Crawler-type vehicle configured for locomotion along a structure, method for suspending the vehicle to perform crawler-like locomotion along a structure, and method for using at least one crawler-type drive unit for active locomotion - Patents.com

Abstract

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

Description

[Technical field]

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

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

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

[0004] It is an object of the present invention to provide a vehicle and a drive mechanism, respectively, which allows a reliable and precise moving / driving movement and positioning of a vehicle in / on a structure, at least along a structure, for example also in a ceiling structure, preferably not only for a one-dimensional track of movement, but possibly also for a two-dimensional track of movement. In particular, the object also includes providing a suspension mechanism, a suspension means, respectively, which allows a secure suspension of a (ceiling) vehicle on the ground or in a ceiling structure. In particular, the object can also include the provision of a suitable coupling mechanism for securely coupling the vehicle to the structure. Similarly, the object of the present invention can further include a reliable suspension / suspension method and optionally also an active drive method for movably suspending such a vehicle on / on a structure, for example in terms of a logistic task in a suspended / suspended manner in a ceiling structure. [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 crawler type vehicle, in particular adapted for movement suspended headfirst in a structure, the vehicle comprising: - a plurality of suspension support elements configured to suspend the vehicle and configured to couple the vehicle to a structure; - showing at least one drive unit configured for circumferential movement and housing a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track, the suspended retaining elements being attached to the first circumferential track at predefined first longitudinal positions corresponding to predefined rasters, the vehicle being configured for moving along the structure by detaching and coupling, respectively, a subset of the plurality of suspended retaining elements from and into the structure when the suspended retaining elements are guided along the two circumferential tracks by the circumferential movement. Such a configuration likewise allows for coupling mechanisms that may be optionally implemented in terms of an actively driven vehicle or, respectively, in terms of a passive unit that can fulfill the functions of the vehicle by any further means that are not necessarily part of the vehicle when actuated / driven from outside.

[0007] The present invention thereby also provides connection systems, mechanisms, respectively, that allow connection to flat surfaces and that allow movement in two directions, particularly in terms of belt-driven devices configured to traverse horizontal planes in latitudinal and longitudinal directions, including surfaces on which the device is placed in a suspended position.

[0008] The invention therefore relates equally to the kinematics of the suspended support elements separated / coupled by a driving movement along a circumferential track. In particular, the object is therefore solved by a crawler type vehicle (in particular a ceiling vehicle) configured for headlong suspended movement in a structure (in particular a ceiling structure), the vehicle comprising a plurality of suspended support elements configured for suspending the vehicle and for coupling the vehicle to the structure, a first circumferential track and a second circumferential track configured for a circumferential driving / guiding movement (respectively a drive movement along a circumferential track) and configured for accommodating a second circumferential track having a different circumferential shape / contour than the first circumferential track. The vehicle shows at least one drive unit (particularly a crawler-type like drive unit), the suspended support elements being mounted on a first circumferential track at a first predefined longitudinal position corresponding to a predefined raster (particularly a / the raster defined by the structure), and the vehicle is configured for moving along the structure by detaching and coupling a subset of the plurality of suspended support elements, respectively, from and into the structure, when the suspended support elements are guided along the (a / the) two circumferential tracks by a circumferential motion (driving / guiding motion). Such a configuration likewise makes it possible to move the vehicle without being limited to a predefined movement path defined, for example, by rails (or the like) of the structure.

[0009] According to the present disclosure, when a "structure" or "ceiling structure" is referenced, a structure may be specified that may extend on the ground or along a wall or on an inclined plane (or the like). The present invention may be preferably applied for a ceiling vehicle that is disposed on the ceiling structure and moves along the ceiling structure, respectively, and further, the present invention similarly allows any movement along any structure having alternative orientations and / or configurations. Thus, reference to a "structure" or "ceiling structure" includes reference to any other "structure" that exhibits features that allow coupling with / to the vehicle of the present invention and separation / coupling kinematics.

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

[0011] In accordance with the present disclosure, when reference is made to a "circumferential track," the present disclosure generally refers to closed-loop guiding and lines as well as predefined contours along which a suspended support element is guided and / or driven.

[0012] According to the present disclosure, when a "profile" or "T-profile" is referenced, the present disclosure generally refers to different types of profiles as well, such as, for example, an I-profile or an L-profile, which may provide advantageous / preferred configurations in individual applications.

[0013] According to one embodiment, the suspended holding elements are coupled with the ceiling structure on the basis of form-fit (form closure, positive locking), in particular exclusively form-fit (without pressure spring coupling). According to the invention, it has been found that the form-fit can advantageously be provided by wheels or any other bearing points at the free ends of the respective suspended holding elements in order to be in contact with a T-profile or other type of profile rail (e.g. C-profile or L-profile or I-profile) of the ceiling structure. In particular, it has been found that the form-fit provides a preferred / superior method of coupling in many situations, in comparison with a magnetic coupling or similar. Depending on the type of drive unit or vehicle or the spatial orientation of the structure, the skilled person can determine which type of profile (e.g. T-profile) is most appropriate.

[0014] Similarly, depending on the orientation of the structure, the translational movement of the drive unit (with respect to its spatial direction, movement, respectively) can be unique. Those skilled in the art can implement the invention for different types of spatial translational movements without any particular restrictions, i.e., in 2D or even 3D degrees of freedom.

[0015] Likewise, the shape / contour of each circumferential track can be unique, i.e. the skilled person can determine, for example, a specific degree (radius) of curvature in a specific section of each circumferential track. For example, each track presents at least three different guide / rail sections, i.e. a first (straight) section where each suspended retaining element engages with the profile and where the suspended retaining element performs a linear movement, and at least one second (curved) section where each suspended retaining element performs a separation / coupling movement (each track can present two oppositely arranged second sections), and a third (straight) section where the suspended retaining element returns to engage with the profile again (for a continued circumferential movement and engagement process). Thereby, the first and second tracks can define the trajectory of each free end of the suspended holding element (in particular referring to at least one roller attached to each suspended holding element) by any suitable means (e.g. by a sliding / rolling profile, a chain drive, a timing belt, or any similar mechanism or mechanical feature) configured to predefine a particular contour and to guide the free end, a roller, respectively, to follow that contour of the track.

[0016] According to a second aspect, the invention relates to an application in ceilings, in particular also in terms of a hoist function, whereby the suspension support can in particular be provided taking into account a 2D movement movement, also along the ceiling structure.

[0017] In particular, the above-mentioned object can also be solved by a crawler type vehicle, in particular having a ceiling hoist, configured for moving in a headfirst suspended position 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 circumferential movement and housing a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track, the suspended support elements being attached to the first circumferential track at predefined first longitudinal positions corresponding to a predefined raster, and the ceiling vehicle being configured 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.

[0018] In particular, the above stated object can likewise be solved by a crawler type vehicle configured for moving along a structure having a predefined raster, the vehicle presenting a plurality of suspended support elements configured for coupling the vehicle to the structure and at least one drive unit (in particular crawler track-like) configured for a (crawler type) circumferential driving / guiding movement and housing a first circumferential track and a second circumferential track having a circumferential shape / contour different from the first circumferential track at least in the curved section of the track(s), the suspended support elements being arranged to couple the vehicle to the structure and at least one drive unit (in particular crawler track-like) configured for a (crawler type) circumferential driving / guiding movement and housing a first circumferential track and a second circumferential track having a circumferential shape / contour different from the first circumferential track at least in the curved section of the track(s), The elements are attached to the first circumferential track at predefined first longitudinal positions corresponding to a raster of the structure, and the suspended retention elements are aligned / oriented by the second circumferential track at predefined second longitudinal positions corresponding to the raster of the structure and respectively different from the corresponding first longitudinal positions, and the vehicle is configured for moving along the structure in at least one spatial direction by separating and coupling a subset of the plurality of suspended retention elements, respectively, from and within the structure as the suspended retention elements are guided along the curved section of the circumferential track by circumferential motion.

[0019] In particular, the above-mentioned object can be solved similarly by a crawler-type ceiling vehicle configured for head-on suspended movement in at least two spatial directions in a ceiling structure defining a first spatial direction of said spatial directions, the movement movement having at least two degrees of freedom, the ceiling vehicle comprising a plurality of suspended holding elements configured for suspended holding the ceiling vehicle and for coupling the ceiling vehicle to the ceiling structure, whereby the suspended holding elements can be moved (e.g. rolled, slid) along the ceiling structure in said first spatial direction, and at least one circumferential track housing a first circumferential track and a second circumferential track and configured for circumferential driving / guiding movement. and a drive unit (in particular crawler track-like), wherein the suspended retention element is attached to a first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the ceiling structure in a second spatial direction of said spatial direction, and the suspended retention element engages with a second circumferential track at a predefined second longitudinal position, the first and second tracks having different shapes / contours, the first and second tracks being (rigidly) positioned relative to each other such that the suspended retention element is coupled to the ceiling structure, the suspended retention element being separated from the ceiling structure by a certain / such (crawler track-like) circumferential movement provided by the first and second drive units or tracks, respectively.

