A packaging machine system with multiple AGVs, and a method for controlling them.

Abstract

For a highly flexible packaging machine system (1), a transport system consisting of simple and inexpensive remotely controlled AGVs is used for transporting products (P), more precisely, primary packaging (1V), both between individual machine modules (MM1, MM2) that can be freely set up in the hall, and between possibly multiple work stations (AS1, AS2) within a machine module (MM1), instead of a conveyor system such as a conveyor belt or transport module permanently connected to the machine module (MM1, MM2). Even elevated walkways (22) for the AGVs can be set up and modified between rearranged machine modules (MM1, MM2) more easily than conveyor belts or transport modules, especially when they consist of individual modules.

Description

Detailed description of the invention

[0001] [explanation] I. Fields of Application The present invention relates to packaging machinery and equipment, and more specifically to a transport system within this equipment for products or for packaging containers that contain products.

[0002] II.Technical background Today, the typical purpose of packaging machinery is often to transform products delivered on a product conveyor by production machinery into packaging, such as cartons, at that very location, and this is done using so-called robotic lines.

[0003] For example, open primary packaging such as tray-shaped trays is assembled upstream from flat cardboard blanks, but is already inside the packaging machine and has three fixed dimensions. It usually flows on a container belt parallel to the product belt in the direction of the passage through the packaging machine.

[0004] Multiple transport robots are typically arranged in a front-to-back configuration as a handling unit, each picking up one or more products from a product conveyor and transporting them to a primary packaging, such as a tray, on a container conveyor.

[0005] Further downstream, these primary packs are often transferred in one or more layers into secondary packs, such as cartons with open tops, which is also usually done using transport robots.

[0006] Further downstream, such secondary packaging is often combined into tertiary packaging, for example, stacked on pallets, usually again using robots. The necessary handling processes are performed at individual work stations within the packaging line, such as tray separators, blank separators, carton erectors, carton closers, tray fillers, carton fillers, and palletizers.

[0007] In addition to the aforementioned product belts and / or container belts, i.e., conveyor belts, which generally extend across multiple sections of the entire length of the packaging line, the transport system for this purpose may also include carriages coupled to rails, which can be designed as guide devices that are physically or substantially invisible, and which also generally extend along the entire length of the packaging line.

[0008] In the latter solution, although the carriages can move independently back and forth along the guide rails, such a transport system is still relatively inflexible. This is because these carriages cannot overtake each other, cannot deviate from the guide rails, and are relatively expensive to purchase. As a result, the number of carriages used is limited as much as possible, and consequently, the carriages do not offer any significant mitigation options for the packaging located on them.

[0009] Specifically, when changes in work instructions occur that take the form of changes not only to the products being handled, but also to fundamental changes in processing or handling tasks relating to the products and / or packaging process, such known transport systems are unsuitable because they require complex modifications to the conveyor belts or guide rails, or even new setups within the packaging machinery.

[0010] Furthermore, these transport systems are unsuitable for the voluntary discharge of defective products or packaging from the packaging machine at various points, unless they are designed in this manner from the outset.

[0011] On the other hand, in production plants, so-called automated transport systems (AGVs) are known, in which automated transport vehicles (AGVs) transport products, such as components or assemblies, from warehouses to work stations, or often outside the secure machine racks of work stations, and between work stations.

[0012] Such AGVs are typically large and heavy, capable of carrying loads of 50 kg or more. However, above all, they are autonomous vehicles equipped with numerous sensors, their own onboard control systems, and often even onboard navigation with positioning based on the surrounding environment via onboard cameras and collision protection systems. While this allows for a higher level of central control systems, they are also expensive and heavy.

[0013] Such AGVs typically use sensors and reference points to automatically determine their spatial position, transmit that position to a central control system, which usually assigns transport instructions including a start point and destination, as well as a start time and destination time. However, intermediate navigation and collision avoidance are often left to the AGV's onboard control system.

[0014] However, for economic reasons alone, such upgraded AGVs are not suitable for the mass transport of relatively small and lightweight items, specifically within packaging machines and / or between individual work stations.

[0015] III. Description of the Invention a) Technical issues Therefore, an object of the present invention is to provide a packaging machine system with a highly flexible transport system having unmanned, rail-uncoupled transport vehicles, thereby enabling AGVs to be small, light, and simple enough to be used in many alternatives to known, rail-coupled transport systems, at least for transporting products or packaging within a packaging machine, and thus be manufactured cost-effectively. Another object is to provide a suitable method of operation for such a packaging machine and its transport system.

