CEILING SUSPENSION ARRANGEMENT DISPLAYING AT LEAST ONE CRAWLER TYPE CEILING UNIT AND METHOD FOR SUSPENSION OF A CEILING UNIT IN A CEILING STRUCTURE - Patent application

Abstract

The present invention refers to a ceiling suspension support arrangement presenting at least one crawler-type ceiling unit (10) and a ceiling structure (1) extending in at least two spatial directions (x, y) and defining at least one structural regularity (1a), the crawler-type ceiling unit (10) presenting a plurality of suspension support elements for the suspension support of the ceiling unit and for coupling the crawler-type ceiling unit (10) to the ceiling structure (1), the crawler-type ceiling unit presenting at least two circumferential tracks, the suspension support elements being attached to the circumferential tracks at predefined longitudinal positions corresponding to the structural regularity (1a), each of the circumferential tracks defining a specific path of circumferential movement of the respective suspension support element. Furthermore, the present invention refers to a method for the suspension support of a ceiling unit in a ceiling structure, in particular in the context of a two-dimensional positioning of the ceiling unit.

Description

[Technical field]

[0001] The present invention refers to a ceiling suspension arrangement exhibiting at least one crawler type ceiling unit. Furthermore, the present invention refers to a method for suspending a ceiling unit in a ceiling structure, in particular in the context of two-dimensional positioning of the ceiling unit. In particular, the present invention refers to devices and methods according to the features of the enclosed independent and subclaims. [Background technology]

[0002] In the prior art, several design philosophies have already been established in the context of providing systems that should be able to ensure a predefined position or movement even in rough terrain, or in the context of unpredictable reaction forces, or at high inclines, or even in overhead arrangements. The present invention focuses on a philosophy that deviates from the idea that a unit or vehicle or any means of transport should engage / interact in a predefined way with a predefined structure (e.g. overhead crane, wall crawling robot) in a wall or in a ceiling, for example in a warehouse or in a machine hall. Some ideas of providing a reliable contact between a structure and a unit have already been published in the context of diagnostics and parameter measurements in almost inaccessible areas or systems (e.g. ductwork, waterways), including magnetic attraction / interference. Nevertheless, there is a need for a system that is preferably able to provide both predefined movement movements and high positioning accuracy (positioning precision) in a very reliable manner, regardless of the type of underground or wall structure, by interacting with a predefined structure, which should be provided in a very flexible and variable manner for many types of areas or different types of wall or ceiling contours / geometry.

[0003] A person skilled in the art can distinguish between units or vehicles provided for moving underground and vehicles provided for moving 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 kinematics that ensure interaction / engagement at the interfaces of the structures. The present invention focuses on interaction / engagement in / with the ceiling structure. Summary of the Invention [Problem to be solved by the invention]

[0004] In particular, it is an object of the present invention to provide a system that allows a reliable and accurate suspension / positioning / movement of at least one unit in a ceiling structure, in order to realize a variable two-dimensional tracking of the movement of the unit. In particular, the object also includes providing a suspension mechanism, respectively a suspension means, that allows a secure suspension of a ceiling unit, for example also in the context of a load-holding problem. In particular, the object can also include the provision of a suitable system or concept for a reliable coupling of one or more ceiling units with a ceiling structure, and also for ensuring a reliable positioning or even a predefined movement path. In the same way, the object of the present invention can further include an actively driven method for a movably suspended holding of such a ceiling unit in a ceiling structure, for example also in the context of a logistic task. [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 present invention provides a ceiling suspension-supporting arrangement presenting at least one crawler-type ceiling unit and a ceiling structure extending in at least two spatial directions, the ceiling structure comprising a plurality of profile units (particularly rails) extending in a first spatial direction (preferably continuously, in particular without structural discontinuities), the ceiling structure defining at least one structural regularity in a second spatial direction (thereby providing a one-dimensional raster having discrete connection points distributed with at least one equidistant regularity in said second spatial direction), and the crawler-type ceiling unit being configured for suspending and supporting the ceiling unit by means of separation / connection kinematics depending on a relative movement of the ceiling unit with respect to the ceiling structure in at least said second spatial direction, and for connecting the crawler-type ceiling unit to the ceiling structure. The present invention relates to a method for moving a crawler-type ceiling unit along a profile unit in said first spatial direction, the method comprising the steps of: (a) moving the crawler-type ceiling unit along a profile unit in said first spatial direction, the ceiling unit presenting at least two circumferential tracks (in particular tracks based on or defined by traction means, preferably chain-based tracks), the suspended retention elements being attached to the circumferential tracks in predefined longitudinal positions corresponding to a structural regularity, the circumferential tracks each defining a specific path of circumferential movement of the respective suspended retention element (respectively of the coupling means of the suspended retention element, in particular of the free end of the respective suspended retention element), thereby providing a separation / coupling kinematics during the movement of the crawler-type ceiling unit in said second spatial direction, in particular whereby the crawler-type ceiling unit is configured to be moved in said first spatial direction along the profile unit without a temporary movement in said second spatial direction. Such a configuration not only facilitates implementation in the context of complex structures or in the context of multiple ceiling units used simultaneously, but also significantly increases the variability in positioning. Thereby, the present invention likewise provides practical scalability (both in terms of structure and in terms of number of ceiling units), even in three-dimensional expansion, if desired.

[0007] According to one embodiment, the crawler type ceiling unit is a crawler type ceiling vehicle, optionally exhibiting at least one drive unit (motor, actuator) for actively driving the crawler type ceiling unit along the structure.

[0008] The invention therefore also relates to the kinematics of the suspended retaining elements, which are (autonomously) separated / coupled by a movement along a circumferential track, based on geometrically predefined kinematics. Optionally, the separation / coupling kinematics can be actively driven by the ceiling unit itself. In particular, the object can likewise be solved by a crawler-type ceiling unit configured for being suspended and for actively moving, in particular headfirst, in a structure, the ceiling unit presenting a plurality of suspended holding elements configured for suspending the ceiling unit and for coupling the ceiling unit to the structure, and at least one drive configured for a circumferential driving / guiding movement (respectively, driving movement of the suspended holding elements along a circumferential track), the suspended holding elements being attached to a first circumferential track at a predefined first longitudinal position corresponding to a predefined raster (in particular a certain / respective raster defined by the structure), and the ceiling unit being configured for moving along the structure by separating and coupling, respectively, a subset of the plurality of suspended holding elements from and within the structure, when the suspended holding elements are guided along the (respective) two circumferential tracks by the circumferential movement (driving / guiding movement). Such a configuration likewise enables active movement of the ceiling unit (or autonomous movement of the ceiling unit) without being limited to a predefined movement path defined by a particular profile unit, e.g., a structural rail (or the like).

[0009] According to the present disclosure, when a "ceiling structure" is referred to, a structure may be specified that can extend (at least partially) on the ground or along a wall or on an inclined plane (or the like). The present invention can be preferably applied for ceiling units (respectively, ceiling vehicles) that are arranged on and move along the ceiling structure, respectively, and further, the present invention similarly allows any movement along any structure having alternative orientations and / or arrangements. Thus, reference to a "structure" or "ceiling structure" includes reference to any other "structure" exhibiting the features described herein that allow coupling with / to the ceiling units of the present invention and corresponding separation / coupling kinematics.

[0010] According to this disclosure, when a "vehicle" or "ceiling vehicle" is referenced, this disclosure generally refers to a crawler-type unit or vehicle and its relative spatial configuration or locomotion (e.g., on the ground or on an inclined plane or on a wall, as well).

[0011] In accordance with this disclosure, when a "circumferential track" is referenced, the disclosure similarly refers generally to closed-loop guiding and lines, and any such traction means that provide a predefined contour, e.g., a chain or closed loop, along which a suspended support element is guided and / or driven.

[0012] According to the present disclosure, when reference is made to a "profile unit" or a "profile" or a "T-profile", 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.

[0013] According to the present disclosure, when a "package" is referred to, particularly in the context of logistics, a package is understood to be any physical object (e.g., items of everyday use such as consumables or food, as well as technical items and equipment or mail items, advertising materials, brochures) that can be transported and that preferably does not exceed a certain dimension and / or a certain weight. For example, packages are unpackaged items, packaged items, and repackaged items, as well as items packaged within packages, where in the case of packaged and repackaged items, the "package" can include packaging or repackaging. Similarly, it may be convenient to process unpackaged objects, particularly commodity objects. Each package may include an individual identification feature, for example an identification code (particularly, for example, a physical code applied to the package, to the outer packaging of the package, or to a storage unit for the package, and / or to a transport unit for the package, and / or a digital code assigned to the package and / or to the digital twin of the package). Each package may be digitally reproduced / mirrored in a digital twin (or a digital twin mirrors several packages), and (similarly) the digital twin preferably includes at least one identification mark, e.g., a package / packet is associated with a packet identification code and the digital twin of the packet includes the packet identification code.

[0014] It should be noted that according to the present invention, the crawler type ceiling unit can also be guided by the user pushing / pulling the ceiling crawler in a particular direction, i.e. active drive is not necessarily provided. In particular, in conjunction with a suitable sensor-actor-arrangement, the crawler type ceiling unit can follow the intended direction, the intended movement path, respectively (in particular as some kind of semi-passive guide mode, guidance by physical and / or visual interaction with the individual).

[0015] According to one embodiment, the ceiling suspension support arrangement is configured for at least passive (externally driven) movement of the (respective) crawler-type ceiling unit in said at least two spatial directions, and / or the crawler-type ceiling unit is configured for arbitrary movement in at least two dimensions in any direction defined by said at least two spatial directions (respectively lying in a plane defined by said two spatial directions).

[0016] According to one embodiment, the profile units each exhibit at least one tread and each suspended support element exhibits at least one movement element (in particular for sliding or rolling at least one wheel) arranged and configured for at least passively moving (in particular sliding or rolling) the crawler type ceiling unit in said first spatial direction.

[0017] According to one embodiment, the crawler type ceiling unit is configured for enabling at least one closed-loop trajectory of each suspended support element along a corresponding circumferential track, in particular for enabling at least two closed-loop trajectories of at least two subsets of each suspended support element.

[0018] According to one embodiment, the circumferential track is shaped such that each suspended retention element is detached / coupled from / to the ceiling structure when passing through a curved section of the track.

[0019] According to one embodiment, in a first and a second (further) predefined longitudinal position, each corresponding to a structural regularity, a subset of the suspended retaining elements (respectively a subset of the first subset, temporary) is attached to one of the circumferential tracks and at least one further subset of the suspended retaining elements (respectively a subset of the second subset, temporary) is attached to a further one of the circumferential tracks, in particular wherein each suspended retaining element is guided by a pair of circumferential tracks.

[0020] According to one embodiment, the suspended holding elements are each firmly attached / coupled to / with a / first circumferential track by a first pulley and guided in a / second circumferential track by a second pulley, the first and second pulleys being preferably arranged on lever arms of the respective suspended holding elements.

[0021] 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 respective suspended support element, the suspended support element being coupled to a / the first and a / the second circumferential track by the first and second pulleys.

[0022] According to one embodiment, each subset of said suspended retention elements is connected to one another by longitudinal connecting elements, in particular by chain elements, thereby forming a closed loop of interrelated suspended retention elements spaced apart from one another with a / predefined structural regularity.

[0023] According to one embodiment, each circumferential track represents a chain or is provided / defined by a chain forming a closed loop of interrelated chain elements.

[0024] According to one embodiment, in particular, the crawler type ceiling unit is configured to lift one or each of the suspension support elements in an unloaded state from the structure, such that both separation / engagement kinematics for the temporarily unloaded subset of suspension support elements and suspension support of the crawler type ceiling unit by the temporarily loaded subset of suspension support elements are ensured.

[0025] According to one embodiment, the crawler type ceiling unit exhibits at least two kinds / types of hanging retaining elements, the different types of hanging retaining elements being separated / coupled according to individual kinematics (in particular in opposite directions / sides in the profile unit, in particular in the second spatial direction, respectively, both in the direction of movement of the crawler type ceiling unit and opposite thereto) and in respective predefined first and second (further) longitudinal positions, respectively corresponding to a structural regularity (respectively to a distance of the profile unit defined by said structural regularity), to provide a hanging retaining element. A first subset of elements (respectively a subset of the first subset, temporary) is attached to a first pair of circumferential tracks and at least one further subset of suspended retaining elements (respectively a subset of the second subset, temporary) is attached to a second pair of circumferential tracks, the first and second pairs of circumferential tracks providing individual kinematics for the first and second subsets of suspended retaining elements, in particular such that the crawler type ceiling unit is fixed relative to opposite sides / directions (in a second spatial direction) in the structure and in the profile unit, respectively.

[0026] According to one embodiment, each suspended retaining element is guided by a pair of circumferential tracks, the crawler type ceiling unit exhibiting at least three pairs of circumferential tracks, each guiding a subset of the suspended retaining elements, said separation / coupling kinematics being predefined by said three pairs of circumferential tracks such that each suspended retaining element (respectively, a subset of the respective subset, temporarily) simultaneously separates / couples both on a first side of each profile unit (respectively, a first longitudinal position) and on a second side of each profile unit (respectively, a second longitudinal position) such that the crawler type ceiling unit is fixed with respect to opposite sides / directions (in the second spatial direction) in the ceiling structure, in particular with respect to all suspended retaining elements guided in the same circumferential direction, in particular with respect to all circumferential tracks arranged parallel to one another.

