 12a, 12b may be formed / made by / on a single continuous / coherent rail.

[0105] 3A, 3B, 3C show some more details of the suspended retaining element 13 and the connecting element 15. For example, the connecting element 15, in the case of the first pulley 13.1, is coupled to a lever arm 13.5 at an axis X13.1, thereby facilitating a pivoting movement about that axis (respectively about the respective instantaneous centre of rotation Cr).

[0106] Figures 4A, 4B, 4C, 4D, 4E, 4F, 4G show an embodiment of the vehicle 10 showing three drive units 11a, 11b, 11c which may be related / connected to each other, for example, by a cross beam or the like. In contrast to the configuration of the first drive unit 11a, the suspended retaining elements 13b of the second drive unit 11b are arranged in a mirror image inversion, whereas the suspended retaining elements 13 of the third drive unit 11c are arranged in the same way as the suspended retaining elements 13 of the first drive unit 11a. As can be seen in Figures 4E, 4F, that configuration indeed allows a good security and stability level (both types of suspended retaining elements 13, 13b are guided along the T-profile, but on different sides of the T-profile). Alternatively, the vehicle 10 can only be equipped with two drive units 11a, 11b.

[0107] 5A, 5B, 5C, 5D show different types of locomotion that can be provided by the vehicle 10 described herein. As already explained further above, the present invention allows two-dimensional locomotion in both a first spatial direction (x) (dashed arrow) corresponding to the longitudinal direction / extension of the T-profile 1.1 and a second spatial direction (y) (dotted arrow) corresponding to the drive direction, track direction / extension, respectively.

[0108] It should be mentioned that a person skilled in the art knows that the T-profile shown in the figure can be provided as well as other types of profile rails, i.e. the mechanism / kinematics of the present invention is not limited to the use of T-profiles only, rather other profiles providing suitable suspension support for the suspension support elements and optionally also guiding tracks for the wheels can be used.

[0109] In the following, further aspects / details of the embodiments of the invention are described in more detail. For any reference signs or elements / components or aspects not explicitly mentioned / described, reference is made to the above-mentioned embodiments, respectively. The embodiments described in the following paragraphs show a first drive unit with a chain drive, where a first circumferential track is provided with a chain (having a closed loop of interrelated chain elements arranging corresponding suspended retaining elements and optionally also counter-bearing elements), the longitudinal connection elements of which first drive unit are provided in the form of chain elements.

[0110] FIG. 6A shows a vehicle exhibiting means for avoiding any relative movement of the vehicle with respect to the structure (fully suspended, in particular also taking into account any relative movement perpendicular / vertical to the structure), while FIG. 6B shows an arrangement which at least ensures the security of the suspended position taking into account vertical inertial and lateral forces (suspended with no counter-bearing).

[0111] Figures 7A, 7B, 7C, 7D show a ceiling vehicle arrangement 100 with a ceiling vehicle 10 showing three drive units 11a, 11b, 11c. As already explained further above, the invention allows two-dimensional locomotion movements in both a first spatial direction (dashed arrow) corresponding to the longitudinal direction / extension of the T-profile 1.1 and a second spatial direction (dotted arrow) corresponding to the driving direction of the track, respectively the direction / extension of the track. Depending on the structure / or orientation of the T-profile 1.1, the first and / or second spatial direction can also include a vertical (z) component (inclined plane / level), as shown in Figures 7C, 7D.

[0112] Therein, the coordinates x, y shown in the figure in terms of an inclined plane refer to the longitudinal extension (x) of the (ceiling) structure.