[0020] In particular, the above stated object may be solved as well by a crawler type vehicle configured for moving / driving along a structure having a predefined raster, the vehicle comprising a plurality of suspended retaining elements configured for coupling the vehicle to the structure, and a separation / coupling kinematics comprising a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track at least in a curved section of the track(s), the suspended retaining elements being attached to the first circumferential track at predefined first longitudinal positions corresponding to the raster of the structure, the suspended retaining elements being attached to each of the first longitudinal positions ... It shows decoupled / coupled kinematics guided in / by a second circumferential track at a respective second longitudinal position longitudinally offset with respect to the first longitudinal position, and at least one drive unit (in particular, crawler track-like) configured for a (crawler type) circumferential driving / guiding movement and accommodating the first and second circumferential tracks, wherein when the suspended support elements are guided by the circumferential movement along a / the (temporary) curved section of the circumferential track, the decoupled / coupled kinematics provides both a first (vertical) movement perpendicular to the driving / guiding direction and a second movement that pivots each suspended support element.

[0021] According to a third aspect, the present invention relates to a logistic system and logistic applications and hoist functions, in particular in terms of 2D or 3D locomotion of a drive unit or of a load carried by at least one drive unit or hoist.

[0022] In particular, the above stated object can likewise be solved by a hoist arrangement configured for a three-dimensional (3D) movement in / along a structure having a predefined raster, the hoist arrangement presenting at least one hoist unit and a crawler type vehicle configured for moving along the structure, in particular headfirst in the structure, in particular in a suspended hold, the crawler type vehicle comprising: - a plurality of suspension support elements configured for suspending the crawler type vehicle and configured for coupling the crawler type vehicle to a structure; - at least one drive unit configured for circumferential motion and housing a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track, the suspended support elements being mounted on the first circumferential track at predefined first longitudinal positions corresponding to a predefined raster of the structure, and the crawler type vehicle 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 motion.

[0023] In general, the vehicle is configured to move along the ceiling structure in at least one spatial direction by coupling a subset of the suspended support elements to the structure, respectively, detached from the structure, in particular when said subset of suspended support elements is guided along a curved section of a circumferential track. According to the present invention, it should be noted that the term "spatial direction" designates a direction in space, and thus the term "spatial direction" can include a movement along a spatial axis in both directions along the spatial axis. Thus, the term "in at least one spatial direction" refers to a one-dimensional movement (optionally bidirectional, i.e. back and forth) with one degree of freedom (in particular, a linear movement). As a result, the term "two-dimensional motion" refers to motion having two degrees of freedom (in particular linear motion in a first spatial direction and in a second spatial direction, e.g., perpendicular to the first spatial direction, optionally in a bidirectional manner as well).

[0024] It should be noted that according to the present invention, the term "drive unit" can specifically designate the entire assembly of drive and kinematic components required to realize the desired locomotion movement. However, the drive unit does not necessarily include any active motor or drive. Likewise, the drive unit can further comprise a case or chassis housing structural parts and elements for the arrangement of any part of the drive section. Furthermore, the drive unit can also comprise structural parts or supports or beams for the mounting and support of any hoist components or passenger / cargo transport components.

[0025] The shape or dimensions of the at least one drive unit (and similarly of the circumferential track) may be individually defined according to the particular application. For example, the cross-sectional geometry of the at least one drive unit is the shape of a racecourse (parallel longitudinal sections and opposing semicircular sections). However, alternatively, the cross-sectional geometry may be, for example, circular or elliptical.

[0026] The vehicle can (optionally) be equipped with different kinds of power units, drives, motors and actuators, not only for the drive units but also for further functions, such as, for example, winch or hoist functions. In general, the vehicle can be provided as a passive vehicle without a motor for driving the vehicle (the vehicle can then be positioned by an external force applied, for example, to a hoist mechanism or the like), or as an active vehicle exhibiting a drive mechanism, respectively at least one motor interacting with the suspended holding element. In particular, the vehicle exhibits, respectively, each drive unit, at least one power unit or motor for at least one drive unit, for example an electric motor coupled to the rotation axis of a gear unit interacting with the respective circumferential track. Similarly, the vehicle can optionally exhibit at least one motor interacting with a / the wheel of the suspended holding element to allow a motorized movement in further spatial directions, so that the wheel can be driven by any drive that actively drives along the profile rail. Similarly, the vehicle, respectively the at least one drive unit, may comprise an energy storage unit, in particular a rechargeable battery pack, that provides energy to the at least one drive / motor without relying on any external energy supply (powering the motor to drive the vehicle, the track, respectively 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 a load. For example, the hoist unit may be fixed to and supported by the at least one drive unit.

[0027] Each power unit, drive, motor and / or actuator of the vehicle may be coupled to a control unit of the vehicle. In particular, the control unit may control the type / kind of movement, which may also control, for example, the lifting action of the hoist unit, for example in terms of cargo or logistic tasks in general. For example, the vehicle may exhibit two or three drive units that may be arranged at a predefined lateral distance from each other (for example defined / connected by a cross beam or the like), and if the vehicle is to be actively driven (that configuration is optional), each drive unit may exhibit at least one drive / motor for (actively) driving the suspended holding element along a circumferential track, which drives / motors may be controlled dependent on each other, for example by the rotational speed. So the movement direction may be controlled in particular in combination with an actively driven wheel of the suspended holding element that is driven along a profile rail of the ceiling structure (that active drive aspect is also optional).

[0028] In other words, in this disclosure, the term "drive unit" specifically refers to a unit that houses the kinematics that enable the locomotion of the vehicle. As such, the term "drive unit" does not necessarily imply the presence of an active motor; rather, locomotion may be induced by external forces as well, and as such, the term "drive unit" does not necessarily imply an actively driven unit. As such, the term "driving motion" (which designates circumferential motion along the first and second circumferential tracks) is distinct from the term "traveling motion," which designates motion of the vehicle itself.

[0029] It has been found that the kinematics according to the invention make it possible to equip the vehicle with at least one drive unit, i.e. there is no need to provide more than two drive units, preferably two or even three drive units (especially in view of the improved form-fit) allowing even more secure suspension.

[0030] In the following, advantageous aspects of the claimed invention are described, and further in the following, preferred modified embodiments of the invention are described. In particular, the descriptions of the advantages and definitions of features are essentially descriptive and preferred, but not restrictive examples. If the descriptions should be understood as restrictive descriptions / representations, this is explicitly stated.

[0031] According to one embodiment, the ceiling vehicle exhibits a first drive housing a first and a second circumferential track, and the ceiling vehicle exhibits a second drive unit housing also a further first and a second circumferential track. The drive units of the vehicle may be scaled up in number, for example the vehicle exhibits three drive units each based on the same kinematic concept, but at least one of these drive units provides a mirror image type / method of decoupled / combined kinematics.

[0032] According to one embodiment, at least one drive unit of the crawler type vehicle is configured in particular to enable a closed-loop trajectory of the suspended support element by the respective drive unit(s) along the circumferential track(s), this configuration being likewise preferred in terms of scaling.

[0033] According to one embodiment, the first and second circumferential tracks (of the respective drive units) are shaped such that the suspended support elements only separate / couple from / to the ceiling structure when passing through the curved section of the track, which also allows to provide sections along the straight sections of the track to which the suspended support elements of the vehicle can be fixed by a scalable number of suspended support elements.

[0034] According to one embodiment, the suspended retaining elements are fixedly attached / coupled to / with the first circumferential track by a first pulley and the suspended retaining 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 retaining elements, the respective suspended retaining elements preferably having an L-shape, an L-profile shape, which likewise favours the relative positioning (relative to each other at a predefined distance) of the two pulleys guided by / in the circumferential track.

[0035] According to one embodiment, each suspended support element exhibits a first pulley and a second pulley arranged at a longitudinal distance relative to the first pulley on the lever arm of the suspended support element, the (respective) suspended support element being coupled to a first and a second track by means of the first and second pulleys. This arrangement also allows a high degree of accuracy of the predefined path and of the predefined amount of movement of the free end of each suspended support element (or of a / the wheel).