[0027] According to one embodiment, the crawler type ceiling unit exhibits at least one load attachment point configured to transfer the load of an external load (e.g., an object or object / individual to be held / transported / moved along the ceiling in one or two dimensions) attached to the crawler type ceiling unit.

[0028] According to one embodiment, the crawler type ceiling unit exhibits at least one hoist unit, or the ceiling suspension support arrangement exhibits at least two crawler type ceiling units, each exhibiting at least one hoist unit, the hoist units being configured to transfer the load of an external load (e.g., an object or object / individual) to the ceiling structure.

[0029] According to one embodiment, the crawler type ceiling unit exhibits at least one drive which interacts with (respectively drives) at least one of the circumferential tracks, and the ceiling suspension holding arrangement is configured for a predefinable driven movement of the crawler type ceiling unit at least in said second spatial direction (in particular back and forth).

[0030] According to one embodiment, the crawler type ceiling unit exhibits an energy storage unit that provides energy to the / at least one drive of the crawler type ceiling unit, in particular to the / at least one drive that interacts with (respectively drives) at least one of the circumferential tracks.

[0031] According to one embodiment, the ceiling suspended support arrangement indicates or defines at least one energy charging point / location, and the ceiling suspended support arrangement is configured to charge energy to at least one crawler type ceiling unit when positioned within / at said energy charging point / location.

[0032] According to one embodiment, the ceiling suspended support arrangement exhibits a plurality of energy supply lines extending along at least a subset of the profile units, and at least a subset of the suspended support elements of each crawler type ceiling unit are configured for energy extraction by the energy supply lines, e.g. by a current collector or power slider provided at the free end of each suspended support element (respectively at the movement element) that couples with the profile unit.

[0033] According to one embodiment, the ceiling suspension support arrangement (in particular the at least one crawler type ceiling unit) exhibits a detection device representing at least one sensor from the following group: speed sensor, distance sensor, position measurement sensor, force sensor, acceleration sensor, gyroscope, respectively, and the ceiling suspension support arrangement is configured for controlling the at least one crawler type ceiling unit based on (depending on) temporary measurement data of the at least one sensor.

[0034] According to one embodiment, the (each) crawler type ceiling unit exhibits a communication unit configured for wireless communication at least within the ceiling suspension support arrangement, and the (each) crawler type ceiling unit exhibits, in particular, an energy storage unit that provides energy to the communication unit such that the crawler type ceiling unit is energetically self-sufficient (autonomous) for a period of at least several days or weeks or months.

[0035] According to one embodiment, the ceiling suspension support arrangement is configured to locate each individual crawler type ceiling unit based on at least one location signal transmitted by each individual crawler type ceiling unit (passively or actively, e.g., passively based on at least one individual transmitter, in particular based on an individual identification characteristic).

[0036] According to one embodiment, each suspended support element presents at least one movement element (in particular for sliding or rolling at least one wheel) arranged and configured for moving (in particular sliding or rolling) the crawler type ceiling unit in said first spatial direction, the crawler type ceiling unit presents at least two drives interacting with both at least one of the circumferential tracks and with said movement element, and the ceiling suspended support arrangement is configured for a predefinable two-dimensional driven movement of the crawler type ceiling unit in said spatial direction.

[0037] According to one embodiment, the profile units of the ceiling suspension support arrangement are respectively arranged (i.e. distributed according to at least two equidistance regularities) according to at least two different structural regularities (in particular structural densities) with respect to said second spatial direction, namely a first structural regularity defining a / the relative distance of the profile units that corresponds to the relative (longitudinal) distance of the suspension support elements mounted on the track (with respect to each other) and a second structural regularity that is an integer multiple (respectively of the relative longitudinal distance of the suspension support elements mounted on the track) of said first structural regularity, the number of temporarily engaging / binding suspension support elements is preferably at least two within a / the overlap area of ​​the second structural regularity, and the / the area of ​​the first structural regularity preferably has a first load-bearing capacity and the area of ​​the second structural regularity has a second load-bearing capacity (in particular smaller than the first load-bearing capacity).

[0038] According to one embodiment, the profile units of the ceiling suspension support arrangement spatially define at least two different permissible loads (with at least two different / specific load bearing capacities) within at least two spatial sections of the ceiling suspension support arrangement along the ceiling (the cross sections remain geometrically identical).

[0039] According to one embodiment, at least one subset of the profile units of the ceiling suspension support arrangement each exhibits at least one demarcation zone or boundary line defining a boundary between a movement area for the at least one crawler type ceiling unit and an inaccessible boundary area of ​​the ceiling structure (where the at least one crawler type ceiling unit shall not move or be positioned).

[0040] According to one embodiment, the ceiling suspension support arrangement is / is combined with a further ceiling suspension support arrangement, the profile units of which are arranged according to a first structural regularity (in particular a structural density) and the profile units of the further ceiling suspension support arrangement are arranged according to a second structural regularity, which is an integer multiple of said first structural regularity, and the ceiling suspension support arrangement can, for example, extend to at least two different levels of elevation or floor.

[0041] According to one embodiment, the ceiling suspension support arrangement extends to at least two different levels of elevation (thereby providing a three-dimensional movement direction), the ceiling suspension support arrangement comprises at least one elevator exhibiting an elevator ceiling structure that corresponds geometrically to / with the ceiling structure of the ceiling suspension support arrangement, the ceiling structure integrating / transitioning into the elevator ceiling structure (structural transition), and the elevator configured to move from at least a first level to a second level, thereby interconnecting said levels of elevation and the multiple ceiling structures extending to said at least two different levels.

[0042] According to one embodiment, the ceiling suspension support arrangement shows a plurality of crawler type ceiling units, each of the plurality of crawler type ceiling units showing at least one attachment point or hoist unit, each of the attachment points or hoist units being configured for transferring a load of an external load of at least 50 kg or 100 kg to the ceiling structure, and the ceiling suspension support arrangement is configured for positioning a plurality of external loads, each of which is specifically attached to one crawler type ceiling unit, in individual two-dimensional or three-dimensional positions relative to each other.

[0043] According to one embodiment, the crawler type ceiling unit exhibits at least one attachment point or hoist unit structurally connected to at least one of the circumferential tracks, the crawler type ceiling unit configured for transferring a load (e.g., of an individual) of at least 200 kg or 500 kg of an external load to the ceiling structure, and the ceiling suspension support arrangement is configured for at least two-dimensional transport / movement of at least one individual suspended by the attachment point or hoist unit along the ceiling structure.

[0044] According to one embodiment, the crawler type ceiling unit exhibits at least one attachment point or hoist unit structurally connected to at least one of the circumferential tracks, the crawler type ceiling unit is configured for transferring a load of at least 1.000 kg or 10.000 kg of an external load (e.g. of equipment, machinery, or engine, or any such industrial object) to the ceiling structure, and the ceiling suspension support arrangement is configured for at least two-dimensional transport / movement of the external load suspended by the attachment point or hoist unit along the ceiling structure.

[0045] According to one embodiment, the ceiling suspension support arrangement presents a plurality of crawler type ceiling units, each of the plurality of crawler type ceiling units presenting at least one attachment point or hoist unit, each of the attachment points or hoist units configured for transferring the load of an external load to a ceiling structure, and the ceiling suspension support arrangement is configured for controlling a one-dimensional or two-dimensional movement or motion path of at least two subsets of the interdependent crawler type ceiling units, in particular such that the crawler type ceiling units of the (respective) subset move similarly (in particular remain at the same distance relative to each other), in particular by similarly controlling the at least two hoists of the (respective) subset holding the same external load.

[0046] According to one embodiment, the ceiling suspension holding arrangement exhibits a plurality of crawler type ceiling units each exhibiting at least one receiving cavity configured for receiving at least one package, the ceiling suspension holding arrangement exhibiting at least one control unit each configured for wireless control, wireless data transmission (in particular based on at least one communication unit, e.g., a nearby filed, mobile network, LAN, LP-WAN, SigFox, NBIoT), and the ceiling suspension holding arrangement is configured for controlling a one- or two-dimensional movement or path of each crawler type ceiling unit and / or a movement of at least two subsets of the crawler type ceiling units depending on each other (in particular based on at least one identification characteristic of each crawler type ceiling unit or package wirelessly transmitted by each crawler type ceiling unit or wirelessly acquired by a certain / said control unit of the ceiling suspension holding arrangement depending on the desired / required target position), such that the plurality of crawler type ceiling units move simultaneously according to a plurality of individual one- or two-dimensional movement paths.

[0047] According to one embodiment, the crawler type ceiling unit exhibits at least one attachment point or hoist unit, each configured for transferring the load of an external load to the ceiling structure, and the ceiling suspension support arrangement exhibits a sensing device exhibiting at least one sensor from the following group: force sensor, acceleration sensor, gyroscope, respectively, and the ceiling suspension support arrangement is configured for gravity unloading based on the exertion of an active force in at least one spatial direction by the attachment point or hoist unit (in particular a vertically upward active force), the amount of force being dependent on (and adapted to) the effective gravity and / or the effective load (effective gravity exerted at the attachment point or hoist unit, respectively) based in particular on temporary data of the at least one force sensor, preferably wherein the amount of force is adjustable, for example according to an individual user command.

[0048] According to one embodiment, the at least one crawler type ceiling unit exhibits at least one drive, the ceiling suspension support arrangement unit exhibits a control unit for controlling the drive, and the ceiling suspension support arrangement exhibits a detection device exhibiting at least one sensor from the following group, respectively a speed sensor, a distance sensor, a position measurement sensor, a force sensor, an acceleration sensor, a gyroscope, and the ceiling suspension support arrangement is configured for controlling the at least one crawler type ceiling unit based on (in dependence on) temporary measurement data of the at least one sensor, in particular for controlling an absolute or relative position or a motion state of the at least one crawler type ceiling unit.

[0049] According to one embodiment, the ceiling suspension support arrangement exhibits a plurality of crawler type ceiling units each exhibiting at least one sensor (position, distance, speed, acceleration) and a communication unit communicating with the (central) control unit of the ceiling suspension support arrangement, and the ceiling suspension support arrangement is configured to predefine a plurality of individual paths of two-dimensional movement of each crawler type ceiling unit (in particular based on at least one individual identification characteristic, e.g. a code that is unique for each individual ceiling unit, in particular by providing individual commands to at least one drive or actuator of each crawler type ceiling unit, in particular such that each individual movement path is adjusted, adapted to the temporary movement conditions and positions of further crawler type ceiling units, respectively).

[0050] According to one embodiment, the ceiling suspension support arrangement presents a central control unit that monitors at least the temporary positions of the (active) crawler type ceiling units of the ceiling suspension support arrangement, each crawler type ceiling unit presents a communication unit for wirelessly transmitting control signals to at least one drive or actuator of the respective crawler type ceiling unit, or the ceiling suspension support arrangement is configured for distributed control, each crawler type ceiling unit presents a sensing device that provides temporary sensor data (in particular speed and / or distance and / or position and / or acceleration data) to at least one drive or actuator of the crawler type ceiling unit. It is also possible to combine a ceiling suspension support arrangement with a central control unit with crawler type ceiling units that present features for distributed control, such as sensing and communication devices for communicating with nearby / adjacent crawler type ceiling units, to provide a particularly secure collision avoidance. This allows user interaction with some crawler type ceiling units, while other crawler type ceiling units can move autonomously and still reliably avoid collisions.

[0051] According to one embodiment, the ceiling suspension support arrangement is configured to block the respective crawler-type ceiling unit in at least one direction of movement, in particular by blocking a circumferential movement along the circumferential track (fixed position with respect to at least the second spatial direction) and / or by blocking a movement element (in particular a wheel for sliding or rolling along the profile unit) of the respective suspension support element (fixed position with respect to at least the first spatial direction), thereby providing an (optional) one-dimensional movement in said first or second spatial direction only.

[0052] According to one embodiment, the ceiling suspension holding arrangement comprises a database configured to store and access at least one digital twin of each crawler type ceiling unit and / or each package held by the crawler type ceiling unit of the ceiling suspension holding arrangement, the digital twin including at least information of temporary status (e.g., relative / absolute position, speed, loading conditions, weight, capacity, energy status), and the ceiling suspension holding arrangement is configured in particular to define at least one control parameter for each crawler type ceiling unit based on information of the at least one digital twin, in order to remotely control the individual crawler type ceiling unit.

[0053] It should be noted that in the context of the present invention, it is considered advantageous to integrate at least one, advantageously several and even more advantageously as many pieces of information as possible into the digital twin of a package / packet.