[0113] 8A, 8B show some more details of the ceiling vehicle 10 showing three drive units 11a, 11b, 11c arranged laterally with respect to each other, the (central) drive unit 11b arranged between the drive units does not show a suspended retaining element but a counter bearing 16, and Figs. 9A, 9B show some more details of the ceiling vehicle 10 showing two drive units 11a, 11c (each without a counter bearing). In the embodiment shown in Fig. 8, the second drive unit 11b provides a counter bearing 16 which is coupled to the chain 15a. That is to say, the first circumferential track provides the positioning and movement of the counter bearing 16. It should be noted that in the embodiment shown in the figures, these counter bearings 16 are intended to interfere with the structure only on the face side, and therefore no separation / coupling kinematics are provided in terms of these counter bearings 16. There is therefore no need to provide any further second circumferential track in / for the centrally arranged second drive unit 11b. Therefore, in this embodiment, the second drive unit 11b, which is centrally located and contains (only) a counter bearing, only represents the / first circumferential track.

[0114] 10A, 10B show some details of the drive units 11, 11b which do not house a suspended retaining element but only a counter-bearing.

[0115] 11A, 11B, 11C, 12A, 12B, 13, 14A, 14B show some kinematic aspects of the drive unit that accommodates / positions / guides the suspended retaining element 13 and the further suspended retaining element 13b together. FIG. 13 also shows that one (respective) drive unit 11 can comprise a first circumferential track (here provided / defined by the chain 15a) and two second circumferential tracks 12b, these two second circumferential tracks 12b being arranged asymmetrically, i.e. the shape / contour XZb is asymmetric. Such an arrangement likewise makes it possible to provide separation / coupling kinematics for both the plurality of suspended retaining elements 13 and the plurality of further suspended retaining elements 13b, in particular in the same profile rails on opposite sides, in particular so that both types of suspended retaining elements 13, 13b can interact and engage, respectively, in the same (but asymmetric) way as in the structure 1. Such an arrangement can already ensure a high security and stability level with one single drive unit 11. Scaling of drive units (to two, three or even a higher number) is thus feasible in an even more flexible manner and the individual arrangements can be optimized for each application.

[0116] It should be noted that the first circumferential track, a / the chain may / can provide for guiding and driving both the suspended retaining element 13 and the further suspended retaining element 13b, and that both types of suspended retaining elements 13, 13b can be connected to the chain structure (see FIG. 16B), for example by a protruding axial section (guiding bolt or shaft) 13.7, which protrudes relative to the first pulley 13.1, in particular along its axis X13.1. In particular, the suspended retaining element 13 and the further suspended retaining element 13b are arranged with a longitudinal offset (y) and are mirror-imaged on both sides of the chain 15a. In particular, the longitudinal distance (y) of each suspended retaining element 13 and each further suspended retaining element 13b of each pair of suspended retaining elements 13, 13b corresponds to the transverse (y) extension of each element / profile of the (ceiling) structure.

[0117] FIG. 15 also shows the first circumferential track, respectively the guiding plank or rail 14 which allows for more precise guiding of the chain.

[0118] Figures 16A, 16B show further embodiments of the suspended retaining elements 13, which, in comparison with the suspended retaining elements described above in view of Figure 3, show two wheels or pulleys 13.3 arranged and configured for interaction with the structure 1, and which can also show a further pulley suspended about an axis extending in the z-direction (shown in Figure 16B), which optional further pulley can ensure further / improved support and guidance for the structure.

[0119] In Figures 6A, 10A and 11C the contact point distances Δd provided by the different projection distances d1, d2 of the contact point P13 of the suspended retaining element and of the contact point of the counter-bearing (free end, in particular the wheel / pulley) are respectively shown by reference to their relative positioning in the (ceiling) structure. [Explanation of symbols]