[0036] According to one embodiment, each suspended retaining element presents a lever arm that accommodates / supports a / the pulley guided by a second track, the pulley being arranged at the free end of the lever arm, and in the straight sections of the track the lever arm points at least approximately in the drive / movement direction (second spatial direction). This also makes it possible to provide a large effective length of the lever arm section between the first and second pulley, thereby ensuring a significant pivoting movement for the decoupling / coupling kinematics.

[0037] According to one embodiment, the first circumferential track is provided / defined by a chain (respectively a belt or a similar type of traction means) or by a chain forming a closed loop of interrelated chain elements. This configuration also makes it possible to adjust the shape / contour of the track by means of a chain tensioning device or other type of deflection points / pulleys. In particular, the first circumferential track may be defined by a chain connecting the suspended holding elements.

[0038] According to the present disclosure, the term "chain" can also refer to a belt or cable or any other circumferential driving element that allows following / binding to the circumferential track(s). A person skilled in the art can determine which configuration of the chain is most appropriate in / for the individual application.

[0039] According to one embodiment, the ceiling vehicle exhibits a plurality of counter bearings, in particular configured and arranged for interacting in front with the (ceiling) structure, which are preferably coupled to / with the first circumferential track, in particular coupled to the chain elements of the first circumferential track. This configuration also allows for fixing the position of the vehicle with respect to further spatial directions, in particular perpendicular to the structure, perpendicular to the rail, respectively (if the vehicle is placed upside down, headfirst or in an inclined plane, normal forces are applied to the structure). In particular, the plurality of counter bearings may / can provide a counter force drive module (counter force unit) which allows / facilitates even more secure positioning and suspension of the (upside down) vehicle, for example on an inclined plane or in an overhead arrangement configuration. The free end of the counter bearing may be configured depending on the type / shape of the (ceiling) structure, for example the free end of the counter bearing exhibits at least one wheel or pulley.

[0040] According to one embodiment, the ceiling vehicle exhibits further drive units (in particular crawler track-like) that house further first and second circumferential tracks and are configured for synchronous circumferential movement of further suspended holding elements, which facilitates scale-up and favors configurations for vehicles with high stability and security requirements.

[0041] According to one embodiment, the ceiling vehicle exhibits a further drive unit (in particular crawler track-like) which accommodates further (first and second) circumferential tracks, and a plurality of suspension support elements are attached to the further circumferential tracks at predefined longitudinal positions corresponding to a / the predefined raster, and are configured in particular for suspending the ceiling vehicle and coupling the ceiling vehicle in the ceiling structure, such that the ceiling vehicle is fixed in the ceiling structure with respect to the reverse direction. This provides a high security and even an automatic locking suspension support as well.

[0042] According to an embodiment, the suspended retaining element (of a / the first drive unit) and the further suspended retaining element (of a / the further drive unit) fix / block the ceiling vehicle in the ceiling structure both with respect to the drive / movement direction (second spatial direction) and vice versa, in particular such that sliding off the ceiling structure is prevented. This likewise allows a high security level. Optionally, the vehicle can also be equipped with at least three drive units.

[0043] According to one embodiment, the suspended support elements are connected to one another by longitudinal connection elements, in particular by longitudinal connection elements connected at the axis of a / the first pulley of the respective suspended support elements, thereby forming a closed loop of mutually associated suspended support elements spaced apart from one another in a predefined raster. This likewise ensures a correct relative positioning of the multiple suspended support elements relative to one another. Each longitudinal connection element preferably exhibits the shape of a rod or stick or a small lever arm. In other words, the multiple longitudinal connection elements can provide a closed loop of mutually associated elements forming a kind of chain or similar guided / driven along a circumferential track(s).

[0044] According to one embodiment, the ceiling vehicle presents a further (second) drive unit exhibiting the same configuration as the / first drive unit, but with a mirror-image arrangement of further suspended support elements and further circumferential tracks, the further suspended support elements in particular being guided / driven in a direction opposite to the guidance direction of the suspended support elements of the first drive unit, such that both the respective suspended support element and the further suspended support element simultaneously separate / couple to / from the ceiling structure. This configuration is advantageously adapted to ceiling structures made of or provided by T-profiles or T-shaped support elements (in particular T-shaped ceiling beams).

[0045] According to one embodiment, the at least one drive unit is configured in particular for lifting the respective suspended support element from the ceiling structure in an unloaded state, such that the at least one crawler type drive unit provides both the separation / coupling kinematics for the temporarily unloaded subset of suspended support elements and the suspension support of the vehicle by the temporarily loaded subset of suspended support elements. This kind of separation / coupling kinematics also provides a totally energy-efficient and force-efficient way of driving / moving / advancing. Likewise, minimizing the forces and propulsion in view of the separation / coupling process also favors a possibly very fast crawling movement(s), even if the vehicle exhibits a significant weight or has to lift a significant load.

[0046] According to one embodiment, at least one drive unit has a substantially planar configuration in lateral view. According to one embodiment, the drive units (in particular two or three drive units) are arranged parallel to one another. This also favors the implementation of two or even three drive units, respectively, in a quite narrow / slim arrangement.

[0047] According to one embodiment, the circumferential tracks are guided / driven, respectively, in a plane extending in two dimensions, which also favours the implementation of linear translational movements which may be combined with further movements along the ceiling structure, in particular perpendicular to the direction of the translational movement.

[0048] According to one embodiment, the vehicle is configured to move in at least two spatial directions, a first spatial direction predefined by a ceiling structure and a second spatial direction defined by a driven / guided movement along a circumferential track, the second spatial direction being (at least approximately) perpendicular to the first spatial direction, which likewise further increases the flexibility and variability of the type of movement and positioning of the vehicle.

[0049] According to one embodiment, each suspended support element exhibits at least one wheel arranged and configured for being guided along the ceiling structure, in particular on the wheel tread of the respective / corresponding T-profile of the ceiling structure. This kind of coupling / suspended support in / on the ceiling structure also facilitates two-dimensional locomotion movements.

[0050] It should be noted that the present invention advantageously enables the realization of omni-wheel behavior of a vehicle, providing at least two-dimensional movement of the vehicle.

[0051] According to one embodiment, each drive unit is coupled by at least three suspended retaining elements, which also allows any forces and thrusts to be distributed by multiple suspended retaining elements, thereby also ensuring a good security and stability level.

[0052] According to one embodiment, each suspended support element has an L-shape (respectively the shape of an L-profile), which provides two arms that define the relative arrangement of a / the wheel of each suspended support element and the first and second pulleys (engaging with the first and second circumferential tracks). This also allows for a robust design, as the suspended support elements can easily be individually designed according to the specific application and the specific ceiling construction by adapting the design of the lever arms.

[0053] The above-mentioned object is likewise solved by a crawler type vehicle arrangement (particularly a ceiling vehicle arrangement) comprising at least one vehicle (particularly a ceiling vehicle) as described above and a certain / said structure (particularly a ceiling structure) exhibiting a plurality of profiles (particularly T-profiles) defining a certain / said raster of the structure, the raster of the relative arrangement of the suspended support elements corresponds to the raster of the structure, a subset of the suspended support elements (i.e. the suspended support elements temporarily engaging the profiles) are arranged / configured to be guided (particularly rolled) along the profiles in a (first) spatial direction defined by the structure, the locomotion of the vehicle thereby having at least two degrees of freedom, which provides the above-mentioned advantages, in particular in view of an optimized form-fit at the bonding interface between the suspended support elements and the structure.

[0054] According to one embodiment, the ceiling structure exhibits a number of profiles (in particular T-profiles) defining a certain / respective raster of the ceiling structure, and the ceiling vehicle exhibits a number of further suspended holding elements (of a second type) that suspend the ceiling beak together with the suspended holding element (of a certain / respective first type), the suspended holding element and the further suspended holding element fixing / blocking the ceiling vehicle in the ceiling structure with respect to the driving / moving direction (second spatial direction). This can further increase the security and stability level. In such an arrangement, the at least one drive unit preferably exhibits a certain / respective first circumferential track (which may for example be provided / defined by a chain) and two second circumferential tracks, one of the second circumferential tracks being arranged such that its shape / contour is arranged asymmetrically with respect to the shape / contour of the other / corresponding second circumferential track. Such an arrangement is likewise preferred for advantageously positioning and aligning both the suspended holding element and the further suspended holding element by one drive unit.