[0054] The above-stated object is likewise solved by a method for suspending / positioning at least one crawler-type ceiling unit in a ceiling structure extending in at least two spatial directions, in particular by means of a ceiling suspension support arrangement as described above, in particular by means of an active reorientation of the direction of movement of the crawler-type ceiling unit (which may be performed by remote control of at least one drive unit or actuator of the respective crawler-type ceiling unit) in conjunction with an active movement / driving of the crawler-type ceiling unit along the ceiling structure, in particular by means of a head-on suspension support from the ceiling structure, the ceiling structure comprising a plurality of profile units extending in a first spatial direction, the ceiling structure defining at least one structural regularity in a second spatial direction (thereby defining a one-dimensional raster with discrete connection points only in said second spatial direction) and a ceiling structure in which the crawler-type ceiling unit is suspended head-on from the ceiling structure and in which the head-on suspension supports the crawler-type ceiling unit and the ceiling structure defines at least one structural regularity in a second spatial direction (thereby defining a one-dimensional raster with discrete connection points only in said second spatial direction) ... in combination with an active movement / driving of the crawler-type ceiling unit along the ceiling structure. The crawler-type ceiling unit is suspended by a plurality of suspended support elements which connect the crawler-type ceiling unit to the ceiling structure by separation / connection kinematics in response to a relative movement of the ceiling unit with respect to the ceiling structure at least in said second spatial direction, the suspended support elements being (respectively) attached to and guided by at least two circumferential tracks (in particular tracks based on or defined by a traction means, preferably chain-based tracks) of the crawler-type ceiling unit, each of the circumferential tracks defining a specific path of the circumferential movement of the respective suspended support element, thereby providing separation / connection kinematics for suspending and relatively moving the respective suspended support element with respect to the ceiling structure during the relative movement of the crawler-type ceiling unit (with respect to the ceiling structure) in said second spatial direction, in particular, in which the crawler-type ceiling unit remains (at least passively) movable in said first spatial direction along the profile unit despite a temporary movement in said second spatial direction.

[0055] The above mentioned object is likewise 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 in the context of providing and controlling the movement or the relative / absolute position of at least one crawler type ceiling unit based on temporary absolute and / or relative position data of the at least one crawler type ceiling unit, in particular by controlling at least one drive of the at least one crawler type ceiling unit interacting with at least one of the circumferential tracks.

[0056] It is possible to connect the drive units of the crawler type ceiling unit to a motor, in particular to an electric motor. 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, for example as a winch or hoist function. In general, the vehicle can be provided as an active vehicle, exhibiting at least two motors interacting with the drive mechanism, respectively, with the suspended holding element. In particular, the vehicle exhibits at least one power unit or motor for each drive unit, for example an electric motor coupled to the rotation axis of a gear unit interacting with a respective circumferential track, or an electric motor interacting with the wheels of the suspended holding element by means of at least one second drive unit, in order to enable an electric movement in at least two spatial directions, so that the wheels can be driven by any drive that actively drives along the profile rail. Similarly, the vehicle, respectively the at least two drive units, may comprise an energy storage unit, in particular a rechargeable battery pack, providing energy to the at least two drives / motors 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 for lifting the load. For example, the hoist unit may be fixed to and supported by the at least one first drive unit.

[0057] Each power unit, drive 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 the context of cargo or logistic tasks in general. For example, the vehicle may exhibit two or three drive units which may be arranged at a predefined lateral distance from each other (for example defined / connected by a cross beam or the like), and in case of the vehicle being actively driven, each drive unit may exhibit at least one drive / motor for actively driving the suspended holding element along a circumferential track or the vehicle in a second spatial direction, 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 driven along a profile rail of the ceiling structure.

[0058] The crawler type overhead vehicle may further exhibit at least one first drive unit and at least one second drive unit, each connected to at least one motor, the motors for the first drive unit and the second drive unit being different and providing the active two-dimensional movement capability of the vehicle. The first drive units of the vehicle may be scaled up in number, for example, the vehicle exhibiting three first drive units, each based on the same kinematic concept, but at least one of the drive units providing a mirror image type / method of decoupled / coupled kinematics.

[0059] The vehicle may, for example, comprise at least a holonomic wheel, which is part of the second drive unit. It provides active movement in a first spatial direction defined by the structure and passive movement in other spatial directions by the second drive unit and the motor connected to it. The holonomic wheel may be a wheel whose wheel tread consists of rollers whose rotation axis is at an angle to the rotation axis of the main wheel. The absolute angle between the axes may, for example, be any angle between 5 degrees and 90 degrees, in particular 45 degrees. This angle must be taken into account when controlling at least two motors, because if the angle of the rollers to the wheel is different from 90 degrees, the movements of the first drive unit and the second drive unit are not independent. An angle smaller than 90 degrees may result in an advantageous configuration for the traction of the holonomic wheel with the profile of the structure. If the angle is small, it is possible to place more rollers with the same diameter around the wheel, which may increase the traction transmission and compensate for the gaps in the traction transmission of a single omni wheel. The holonomic wheel may also be disk-shaped and may include a number of rollers evenly distributed around its circumference such that the holonomic wheel allows for traction control in a first spatial direction and is unaffected by motion in a second spatial direction. The angle between the rollers and the wheel may be 90 degrees. This allows for easier control of the configuration.

[0060] The crawler type ceiling vehicle may also comprise a holonomic wheel set consisting of at least two coaxially arranged holonomic wheels, the wheel set being connected to a second drive unit. The holonomic wheels are preferably disc-shaped and have a thickness that is half the width of the profile of the structure, such that there is a place for at least two holonomic wheels of the holonomic wheel set to interact with one profile (rail) of the structure. This configuration enhances the traction of the disc-shaped holonomic wheels. Each of the coaxially arranged holonomic wheels may have a predefined offset in the azimuth direction with respect to their neighboring holonomic wheels. If a holonomic wheel comprises n rollers that are evenly distributed around the circumference of the wheel, it is preferred that each wheel is offset by 180 / n degrees with respect to its neighbor. In this way it may be ensured that there is always at least one wheel of the wheel set in contact with the profile of the structure, preventing sliding of the second drive unit.

[0061] The holonomic wheel may be connected to a return mechanism that applies a force to the holonomic wheel pressing the holonomic wheel against the ceiling structure. This configuration further increases the traction of the holonomic wheel against the profile (rail) of the structure.

[0062] The vehicle may also comprise at least one wide and elongated gearing wheel for meshing with a predefined raster in the first spatial direction, the gearing wheel being connected to the second drive unit. The wide and elongated gearing wheel, also called "spur gear", defines a further raster, a "sub raster", in the profile of the structure, whereby the gear teeth mesh with the sub raster. When the spur gear is turned by the motor and the second drive unit, the vehicle pushes itself forward in the first spatial direction. This may be used, for example, in small-scale high-precision applications such as 3D printing. The elongated gearing wheel may be tapered at the end to allow a smooth transition to the further raster. This reduces the risk of being stopped or damaged by imperfect alignment with the sub raster element.

[0063] It is possible to combine a crawler type ceiling unit with a robotic arm, which may be connected to the crawler type ceiling unit by coupling means, for example of the type described in EP 3705410 A1. The robotic arm may present a means for securely lifting objects. Alternatively, the robotic arm may be directly connected, for example, to a camera, lighting equipment, welding machine or other tools.

[0064] In the following, possible use case scenarios of the different previously described embodiments of crawler type overhead vehicles and configurations are discussed. The use cases can be divided into major categories: logistics, production, transportation, healthcare, entertainment. In general, crawler type overhead units can overcome the limitations of overhead cranes and overhead transport systems by combining the flexible positioning of overhead cranes with the flexible application area of ​​overhead transport systems.

[0065] In fully / semi-automated warehouses, crawler type ceiling units can be used to transport packages from one location to another. Particularly heavy objects can be lifted by multiple synchronized crawler type ceiling units. The paths of the crawler type ceiling units can be planned with a central control unit with the help of a digital twin of the packages and the crawler type ceiling units. The crawler type ceiling units moving in all directions offer the possibility of enhanced package handling inside a warehouse or facility.

[0066] In a hybrid workstation, the crawler type ceiling unit can assist the worker by helping the worker to lift, hold, place objects or bring objects to the worker from other areas. Furthermore, the crawler type ceiling unit with the attached robotic arm can assist the work process. Possible work scenarios can include, but are not limited to, production and assembly lines, maintenance / repair work, hangars, car workshops, shipyards, ports, film or photography studios. In film or photography studios, the crawler type ceiling unit can lift lighting and camera equipment. Furthermore, pre-programmed routes can be used for the camera or lighting equipment to follow the programmed movements. This can be achieved by using multiple synchronized crawlers, which change the orientation of the lifted object. Alternatively, the crawler type ceiling unit can be connected to a robotic arm that points to a camera.

[0067] The high flexibility in application area and positioning of the crawler type ceiling unit also allows its use in healthcare applications such as rehabilitation and treatment (walking assistance), elderly care, surgery, patient care, and patient transport. The crawler type ceiling unit can, for example, lift a patient or lift medical equipment, and the crawler type ceiling unit omnidirectional movement in the ceiling structure allows access to the patient from multiple angles.

[0068] This also allows the crawler type ceiling unit to be used for training, simulation, or entertainment in the form of, for example, gravity unloading, shooting ranges, art exhibits, stage designs, and amusement parks.

[0069] It is also possible to use crawler-type ceiling units for construction work, where the crawler-type ceiling units can assist the building process by applying concrete, similar to a 3D printing process. Furthermore, some crawler-type ceiling units can be equipped with means for unloading bricks, laying pipes and cables, and installing lintels and windows. In this embodiment, the cooperation of synchronized crawler-type ceiling units can help to accelerate the construction process and build an entire house in an automated manner.

[0070] The ceiling structure may be partitioned into multiple areas, with preferably one central controller assigned to each area. The central controllers may preferably communicate with each other, for example to request crawler type ceiling units from each other. The crawler type ceiling units may then be moved from one area to another by suitable transport means. For example, elevators, (sky)trains, or trucks may also show profiles. Furthermore, the multiple areas may be connected with rails that allow the crawler type ceiling units to move from one area to another, for example, in airports, retail stores, etc.

[0071] Crawler-type ceiling units can also be used in domestic environments to amplify human capabilities in performing household or household chores. Crawler-type ceiling units can also be used in 3D printing, biological processing applications, pick and place machines, or service robotics.

[0072] item AA. A crawler type vehicle especially adapted for inverted suspension and movement in a structure, the vehicle comprising: - a plurality of suspension elements configured to suspend the vehicle and configured to couple the vehicle to a structure; - at least one drive unit configured for circumferential movement and for accommodating a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track, wherein the suspended support elements are attached to the first circumferential track at predefined first longitudinal positions corresponding to a predefined raster, and the vehicle is configured for moving along the structure by detaching and coupling, respectively, a subset of the plurality of suspended support elements from and within the structure when the suspended support elements are guided along the two circumferential tracks by the circumferential movement.

[0073] AB. The crawler type vehicle of claim AA, wherein at least one drive unit of the crawler type vehicle is configured to enable closed-loop trajectory of the suspended support element.

[0074] AC. The crawler-type vehicle of claim AA or AB, wherein the first and second circumferential tracks are shaped such that the suspended retention elements separate / couple from / to the structure only when passing through a curved section of the track.

[0075] AD. The suspended retaining elements are fixedly attached / coupled to the first circumferential track by a first pulley, the suspended retaining elements are guided in the second circumferential track by a second pulley, the first and second pulleys are preferably arranged on the lever arm of the respective suspended retaining element, the respective suspended retaining element preferably having an L-shape, and / or each suspended retaining element exhibits a first pulley and a second pulley arranged at a longitudinal distance to the first pulley on the lever arm of the respective suspended retaining element, the suspended retaining elements are coupled to the first and second tracks by the first and second pulleys, and A crawler type vehicle according to any of items AA to AC, wherein / or each suspended support element presents a lever arm housing / supporting a / the pulley guided by a second track, the pulley being arranged at the free end of the lever arm, in a straight section of the track the lever arm points at least approximately in the driving / moving direction, and / or the suspended support elements are connected to each other by longitudinal connecting elements, in particular by longitudinal connecting elements connected to the axis of a / the first pulley of the respective suspended support element, thereby forming a closed loop of mutually associated suspended support elements spaced apart from each other in a predefined raster.

[0076] AE. A crawler type vehicle according to any of items AA to AD, wherein the first circumferential track represents a chain or is provided / defined by a chain forming a closed loop of interconnected chain elements, and / or the first circumferential track is defined by a chain connecting the suspended retaining elements, and / or the vehicle represents a plurality of counter bearings particularly configured and arranged for interacting at the front with the (ceiling) structure, the plurality of counter bearings being preferably coupled to / with the first circumferential track, in particular coupled to the chain elements of the first circumferential track.

[0077] AF. The vehicle shows a further drive unit housing a further circumferential track, and a plurality of further suspended retaining elements are attached to the further circumferential track at predefined longitudinal positions corresponding to a / the predefined raster, and are configured for suspending the vehicle and coupling the vehicle to the structure, in particular in such a way that the vehicle is fixed to the structure with respect to the reverse direction, and / or the vehicle also shows further suspended retaining elements attached to the further circumferential track, and the suspended retaining elements and the further suspended retaining elements that temporarily engage with the structure are arranged in the drive / movement direction and A crawler type vehicle according to any of items AA to AE, wherein the vehicle is fixed / blocked in the structure with respect to the first drive unit and vice versa, and / or the vehicle exhibits a further drive unit having the same configuration as the first drive unit but with a mirror image arrangement of the further suspended support elements and the further circumferential track, 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 both the respective suspended support element and the further suspended support element are simultaneously separated / coupled to / from the structure.