[0120] 1 Ceiling structure 1a Raster defined by ceiling structure 1.1 Profile rails, in particular T-profiles and T-rails, respectively 1.2 Wheel tread 1.3 Power Rails 10 Ceiling Vehicle 11 Drive units (especially crawler trucks) 11.1 Drive Mechanism 11.2 The lateral area and surface shell of each of the drive units 11a First drive unit, in particular a chain drive unit 11b Further (second) drive unit 11c Further (third) drive unit 12 Circumferential Tracks 12a first circumferential track, in particular with chains 12b Second circumferential track 12p Parallel / Straight Section of Track 12r Track redirection section / curved section 13 respectively, the suspension element and the chain element 13b Further Suspension Retention Elements 13.1 First Pulley 13.2 Second Pulley 13.3 Wheels 13.4 Current collector, power slider (conductive slider for energy transfer) respectively 13.5 Lever Arm 13.6 Protruding Sections / Suspension Support Arms 13.7 Projecting axial sections (guiding bolts or shafts) 14 Guiding Plank or Rail 15 Longitudinal connecting elements, in particular chain elements 15a A closed loop of interrelated suspended support elements, in particular a chain 16 Counter bearing 16.1 Wheels and pulleys 17 Motor or actuator (optional), especially chain drive 18 Gear Unit 18a Further Gear Units 18b Chain tensioning device 19 Energy Storage Unit 20 Separate / Combine Kinematics 20a Vertical Motion Kinematics 20b Non-circular turning kinematics 30 Control Unit 40 Sensor arrangement configuration 50 Hoist Unit 51 Traction mechanisms, in particular rope winches 53 Means of transmission, in particular ropes 100 Crawler type ceiling vehicle configuration Cr Instantaneous rotation center d1 protruding distance of the contact point of the suspended support element d2: The protruding distance of the contact point of a / the counter bearing Δd Contact point distance G13.1 First guide point or axis (connecting the first track and the suspended support element) G13.2 Second guide point or axis (connecting the second track and the suspension support element) P13 Contact / bearing points / areas of suspended support elements with ceiling structure X13.1 First pulley shaft X13.2 Second pulley shaft XZa First circumferential track shape / contour XZb Second circumferential track shape / contour Y13.3 Wheel axis y12a, y12b: predefined first and second vertical positions y13 Vertical extension of lever arm x the first spatial direction, in particular the direction of the longitudinal extension of the T-profile y - the second spatial direction, in particular the longitudinal or drive direction z The third spatial direction, specifically the vertical direction

Claims

1. In particular, a crawler-type ceiling vehicle (10) configured to move while suspended upside down in a ceiling structure (1), wherein the ceiling vehicle (10) Multiple suspension and holding elements (13, 13b) configured to suspend and hold the roof vehicle (10) and to connect the roof vehicle (10) to the roof structure (1), The diagram shows at least one drive unit (11, 11a, 11b, 11c) configured for circumferential motion, which houses a first circumferential track (12a) and a second circumferential track (12b) having a different circumferential shape / contour from the first circumferential track. The suspension elements (13, 13b) are attached to a first circumferential track (12a) at a predetermined first longitudinal position corresponding to a predetermined raster, and the roof vehicle (10) is a crawler-type roof vehicle configured to move along the roof structure (1) by separating a subset of the suspension elements (13, 13b) from their coupling to the roof structure (1) as the suspension elements (13, 13b) are guided along two circumferential tracks (12, 12a, 12b) by circumferential motion.

2. The crawler-type roof vehicle (10) according to claim 1, wherein the roof vehicle (10) is configured to move along the roof structure (1) by separating a subset of the suspension elements (13, 13b) from being coupled to the roof structure (1) when the suspension elements (13, 13b) are guided along at least one curved section of the circumferential tracks (12, 12a, 12b) by circumferential driving motion, the roof vehicle (10) is configured to move along the roof structure (1) by separating each subset of the suspension elements (13, 13b) from being coupled to the roof structure (1).