[0055] According to one embodiment, the T-profiles (or any other suitable type of profile rail) each present at least one power rail, and the ceiling vehicle is configured for (actively) driving at least one drive unit by energy provided by the power rail, in particular by current collectors provided in the suspended holding elements. This can also facilitate the energy supply regardless of any relative position or time / duration of operation. Alternatively, the at least one drive unit can provide itself with energy (e.g. electrical energy), for example by an on-board battery.

[0056] The above-mentioned object is likewise solved by a method for suspending / suspending a crawler type vehicle, in particular a crawler type ceiling vehicle as described above, to / from a ceiling structure for head-on suspension and movement from the ceiling structure (in particular for actively driving the crawler type ceiling vehicle as well), the ceiling vehicle being suspended by a plurality of suspension elements connecting the ceiling vehicle to the ceiling structure, the circumferential guiding / driving movement being defined by first and second circumferential tracks (12a, 12b) housing first and second circumferential tracks having different circumferential shapes / contours (e.g. For example, the circumferential guiding / driving movement is provided by at least one drive unit housing a first and a second circumferential track, the suspended support elements are attached to 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 when the suspended support elements are guided along the circumferential track by the circumferential movement (guiding / driving movement), the ceiling vehicle can move along the ceiling structure by detaching a subset of the plurality of suspended support elements from the ceiling structure and coupling them within the ceiling structure, respectively. This provides the advantages mentioned above, in particular in view of the high degree of autonomy (mobility) and security of any movement along the ceiling structure.

[0057] The above-mentioned object can be solved similarly by a method for providing a two-dimensional crawler-like movement or two-dimensional positioning by a crawler-type ceiling vehicle, in particular by the crawler-type ceiling vehicle described above, which is suspended upside down in a ceiling structure defining a first spatial direction, a plurality of suspended support elements which suspend and support the ceiling vehicle are temporarily coupled to the ceiling structure such that the suspended support elements can be moved (e.g. rolled, slid) along the ceiling structure in said first spatial direction, and the circumferential guiding / driving movement is achieved by at least one drive unit (in particular crawler-track-like) which accommodates a first circumferential track and a second circumferential track. wherein the suspended retention element is attached to a first circumferential track at a first predefined longitudinal position corresponding to a raster defined by the ceiling structure in a second spatial direction of said spatial direction, and the suspended retention element engages with a second circumferential track at a second predefined longitudinal position, the first and second tracks having different shapes / contours, and the suspended retention element is separated from and coupled within the ceiling structure by a / the circumferential guiding / driving movement of at least one drive unit or track, respectively, and during the circumferential guiding / driving movement the first and second tracks remain in a (fixed) relative arrangement configuration, in particular a parallel arrangement configuration, relative to each other.

[0058] The above stated object can likewise be solved by a method for providing a crawler-like locomotion or positioning by a crawler type vehicle coupled to a structure having a predefined raster, in particular by a crawler type vehicle as described above, wherein a plurality of suspended holding elements of the vehicle are temporarily coupled to the structure, and the circumferential guiding / driving movement is provided by at least one drive unit (in particular crawler track-like) which accommodates a first circumferential track and a second circumferential track having a circumferential shape / contour different from the first circumferential track at least in the curved section of the track(s), and the suspended holding elements are adapted to move the structure in a manner such that the first circumferential track is supported by the first drive unit (in particular crawler track-like) which accommodates a first circumferential track and a second circumferential track having a circumferential shape / contour different from the first circumferential track at least in the curved section of the track(s). The suspended retention elements are attached to a first circumferential track at a predefined first longitudinal position corresponding to a raster, and the suspended retention elements are aligned / oriented by a second circumferential track at a predefined second longitudinal position corresponding to a raster of the structure and respectively different from the corresponding first longitudinal position, and a moving movement or positioning of the vehicle is provided to move the vehicle along the structure in at least one spatial direction based on a circumferential guiding / driving movement that includes / causes a subset of the plurality of suspended retention elements to separate from and couple into the structure, respectively, when the suspended retention elements are guided along the curved section of the circumferential track by the circumferential movement.

[0059] The above stated object may likewise be solved by a method for providing a crawler-like locomotion or positioning by a crawler type vehicle coupled to a structure having a predefined raster, in particular by a crawler type vehicle as described above, wherein a plurality of suspended retaining elements of the vehicle are temporarily coupled to the structure, and a separation / coupling kinematics comprising a first circumferential track and a second circumferential track having a different circumferential shape / contour than the first circumferential track at least in the curved section of the track(s) is provided, when guiding / driving the suspended retaining elements along the curved section of the circumferential track, in particular at least one drive unit accommodating the first and second circumferential tracks. (in particular, crawler track-like) respectively, which allows a subset of the suspended support elements to be separated / coupled from / to the structure, the suspended support elements being coupled to a first circumferential track at a predefined first longitudinal position corresponding to the raster of the structure and the suspended support elements being guided in / by a second circumferential track at a respective second longitudinal position that is longitudinally offset with respect to the respective first longitudinal position, and the separation / coupling kinematics providing both a first (vertical) movement perpendicular to the movement / driving direction and a second movement for pivoting each suspended support element as the suspended support elements are guided along a certain / relevant (temporary) curved section of the circumferential track by the circumferential guiding / driving movement.

[0060] According to one embodiment, the circumferential motion is transmitted / transferred by a suspended retaining element that temporarily engages the ceiling structure. This also allows any force and thrust to be distributed by the suspended retaining element that temporarily engages the ceiling structure. In other words, scaling can be easily done with the length of the vehicle. It should be noted that the action can be provided by the (respective) drive unit(s) and only the reaction is provided by the ceiling structure. There is no need for any active components or drives acting in the ceiling structure.

[0061] According to one embodiment, the guiding / driving movement is provided by a first and a second drive unit, the first drive unit providing a circumferential movement of a first subset of the suspended holding elements on a first closed-loop trajectory (particularly in a first direction) and the second drive unit providing a circumferential movement of a second subset of the suspended holding elements on a second closed-loop trajectory (particularly in a second direction, the direction of movement of which is optionally the same or different from the first closed-loop trajectory, in particular opposite to the first closed-loop trajectory). This arrangement likewise favors a secure method of coupling, the vehicles can be fixed in different spatial directions.

[0062] According to one embodiment, the circumferential guiding / driving motion is a passive guiding motion responsive to an external actuation on the vehicle, for example provided by an external pushing or driving force that may be transmitted to the vehicle via at least a lateral surface of the vehicle or at least one drive unit. In other words, the vehicle is not necessarily driven by itself, rather the vehicle may also be indirectly driven by external means, for example by a person exerting a pushing / pulling force on the vehicle.

[0063] The above-mentioned object is likewise solved by a computer program comprising instructions for causing a computer to carry out the steps of the above-mentioned method when the program is executed by the computer, which provides the above-mentioned advantages, in particular in view of the remote control of a vehicle.

[0064] The above-mentioned object is also solved by the use of at least one crawler-type drive unit, which accommodates first and second circumferential tracks with different circumferential shapes / contours, in particular for suspending / holding and, optionally, also actively driving a crawler-type ceiling vehicle, in particular for suspending / holding and, optionally, also actively driving a crawler-type ceiling vehicle, in order to move it upside down in a ceiling structure, in the above-described method, the ceiling vehicle being The well vehicle is suspended by a plurality of suspended support elements that couple to the ceiling structure, the suspended support elements being mounted on a first circumferential track at a predefined first longitudinal position corresponding to a raster defined by the ceiling structure, and a / the circumferential guiding / driving motion is provided by at least one drive unit to separate a subset of the plurality of suspended support elements from and couple to the ceiling structure, respectively, so that the vehicle moves along the ceiling structure when the suspended support elements are guided / driven along the circumferential track. This provides the above-mentioned advantages, especially considering that it also allows for a simple and cost-effective ceiling construction. In other words, at least one crawler type drive unit provides both the separation / coupling kinematics and the suspension support of the vehicle at the same time (simultaneously). In that respect, the use of battery technology (embedded in the vehicle to supply energy to the vehicle, e.g., to power the on-board controller, hoist(s), and motor(s) for movement) can make the vehicle even more autonomous.