[0078] AG. A crawler type vehicle according to any of items AA to AF, wherein at least one drive unit is configured for lifting the respective suspended support elements in an unloaded state from the structure, in particular wherein at least one crawler type drive unit simultaneously provides both decoupling / coupling kinematics for the temporarily unloaded subset of suspended support elements and suspension support of the vehicle by the temporarily loaded subset of suspended support elements, and / or wherein at least one drive unit is in a substantially planar configuration, and / or wherein the vehicle exhibits at least two drive units arranged parallel to one another, and / or wherein the circumferential tracks are respectively guided / driven in a plane extending in two dimensions.

[0079] AH. A crawler type vehicle according to any of items AA to AG, wherein the vehicle is configured for moving in at least two spatial directions, namely a first spatial direction predefined by the structure and a second spatial direction defined by a guiding / driving movement of the at least one drive unit, the second spatial direction being perpendicular to the first spatial direction and preferably providing at least a two-dimensional movement capability of the vehicle, and / or each suspended support element is configured for being guided along the structure, in particular on wheel treads of a respective / corresponding profile of the structure, and / or the at least one drive unit is connected by at least three suspended support elements, and / or each suspended support element has an L-shape, the L-shape providing two arms defining the relative arrangement of a / the wheel and the first and second pulley of each suspended support element.

[0080] AI. A crawler type vehicle arrangement comprising at least one crawler type vehicle according to any of items AA to AH and a / the structure exhibiting a plurality of profiles defining a / the raster of the structure, wherein the suspended support element is configured for being guided along the profile in a (first) spatial direction defined by the structure, and the locomotion movement of the vehicle has at least two degrees of freedom, and / or the structure exhibits a plurality of profiles defining a / the raster of the structure, and the vehicle exhibits a plurality of further suspended support elements which suspend the vehicle together with the suspended support element, and the suspended support element and the further suspended support elements fix / block the vehicle at the structure with respect to the drive / locomotion direction.

[0081] AJ. A crawler type vehicle arrangement configuration as described in item AI, wherein each profile shows at least one power rail, and the vehicle is configured to drive at least one drive unit by energy supplied by the power rail, in particular by a current collector provided in the suspended support element.

[0082] AK. A method of suspending / suspending a crawler type vehicle in / from a structure, particularly for suspended movement of a crawler type vehicle as described in any one of paragraphs AA to AH in an upside-down manner from the structure, wherein the vehicle is suspended by a plurality of suspended support elements coupling the vehicle to the structure, a circumferential guiding / driving motion is defined by 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 structure, and the vehicle is suspended such that as the suspended support elements are guided along the circumferential tracks by the circumferential motion, the vehicle can move along the structure by detaching a subset of the plurality of suspended support elements from and coupling them into the structure, respectively.

[0083] AL. The method of claim AK, wherein the circumferential motion is transmitted / transferred by suspended support elements temporarily engaging the structure and / or the circumferential motion is provided by first and second drive units, the first drive unit providing circumferential motion of a first subset of the suspended support elements on a first closed loop orbit and the second drive unit providing circumferential motion of a second subset of the suspended support elements on a second closed loop orbit.

[0084] AM. The method described in item AK or AL, wherein the circumferential guiding / driving motion is a passive guiding motion relative to an external actuation on the vehicle, e.g., provided by an external pushing or driving force that can be transmitted to the vehicle or to at least one drive unit via at least one side of the vehicle.

[0085] AN. A computer program comprising instructions that, when executed by the computer, cause a computer to perform the steps of a method as described in at least one of method items AK to AM, particularly in the context of providing and controlling circumferential guiding / driving motion by controlling at least one drive.

[0086] AO. 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 vehicle for head-on suspension and movement on a structure, in particular for suspending / holding a crawler-type vehicle as described in any one of items AA to AH, in a method according to any one of items AK to AM, in which the vehicle is suspended by a plurality of suspension elements coupling the vehicle to the structure, the suspension elements being attached to the first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the structure, and a / the circumferential guiding / driving movement is provided by the at least one drive unit by detaching and coupling a subset of the plurality of suspension elements, respectively, from and into the structure, such that the vehicle moves along the structure when the suspension elements are guided / driven along the circumferential track.

[0087] BA. A crawler-type ceiling vehicle, particularly configured for hanging and moving upside down in a ceiling structure, the ceiling vehicle comprising: - a plurality of suspension support elements configured for suspending the ceiling vehicle and configured for coupling the ceiling vehicle to a ceiling structure; - at least one drive unit configured for a circumferential movement and for accommodating a first circumferential track and a second circumferential track having a different circumferential shape / contour from the first circumferential track, wherein the suspended support elements are attached to the first circumferential track at predefined first longitudinal positions corresponding to a predefined raster, and the ceiling vehicle is configured for moving along the ceiling structure by detaching a subset of the plurality of suspended support elements from the ceiling structure and coupling them within the ceiling structure, respectively, when the suspended support elements are guided along the two circumferential tracks by the circumferential movement.

[0088] BB. The crawler type ceiling vehicle of item BA, wherein the ceiling vehicle is configured for moving along the ceiling structure by decoupling and coupling a subset of the plurality of suspended support elements, respectively, from and within the ceiling structure as the suspended support elements are guided along at least one curved section of the circumferential track by the circumferential driving motion.

[0089] BC. The first and second circumferential tracks provide separation / coupling kinematics based on different circumferential shapes / contours at least in the curved section of the track(s), the suspended support elements being guided in / 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 provide both a first and a second motion that pivots each suspended support element as the suspended support element is guided along a / the curved section of the circumferential track by the circumferential drive motion, and / or A crawler type ceiling vehicle as described in item BA or BB, wherein the kinematics provide an S-shaped movement path for the bearing points at the free ends of each suspended support element at least within a certain section along the movement path, and / or the separation / coupling kinematics include vertical movement kinematics and non-circular pivoting movement kinematics for a certain bearing point at the free end of each suspended support element, and / or the first and second circumferential tracks are shaped such that the suspended support elements are separated / coupled from / to the ceiling structure only when they pass through at least one curved section of the track.

[0090] BD. A temporary relative first longitudinal position of each suspended support element in the first track defines a / that instantaneous centre of rotation of that suspended support element and a corresponding relative second longitudinal position in the second track defines a temporary amount of rotation of that suspended support element, and / or the tracks are shaped such that the temporary vertical coordinate as well as the temporary coordinate in the second spatial direction of each suspended support element are defined and adjusted by the contour of the track, and / or the track has a shape / contour that deviates from a standard racecourse shape of a crawler track at least in the curved section of the track, the shape of the first track preferably deviates at least in the vertical direction and the shape of the second track preferably deviates both in the vertical direction and in said second direction, and / or the radius of curvature of the first track is at least approximately constant, and / or the track(s) have ... in both the vertical direction and in said second direction, and / or the radius of curvature of the first track is at least approximately constant, and / or The crawler type ceiling vehicle of any of items BA to BC, wherein at at least one longitudinal position along the track, the radius of curvature of the second track is greater than the radius of curvature of the first track and 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, the radii of curvature of the tracks preferably differ / vary steadily / continuously as a function of temporal longitudinal position along the track(s), and / or wherein when the suspended support elements are guided along a / the curved section of the circumferential track, the contour of the first track provides a / the first movement of a / the contact / bearing point of each suspended support element and the contour of the second track and the changing distance of the second track relative to the first track provides a / the pivoting movement of a / the contact / bearing point of each suspended support element.

[0091] BE. A crawler type overhead vehicle according to any of items BA to BD, wherein the shape / contour of the track allows both loading and unloading of the suspended retention element as a function of the longitudinal position along the track, in particular in the context of separation, first loading and then unloading, and vice versa, in the context of joining, and / or the relative radial distance of the tracks is constant along straight sections of the track and the relative radial distance of the tracks differs / varies, in particular steadily / continuously, along curved sections of the track as a function of the temporal longitudinal position along the track(s).

[0092] BF. A crawler type ceiling vehicle according to any of items BA to BE, wherein the ceiling vehicle exhibits a further drive unit housing a further circumferential track and configured for synchronous circumferential drive movement, and / or the ceiling vehicle exhibits a further drive unit housing a further circumferential track and a plurality of further suspension support elements configured for suspending the ceiling vehicle and configured for coupling the ceiling vehicle to the ceiling structure are attached to the further circumferential track at predefined further longitudinal positions corresponding to a / the raster defined by the ceiling structure, and / or the suspension support elements and the further suspension support elements fix / block the ceiling vehicle in the ceiling structure with respect to the drive direction and vice versa.

[0093] BG. The crawler type overhead vehicle of any of paragraphs BA to BF, wherein the overhead vehicle exhibits at least one hoist unit or the overhead vehicle exhibits at least two or three hoists.

[0094] BH. A crawler type ceiling vehicle arrangement comprising at least one ceiling vehicle according to any of items BA to BG and a / the ceiling structure exhibiting a plurality of profiles defining a / the raster of the ceiling structure, wherein the suspended support element is configured for being guided along the profile in said first spatial direction, and the movement movement of the ceiling vehicle has at least two degrees of freedom, and / or the ceiling structure exhibits a plurality of profiles defining a / the raster of the ceiling structure, and the ceiling vehicle exhibits a plurality of further suspended support elements which together with the suspended support element suspend the ceiling vehicle, and the suspended support element and the further suspended support elements fix / block the ceiling vehicle on the ceiling structure with respect to the drive direction.

[0095] BI. A crawler type ceiling vehicle arrangement configuration as described in item BH, in which the profiles each show at least one power rail and the ceiling vehicle is configured to drive at least one drive unit by energy supplied by the power rail, in particular by a current collector provided in the suspended holding element.

[0096] BJ. A crawler type ceiling vehicle arrangement according to items BH or BI, wherein the ceiling structure is modular and scalable, in particular based on tiles equipped with profiles of the ceiling structure.

[0097] BK. The crawler type ceiling vehicle arrangement configuration of any of items BH to BJ showing at least one elevator extending over at least two different levels of elevation and interconnecting said levels of elevation, the elevator showing an elevator ceiling structure that corresponds geometrically to / with the ceiling structure located at the at least two different levels of elevation.

[0098] BL. A method of suspending / supporting a crawler type vehicle, in particular a crawler type vehicle according to any one of paragraphs BA to BG, to / from a ceiling structure for head-on suspended movement from the ceiling structure, wherein the ceiling vehicle is suspended by a plurality of suspended support elements coupling the ceiling vehicle to the ceiling structure, the circumferential guiding / driving movement is provided by at least one drive unit housing first and second circumferential tracks having different circumferential shapes / contours, the suspended support elements being mounted on the first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the ceiling structure, and the ceiling vehicle is suspended such that as the suspended support elements are guided along the circumferential tracks by the circumferential movement, the ceiling vehicle is capable of moving along the ceiling structure by detaching a subset of the plurality of suspended support elements from and coupling them into the ceiling structure, respectively.

[0099] BM. The method of item BL, wherein the circumferential motion is transmitted / transferred by suspended support elements temporarily engaging the ceiling structure, and / or the circumferential motion is provided by first and second drive units, the first drive unit providing circumferential motion of a first subset of the suspended support elements on a first closed loop track and the second drive unit providing circumferential motion of a second subset of the suspended support elements on a second closed loop track, and / or the at least one load / cargo is held by at least one hoist unit housed on the vehicle.

[0100] BN. A computer program comprising instructions that, when executed by the computer, cause a computer to perform the steps of a method as described in at least one method item BL or BM in the context of providing and controlling a circumferential guiding / driving motion, in particular by controlling at least one drive.

[0101] BO. 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 for headfirst suspended movement in a ceiling structure, in particular in a method according to any one of items BL to BM, in which the ceiling vehicle is suspended by a plurality of suspension support elements coupling the ceiling vehicle to the ceiling structure, the suspension 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 / the circumferential guiding / driving movement is provided by the at least one drive unit by detaching a subset of the plurality of suspension support elements from and coupling them into the ceiling structure, respectively, when the suspension support elements are guided / driven along the circumferential track, such that the vehicle moves along the ceiling structure.

[0102] CA. A crawler-type vehicle particularly adapted for inverted suspension and movement in a ceiling structure, the vehicle comprising: - a plurality of suspension elements configured to suspend the vehicle and configured to couple the vehicle to a structure; - at least one drive unit configured for a circumferential movement and for accommodating 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 vehicle configured for moving along the structure by detaching and coupling, respectively, a subset of the plurality of suspended support elements from and into the structure when the suspended support elements are guided along the two circumferential tracks by the circumferential movement; This indicates a crawler type vehicle.

[0103] CB. Vehicles are - at least one second drive unit configured for enabling the movement of the overhead vehicle in at least two spatial directions, namely a first spatial direction predefined by the structure and a second spatial direction defined by a guiding / driving movement of the at least one first drive unit, the second spatial direction being perpendicular to the first spatial direction, the second drive unit being configured for the movement of the vehicle in the first spatial direction, providing at least a two-dimensional movement capability of the vehicle, each of the suspended retaining elements presenting at least one wheel arranged and configured for being guided along the structure, in particular on a wheel tread of a respective / corresponding profile of the structure; - at least two individually controllable motors, wherein the at least one first drive unit and the at least one second drive unit are connected to the at least one motor, and the motors for the first drive unit(s) and the second drive unit(s) are different, providing an active two-dimensional locomotion capability for the vehicle. The crawler type vehicle of claim CA, further comprising: at least two individually controllable motors, wherein the at least one first drive unit and the at least one second drive unit are connected to the at least one motor, and the motors for the first drive unit(s) and the second drive unit(s) are different, providing an active two-dimensional locomotion capability for the vehicle.