3. The first and second circumferential tracks (12, 12a, 12b) provide separation / combination kinematics based on different circumferential shapes / contours in the curved sections of at least one track(s), and the suspension elements (13, 13b) are guided in / by the second circumferential track (12b) at their respective second longitudinal positions which are longitudinally offset with respect to their respective first longitudinal positions, and the separation / combination kinematics provide both a first and second motion that pivots each suspension element as it is guided along the curved sections of the circumferential tracks (12, 12a, 12b) by a circumferential driving motion, and / or separation / combination Crawler-type roof vehicle (10) according to claim 1, wherein the kinematics provide an S-shaped motion path for bearing points at the free end of each suspension-holding element in at least one section along the motion path, and / or the separation / connection kinematics include both vertical motion kinematics and non-circular rotational motion kinematics for / of bearing points at the free end of each suspension-holding element, and / or the first and second circumferential tracks (12, 12a, 12b) are formed such that the suspension-holding elements (13, 13b) separate / connect to / from the roof structure (1) only when passing through at least one curved section of the track.

4. The track is shaped such that the temporary and relative first longitudinal position of each suspension element in the first track defines the instantaneous center of rotation of the suspension element, the corresponding relative second longitudinal position in the second track defines the temporary amount of rotation of the suspension element, and / or the temporary vertical coordinates and second spatial temporary coordinates of each suspension element are defined and adjusted by the track's contour, and / or the track has a shape / contour that deviates from the standard racecourse shape of a crawler track, at least within the curved section of the track, the shape of the first track is preferably deviated at least vertically, the shape of the second track is preferably deviated both vertically and in the second direction, and / or the radius of curvature of the first track is at least approximately constant, and / or the track (multiple) A crawler-type roof vehicle (10) according to claim 1, wherein at least one longitudinal position along the track (optional), the radius of curvature of the second track is greater than the radius of curvature of the first track, and at at least one further longitudinal position along the track(s), the radius of curvature of the second track is smaller than the radius of curvature of the first track, and the radii of curvature of the tracks preferably vary steadily / continuously depending on a transient longitudinal position along the track(s), and / or, when the suspension elements are guided along the curved section of the circumferential track (12, 12a, 12b), the contour of the first track provides a first motion of the contact / bearing points of each suspension element, and the contour of the second track and the changing distance of the second track relative to the first track provide a pivoting motion of the contact / bearing points of each suspension element.

5. A crawler-type roof vehicle (10) according to claim 1, wherein the shape / contour of the track provides both lifting and lowering of the suspension holding elements (13, 13b) depending on the longitudinal position along the track, in particular in terms of separation, lifting first and then lowering, and in terms of coupling, the opposite, and / or the relative radial distance of the track is constant along the straight section of the track, and the relative radial distance of the track is particularly steadily / continuously different / variable along the curved section of the track depending on the temporary longitudinal position along the track(s), the crawler-type roof vehicle (10) according to claim 1.

6. Crawler-type roof vehicle (10) according to claim 1, wherein the roof vehicle (10) includes a drive unit (11c) housing a further circumferential track, the further drive unit (11c) configured for synchronous circumferential driving motion, and / or the roof vehicle (10) includes a further drive unit (11c) housing a further circumferential track, and a plurality of further suspension elements (13b) configured to suspend the roof vehicle (10) and to connect the roof vehicle (10) to the roof structure (1), attached to the further circumferential track at predetermined further longitudinal positions corresponding to rasters defined by the roof structure (1), and / or the suspension elements (13) and further suspension elements (13b) fix / block the roof vehicle (10) in the roof structure (1) with respect to the driving direction and the opposite direction.

7. The crawler-type roof vehicle (10) according to claim 1, wherein the roof vehicle (10) shows at least one hoist unit (50), or the roof vehicle (10) shows at least two or three hoists.

8. A crawler-type ceiling vehicle arrangement configuration (100) comprising at least one ceiling vehicle (10) according to any one of claims 1 to 7, and a ceiling structure (1) showing a plurality of profiles defining the raster of the ceiling structure (1), wherein the suspension holding elements (13, 13b) are configured to be guided along the profiles in the first spatial direction, the moving motion of the ceiling vehicle has at least two degrees of freedom, and / or the ceiling structure (1) shows a plurality of profiles defining the raster of the ceiling structure (1), the ceiling vehicle (10) shows a plurality of further suspension holding elements (13b) together with the suspension holding element (13) that suspend and hold the ceiling vehicle (10), and the suspension holding element (13) and the further suspension holding elements (13b) fix / block the ceiling vehicle (10) in the ceiling structure (1) with respect to the driving direction.