[0065] The above mentioned object is likewise solved by the use of at least one drive unit (in particular crawler track-like) housing first and second circumferential tracks for providing at least one-dimensional crawler-like locomotion movement along / in a ceiling structure, the first and second tracks being arranged firmly relative to one another, in particular in a crawler type vehicle suspended and supported by a plurality of suspended support elements, head-on in the (ceiling) structure, the suspended support elements providing the tracks with a circumferential guiding / driving movement (in particular drive unit) by the at least one drive unit. When providing a circumferential guiding / driving movement (synchronous movement for both tracks of the unit), the circumferential tracks have different shapes / contours from each other at least in the curved sections of the tracks such that when providing a circumferential guiding / driving movement, a subset of the suspended holding elements are respectively separated from the structure and coupled into the structure, in particular, only a subset includes (those) suspended holding elements that are temporarily positioned in a / each of the curved sections of the track, in particular for / in the method described above, in particular the use of at least one drive unit in the vehicle described above.

[0066] The above mentioned object is likewise solved by the use of at least one drive unit housing first and second circumferential tracks for (actively) providing at least one-dimensional crawler-like locomotion along / in a ceiling structure, the first and second tracks being arranged firmly relative to one another, in particular in a crawler type vehicle suspended and held by a plurality of suspended holding elements arranged for coupling the vehicle to the structure, head-on in the (ceiling) structure, the suspended holding elements being guided by the circumferential track when providing a crawler type circumferential guiding / driving movement relative to / by the tracks, the suspended holding elements being guided by the first circumferential track at a predefined first longitudinal position corresponding to the raster of the structure. and the suspended retention elements are aligned / oriented by a second circumferential track at predefined second longitudinal positions which correspond to the raster of the structure and which respectively differ from the corresponding first longitudinal positions, the circumferential track having shapes / contours which differ from each other at least in the curved section of the track such that when providing a circumferential guiding / driving movement, a subset of the suspended retention elements are respectively separated from and coupled within the structure, thereby moving the vehicle along the structure in at least one spatial direction, in particular where only a subset comprises (those) suspended retention elements which are temporarily positioned in a / each of the curved sections of the track, in particular for / in the method described above, in particular the use of at least one drive unit in the vehicle described above.

[0067] Each drive unit housing a track can also provide (passive) decoupled / coupled kinematics for the suspended support elements, i.e. actively driving the vehicle is one of several options for implementing the invention.

[0068] These and other aspects of the invention will be apparent from and elucidated with reference to the embodiments described hereinafter. Individual features disclosed in the embodiments can constitute aspects of the invention alone or in combination. Features of different embodiments can be carried over from one embodiment to another. [Brief description of the drawings]

[0069] [Figure 1A] 1 is a perspective view of components of a ceiling vehicle according to one embodiment. [Figure 1B] 1 is a perspective view of components of a ceiling vehicle according to one embodiment. [Figure 1C] 1 is a perspective view of components of a ceiling vehicle according to one embodiment. [Figure 1D] 1 is a perspective view of components of a ceiling vehicle according to one embodiment. [Figure 1E] 1 is a perspective view of components of a ceiling vehicle according to one embodiment. [Figure 1F] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1G] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1H] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1J] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1K] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1L] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1M] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1N] 2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 1O]2 is a side view of components of a ceiling vehicle according to one embodiment. [Figure 2A] 1 is a perspective view of the arrangement of suspended support elements and their respective placement along a circumferential track of a ceiling vehicle according to one embodiment; FIG. [Figure 2B] 1 is a perspective view of the arrangement of suspended support elements and their respective placement along a circumferential track of a ceiling vehicle according to one embodiment; FIG. [Figure 2C] 1 is a perspective view of the arrangement of suspended support elements and their respective placement along a circumferential track of a ceiling vehicle according to one embodiment; FIG. [Figure 3A] FIG. 2 is a detailed perspective view of a suspended support element of a ceiling vehicle according to one embodiment. [Figure 3B] FIG. 2 is a detailed perspective view of a suspended support element of a ceiling vehicle according to one embodiment. [Figure 3C] FIG. 2 is a detailed perspective view of a suspended support element of a ceiling vehicle according to one embodiment. [Figure 4A] 13 is a perspective view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4B] 13 is a side view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4C] 13 is a side view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4D] 13 is a side view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4E] 13 is a side view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4F] 13 is a side view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 4G] 13 is a perspective view of a component of a ceiling vehicle according to a further embodiment; FIG. [Figure 5A] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle according to one of the embodiments. [Figure 5B] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle according to one of the embodiments. [Figure 5C] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle according to one of the embodiments. [Figure 5D] 1A-1C are different perspective views of an exemplary movement path of a ceiling vehicle according to one of the embodiments. [Figure 6A] FIG. 13 is a side view of components of a ceiling vehicle according to a further embodiment (full suspension support). [Figure 6B] FIG. 13 is a side view of a component of a ceiling vehicle according to a further embodiment (suspension support for vertical inertial forces and lateral forces). [Figure 7A] 1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle according to one of the embodiments. [Figure 7B] 1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle according to one of the embodiments. [Figure 7C] 1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle according to one of the embodiments. [Figure 7D] 1A-1C are different perspective views of an exemplary motion path (motion orientation) of a ceiling vehicle according to one of the embodiments. [Figure 8A] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment (with counter bearing). [Figure 8B] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment (with counter bearing). [Figure 9A] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment (without counter bearing). [Figure 9B] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment (without counter bearing). [Figure 10A] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment. [Figure 10B] FIG. 13 is a perspective view of a ceiling vehicle according to a further embodiment. [Figure 11A]11 is a detailed perspective view of the suspended support elements (and their suspended supports) of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10. FIG. [Figure 11B] 11 is a detailed perspective view of the suspended support elements (and their suspended supports) of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10. FIG. [Figure 11C] 11 is a detailed perspective view of the suspended support elements (and their suspended supports) of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10. FIG. [Figure 14A] 11 is a detailed perspective view of the suspended support elements (and their suspended supports) of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10. FIG. [Figure 14B] 11 is a detailed perspective view of the suspended support elements (and their suspended supports) of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10. FIG. [Figure 12A] 11 is a detailed side view of a suspended support element of a ceiling vehicle according to an embodiment, particularly according to the embodiment shown in FIG. 10. [Figure 12B] 11 is a detailed side view of a suspended support element of a ceiling vehicle according to an embodiment, particularly according to the embodiment shown in FIG. 10. [Figure 13] 11 is a detailed perspective view of a ceiling vehicle according to an embodiment, particularly according to the embodiment shown in FIG. 10. [Figure 15] 11 is a side view of components of a drive unit of a ceiling vehicle according to an embodiment, particularly according to the embodiment shown in FIG. 10. [Figure 16A] 11 is a perspective view of a portion of a detail of a suspended support element of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10 . [Figure 16B] 11 is a perspective view of a portion of a detail of a suspended support element of a ceiling vehicle according to an embodiment, in particular according to the embodiment shown in FIG. 10 . DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0070] Initially, reference will be made in general terms and specific reference will be made to the respective figures.

[0071] The invention provides a vehicle 10, in particular a ceiling vehicle 10, having at least one drive unit 11 (in particular crawler-truck-like), in particular a first drive unit 11a and a further (second) drive unit 11b and optionally also a further (third) drive unit 11c. The vehicle 10 is configured for moving along a ceiling structure 1 exhibiting a predefined raster 1a, for example defined by a T-profile, a T-rail 1.1 or any such profile rail, respectively. The profile 1.1 exhibits at least one wheel tread 1.2, and optionally a power rail 1.3 providing an energy supply may also be arranged on the profile. The vehicle 10 is coupled to the structure 1 and is suspended by a number of suspension support elements 13 (for example each including at least one element of a chain). The crawler type ceiling vehicle arrangement 100 consists of at least one ceiling vehicle 10 and at least one ceiling structure 1.

[0072] At least one drive unit 11 provides a 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 shapes differ at least in the curved sections of the tracks. Each track 12a, 12b exhibits a parallel / straight section 12p (respectively, two parallel sections) and a redirection / curved section 12r (respectively, two curved sections). The lateral area, surface shell 11.2, respectively, of the at least one drive unit is preferably flat, planar, horizontal, respectively, on each side. Such a configuration is likewise preferred in view of the interconnection of several drive units.