[0104] CC. At least one first drive unit of the crawler type vehicle is configured to enable a closed-loop trajectory of the suspended support element; the first and second circumferential tracks are shaped such that the suspended retention element separates / couples from / to the structure only when passing through a curved section of the track; the suspended holding elements are fixedly attached / coupled to / with the first circumferential track by a first pulley and the suspended holding elements are respectively guided in the second circumferential track by a second pulley, the first and second pulleys being preferably arranged on the lever arms of the respective suspended holding elements, each suspended holding element preferably having an L-shape, and / or each suspended holding element exhibits a first pulley and a second pulley arranged at a longitudinal distance to the first pulley on the lever arm of the respective suspended holding element, the suspended support elements are coupled to the first and second tracks by means of a first and a second pulley, and / or each suspended support element presents a lever arm which accommodates / supports a / the pulley guided by the second track, the pulley being arranged at the free end of the lever arm, in a straight section of the track the lever arm points at least approximately in the drive / movement direction, and / or the suspended support elements are connected to one another by longitudinal connecting elements, in particular by longitudinal connecting elements which are connected to the axis of a / the first pulley of the respective suspended support element, thereby forming a closed loop of mutually associated suspended support elements spaced from one another in a predefined raster, the first circumferential track is provided / defined by a chain presenting or forming a closed loop of interrelated chain elements connecting the suspension support elements, the vehicle presenting a plurality of counter bearings particularly configured and arranged for interacting in the front with the ceiling structure, the plurality of counter bearings being preferably coupled to / with the first circumferential track, in particular coupled to the chain elements of the first circumferential track, the vehicle presents a further first drive unit housing a further circumferential track, and a plurality of further suspended retention elements are mounted on the further circumferential track at predefined longitudinal positions corresponding to the / said predefined raster, and are configured for suspending the vehicle and coupling the vehicle to the structure, in particular such that the vehicle is fixed to the structure with respect to the reverse direction, the vehicle presents further suspended retention elements mounted on the further circumferential track, the suspended retention elements and the further suspended retention elements temporarily engaging with the structure fixing / blocking the vehicle at the structure with respect to the driving / moving direction and vice versa, and / or the vehicle presents a further drive unit presenting the same configuration as the / said first drive unit, but with a mirror-imaged arrangement of the further suspended retention elements and the further circumferential track, the further suspended retention elements being guided / driven in particular in a direction opposite to the guidance direction of the suspended retention elements of the first drive unit, in particular such that both the respective suspended retention element and the further suspended retention element are simultaneously separated / coupled to / from the structure, The at least one first drive unit is configured, in particular, for lifting the respective suspended support elements in an unloaded state from the structure, such that the at least one first drive unit simultaneously provides both decoupling / coupling kinematics for the temporarily unloaded subset of suspended support elements and suspension support of the vehicle by the temporarily loaded subset of suspended support elements; and / or the at least one first drive unit is substantially in a planar configuration; and / or the vehicle exhibits at least two first drive units arranged parallel to one another; and / or the circumferential tracks are guided / driven, respectively, in a plane extending in two dimensions; and / or the at least one first drive unit is coupled by at least three suspended support elements; and / or each suspended support element has an L-shape, the L-shape providing two arms that define the relative arrangement of a / the wheel and the first and second pulley of each suspended support element.

[0105] CD. The crawler-type vehicle of paragraphs CA, CB, or CC, wherein the second drive unit comprises at least one holonomic wheel.

[0106] CE. The crawler-type vehicle of claim CD, wherein the holonomic wheel is disc-shaped and includes a plurality of rollers evenly distributed around its circumference.

[0107] CF. The crawler-type vehicle of claim CE, wherein the second drive unit comprises a holonomic wheel set consisting of at least two coaxially arranged holonomic wheels.

[0108] CG. The crawler-type vehicle of claim CF, wherein each of the coaxially arranged holonomic wheels has a predefined offset in the azimuth direction relative to its adjacent holonomic wheels.

[0109] CH. The crawler type vehicle of any one of paragraphs CD to CG, wherein the holonomic wheel(s) is connected to a return mechanism that applies a force to the holonomic wheel(s) pressing the one / more holonomic wheels against the structure.

[0110] CI. A crawler type vehicle as described in items CA, CB, or CC, wherein the second drive unit comprises at least one wide, elongated gearing wheel for meshing with a predefined raster in the second spatial direction.

[0111] CJ. A crawler-type vehicle as described in item CI, wherein the elongated gearing wheels are tapered at their ends.

[0112] CK. A crawler type vehicle arrangement comprising at least one crawler type vehicle according to any of paragraphs CA to CH and a / the structure exhibiting a plurality of profiles defining a / the raster of the structure, wherein the suspended support element is configured for being guided along the profile in a first spatial direction defined by the structure, and the locomotion movement of the vehicle has at least two degrees of freedom, and / or the structure exhibits a plurality of profiles defining a / the raster of the structure, and the vehicle exhibits a plurality of further suspended support elements which suspend the vehicle together with the suspended support element, and the suspended support element and the further suspended support elements fix / block the vehicle at the structure with respect to the drive / locomotion direction.

[0113] CL. A crawler type vehicle arrangement comprising at least one crawler type vehicle as described in paragraphs CI or CJ and a structure exhibiting a plurality of first profiles defining a raster of the structure in a first spatial direction, each of the plurality of profiles exhibiting a plurality of second profiles defining a raster of the structure in a second spatial direction, the suspended support element configured for being guided along the first profiles in the first spatial direction defined by the structure, the locomotion of the vehicle having at least two degrees of freedom, and the gearing wheels configured for meshing with the second profiles such that the crawler type vehicle can move in all directions by means of at least two individually controllable motors and drive units.

[0114] CM. A method of suspending / suspending a crawler type vehicle, in particular a crawler type vehicle according to any one of paragraphs CA to CJ, in / from a structure for head-on suspension and movement from the structure, the vehicle being suspended by a plurality of suspension elements connecting the vehicle to the structure, the circumferential guiding / driving movement being defined by first and second circumferential tracks having different circumferential shapes / contours, the suspension elements being attached to the first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the structure, the vehicle being suspended by the suspension elements at a head-on suspension and movement from the structure, the circumferential guiding / driving movement being defined by first and second circumferential tracks having different circumferential shapes / contours, the suspension elements being attached to the first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the structure, the vehicle being suspended by the suspension elements at a head-on suspension and movement from the structure, the circumferential guiding / driving movement being defined by first and second circumferential tracks having different circumferential shapes / contours, the suspension elements being attached to the first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the structure, the suspension elements being attached to the first circumferential track at a head-on suspension and movement from the head-on suspension and ... The method further comprises: when the vehicle is guided along the circumferential track by a circumferential motion, the vehicle is suspended such that it can move along the structure by detaching and coupling a subset of the plurality of suspended support elements from and within the structure, respectively; the circumferential motion is transmitted / transferred by the suspended support elements that temporarily engage the structure; and / or the circumferential motion is provided by a first drive unit, and at least two motors power at least one first drive and at least one second drive, enabling active two-dimensional movement of the crawler-type vehicle.

[0115] CN. A computer program comprising instructions that, when executed by the computer, cause a computer to perform the steps of a method as described in a method item in the context of providing and controlling a circumferential guidance / drive motion, particularly by controlling a first motor connected to at least one first drive unit and controlling a second motor connected to at least one second drive unit.

[0116] CO. Use of at least one crawler type drive unit housing first and second circumferential tracks having different circumferential shapes / contours for suspending / holding and actively driving a crawler type vehicle by two motors, in particular for suspending and moving a crawler type vehicle head-on on a structure, in particular for suspending / holding a crawler type vehicle as described in any one of items CA to CJ, in particular in the method described in item CM, wherein the vehicle is suspended by a plurality of suspension elements coupling the vehicle to the structure, the suspension elements being attached to the first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the structure, and a / the circumferential guiding / driving motion is provided by a first motor connected to the at least one drive unit such that when the suspension elements are guided / driven along the circumferential track, a subset of the plurality of suspension elements are separated from and coupled into the structure, respectively, thereby causing the vehicle to move along the structure.

[0117] DA. A crawler type drive unit as described in any of items AA-AH, BA-BG, CA-CJ, connected to a robotic arm.

[0118] DB. Applications include healthcare, logistics, production, assembly, Use of at least one crawler type ceiling unit described in any of items AA-AH, BA-BG, CA-CJ, or DA for at least one of the following: maintenance, transportation, entertainment, and construction.

[0119] These and other aspects of the invention will likewise become apparent from and be 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]