[0016] b) Solutions to the problem This problem is solved by the features of claims 1 and 12. Advantageous embodiments are shown in the dependent claims.

[0017] The following descriptions regarding the packaging machinery system also apply to the process of operating the system after making the necessary modifications, and vice versa. A general mechanical system for filling primary packaging with a product, or for filling already filled primary packaging with secondary packaging, comprises, on the one hand, at least one, generally more, mechanical modules, and on the other hand, a transport system for transporting at least one object to be transported, such as a product or packaging, between individual mechanical modules, or between individual work stations within mechanical modules, where multiple of these may be located.

[0018] Such a work station has at least one movable handling unit equipped with tools capable of handling or processing products or packaging.

[0019] In this invention, these handling units are referred to as robots, but the type of handling unit is not limited to such industrial robots. Individual mechanical modules are usually locked externally during operation, for example by safety doors, which shut down the internal workstations as soon as such safety doors are opened. The reason is that when the safety doors are open, there is a risk that people may enter or reach inside and be injured by the moving parts of the workstations.

[0020] Regarding a transportation system, it is essential that the transportation system includes a number of remotely controlled unmanned transport vehicles for transporting transported goods, whereby unmanned transport vehicles, hereinafter abbreviated as AGVs, can be moved independently of each other in a controlled manner, i.e., they can travel in any direction at any time on a generally horizontal driving surface and can also overtake each other, whereby collisions between AGVs should of course be avoided.

[0021] The present invention also includes a transportation system having hovering or flying AGVs instead of mobile AGVs, which should be subsumed under the term "mobile" or "mobility".

[0022] AGVs are controlled by a central control system spaced apart from these vehicles, and the central control system is connected to the AGVs via wireless signals. In order for the central control system to be able to determine at any time the position and rotational position of an AGV, collectively referred to as the spatial position, as seen from above, the transportation system includes position detectors, usually cameras, which are connected to the central control system and are usually mounted at high points on the packaging machine system, and using them, the central control system can determine the spatial position of individual AGVs, and thus the spatial position of individual AGVs is grasped by the central control system.

[0023] When loaded on an AGV, the spatial position of the goods transported on the AGV, for example a carton, etc. (which is crucial), and / or the spatial position of the supporting AGV is determined.

[0024] Theoretically, the spatial position can be determined using a single position detector positioned centrally above the packaging machine system. However, due to visual obstructions caused by temporary or permanent obstacles, multiple position detectors are commonly used to enable the determination of the position of each AGV and the goods it transports at all times, and their results are offset relative to each other using, for example, triangulation.

[0025] According to the invention, the central control system is designed such that not only can it control the AGVs by sending travel route commands to them, but also, for example, when an empty carton-loaded AGV approaches a work station in the form of a carton filler to fill its empty carton with a product or primary packaging, it can control the movement of the handling unit, usually a robot, within the work station of the machine module in a correspondingly timed, i.e., synchronous, manner, i.e., in an appropriate time sequence, i.e., synchronously.

[0026] The central control system must always know the spatial position of the AGV in order to control other movable parts of the packaging machine system, such as the entrance gate leading into the machine module, for the AGV.

[0027] Preferably, the position of the AGV is determined at very short intervals, usually less than 1 second and often less than 1 / 10 second, which is sufficient to control the entire system without collisions between the AGVs at maximum travel speeds of the AGV of about 1.5 m / s or about 6 m / s.

[0028] It is clear that such a packaging machine system, hereafter referred to as the system, can be used with great flexibility. This is because AGVs can move in any order to various machine modules and (since some machine modules contain multiple work stations such as carton erectors and carton fusers) to various work stations within them, in accordance with work instructions, and thus can process various work instructions.

[0029] In principle, the driving surface for an AGV is the floor of the corresponding hall, but driving surfaces located higher than the floor, such as driving surfaces that extend in succession on multiple floors, are also possible, although this increases the design effort and cost.

[0030] For a system with such a transportation mechanism to be economically feasible, the cost of individual AGVs must be kept very low. This is because, if AGVs are to replace vehicles coupled to conveyor belts and tracks, a large number of AGVs will generally be needed.