[0073] According to an embodiment, the vehicle 10 presents first and second circumferential tracks 12a, 12b and at least one further (second) drive unit 11b housing a number of further suspended retaining elements 13b arranged in mirror image with respect to the suspended retaining elements 13 of the first drive unit 11a. The first and second drive units 11a, 11b can provide a movement movement (e.g. by synchronous guiding / driving movement of / with respect to the suspended retaining elements), the drive units 11a, 11b can be interconnected, for example, by a cross beam or similar. Similarly, the first and second drive units 11a, 11b can provide different driving movements, for example to enforce non-linear, but curved / curved, movement movements. The desired / required movement movement can be controlled by a control unit 30, which can be coupled to at least one motor or actuator 17 (which is optional). In particular, the vehicle may be provided as a kind of passive vehicle whose locomotion is induced by external forces; in such a configuration, the kinematics of the present invention allow to suspend the vehicle but not to actively drive it for any locomotion. The drive section may also comprise at least one gear unit 18 configured to interact with the track(s) and at least one energy storage unit 19. A sensor arrangement 40, for example comprising position and speed sensors and / or weight sensors and / or gyroscopes, may provide sensor data to the control unit.

[0074] Each suspended support element 13 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 support element 13 (bearing point P13). The first and second pulleys are arranged on a lever arm 13.5 at a distance from / relative to each other (y offset, longitudinal extension y13 of the lever arm), respectively bearing point P13, and the wheel 13.3 is arranged on a protruding section, respectively suspended support arm 13.6 (z offset). At the free end of the suspended support arm, optionally respectively current collector, power slider 13.4 (conductive slider for energy transfer) is provided in an arrangement geometrically corresponding to a / the power rail 1.3 of the / the respective profile 1.1. The multiple suspended support elements 13 of a / the respective drive unit 11 can be interconnected via a longitudinal connection element 15, which can ensure a closed loop 15a of the mutually associated suspended support elements. To this end, the suspended retaining elements 13 are connected to the respective circumferential tracks.

[0075] In other words, the suspended holding element preferably presents a wheel 13.3 which performs a rolling movement on the profile, allowing a movement which is perpendicular to the movement predefined and caused by the track, the wheel being positioned perpendicular to the first and second pulleys. Optionally, the wheel can be motorized, for example by a further actuator or motor. The first pulley 13.1 engages the first or second circumferential track, thereby following that track as well as the second pulley 13.2 (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.

[0076] Preferably, the structure 1 and its raster 1a are defined by profiles 1.1 arranged parallel to and having a similar distance (pitch) to adjacent profiles. Each profile (e.g. T-profile, C-profile, L-profile, I-profile) is preferably configured to support a geometry / surface(s) made to interact with the wheel(s) of the suspended holding element, and a series of such profiles preferably provides a planar surface at least in sections.

[0077] By means of the circumferential track and the suspended support elements, the (respective) drive unit provides a separation / coupling kinematics 20 that ensures both a vertical movement kinematics 20a and a non-circular pivoting movement kinematics 20b. Thereby, separation / coupling of each suspended support element can be brought about by a circumferential movement along the track, without the need for any axial telescopic movement within each suspended support element. That is to say, the suspended support elements can be designed purely as mechanical engineering units.

[0078] In particular, in terms of a logistic task, the vehicle 10 provides a towing mechanism 51 (in particular having a rope winch) and can exhibit at least one hoist unit 50 having at least one transmission means 53 (in particular a rope).

[0079] In the following, the kinematics provided by the guide / drive motion along the circumferential track are generally described, first: The first pulley 13.1 of each suspended retaining element 13 rotates about a first pulley axis X13.1 and defines a first induction point G13.1 (connecting the first track and the respective suspended retaining element) and vice versa, the corresponding point of the corresponding circumferential track defines for each suspended retaining element its first induction point G13.1. Similarly, the second pulley 13.2 of each suspended retaining element 13 rotates about a second pulley axis X13.2 (preferably aligned in parallel) and defines a second induction point G13.2 (connecting the second track and the respective suspended retaining element). When referring to the kinematics of each suspended support element, the instantaneous center of rotation Cr of each suspended support element is defined by the axis X13.1 of the first pulley 13.1 coupled to the first track 12a, the coupling / attachment / fixing can be ensured, for example, in the axial section between one / the suspended support arm 13.6 and the first pulley 13.1 (see FIG. 3B). The two tracks 12a, 12b are arranged relative to another such that the contact / bearing point / area P13 of the respective suspended support element 13 can be fastened or hung on the ceiling structure. According to a preferred arrangement, the wheel 13.3 of each suspended support element rotates around a wheel axis Y13.3 that is preferably aligned perpendicularly to the first and second pulley axes X13.1, X13.2. Each suspended holding element 13 is coupled to the tracks 12a, 12b at a predefined position, i.e. at a predefined first longitudinal position y12a by the first pulley 13.1 and at a predefined second longitudinal position y12b by the second pulley 13.2, respectively, when driving the tracks and guiding the suspended holding element along the tracks, so that the bearing point P13 at the free end of the suspended holding element 13 is guided according to the relative position / contour and distance of the tracks.

[0080] In the figure, (x) designates a / the first spatial direction (in particular the transverse direction, in particular the direction of the longitudinal extension of the T-profile), (y) designates a / the second spatial direction (in particular the longitudinal direction or the temporary drive direction of the drive unit), and (z) designates a / the third spatial direction (in particular the vertical direction).

[0081] Figure 1A shows a (ceiling) vehicle 10 showing drive units 11 and suspended support elements 13, a subset of which are temporarily coupled to a / the ceiling structure 1, i.e. a T-profile. The suspended support elements 13 are guided (and, optionally, also actively driven) along two circumferential tracks (not shown, see Figure 1C), and the separation / coupling is performed within curved sections of the tracks.

[0082] The vehicle 10 shown in Figure 1A is suspended / suspended in a ceiling structure. However, the vehicle 10 may similarly be suspended on the ground or in a similar structure disposed on a wall. The vehicle is not necessarily provided in the form of a ceiling vehicle, rather Figure 1A illustrates application / use in a ceiling structure.

[0083] 1B, 1C, 1D, 1E show the separate components of each drive unit 11, 11a, 11b, 11c. At least one drive 17 (optional, i.e. can be provided if an active drive movement for the suspended retaining elements is desired) provides a circumferential movement of the tracks 12a, 12b, in particular by means of at least one gear unit 18 engaging the tracks. It is shown that a separation / coupling kinematics is provided in the curved section 12r of the first and second circumferential tracks 12a, 12b. In contrast, in the parallel section(s) 12p, the suspended retaining elements 13 remain in a predefined relative position in / with respect to the ceiling structure. In that section, the axis Y13.3 of the wheel 13.3 of the respective suspended retaining element 13 is aligned parallel to the parallel section(s) 12p of the tracks.

[0084] If the vehicle shows several drive units 11a, 11b, some of these components, in particular the suspended support elements (see FIG. 4A), may be arranged similarly in a mirror image, so that any detailed description in the figures relating to any separate / single component of the respective drive unit can also describe a similar configuration of any further drive units or any further redundant components.

[0085] 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 (in particular in the plane yz and around the x-axis and the instantaneous centre of rotation Cr shown in FIG. 1F) of the bearing point P13 of the respective suspended retaining element 13 of the suspended retaining arm 13.6 (projecting section) and the wheel 13.3, respectively. Thus, both the vertical movement kinematics 20a and the non-circular pivoting movement kinematics 20b can be provided by hard / rigid components guided / driven along two circumferential tracks with different shapes / contours.

[0086] 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.

[0087] 2A, 2B, 2C show a number of suspended support elements 13 interconnected by longitudinal connecting elements 15, thereby ensuring a closed loop 15a of interrelated suspended support elements. The suspended support elements 13 are coupled to respective circumferential tracks 12a, 12b by first and second pulleys 13.1, 13.2.

[0088] 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.

[0089] The tracks 12a, 12b may be made of any kind of rail guide system components, including, inter alia, at least one chain, belt, cable, or similar traction or transmission means. The tracks 12a, 12b may comprise different guide / rail sections joined together, each of which may be straight or exhibit a different radius of curvature. Similarly, the tracks 12a, 12b may be formed / made by / on a single continuous / coherent rail.

[0090] 3A, 3B, 3C show some more details of the suspended retaining element 13 and the connecting element 15. For example, the connecting element 15, in the case of the first pulley 13.1, is coupled to a lever arm 13.5 at an axis X13.1, thereby facilitating a pivoting movement about that axis (respectively about the respective instantaneous centre of rotation Cr).

[0091] Figures 4A, 4B, 4C, 4D, 4E, 4F, 4G show an embodiment of the vehicle 10 showing three drive units 11a, 11b, 11c which may be related / connected to each other, for example, by a cross beam or the like. In contrast to the configuration of the first drive unit 11a, the suspended retaining elements 13b of the second drive unit 11b are arranged in a mirror image inversion, whereas the suspended retaining elements 13 of the third drive unit 11c are arranged in the same way as the suspended retaining elements 13 of the first drive unit 11a. As can be seen in Figures 4E, 4F, that configuration indeed allows a good security and stability level (both types of suspended retaining elements 13, 13b are guided along the T-profile, but on different sides of the T-profile). Alternatively, the vehicle 10 can only be equipped with two drive units 11a, 11b.