[0120] [Figure 1A] 1A-1C are perspective views of the components of a crawler-type ceiling unit and a corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1B] 1A-1C are perspective views of the components of a crawler-type ceiling unit and a corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1C] 1A-1C are perspective views of the components of a crawler-type ceiling unit and a corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1D] 1A-1C are perspective views of the components of a crawler-type ceiling unit and a corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1E] 1A-1C are perspective views of the components of a crawler-type ceiling unit and a corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1F] 1A-1C are side views of the components of a crawler-type ceiling unit and corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1G] 1A-1C are side views of the components of a crawler-type ceiling unit and corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1H] 1A-1C are side views of the components of a crawler-type ceiling unit and corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1J] 1A-1C are side views of the components of a crawler-type ceiling unit and corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1K] 1A-1C are side views of the components of a crawler-type ceiling unit and corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1L] 1A-1C are side views of the components of a crawler-type ceiling unit and corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1M]1A-1C are side views of the components of a crawler-type ceiling unit and corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1N] 1A-1C are side views of the components of a crawler-type ceiling unit and corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 1O] 1A-1C are side views of the components of a crawler-type ceiling unit and corresponding ceiling suspension support arrangement, respectively, according to one embodiment. [Figure 2A] FIG. 1 is a perspective view of the arrangement of suspended support elements and their respective placement along a circumferential track of a ceiling unit according to one embodiment. [Figure 2B] FIG. 1 is a perspective view of the arrangement of suspended support elements and their respective placement along a circumferential track of a ceiling unit according to one embodiment. [Figure 2C] FIG. 1 is a perspective view of the arrangement of suspended support elements and their respective placement along a circumferential track of a ceiling unit according to one embodiment. [Figure 3A] FIG. 2 is a detailed perspective view of a suspended support element of a ceiling unit according to one embodiment. [Figure 3B] FIG. 2 is a detailed perspective view of a suspended support element of a ceiling unit according to one embodiment. [Figure 3C] FIG. 2 is a detailed perspective view of a suspended support element of a ceiling unit according to one embodiment. [Figure 4A] FIG. 13 is a perspective view of components of a ceiling unit according to a further embodiment. [Figure 4B] FIG. 13 is a side view of components of a ceiling unit according to a further embodiment. [Figure 4C] FIG. 13 is a side view of components of a ceiling unit according to a further embodiment. [Figure 4D] FIG. 13 is a side view of components of a ceiling unit according to a further embodiment. [Figure 4E] FIG. 13 is a side view of components of a ceiling unit according to a further embodiment. [Figure 4F] FIG. 13 is a side view of components of a ceiling unit according to a further embodiment. [Figure 4G] FIG. 13 is a perspective view of components of a ceiling unit according to a further embodiment. [Figure 5A] 13A-13C are different perspective views of an exemplary movement path of a ceiling unit according to one embodiment of the embodiments. [Figure 5B] 13A-13C are different perspective views of an exemplary movement path of a ceiling unit according to one embodiment of the embodiments. [Figure 5C] 13A-13C are different perspective views of an exemplary movement path of a ceiling unit according to one embodiment of the embodiments. [Figure 5D] 13A-13C are different perspective views of an exemplary movement path of a ceiling unit according to one embodiment of the embodiments. [Figure 6A] FIG. 13 is a side view of components of a ceiling unit according to a further embodiment (full suspension support). [Figure 6B] FIG. 13 is a side view of components of a ceiling unit according to a further embodiment (suspension support for vertical inertial forces and lateral forces). [Figure 7A] 1A-1C are perspective views of different exemplary movement paths (orientations of motion) of a ceiling unit according to one embodiment of the embodiments. [Figure 7B] 1A-1C are perspective views of different exemplary movement paths (orientations of motion) of a ceiling unit according to one embodiment of the embodiments. [Figure 7C] 1A-1C are perspective views of different exemplary movement paths (orientations of motion) of a ceiling unit according to one embodiment of the embodiments. [Figure 7D] 1A-1C are perspective views of different exemplary movement paths (orientations of motion) of a ceiling unit according to one embodiment of the embodiments. [Figure 8A] A perspective view of a ceiling unit according to a further embodiment (with counter bearing). [Figure 8B] A perspective view of a ceiling unit according to a further embodiment (with counter bearing). [Figure 9A] FIG. 13 is a perspective view of a ceiling unit according to a further embodiment (without counter bearing). [Figure 9B] FIG. 13 is a perspective view of a ceiling unit according to a further embodiment (without counter bearing). [Figure 10A] FIG. 13 is a perspective view of a ceiling unit according to a further embodiment. [Figure 10B] FIG. 13 is a perspective view of a ceiling unit according to a further embodiment. [Figure 11A] FIG. 11 is a detailed perspective view of the hanging support elements (and their hanging supports) of the ceiling unit according to an embodiment, in particular according to the embodiment shown in FIG. [Figure 11B] FIG. 11 is a detailed perspective view of the hanging support elements (and their hanging supports) of the ceiling unit according to an embodiment, in particular according to the embodiment shown in FIG. [Figure 11C] FIG. 11 is a detailed perspective view of the hanging support elements (and their hanging supports) of the ceiling unit according to an embodiment, in particular according to the embodiment shown in FIG. [Figure 14A] FIG. 11 is a detailed perspective view of the hanging support elements (and their hanging supports) of the ceiling unit according to an embodiment, in particular according to the embodiment shown in FIG. [Figure 14B] FIG. 11 is a detailed perspective view of the hanging support elements (and their hanging supports) of the ceiling unit according to an embodiment, in particular according to the embodiment shown in FIG. [Figure 12A] 11 is a detailed side view of a suspended retaining element of a ceiling unit according to an embodiment, in particular according to the embodiment shown in FIG. 10. [Figure 12B] 11 is a detailed side view of a suspended retaining element of a ceiling unit according to an embodiment, in particular according to the embodiment shown in FIG. 10. [Figure 13] 11 is a detailed perspective view of a hanging retaining element of a ceiling unit according to an embodiment, in particular according to the embodiment shown in FIG. 10. [Figure 15] 11A-11C are side views of the chassis and housing components, respectively, of a ceiling unit according to an embodiment, particularly according to the embodiment shown in FIG. [Figure 16A] 11 is a perspective view of a portion of a detail of a hanging retaining element of a ceiling unit 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 hanging retaining element of a ceiling unit according to an embodiment, in particular according to the embodiment shown in FIG. 10 . [Figure 17A] FIG. 13 is a perspective view of a portion of the details of a crawler type ceiling unit for a ceiling suspension support arrangement, according to an embodiment. [Figure 17B] FIG. 13 is a perspective view of a portion of the details of a crawler type ceiling unit for a ceiling suspension support arrangement, according to an embodiment. [Figure 18A] 1A-1C are perspective views of two different configurations of a ceiling structure for a ceiling suspension support arrangement, according to an embodiment. [Figure 18B] 1A-1C are perspective views of two different configurations of a ceiling structure for a ceiling suspension support arrangement, according to an embodiment. [Figure 19] 1A-1D are top view diagrams of different types of ceiling suspension support arrangements, according to embodiments. [Figure 20] 1A-1D are perspective views of different types of ceiling suspension support arrangements, according to embodiments. [Figure 21A] FIG. 13 is a perspective view of some details of a ceiling suspended support arrangement, in which one or several crawler type ceiling units according to an embodiment hold loads, objects, respectively, in particular for logistic tasks. [Figure 21B] FIG. 13 is a perspective view of some details of a ceiling suspended support arrangement, in which one or several crawler type ceiling units according to an embodiment hold loads, objects, respectively, in particular for logistic tasks. [Figure 22A] FIG. 1 is a perspective view of some details of a ceiling suspended support arrangement in which several crawler type ceiling units jointly hold and handle loads, objects, respectively, in particular for logistic tasks, according to an embodiment. [Figure 22B] FIG. 1 is a perspective view of some details of a ceiling suspended support arrangement in which several crawler type ceiling units jointly hold and handle loads, objects, respectively, in particular for logistic tasks, according to an embodiment. [Figure 22C]FIG. 1 is a perspective view of some details of a ceiling suspended support arrangement in which several crawler type ceiling units jointly hold and handle loads, objects, respectively, in particular for logistic tasks, according to an embodiment. [Figure 23] FIG. 1 is a perspective view of a ceiling suspension support arrangement in which two crawler-type ceiling units each handle an individual, for example in the context of active force enforcement based gravity unloading, according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0121] Initially, reference will be made in general terms and specific reference will be made to the respective figures.

[0122] The invention provides crawler type ceiling units 10 each having at least one chassis 17, a housing. The ceiling units 10 are configured to move / transport along a ceiling structure 1 exhibiting a predefined structural regularity or raster 1a, for example defined by a T-profile, a T-rail 1.1, or any such profile unit, respectively. The profile unit 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 unit. The ceiling units 10 are coupled to the structure 1 and are suspended by a number of suspension support elements 13, 13a, 13b (for example each including at least one element of a closed loop or chain). The ceiling suspension support arrangement 100 consists of at least one ceiling unit 10 and at least one ceiling structure 1 (at least one type of ceiling structure).

[0123] At least one chassis or housing 17 can provide accommodation for a crawling or drive mechanism 11.1 (with or without motor(s) or actuator(s)) that allows the circumferential movement of the suspended holding element 13 along the circumferential track 12, i.e. simultaneously along the first and second circumferential tracks 12a, 12b exhibiting respective shapes / contours XZa, XZb. Preferably, the tracks only extend in two dimensions (2D), i.e. in a plane, and the shape differs at least in the curved section 12r of the track. Each track 12a, 12b exhibits a parallel / straight section 12p (respectively, two parallel sections) and at least one redirection / curved section 12r (respectively, two curved sections). The lateral area, surface shell of the at least one chassis or housing is preferably flat, planar, horizontal, respectively, on each side. Such an arrangement is likewise preferred in view of the interconnection of several chassis (side by side).

[0124] According to one embodiment, the ceiling unit 10 presents first and second circumferential tracks 12a, 12b and at least one further (second) chassis / housing accommodating a number of further suspended retaining elements 13b arranged in mirror image with respect to the suspended retaining elements 13 of the first housing. As an alternative, both types of suspended retaining elements may be arranged in the same housing (part of the same chassis) and, optionally, both types of suspended retaining elements may be guided by the same pair of circumferential tracks. The chassis may provide the movement (actively) (e.g. by synchronous guiding / driving movements of / for the suspended retaining elements). Several chassis may be interconnected, for example, by cross beams or similar. Similarly, the first and second chassis may provide different driving movements, for example to enforce non-linear but curved / curved movement. The desired / required movement may be controlled by a control unit 30, which may be coupled to at least one motor or actuator 11 (optional). In particular, the ceiling unit may be provided as a kind of passive vehicle whose locomotion is induced by external forces; in such a configuration, the kinematics of the invention make it possible to suspend the ceiling unit (in particular in a predefinable position) but not to actively drive it for any locomotion. The drive section may also comprise at least one gear unit 18 configured for interacting with the track(s) and at least one energy storage unit 19. A sensor arrangement 40 presenting at least one sensing device 41, for example comprising a position sensor 43 and a speed sensor 43 and / or a weight sensor 43 and / or a gyroscope 43, can provide sensor data to the control unit.

[0125] Preferably, each suspended retaining element 13, 13a, 13b presents a first pulley 13.1 and a second pulley 13.2, optionally a wheel 13.3 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); respectively, the bearing point P13, the wheel 13.3 is 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, respectively, a current collector, a power slider 13.4 (conductive slider for energy transfer) is provided in a geometrically corresponding arrangement to a / the power rail 1.3 of the respective profile unit 1.1. The suspended retention elements 13 of a / each chassis 17 may be interconnected via longitudinal connecting elements 15 which may ensure a closed loop 15a of the mutually associated suspended retention elements. The suspended retention elements 13 are coupled to respective circumferential tracks.

[0126] In other words, the suspended holding element preferably presents a wheel 13.3 which performs a rolling movement on the profile unit of the ceiling structure, allowing a movement that is perpendicular to the movement predefined and caused by the track, the wheel being positioned and aligned 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 a first or second circumferential track and thereby follows the contour defined by said track, similarly the second pulley 13.2 engages with a first or second circumferential track and thereby follows 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.

[0127] Preferably, the ceiling structure 1 and its raster 1a are defined by profile units 1.1 arranged parallel to and having a similar distance (pitch) to adjacent profile units. Each profile unit (e.g. T-profile, C-profile, L-profile, I-profile) is preferably configured to support a geometric shape / surface(s) made to interact with the wheel(s) of the suspended holding element, and a series of such profile units preferably provides a planar surface at least in a number of sections.

[0128] With the circumferential track and the suspended support elements, the kinematics defined by the geometry of the (respective) chassis and track provide a separation / coupling kinematics 20 that ensures both vertical movement kinematics and non-circular pivoting movement kinematics, whereby the separation / coupling of each suspended support element can be effected by a circumferential movement along the track, without the need for any axial telescopic movement within each suspended support element, i.e. each suspended support element can be designed purely as a mechanical engineering unit.

[0129] In particular, in the context of logistic tasks, the ceiling unit 10 can present at least one hoist unit 50 providing a traction mechanism 51 (in particular having a rope winch) and having at least one transmission means 53 (in particular a rope).

[0130] In the following, the kinematics provided by the guide / drive motion along the circumferential track will be generally described. First, The first pulley 13.1 of each suspended retaining element 13 rotates about a first pulley axis 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 (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 centre of rotation of each suspended support element is defined by the axis of the first pulley 13.1 coupled to the first track 12a, and 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 (coupling point) 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 that is preferably aligned perpendicularly to the first and second pulley axes. 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 corresponding tracks (of the pair of tracks guiding the respective suspended holding element).

[0131] The ceiling unit 10 may exhibit control units which may be distributed (individual) control units 31 (e.g., in an arrangement comprising multiple ceiling units each exhibiting an individual control unit). The ceiling suspension support arrangement 100 may also comprise a central control unit 30.

[0132] Furthermore, each ceiling unit 10 may exhibit a communication unit 35 (e.g., proximity filed, mobile network, LAN, LP-WAN, SigFox, NBIoT) and / or a transmitter 36 (active or passive) for transmitting, inter alia, a positioning signal. These components are configured to interact within / with a positioning system 45.

[0133] The ceiling unit 10 may be configured to hold at least one external load 60 (particularly an object or individual) which may be attached to the ceiling unit 10 at an attachment point P60. Optionally, the attachment points P60 are provided by the hoist unit 50, respectively, by a transmission means 53 (rope) of the hoist unit 50. The external load 60 may comprise or consist of a package 61 (e.g., including consumables, food, mail). The external load 60 may further comprise an identification feature 71, in particular a code (e.g., including a number). Similarly, each ceiling unit 10 may comprise an identification feature 70, in particular a code (e.g., including a number).

[0134] The digital twins 80 referencing each ceiling unit 10 and / or the digital twins 81 referencing each package 61 (or external load 60) may be stored in a database 82. The database is configured to store and access at least one digital twin including at least temporary status information, and the ceiling suspension support arrangement is configured to define at least one control parameter for each crawler type ceiling unit based on the information of the at least one digital twin.

[0135] In the figure, (x) designates a / the first spatial direction (in particular the lateral direction, in particular the direction of the longitudinal extension of the profile unit), (y) designates a / the second spatial direction (in particular the longitudinal direction or the temporal drive direction of the ceiling unit), and (z) designates a / the third spatial direction (in particular the vertical direction).

[0136] Figure 1A shows a ceiling unit 10 showing at least one chassis 17 and suspended retaining elements 13, a subset of which is temporarily coupled to a / the ceiling structure 1, namely a T-profile (profile unit 1.1). The suspended retaining elements 13 are guided (and, optionally, also actively driven) along two circumferential tracks (not shown, see Figure 1C), and the separation / coupling is performed within curved sections of the circumferential tracks.

[0137] The ceiling unit 10 shown in Figure 1A is suspended in a ceiling structure. However, the unit or vehicle 10 may be similarly suspended in a similar structure located on the ground or on a wall. The unit is not necessarily provided in the form of a ceiling vehicle, but is configured for use / implementation as a ceiling crawler; thus, Figure 1A shows application / use in a structure extending in a ceiling.

[0138] 1B, 1C, 1D, 1E show the separate components of each chassis unit 17. At least one drive unit 11 or drive 11a, 11b, 11c (optional, i.e. may be provided if an active drive movement for the suspended retaining elements is desired) provides a circumferential movement of the tracks 12a, 12b (or of the suspended retaining elements interconnected to form a closed loop driven along the tracks), in particular by at least one gear unit 18 engaging the tracks or by any chain or traction means providing said closed loop. It is shown that separation / coupling kinematics are 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 of the wheels 13.3 of each suspended support element 13 is aligned parallel to the parallel section(s) 12p of the track. For example, the ceiling unit 10 may comprise three chassis 17, each exhibiting at least one drive, which drives may be controlled by one drive unit. Alternatively, the ceiling unit 10 may comprise two or three chassis 17, exhibiting only one drive or drive unit, and the circumferential movement may be combined to include several chassis.

[0139] If the ceiling unit shows several chassis, 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 unit or any further redundant component.