[0031] For this purpose, AGVs are designed to be relatively simple and, consequently, more cost-effective. While AGVs may include on-board control systems, a navigation system capable of determining the current spatial position of individual AGVs and automatically generating corresponding route commands, including routes to specified destinations and local and time specifications for the AGVs, is available only on the central control system side, i.e., only as part of the central control system, and not on individual AGVs.

[0032] On the other hand, the AGV's onboard control system is designed to appropriately control only the drive unit based on such route commands received from the central control system, thereby ensuring that the route specified by the route command is followed in accordance with the route command in terms of time and location.

[0033] Regardless of whether the route command sent to the AGV by the central controller already includes control commands for the individual motors of the drive unit or only the route, the onboard controller automatically generates control commands for the drive unit.

[0034] A packaging machine system, more specifically a transport system, more specifically a method for operating a packaging machine system according to one of the preceding claims, comprising a central controller and unmanned, remotely controlled transport vehicles capable of moving freely in all directions and independently of each other for transporting transported objects between individual machine modules or between individual work stations within machine modules, wherein the central controller comprises position detectors for determining the instantaneous spatial position of each AGV, wherein the central control unit centrally monitors in real time the instantaneous movement of the AGVs, more specifically the spatial position, more specifically the direction and velocity and / or acceleration of the transported objects located on them, and a handling unit, more specifically a robot, is centrally controlled by the central control unit in synchronization with the spatial position, more specifically the movement of the AGVs, i.e., in time with the spatial position, more specifically the movement of the AGVs.

[0035] To control the AGV, each AGV preferably receives route commands from the central controller for the entire route from the AGV's current location to a destination specified by the central controller, and therefore, route commands for this may include direct drive commands for the drive unit, specifically for the individual drive motors of the AGV.

[0036] Alternatively, or in addition, each drive command for the drive system may specifically include an energy supply profile as a function of time from the start time, thereby defining not only the travel path but also the speed and acceleration of the AGV as it travels along this path.

[0037] To ensure that AGVs are reliably maintained on their designated routes in terms of time and location, the central control system performs target / actual comparisons of the AGV's interior position at short intervals. If the actual interior position deviates from the target interior position located on the target route, the central control system sends a corrective travel command to the AGV, which, with its help, travels not necessarily to its current target interior position, but to the target route, possibly to a point already downstream from its current target interior position, and possibly on the target route.

[0038] For example, if the situation within the system changes due to the movement of non-stationary obstacles, such as other AGVs, the central control system can send corrected route commands to the AGVs at any time for the remaining route that has not yet been traveled.

[0039] Malfunctions can naturally occur during the operation of a transportation system. If the position sensors, usually cameras, malfunction due to technical defects or partial occlusion, the central control system will no longer, or temporarily, be able to determine the spatial position of all AGVs.

[0040] In this case, the onboard control unit is used to determine the actual position of the AGV based on control commands issued to the drive unit by the central control unit after the final target / actual comparison of the spatial position. When the actual position of the AGV is added to the final actual spatial position determined by the central control unit, the current actual position of the AGV is obtained, provided that no distortion factors such as slippage of the drive wheels relative to the ground occur.

[0041] Instead of control commands issued to the traction drive during this period, the wheel movements of the traction drive executed during this period and recorded by the onboard control system can also be used directly, thereby eliminating at least any distortion effects between the motor and the wheels.

[0042] On the other hand, if the wireless signal connection between the central controller and one or more AGVs is faulty, and the AGVs know their designated destination but lack some or all of the route commands necessary to reach the destination from their location since the onset of the signal connection fault, the onboard controller will attempt to reach the destination via at least a straight route specified by the central controller to the AGV's current spatial position, or a more accurately determined non-straight route, and will issue corresponding control commands to the traction drive system.

[0043] Preferably, the on-board control unit may include an acceleration sensor, also known as an inertial sensor, which determines acceleration in terms of magnitude and direction, at least in all directions of the AGV's drive surface (and further in the vertical direction if the drive surface has multiple floor surfaces), and these are also stored by the on-board control unit.

[0044] If a position sensor malfunctions, and consequently the central control system is unable to perform target / actual compensation to determine the AGV's current actual position, the onboard control system can determine the AGV's current actual position with great accuracy using the acceleration profile recorded thereafter, based on the actual position determined during the final target / actual compensation.