[0092] 5A, 5B, 5C, 5D show different types of locomotion that can be provided by the vehicle 10 described herein. As already explained further above, the present invention allows two-dimensional locomotion in both a first spatial direction (x) (dashed arrow) corresponding to the longitudinal direction / extension of the T-profile 1.1 and a second spatial direction (y) (dotted arrow) corresponding to the drive direction, track direction / extension, respectively.

[0093] It should be mentioned that a person skilled in the art knows that the T-profile shown in the figure can be provided as well as other types of profile rails, i.e. the mechanism / kinematics of the present invention is not limited to the use of T-profiles only, rather other profiles providing suitable suspension support for the suspension support elements and optionally also guiding tracks for the wheels can be used.

[0094] In the following, further aspects / details of the embodiments of the invention are described in more detail. For any reference signs or elements / components or aspects not explicitly mentioned / described, reference is made to the above-mentioned embodiments, respectively. The embodiments described in the following paragraphs show a first drive unit with a chain drive, where a first circumferential track is provided with a chain (having a closed loop of interrelated chain elements arranging corresponding suspended retaining elements and optionally also counter-bearing elements), the longitudinal connection elements of which first drive unit are provided in the form of chain elements.

[0095] FIG. 6A shows a vehicle exhibiting means for avoiding any relative movement of the vehicle with respect to the structure (fully suspended, in particular also taking into account any relative movement perpendicular / vertical to the structure), while FIG. 6B shows an arrangement which at least ensures the security of the suspended position taking into account vertical inertial and lateral forces (suspended with no counter-bearing).

[0096] Figures 7A, 7B, 7C, 7D show a ceiling vehicle arrangement 100 with a ceiling vehicle 10 showing three drive units 11a, 11b, 11c. As already explained further above, the invention allows two-dimensional locomotion movements in both a first spatial direction (dashed arrow) corresponding to the longitudinal direction / extension of the T-profile 1.1 and a second spatial direction (dotted arrow) corresponding to the driving direction of the track, respectively the direction / extension of the track. Depending on the structure / or orientation of the T-profile 1.1, the first and / or second spatial direction can also include a vertical (z) component (inclined plane / level), as shown in Figures 7C, 7D.

[0097] Therein, the coordinates x, y shown in the figure in terms of an inclined plane refer to the longitudinal extension (x) of the (ceiling) structure.

[0098] The vehicle 10 shown in Fig. 7A is suspended in a ceiling structure. Nevertheless, the vehicle 10 may similarly be suspended in a similar structure located on the ground or on a wall. The vehicle is not necessarily provided in the form of a ceiling vehicle, rather Fig. 7A shows an application / use in a ceiling structure. The same is true for any further figures of the present disclosure that show an application / use in a ceiling structure, merely by way of example.

[0099] 8A, 8B show some more details of the ceiling vehicle 10 showing three drive units 11a, 11b, 11c arranged laterally relative to each other, the (central) drive unit 11b arranged between the drive units does not show a suspended retaining element but a counter bearing 16, and Figs. 9A, 9B show some more details of the ceiling vehicle 10 showing two drive units 11a, 11c (each without a counter bearing). In the embodiment shown in Fig. 8, the second drive unit 11b provides a counter bearing 16 that is coupled to the chain 15a, i.e. the first circumferential track provides the positioning and movement of the counter bearing 16. It should be noted that in the embodiment shown in the figures, these counter bearings 16 are intended to interfere with the structure only on the face side, and therefore no separation / coupling kinematics are provided in terms of these counter bearings 16. There is therefore no need to provide any further second circumferential track in / for the centrally arranged second drive unit 11b. Therefore, in this embodiment, the second drive unit 11b, which is centrally located and which houses (only) the counter bearing, only represents the / first circumferential track.

[0100] 10A, 10B show some details of the drive units 11, 11b which do not house a suspended retaining element but only a counter-bearing.

[0101] 11A, 11B, 11C, 12A, 12B, 13, 14A, 14B show some kinematic aspects of the drive unit that accommodates / positions / guides the suspended retaining element 13 and the further suspended retaining element 13b together. FIG. 13 also shows that one (respective) drive unit 11 can comprise a first circumferential track (here provided / defined by the chain 15a) and two second circumferential tracks 12b, these two second circumferential tracks 12b being arranged asymmetrically, i.e. the shape / contour XZb is asymmetric. Such an arrangement likewise makes it possible to provide separation / coupling kinematics for both the plurality of suspended retaining elements 13 and the plurality of further suspended retaining elements 13b, in particular in the same profile rails on opposite sides, in particular so that both types of suspended retaining elements 13, 13b can interact and engage, respectively, in the same (but asymmetric) way as in the structure 1. Such an arrangement can already ensure a high security and stability level with one single drive unit 11. Scaling of drive units (to two, three or even a higher number) is thus feasible in an even more flexible manner and the individual arrangements can be optimized for each application.

[0102] It should be noted that the first circumferential track, a / the chain may / can provide guiding and driving both the suspended retaining element 13 and the further suspended retaining element 13b, respectively, and that both types of suspended retaining elements 13, 13b can be coupled to the chain structure (see FIG. 16B) by a protruding axial section (guiding bolt or shaft) 13.7, which protrudes relative to the first pulley 13.1, in particular along its axis X13.1. In particular, the suspended retaining element 13 and the further suspended retaining element 13b are arranged with a longitudinal offset (y) and are mirror-imaged on both sides of the chain 15a. In particular, the longitudinal distance (y) of each suspended retaining element 13 and each further suspended retaining element 13b of each pair of suspended retaining elements 13, 13b corresponds to the transverse (y) extension of each element / profile of the (ceiling) structure.

[0103] FIG. 15 also shows the first circumferential track, respectively the guiding plank or rail 14 which allows for more precise guiding of the chain.

[0104] Figures 16A, 16B show further embodiments of the suspended retaining elements 13, which, in comparison with the suspended retaining elements described above in view of Figure 3, show two wheels or pulleys 13.3 arranged and configured for interaction with the structure 1, and which can also show a further pulley suspended about an axis extending in the z-direction (shown in Figure 16B), which optional further pulley can ensure further / improved support and guidance for the structure.

[0105] In Figures 6A, 10A, 11C the contact point distances Δd provided by the different projection distances d1, d2 of the contact point P13 of the suspended retaining element and of the contact point of the counter-bearing (free end, in particular the wheel / pulley) are respectively shown by reference to their relative positioning in the (ceiling) structure. [Explanation of symbols]

[0106] 1 Structure, e.g. ceiling structure 1a Raster defined by structure 1.1 Profile rails, in particular T-profiles and T-rails, respectively 1.2 Wheel tread 1.3 Power Rails 10 Vehicles, especially ceiling vehicles 11 Drive unit (especially crawler truck) 11.1 Drive Mechanism 11.2 The lateral area and surface shell of each of the drive units 11a First drive unit, in particular a chain drive unit 11b Further (second) drive unit 11c Further (third) drive unit 12 Circumferential Tracks 12a first circumferential track, in particular with chains 12b Second circumferential track 12p Parallel / Straight Section of Track 12r Track redirection section / curved section 13 respectively, the suspension element and the chain element 13b Further Suspension Retention Elements 13.1, 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 Guiding Plank or Rail 15 Longitudinal connecting elements, in particular chain elements 15a A closed loop of interrelated suspended support elements, in particular a chain 16 Counter bearing 16.1 Wheels and pulleys 17 Motor or actuator (optional), especially chain drive 18 Gear Unit 18a Further Gear Units 18b Chain tensioning device 19 Energy Storage Unit 20 Separate / Combine Kinematics 20a Vertical Motion Kinematics 20b Non-circular turning kinematics 30 Control Unit 40 Sensor arrangement configuration 50 Hoist Unit 51 Traction mechanisms, in particular rope winches 53 Means of transmission, in particular ropes 100 Crawler type (ceiling) vehicle configuration Cr Instantaneous rotation center d1 protruding distance of the contact point of the suspended support element d2: The protruding distance of the contact point of a / the counter bearing Δd Contact point distance G13.1 First guide point or axis (connecting the first track and the suspended support element) G13.2 Second guide point or axis (connecting the second track and the suspension support element) P13 Contact / bearing points / areas of suspended support elements with ceiling structure X13.1 First pulley shaft X13.2 Second pulley shaft XZa First circumferential track shape / contour XZb Second circumferential track shape / contour Y13.3 Wheel axis y12a: first predefined vertical position y12b Predefined second vertical position y13 Vertical extension of lever arm x the first spatial direction, in particular the direction of the longitudinal extension of the T-profile y second spatial direction, in particular the longitudinal or drive direction z The third spatial direction, specifically the vertical direction