[0140] 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 deviate / change in value and direction, thereby resulting in a pivoting movement 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 (in particular, a pivoting movement in the plane yz and around the x-axis and the instantaneous center of rotation Cr shown in FIG. 1F). Thus, both the vertical movement kinematics and the non-circular pivoting movement kinematics can be provided by hard / rigid components guided / driven along two circumferential tracks with different shapes / contours.

[0141] 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.

[0142] 2A, 2B, 2C show a number of suspended retaining elements 13 interconnected by longitudinal connecting elements 15, thereby ensuring a closed loop 15a of interrelated suspended retaining elements. The suspended retaining elements 13 (13a, 13b) are coupled to respective circumferential tracks 12a, 12b by first and second pulleys 13.1, 13.2.

[0143] 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.

[0144] 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 thereon by a single continuous / coherent rail.

[0145] 3A, 3B, 3C show some more details of the suspended retention element 13 and the connecting element 15. For example, the connecting element 15 is coupled to a lever arm 13.5 at the axis of the first pulley 13.1, thereby facilitating a pivoting movement about that axis (respectively about the respective instantaneous centre of rotation Cr).

[0146] Figures 4A, 4B, 4C, 4D, 4E, 4F, 4G show an embodiment of the ceiling unit 10 showing three chassis 17, each showing a drive unit 11a, 11b, 11c providing a circumferential drive movement of the suspended retaining elements along a track, the chassis can be related / connected to each other, for example, by a cross beam or similar. Alternatively, one central drive unit can drive the suspended retaining elements of all three chassis. In contrast to the configuration of the first chassis, the suspended retaining elements 13b of the second chassis are arranged in a mirror image inversion, while the suspended retaining elements 13 of the third chassis are arranged in the same way as the suspended retaining elements 13 of the first chassis. As can be seen in Figures 4E, 4F, the 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 ceiling unit 10 may only comprise two chassis.

[0147] 5A, 5B, 5C, 5D show different types of locomotion movements that can be provided by the ceiling unit 10 described herein. As already explained further above, the present invention allows two-dimensional locomotion movements 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, respectively, the direction / extension of the track.

[0148] It should be mentioned that the skilled person knows that the T-profile (profile unit) 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.

[0149] In the following, further aspects / details of the embodiments of the present 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 at least one drive unit with two or three chassis and chain drives, the first circumferential track comprises a chain (having a closed loop of interrelated chain elements arranging corresponding suspended retaining elements and optionally also counter-bearing elements), and the longitudinal connecting elements are provided in the form of chain elements.

[0150] Figure 6A shows a ceiling unit exhibiting means for avoiding any relative movement of the ceiling unit with respect to the structure (full suspension retention, in particular also taking into account any relative movement perpendicular / vertical to the structure), while Figure 6B shows a configuration which at least ensures the security of the suspension retention taking into account vertical inertial forces and lateral forces (suspension retention without counter-bearing).

[0151] Figures 7A, 7B, 7C, 7D show a ceiling suspension support arrangement 100 with a ceiling unit 10 showing three chassis. As already explained further above, the invention allows two-dimensional movement 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, the direction / extension of the track, respectively. Depending on the orientation of the T-profile 1.1, respectively, of the structure, the first and / or second spatial direction can also include a vertical (z) component (inclined plane / level), as shown in Figures 7C, 7D. Therein, the coordinates x, y shown in the figures in the context of the inclined plane refer to the longitudinal extension (x) of the (ceiling) structure.

[0152] The ceiling unit 10 shown in Fig. 7A is suspended in a ceiling structure. Nevertheless, the ceiling unit 10 may equally be suspended in a similar structure disposed on the ground or on a wall; thus Fig. 7A illustrates an application / use in a ceiling structure. The same is true for any further figures of the present disclosure that illustrate an application / use in a ceiling structure, merely by way of example.

[0153] 8A, 8B show some more details of the ceiling unit 10 showing three chassis 17 arranged laterally with respect to each other, the (central) chassis arranged between them does not show a suspended retaining element but a counter-bearing 16, and Figs. 9A, 9B show some more details of the ceiling unit 10 showing two chassis 17 (each without a counter-bearing). In the embodiment shown in Fig. 8, the second chassis provides the counter-bearing 16 which is coupled to the chain 15a, i.e. the first circumferential track provides the positioning and the movement (respectively the movement path) of the counter-bearing 16. It should be noted that in the embodiment shown in these 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 the context of these counter-bearings 16. There is therefore no need to provide any further second circumferential track in / for the second centrally arranged chassis. Therefore, in this embodiment, the second chassis, which is centrally located and which houses (only) the counter bearing, only represents the / said first circumferential track.

[0154] 10A and 10B show some details of a chassis that does not house a suspended retaining element, but only houses a counter-bearing.

[0155] Figures 11A, 11B, 11C and 12A, 12B and 13 and 14A, 14B show some kinematic aspects of the chassis which accommodates / positions / guides together the suspended retaining element 13 and the further suspended retaining element 13b. Figure 13 also shows that one (respective) chassis 17 can comprise a first circumferential track (here provided / defined by a chain 15a) and two second circumferential tracks 12b, these two second circumferential tracks 12b being asymmetrically positioned, i.e. the shape / contour XZb is asymmetric. Such an arrangement likewise makes it possible to provide separation / engagement kinematics for both the plurality of suspended retention elements 13a of the first type and the plurality of further suspended retention elements 13b of the second type, in particular on the same profile rails at opposite sides, in particular such that both types of suspended retention elements 13a, 13b can interact and engage, respectively, in the same (but asymmetrical) way as in the structure 1. Such an arrangement also allows already to ensure a high security and stability level with one drive unit 11. Scaling of the components (e.g. of the drives) of the ceiling unit (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.

[0156] It should be noted that the first circumferential track, a / the chain may / can provide for guiding and driving both the suspended retaining element 13a and the further suspended retaining element 13b, and that both types of suspended retaining elements 13a, 13b can be connected to the chain structure (see FIG. 16B) by, for example, a protruding axial section (guiding bolt or shaft) 13.7, which protrudes, in particular along its axis, relative to the first pulley 13.1. In particular, the suspended retaining element 13a 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 13a 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.

[0157] FIG. 15 also shows a first circumferential track, respectively a guiding plank or rail, which makes it possible to guide the chain more precisely.

[0158] Figures 16A, 16B show further embodiments of the suspended retaining elements 13, which, in comparison with the suspended retaining elements described above in the context 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.

[0159] The reference numerals 13a, 13b are introduced to distinguish different orientations, alignments and movement paths of a subset of suspended retention elements (in an internal context); it should nevertheless be noted that suspended retention elements 13a and suspended retention elements 13b can be of similar design.

[0160] In Figures 6A, 10A and 11C the contact point distances provided by the different projection distances 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.

[0161] 17A, 17B, the ceiling unit 10 is enclosed by a casing 14, which provides protection for the kinematics of the ceiling unit and for the suspended holding elements, especially at the front and rear ends of the ceiling unit. Such a casing may also be useful if several ceiling units move autonomously in the same ceiling structure 1, each in the same arrangement 100.

[0162] Figures 18A and 18B show an arrangement 100 in which the profile units 1.1 are arranged only within predefined sections of the ceiling (some areas remain not equipped with profile units, i.e. there is no need for any ceiling unit to reach these areas); alternatively or additionally, the profile units 1.1 can be arranged according to at least two different structural regularities.

[0163] The arrangement 100 according to FIG. 19 also comprises a central control unit 30 communicating with each ceiling unit 10 (each of which may comprise a distributed control unit or at least one drive in wireless communication with the central control unit), and the control commands may also be defined by a positioning system 45, for example communicating based on a nearby filed, mobile network, LAN, LP-WAN, SigFox, NBIoT. Data of at least one digital twin 80, 81 referring to each ceiling unit and / or each package may be stored in a database 82 and may be accessed and processed to define further control commands. Each ceiling unit 10 may reach (autonomously) an energy charging point / position P10 to load the energy storage unit 19. Alternatively or additionally, the energy may be transferred by at least a part of the profile unit and the suspended holding element, as explained above.

[0164] In the embodiment of FIG. 20, the ceiling suspension support arrangement extends to different levels of elevation, and the different levels are connected by at least one elevator that presents an elevator ceiling structure that corresponds geometrically to / with the ceiling structure 1 of the ceiling suspension support arrangement 100, and the ceiling structure merges / transitions into the elevator ceiling structure, thereby providing an interconnection of different levels of elevation. Such an arrangement may also be advantageous in a building, for example, when each ceiling unit should (autonomously) access several areas at different levels of elevation. Similarly, it is possible to connect multiple areas in different buildings via rails / guidings, for example to allow crawler type ceiling units to be exchanged between multiple areas according to an assembly line. It is also possible to equip truck loading areas or trains with ceiling suspension support arrangements.

[0165] 21A, 21B, one or several crawler type ceiling units 10 hold a load, object 60 or package 61, respectively, which can be identified by at least one identification feature 71. The package 61 can be stored in a receiving cavity 90 of the object 60 (or in a receiving cavity of the ceiling unit 10). The positioning system 45 can thus ensure that each ceiling unit 10 moves and positions according to a predefined movement path, for example to deliver a package or a piece of mail or the like.

[0166] In the configuration shown in Figures 22A, 22B, 22C, several crawler type ceiling units 10 jointly hold and handle a load, object 60, respectively, and at least one of the ceiling units 10 (preferably each ceiling unit) is also equipped with a hoist unit 50, allowing to vertically position the object 60. Preferably, the traction mechanism 51 (in particular a rope winch) of the hoist unit is controlled by one / the distributed control units of the respective ceiling units and / or by a central control unit of the arrangement 100.

[0167] 23 shows an application in which two crawler type ceiling units 10 each handle an individual 60, for example in the context of gravity unloading based on active force enforcement. Each ceiling unit 10 exhibits at least one force sensor 43. [Explanation of symbols]

[0168] 1 Ceiling structure 1a Structural regularity or raster determined by the ceiling structure 1.1 Profile units, in particular T-profiles and T-rails respectively 1.2 Wheel tread 1.3 Power Rails 10 Crawler type ceiling unit 11 Drive units (motors, actuators), especially chain drives 11.1 Drive Mechanism 11a First Drive 11b Further (second) drives 11c Further (third) drive 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 13a: first suspension retaining element, chain element (first type), respectively 13b Further suspension support elements (second type, especially mirror image type) 13.1, 13.2 First pulley, second pulley 13.3 Wheels 13.4 Current collector, power slider (conductive slider for energy transfer) 13.5 Lever Arm 13.6 Protruding Sections / Suspension Support Arms 13.7 Projecting axial sections (guiding bolts or shafts) 14 Casing 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 Housing or chassis 18 Gear Unit 18a Further Gear Units 19 Energy Storage Unit 20 Separate / Combine Kinematics 30 Central Control Unit 31 Distributed (individual) control units 35 Communication units (e.g., proximity filed, mobile network, LAN, LP-WAN, SigFox, NBIoT) 36 Transmitters (active or passive) for transmitting, in particular, location-specific signals 40 Sensor arrangement configuration 41 Detection Devices 43 Sensors 45 For example, proximity filed, mobile network, LAN, LP-WAN, SigFox, NBIoT based positioning systems 50 Hoist Unit 51 Traction mechanisms, in particular rope winches 53 Means of transmission, in particular ropes 60 External load, especially an object or individual 61 For example, packaging containing consumables, food, and mail. 70 Identification features, in particular codes (including, for example, numbers) referring to ceiling units 71 Identification features referring to the package, in particular codes (including, for example, numbers) 80 Digital twins referencing each of the ceiling units 81 Digital Twins referencing each package 82 Database 90 Storage Cavity 100 Ceiling Suspended Retention Arrangement Configuration 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) P10 Energy charging point / location P13 Contact / bearing points / areas of suspended support elements with ceiling structure P60 Mounting Point XZa First circumferential track shape / contour XZb Second circumferential track shape / contour y12a: first predefined vertical position y12b Predefined second vertical position y13 Vertical extension of lever arm x 1st spatial direction: direction of the longitudinal extension of the profile unit y Second spatial direction: longitudinal and circumferential track alignment, respectively z The third spatial direction, specifically the vertical direction

Claims

1. A ceiling suspension holding arrangement configuration (100) comprising at least one crawler-type ceiling unit (10) and a ceiling structure (1) extending in at least two spatial directions (x, y), wherein the ceiling structure (1) comprises a plurality of profile units (1.1) extending in a first spatial direction (x), the ceiling structure (1) defines at least one structural regularity (1a) in a second spatial direction (y), and the crawler-type ceiling unit (10) is configured to suspend the ceiling unit by separation / coupling kinematics corresponding to the relative motion of the crawler-type ceiling unit with respect to the ceiling structure (1) in at least the second spatial direction, and comprises a plurality of suspension holding elements (13, 13a, 13b) configured to connect the crawler-type ceiling unit (10) to the ceiling structure (1), The crawler-type ceiling unit has at least two circumferential tracks (12, 12a, 12b), and the suspension holding elements (13, 13a, 13b) are attached to the circumferential tracks (12, 12a, 12b) at predetermined longitudinal positions corresponding to structural regularity (1a), and each of the circumferential tracks (12, 12a, 12b) defines a specific path for the circumferential motion of each suspension holding element (13, 13a, 13b), thereby providing separation / combination kinematics during the movement of the crawler-type ceiling unit (10) in the second spatial direction, in particular, the crawler-type ceiling unit (10) is configured to move along the profile unit (1.1) in the first spatial direction without relying on transient motion in the second spatial direction, the ceiling suspension holding configuration (100).