[0045] Furthermore, even if there is a signal connection problem between the central controller, the AGV, and the known destination, and there is no complete route command from the central controller, the onboard controller can issue a corresponding control command to the drive unit, allowing the AGV to travel in a controlled manner along a specified route or, alternatively, a straight route from the AGV's current real-space position to the destination. However, en route to the destination, the AGV's actual position is determined based on the acceleration profile recorded since the final target / actual comparison, i.e., the final determination of the AGV's real-space position by the central controller. If a deviation occurs, the AGV is guided back to the planned route, specifically a straight route to the destination, using the corresponding route command.

[0046] The central controller does not necessarily have to inform the AGV of its destination, such as a specific location within a machine module, from the outset. Instead, the central controller can divide the planned route into route segments and provide the AGV with route commands for only the immediate next segment or some of the segments within the next route segment. This is based on the consideration that at the start of the entire route, it may not yet be possible to wisely plan for segments that are very far along the route. This is because the conditions within the system may have changed considerably by the time those segments are reached.

[0047] For this purpose, or in addition, the entire possible drive area for the AGV can be virtually divided into sectors by a central control system, specifically, by a grid of sectors arranged in the form of columns and rows, in which case the sectors are usually rectangular, and route commands for the AGV can be defined for each sector and transmitted to the AGV in advance, for example, for only one or a few sectors to be traveled.

[0048] Specifically, the transport of AGVs from one sector to the next can be defined in terms of both location and time, and can be controlled by a central control system using target / actual comparison.

[0049] By dividing the drive surface area into individual sectors in this way, the central control system can more easily avoid collisions. Preferably, the spatial position of the AGV is determined with the highest possible accuracy by a central control system, not by a position sensor, preferably in the form of a camera, but by, for example, a special positioning device at the loading point within the work station, which can function with higher accuracy than a position sensor, which can normally only determine the position / or rotational position of the AGV with an accuracy of -5 cm or -3°.

[0050] Preferably, the spatial position of the load on the AGV is also determined immediately after loading, preferably before the AGV moves between the position determination before loading and the spatial position determination of the load after loading. This allows the central control unit to determine the difference in spatial position between the transported items and the AGV, for example, the offset between the center of the load (whether its geometric center or center of mass) as viewed from above and the center of the AGV, specifically its receiving surface.

[0051] For example, if a loaded AGV needs to approach an unloading station with great precision, but precise positioning is only possible using a positioning device at the unloading point to which the AGV responds, rather than the goods being transported, then this spatial position difference can be used later. This is because, in that case, this positioning difference must also be taken into account in order to transport the goods to their desired actual position there.

[0052] This system, specifically this transport system, must be appropriately equipped with the necessary technical features for the procedures described herein. As described above, the central control system and / or on-board control system should be designed to recognize the actual position of the AGV using position sensors, and, as a target / actual comparison, to send a corrective driving command to the AGV to return to the target driving path value if a deviation from the target position, which should be on the target driving path, occurs. The AGV does not necessarily need to be driven directly to the target position that coincides with the determined actual position. This is because it may be more efficient and save distance to drive it further downstream from the target path instead.

[0053] The central controller and / or on-board controller should also be designed so that, if the central controller's position sensor is faulty, the on-board controller can determine the AGV's current actual position based on control commands issued to the drive unit by the central controller, the on-board controller, or, provided that the movement of a specific wheel of the drive unit since the last target / actual comparison of the AGV's spatial position has been recorded.

[0054] This is because, given that the spatial position is known at the final target / actual comparison point, the estimated current position of the AGV can be determined from there by adding the corresponding control commands to the actual wheel movement or drive system, thereby not having interference effects such as slip between the wheels and the ground taken into account in this calculation.

[0055] Alternatively, or in addition, if the AGV is equipped with an accelerometer, the onboard control unit can use this accelerometer to determine the AGV's current actual position using the AGV's acceleration profile recorded since the final target / actual comparison.

[0056] The acceleration profile refers to the acceleration that occurred during this period, which must be recorded in terms of magnitude and direction. From this, it is possible to calculate how fast the AGV traveled in which direction during each period, and the total distance traveled is obtained as a result. For example, zero acceleration over a particular period means that the vehicle was traveling at a constant speed during this period, that is, the vehicle was continuously traveling in the same direction at the speed at which the vehicle was traveling at the beginning of the period when the acceleration was zero.