Claims

1. In particular, the crawler-type vehicle (10) is configured to move while suspended upside down in structure (1), and the vehicle (10) is A plurality of suspension and holding elements (13, 13b) configured to suspend and hold a vehicle (10) and to connect the vehicle (10) to a structure, The present invention relates to at least one drive unit configured for circumferential motion, comprising at least one drive unit (11, 11a, 11b, 11c) housing a first circumferential track (12a) and a second circumferential track (12b) having a different circumferential shape / contour from the first circumferential track. The suspension elements (13, 13b) are attached to a first circumferential track (12a) at a predetermined first longitudinal position corresponding to a predetermined raster, and the vehicle (10) is a crawler-type vehicle configured to move along the structure (1) by separating subsets of the suspension elements (13, 13b) from the structure (1) and joining them within the structure (1) as the suspension elements (13, 13b) are guided along the two circumferential tracks (12a, 12b) by circumferential motion.

2. The crawler-type vehicle (10) according to claim 1, wherein at least one drive unit (11, 11a, 11b, 11c) of the crawler-type vehicle (10) is configured to enable a closed-loop trajectory of the suspension holding elements (13, 13b).

3. The crawler-type vehicle (10) according to claim 1, wherein the first and second circumferential tracks (12a, 12b) are shaped such that the suspension holding elements (13, 13b) separate from / connect to the ceiling structure only when passing through a curved section of the track.

4. The suspension elements (13, 13b) are securely attached to / connected to the first circumferential track (12a) by the first pulley, and the suspension elements (13, 13b) are each guided within the second circumferential track (12b) by the second pulley, the first and second pulleys are preferably positioned on the lever arms of the respective suspension elements, each suspension element is preferably L-shaped, and / or each suspension element is positioned longitudinally relative to the first pulley on the lever arm of the respective suspension element, and the suspension elements are held by the first and second pulleys A crawler-type vehicle (10) according to claim 1, coupled to two tracks, and / or each suspension-holding element indicates a lever arm housing / supporting a pulley guided by a second track, the pulley being positioned at the free end of the lever arm, and in a straight section of the track, the lever arm points at least approximately in the driving / movement direction, and / or the suspension-holding elements (13, 13b) are connected to one another by longitudinal connecting elements, in particular by longitudinal connecting elements connected to the axis of the first pulley of each suspension-holding element, thereby forming a closed loop of related suspension-holding elements (13, 13b) spaced apart from one another in a predetermined raster.

5. A crawler-type vehicle (10) according to claim 1, wherein a first circumferential track (12a) is provided / defined by a chain that shows a chain or forms a closed loop of interconnected chain elements, and / or the first circumferential track (12a) is defined by a chain connecting suspension holding elements (13, 13b), and / or the vehicle (10) shows a plurality of counter bearings that are specifically configured and positioned to interact with a (roof) structure at the front, and the plurality of counter bearings are preferably coupled to the first circumferential track (12a), and in particular to the chain elements of the first circumferential track.

6. The vehicle (10) shows a further drive unit housing further circumferential tracks (12a, 12b), and a plurality of further suspension elements (13b) are attached to the further circumferential tracks at predetermined longitudinal positions corresponding to predetermined rasters, and are configured to suspend and hold the vehicle (10) and connect the vehicle (10) to the structure such that the vehicle (10) is fixed to the structure in the reverse direction, and / or the vehicle (10) also shows further suspension elements (13b) to which the further circumferential tracks (12a, 12b) are attached, and the suspension elements (13) and further suspension elements (13b) temporarily engage with the structure (1). , fixing / blocking the vehicle (10) in the structure (1) with respect to the drive / movement direction and the reverse thereof, and / or, showing a further drive unit having the same configuration as the first drive unit but having a mirror-image arrangement configuration of further suspension retaining elements (13b) and further circumferential tracks (12, 12a, 12b), wherein the further suspension retaining elements (13b) are guided / driven in the opposite direction to the guidance direction of the suspension retaining elements (13) of the first drive unit, in particular, such that each suspension retaining element (13) and the further suspension retaining elements (13b) together are simultaneously separated / connected to / from the structure.

7. A crawler-type vehicle (10) according to claim 6, wherein at least one drive unit, in particular at least one crawler-type drive unit, is configured to unload each suspension element in an unloaded state from structure (1) so as to simultaneously provide both separation / combination kinematics for a subset of temporarily unloaded suspension elements (13, 13b) and suspension holding of the vehicle (10) by the subset of temporarily loaded suspension elements (13, 13b), and / or at least one drive unit is substantially planar in configuration, and / or the vehicle (10) shows at least two drive units arranged parallel to each other, and / or the circumferential tracks (12a, 12b) are each guided / driven in a two-dimensional plane.

8. A crawler-type vehicle (10) according to claim 1, wherein the vehicle (10) is configured to move in at least two spatial directions, namely a first spatial direction predetermined by the structure (1) and a second spatial direction defined by the induction / drive motion of at least one drive unit, the second spatial direction being perpendicular to the first spatial direction, preferably providing the vehicle with at least two-dimensional mobility, and / or each suspension element indicates at least one wheel configured to be guided along the structure, particularly on the wheel tread of each / corresponding profile of the structure, and / or at least one drive unit is coupled by at least three suspension elements (13, 13b), and / or each suspension element has an L-shape, the L-shape providing two arms defining the relative arrangement of the wheel and first and second pulleys of each suspension element.

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

10. The crawler-type vehicle arrangement configuration (100) according to claim 9, wherein each profile indicates 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 current collectors provided within suspension holding elements (13, 13b).

11. A method for suspending / holding a crawler-type vehicle (10) in and from a structure, particularly for moving the crawler-type vehicle (10) as described in claim 1 in an upside-down position from the structure, wherein the vehicle (10) is suspended by a plurality of suspension elements (13, 13b) connecting the vehicle (10) to the structure, and the circumferential guidance / driving motion is defined by first and second circumferential tracks (12a, 12b) having different circumferential shapes / contours, and the suspension elements (13, 13b A method wherein the vehicle (10) is attached to a first circumferential track at a predetermined first longitudinal position corresponding to a raster defined by the structure, and the vehicle (10) is suspended so that it can move along the structure (1) by separating a subset of the suspension elements (13, 13b) from the structure (1) and joining them within the structure (1), as the suspension elements (13, 13b) are guided along the circumferential track (12a, 12b) by circumferential motion.

12. The method according to claim 11, wherein circumferential motion is transmitted / transferred by suspension retaining elements (13, 13b) that temporarily engage with the structure, and / or circumferential motion is provided by first and second drive units (11a, 11b), the first drive unit (11a) providing circumferential motion of a first subset of suspension retaining elements (13, 13b) on a first closed-loop trajectory, and the second drive unit (11b) providing circumferential motion of a second subset of suspension retaining elements (13, 13b) on a second closed-loop trajectory.

13. The method according to claim 11, wherein the circumferential induction / driving motion is a passive induction motion to an external act on the vehicle, provided, for example, 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.

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

15. A method of using at least one crawler-type drive unit (11, 11a, 11b, 11c) housing first and second circumferential tracks (12a, 12b) having different circumferential shapes / contours, for suspending / suspending a crawler-type vehicle (10) in order to move it in an upside-down suspended position in a structure, and optionally, for actively driving it as well, particularly for suspending / suspending a crawler-type vehicle (10) according to any one of claims 1 to 8, wherein the vehicle (10) is connected to a structure by a plurality of suspension elements (13, 13b) Usage, wherein the suspension elements (13, 13b) are suspended and mounted on a first circumferential track at a predetermined first longitudinal position corresponding to a raster defined by the structure, and the circumferential induction / driving motion is provided by at least one drive unit (11, 11a, 11b, 11c) such that the vehicle (10) moves along the structure (1) by separating a subset of the suspension elements (13, 13b) from the structure (1) and joining them within the structure (1), respectively, when the suspension elements (13, 13b) are induced / driven along the circumferential track (12a, 12b).

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