2. The ceiling suspension holding arrangement configuration (100) according to claim 1, configured for at least passive motion of the crawler-type ceiling unit (10) in the at least two spatial directions, and / or configured for any motion in at least two dimensions in any direction defined by the at least two spatial directions.

3. The crawler-type ceiling unit (10) is configured to allow at least one closed-loop trajectory of each suspension holding element (13a, 13b) along the corresponding circumferential tracks (12a, 12b), in particular to allow at least two closed-loop trajectories of at least two subsets of each suspension holding element (13a, 13b), and / or, each subset of the suspension holding elements (13a, 13b) is connected to one another by longitudinal connecting elements, particularly by chain elements, thereby forming a closed loop of interrelated suspension holding elements (13a, 13b) spaced apart from each other according to a predetermined structural regularity (1a). and / or, the circumferential track (12a, 12b) is formed such that each suspension holding element (13a, 13b) separates from / connects to the ceiling structure (1) as it passes through the curved section of the track. and / or, the suspension holding elements (13a, 13b) are each securely attached to / coupled to a first circumferential track by a first pulley and guided within a second circumferential track by a second pulley, and the first and second pulleys are preferably positioned on the lever arms of the respective suspension holding elements. The ceiling suspension support configuration (100) according to claim 1, wherein the crawler-type ceiling unit (10) is configured to lift each suspension support element (13a, 13b) in an unloaded state from the structure, so as to ensure both separation / combination kinematics for a subset of temporarily unloaded suspension support elements and suspension support of the crawler-type ceiling unit (10) by the subset of temporarily loaded suspension support elements.

4. The ceiling suspension support configuration (100) according to claim 1, wherein the crawler-type ceiling unit (10) comprises at least two types of suspension support elements (13a, 13b), the different types of suspension support elements being separated / combined according to individual kinematics, and a first subset of suspension support elements (13a) being attached to a first pair of circumferential tracks (12a, 12b) and at least one further subset of suspension support elements (13b) being attached to a second pair of circumferential tracks (12a, 12b) at predetermined first and second longitudinal positions corresponding to a structural regularity (1a), respectively.

5. The ceiling suspension support configuration (100) according to claim 1, wherein the crawler-type ceiling unit (10) indicates at least one load attachment point configured to transfer the load of an external load attached to the crawler-type ceiling unit (10), and / or the crawler-type ceiling unit (10) indicates at least one hoist unit, or the ceiling suspension support configuration (100) indicates at least two crawler-type ceiling units (10), each indicating at least one hoist unit, the hoist unit being configured to transfer the load of an external load to the ceiling structure (1).

6. A crawler-type ceiling unit (10) exhibits at least one drive that interacts with at least one of the circumferential tracks (12a, 12b), and a ceiling suspension holding arrangement configuration (100) is configured for a predetermined driven / driven motion of the crawler-type ceiling unit (10) at least in the second spatial direction. and / or the crawler-type ceiling unit (10) provides an energy storage unit that provides energy to at least one drive of the crawler-type ceiling unit (10), in particular to at least one drive that interacts with at least one of the circumferential tracks (12a, 12b), the ceiling suspension holding arrangement configuration (100) according to claim 1.

7. The ceiling suspension holding configuration (100) includes a sensing device that represents at least one sensor from the following groups: a speed sensor, a distance sensor, a position measuring sensor, a force sensor, an acceleration sensor, and a gyroscope, and the ceiling suspension holding configuration (100) is configured to control at least one crawler-type ceiling unit (10) based on transient measurement data from at least one sensor. and / or the crawler-type ceiling unit (10) indicates a communication unit configured for wireless communication within at least a ceiling suspension holding arrangement configuration (100), and in particular the crawler-type ceiling unit (10) indicates an energy storage unit that provides energy to the communication unit so that it is energy self-sufficient for a period of at least several days, weeks, or months. and / or the ceiling suspension holding arrangement configuration (100) according to claim 1, wherein the ceiling suspension holding arrangement configuration (100) is configured to locate individual crawler-type ceiling units based on at least one locate signal transmitted by individual crawler-type ceiling units.

8. The ceiling suspension support configuration (100) according to claim 1, wherein each suspension support element represents at least one motion element configured to move the crawler-type ceiling unit (10) in the first spatial direction, the crawler-type ceiling unit (10) represents at least two drives that interact with both at least one of the circumferential tracks (12a, 12b) and the motion element, and the ceiling suspension support configuration (100) is configured for a predetermined two-dimensional driven motion of the crawler-type ceiling unit (10) in the spatial direction.

9. The profile units (1.1) of the ceiling suspension support configuration (100) are arranged according to at least two different structural regularities in the second spatial direction, namely, a first structural regularity (1a) that defines the relative distance of the profile units (1.1) to which the relative distance of the suspension support elements (13a, 13b) attached to the track corresponds, and a second structural regularity that is an integer multiple of the first structural regularity (1a), wherein the number of temporarily engaged / connected suspension support elements (13a, 13b) is preferably at least 2 within the overlapping area of ​​the second structural regularity, the area of ​​the first structural regularity (1a) preferably has a first load-bearing capacity, and the area of ​​the second structural regularity has a second load-bearing capacity. and / or, the profile unit (1.1) of the ceiling suspension support configuration (100) spatially defines at least two different permissible loads within at least two spatial sections of the ceiling suspension support configuration (100) along the ceiling, and / or, the ceiling suspension support configuration (100) is coupled with / to a further ceiling suspension support configuration (100), wherein the profile units (1.1) of the ceiling suspension support configuration (100) are arranged according to a first structural regularity (1a), and the profile units (1.1) of the further ceiling suspension support configuration (100) are arranged according to a second structural regularity, wherein the second structural regularity is an integer multiple of the first structural regularity (1a), according to claim 1.

10. The ceiling suspension support configuration (100) comprises a plurality of crawler-type ceiling units, each of which comprises at least one mounting point or hoist unit, each of which is configured to transfer an external load of at least 50 kg or 100 kg to the ceiling structure (1), and the ceiling suspension support configuration (100) is configured to be mounted on one crawler-type ceiling unit (10) in order to position the plurality of external loads in individual two-dimensional or three-dimensional positions relative to each other. Alternatively, the crawler-type ceiling unit (10) may include at least one mounting point or hoist unit structurally connected to at least one of the circumferential tracks (12a, 12b), the crawler-type ceiling unit (10) may be configured to transfer an external load of at least 200 kg or 500 kg to the ceiling structure (1), and the ceiling suspension holding arrangement configuration (100) may be configured for at least two-dimensional transport / movement of at least one individual suspended and held along the ceiling structure (1) by the mounting point or hoist unit. Alternatively, the crawler-type ceiling unit (10) may include at least one mounting point or hoist unit structurally connected to at least one of the circumferential tracks (12a, 12b), the crawler-type ceiling unit (10) may be configured to transfer an external load of at least 1,000 kg or 10,000 kg to the ceiling structure (1), and the ceiling suspension holding arrangement configuration (100) may be configured for at least two-dimensional transport / movement of an external load suspended and held along the ceiling structure (1) by the mounting point or hoist unit. Alternatively, the ceiling suspension and holding configuration (100) comprises a plurality of crawler-type ceiling units, each of which comprises at least one mounting point or hoist unit, each of which is configured to transfer the load of an external load to the ceiling structure (1), and the ceiling suspension and holding configuration (100) is configured to control the one-dimensional or two-dimensional movement or motion paths of at least two subsets of the interdependent crawler-type ceiling units, in particular, such that the crawler-type ceiling units of a subset move similarly, in particular, by similarly controlling at least two hoists of a subset that hold the same external load. Alternatively, the ceiling suspension holding configuration (100) may include a plurality of crawler-type ceiling units, each showing at least one housing cavity configured to accommodate at least one package, each showing at least one control unit configured for wireless control, wireless data transmission, and the ceiling suspension holding configuration (100) may be configured to control the one-dimensional or two-dimensional movement, or one-dimensional or two-dimensional movement path, of each crawler-type ceiling unit (10) and / or at least two subsets of crawler-type ceiling units that depend on each other, so that the plurality of crawler-type ceiling units (10) move simultaneously according to a plurality of individual one-dimensional or two-dimensional movement paths. Alternatively, the crawler-type ceiling unit (10) each comprises at least one mounting point or hoist unit configured to transfer the load of an external load to the ceiling structure (1), and the ceiling suspension holding configuration (100) comprises a sensing device comprising at least one sensor from the following group: a force sensor, an acceleration sensor, and a gyroscope, and the ceiling suspension holding configuration (100) is configured for gravity unloading based on the exercise of an active force in at least one spatial direction by the mounting point or hoist unit, wherein the amount of force depends in particular on the effective gravity and / or effective load based on transient data from at least one force sensor, preferably, in which case the amount of force is adjustable, for example, according to individual user commands, as described in claim 1.

11. The ceiling suspension and holding configuration (100) according to claim 1, wherein at least one crawler-type ceiling unit (10) indicates at least one drive, the ceiling suspension and holding configuration unit indicates a control unit for controlling the drive, the ceiling suspension and holding configuration indicates a sensing device indicating at least one sensor from the following groups, each of which is a speed sensor, a distance sensor, a position measuring sensor, a force sensor, an acceleration sensor, and a gyroscope, and the ceiling suspension and holding configuration is configured to control at least one crawler-type ceiling unit (10) based on transient measurement data of at least one sensor in order to control the absolute or relative position or motion state of at least one crawler-type ceiling unit (10).

12. The ceiling suspension and holding arrangement configuration (100) includes a plurality of crawler-type ceiling units (10) each indicating at least one sensor, and a communication unit that communicates with the control unit of the ceiling suspension and holding arrangement configuration (100), and the ceiling suspension and holding arrangement configuration (100) is configured to pre-define a plurality of individual paths for the two-dimensional motion of each crawler-type ceiling unit. Alternatively, the ceiling suspension holding configuration (100) may include a central control unit that monitors at least the temporary position of the crawler-type ceiling units of the ceiling suspension holding configuration (100), and each crawler-type ceiling unit (10) may include a communication unit for wirelessly transmitting control signals to at least one drive or actuator of each crawler-type ceiling unit (10). Alternatively, the ceiling suspension holding arrangement configuration (100) according to claim 1, wherein the ceiling suspension holding arrangement configuration (100) is configured for distributed control, and each crawler-type ceiling unit (10) indicates a sensing device that provides transient sensor data to at least one drive or actuator of the crawler-type ceiling unit (10).

13. The ceiling suspension holding arrangement configuration (100) according to claim 1, comprising a database configured to store and access at least one digital twin of individual crawler-type ceiling units and / or individual packages held by the crawler-type ceiling units of the ceiling suspension holding arrangement configuration (100), wherein the digital twin includes at least temporary status information, and the ceiling suspension holding arrangement configuration (100) is configured to define at least one control parameter for individual crawler-type ceiling units based on the information of the at least one digital twin, in particular for remotely controlling the individual crawler-type ceiling units.

14. In particular, a method for suspending or positioning at least one crawler-type ceiling unit (10) in a ceiling structure (1) extending in at least two spatial directions, in conjunction with actively moving / driving the crawler-type ceiling unit (10) along the ceiling structure (1) by actively reorienting the direction of movement of the crawler-type ceiling unit, in particular, suspending and holding it upside down from the ceiling structure (1) to provide at least two degrees of freedom for at least two-dimensional positioning or two-dimensional motion of the crawler-type ceiling unit (10), wherein the ceiling structure (1) comprises a plurality of profile units (1.1) extending in a first spatial direction, the ceiling structure (1) defines at least one structural regularity (1a) in a second spatial direction, and the crawler-type ceiling unit (10) is at least relative to the ceiling structure (1) in the second spatial direction Through separation / combination kinematics corresponding to motion, the crawler-type ceiling unit (10) is suspended and held by a plurality of suspension holding elements (13a, 13b) that connect to the ceiling structure (1), the suspension holding elements (13a, 13b) are attached to at least two circumferential tracks (12a, 12b) of the crawler-type ceiling unit (10) and guided by at least two circumferential tracks (12a, 12b), each of which is a suspension holding element A method that defines a specific path for the circumferential motion of elements (13a, 13b), thereby providing separation / combination kinematics that suspend and move each suspension element relative to the ceiling structure (1) during the relative motion of the crawler-type ceiling unit (10) in the second spatial direction, in particular, while the crawler-type ceiling unit (10) remains movable in the first spatial direction along the profile unit (1.1) without the transient motion in the second spatial direction.

15. In particular, a computer program comprising instructions to cause a computer to execute, when the program is executed by a computer, the steps of the method according to claim 14 in the context of providing and controlling the motion or relative / absolute position of at least one crawler-type ceiling unit (10) by controlling at least one drive of the at least one crawler-type ceiling unit (10) that interacts with at least one of the circumferential tracks (12a, 12b), in particular based on transient absolute and / or relative position data of at least one crawler-type ceiling unit (10)

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