[0057] The central control system and / or on-board control system should also be designed so that, if there is a signal connection between the central control system and the AGV and the known destination, but no further complete drive command to the destination is available, the on-board control system can calculate at least a straight path between the AGV's current position and the destination and issue a corresponding control command to the drive unit.

[0058] The onboard control system can also use acceleration profiles recorded after the final target / actual comparison using acceleration sensors to determine the AGV's current position on its way to its destination. This has the advantage that calculations based on acceleration profiles reflect the AGV's actual movement, i.e., slip between the wheels and the ground is already taken into account.

[0059] In addition to a remotely controlled electric drive system, the AGV should also have an energy storage system and communication equipment for wireless data connection with a central control system. Supercups, or large-capacity electric capacitors, are preferred as energy storage devices because they can be recharged in just a few seconds. In addition, there should be a conventional battery that is kept constantly charged and sized so that, in the event that the supercups are empty or non-functional, its energy content can be used to drive the AGV from any point in the system to the next accessible recharging station.

[0060] From a sensor technology standpoint, an AGV should have at most one such environmental sensor, specifically a camera, for detecting the environment. This sensor's image evaluation unit should be capable of recognizing predefined environmental patterns, such as barcodes or QR codes, but not unknown environmental features. While cameras are not currently very expensive, an image evaluation unit capable of evaluating images of unknown environmental patterns can cost several thousand euros, thus dramatically reducing the overall cost of the AGV.

[0061] The drive system typically includes an electric motor. The energy supply for the AGV, both for these electric motors and for other existing electrical equipment, such as electrical or electronic control systems or communication equipment, is preferably provided using electric supercaps, i.e., high-performance capacitors that can be charged within seconds, and for this purpose a recharging device is provided specifically at a standby position, i.e., an approach position, for the AGV in the work station, and the recharging device may be provided in these contact or non-contact, specifically electromagnetic induction type recharging devices, so that when the AGV remains at the work station, its supercaps are automatically recharged.

[0062] As an emergency power source, AGVs can also have emergency batteries, but these only need to be small in capacity and therefore light in weight, and sufficient to drive the AGV to the nearest recharging facility when the Super Cup is empty.

[0063] Furthermore, the machine modules, specifically their work stations, should preferably have at least partially lockable safety gates for AGV entry, which are opened only for AGV entry and otherwise closed to the extent that it is impossible for a human to reach the work station.

[0064] Preferably, the target markings that can be scanned by the AGV should be located within the entry and / or exit areas of the machine module and / or their work stations, and the AGV should have a target sensor, such as a camera, for the purpose of recognizing the target markings, specifically by placing the target sensor on the underside of the AGV, determining the position of the AGV relative to the target markings, and reporting that position to a central control system.

[0065] Instead of a complex image evaluation unit, the camera provided for this purpose can have only an image evaluation unit capable of recognizing a predetermined type of target marker, such as a QR code, thereby making the image evaluation unit much simpler and less expensive.

[0066] Specifically, each AGV can also have such target markings for scanning by the central controller's position sensor, thereby making it easier to determine its position.

[0067] The central controller's position detector is located inside the system, preferably outside the machine module, but it can also detect inside the machine module, or additional position detectors are fixed inside the machine module.

[0068] Such target markings may be located at the approach position for the AGV at individual work stations, specifically at the standby position, and such target markings facilitate precise positioning of the AGV relative to the work station, specifically by a central control system using corresponding target sensors on the side of the AGV.

[0069] Preferably, the image evaluation of a camera used as a position sensor to determine the position of the AGV and the position of temporary or permanent obstacles is performed by a central control system using artificial intelligence.

[0070] The drive surfaces for AGVs can be configured in multiple tiers, one above the other, so that the lowest tier remains the floor surface of the corresponding hall, as before. To move from one floor surface to another, a controlled lifting device, such as an elevator, is preferably available, and its use is included in the travel route command of the central control system in terms of location and time.

[0071] In that case, specifically, the drive surface on the upper floor is a physically formed roadway consisting of easily assembled, modular, and specifically elevated roadway modules.

[0072] The drive surface for AGVs can be a moving drive surface, such as a conveyor belt, on which AGVs are driven. Specifically, if these moving drive surfaces are sealed off from the surroundings, people moving within the hall cannot come into contact with AGVs that are stationary on the moving drive surface or AGVs that are moving on the moving drive surface, then AGVs can be moved very quickly over long distances on it.