9. The crawler-type roof vehicle arrangement configuration (100) according to claim 8, wherein each profile indicates at least one power rail, and the roof vehicle (10) is configured to drive at least one drive unit (11, 11a, 11b, 11c) by energy supplied by the power rail, in particular by current collectors provided within the suspension holding elements (13, 13b).

10. The crawler-type ceiling vehicle arrangement configuration (100) according to claim 8, wherein the ceiling structure (1) is modular and expandable, in particular, based on tiles that provide a profile for the ceiling structure (1).

11. The crawler-type ceiling vehicle arrangement configuration (100) according to claim 8, which includes at least one elevator extending over at least two different levels of altitude and interconnecting the levels of altitude, wherein the elevator includes an elevator ceiling structure (1) that geometrically corresponds to / with a ceiling structure (1) located at at least two different levels of altitude.

12. A method for suspending / holding a crawler-type ceiling vehicle (10), in particular the crawler-type ceiling vehicle (10) according to claim 1, to / from a ceiling structure for moving it upside down suspended from a ceiling structure (1), wherein the ceiling vehicle (10) is suspended by a plurality of suspension holding elements (13, 13b) that connect the ceiling vehicle (10) to the ceiling structure (1), and the circumferential induction / driving motion is provided by at least one drive unit (11, 11a, 11b) housing first and second circumferential tracks (12a, 12b) having different circumferential shapes / contours A method provided by 11c), wherein suspension holding elements (13, 13b) are attached to a first circumferential track at a predetermined first longitudinal position corresponding to a raster defined by the ceiling structure (1), and the ceiling vehicle (10) is suspended and held so that the ceiling vehicle (10) can move along the ceiling structure (1) by separating a subset of the suspension holding elements (13, 13b) from being coupled to the ceiling structure (1), as the suspension holding elements (13, 13b) are guided along the circumferential track by circumferential motion.

13. The method according to claim 12, wherein circumferential motion is transmitted / transferred by suspension holding elements (13, 13b) that temporarily engage with a ceiling structure (1), and / or circumferential motion is provided by first and second drive units (11a, 11b), the first drive unit (11a) providing circumferential motion of a first subset of suspension holding elements (13, 13b) on a first closed-loop trajectory, the second drive unit (11b) providing circumferential motion of a second subset of suspension holding elements (13, 13b) on a second closed-loop trajectory, and / or at least one load / cargo is held by at least one hoist housed on a vehicle.

14. A computer program, when executed by a computer, includes instructions causing the computer to perform steps of the method according to at least one of claims 12 or 13, in particular, of a method of providing and controlling circumferential induction / driving motion by controlling at least one drive (11, 11a, 11b, 11c).

15. The use of at least one crawler-type drive unit (11, 11a, 11b, 11c) housing first and second circumferential tracks (12a, 12b) having different circumferential shapes / contours, for suspending / holding a crawler-type ceiling vehicle (10) in an upside-down position and moving it in a ceiling structure (1), and optionally, for similarly actively driving, the crawler-type ceiling vehicle (10) according to any one of claims 1 to 7, wherein the ceiling vehicle (10) comprises a plurality of suspension holding elements connecting the ceiling vehicle (10) to the ceiling structure (1). The vehicle is suspended by elements (13, 13b), the suspension elements (13, 13b) being mounted on a first circumferential track at a predetermined first longitudinal position corresponding to a raster defined by the ceiling structure (1), and the circumferential guiding / driving motion is provided by at least one drive unit (11, 11a, 11b, 11c) so that the vehicle moves along the ceiling structure (1) by separating a subset of the suspension elements (13, 13b) from their coupling to the ceiling structure (1), respectively.

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