[0073] To facilitate the control of AGVs along long, straight paths, guard rails or rails for AGVs can be provided along the AGV's travel path, on one or both sides, or on the ground, along the AGV's travel path, specifically in contact with them as the AGV travels.

[0074] For example, to conserve the batteries of AGVs during long journeys, or to allow many AGVs to travel in front of and behind each other at very short intervals, a driven driver for the AGVs can be provided on the system side along the travel path for the AGVs, for example, to push the AGVs forward and guide them along a predetermined travel path.

[0075] Preferably, the driving surface for the AGV is at least visually separated from the walking surface for people, and specifically physically separated as well. The drive system for an AGV is preferably designed so that the AGV can rotate instantly in place and move in any direction from a stationary position. So-called omnidirectional wheels are available for this purpose, and they are preferably mounted on the AGV using intersecting axes.

[0076] Individual AGVs can also be equipped for special tasks. For example, an AGV may have its own handling unit, specifically a robot, to enable it to load or unload cargo onto itself, thereby allowing such a robot to also receive motion commands from a central controller, preferably in terms of time and location.

[0077] The AGV may also have its own cleaning unit, specifically a suction unit or a brush unit, for cleaning the drive surface, thereby preferably receiving its movement commands from the central control unit.

[0078] As a general rule, the top surface of an AGV is used as a receiving surface for the items placed on it. In addition, or instead, the AGV may have a trailer coupler, specifically for automatic coupling with a trailer or another AGV, and the top surface of the trailer can be used as the sole surface for the goods to be transported or as an additional loading surface for the AGV.

[0079] Two linked AGVs can move together in sync to pick up large loads. The special procedure for operating such a system involves modifying the packaging machinery system.

[0080] In contrast to today's work stations, which are interconnected via permanently installed conveyor systems, the system according to the present invention may have a machine module comprising a base frame for the machine module itself and a safety barrier on its periphery for specific work tasks of one or more work stations housed within the machine module, these machine modules being transportable and easily moved within a hall, for example using a forklift truck, and only requiring the supply of necessary media such as electricity or compressed air from, for example, the hall ceiling.

[0081] In that case, even fundamental changes to the work instructions can be implemented, and the desired new work instructions are entered into the central control system. In this case, transportable mechanical modules (these may be the same mechanical modules that were previously present in the hall, or new mechanical modules may be added, or other mechanical modules may be removed from the hall) are set up in the hall, and the optimal position of the transportable mechanical modules, for example in terms of short travel distance for AGVs, is preferably predetermined by a central control system.

[0082] These mechanical modules only need to be roughly positioned within the hall, for example, within a range of decimeters or centimeters. This is because their precise spatial positions are then determined using position sensors in the central control system, specifically the same position sensors used to determine the actual position of the AGVs.

[0083] As soon as these indoor positions are known, the central control system can first determine the actual indoor position for each AGV for the corresponding instructions, then create route commands, and issue those route commands to the AGVs. Thereafter, the central control system can also, preferably, automatically determine in advance the number of AGVs required to carry out the work instructions, and release and activate those AGVs.

[0084] If the travel surface consists of physical travel paths, and these physical travel paths are specifically composed of travel path modules, the central controller can also specify that the positions of the mechanical modules, specifically the distances between them, can be filled in increments of exactly integer multiples of the length of such travel path modules.

[0085] c) Example of an embodiment Embodiments of the present invention will be described in more detail below as examples. [Brief explanation of the drawing]

[0086] [Figure 1a] This is a top view of the packaging machinery system inside the hall. [Figure 1b] This is a side view of the system from the left in Figure 1a. [Figure 2a-2b] This is a cutaway side view of two different secondary packaging containers, each containing a different primary packaging container. [Figure 3a] This is a side view of one of the unmanned transport vehicles, with a trailer attached to it. [Figure 3b] This is a side view of one of the unmanned transport vehicles operating independently. [Figure 4a] This is a top view of the vehicle / trailer combination shown in Figure 3a. [Figure 4b] These are two AGVs connected to each other. [Modes for carrying out the invention]

[0087] Figures 1a and 1b show a packaging machine system 1, which is located in a hall 20 and comprises several machine modules MM1 to MM6. These machine modules are distributed within the hall 20, and each is surrounded by a safety enclosure 2 with a safety door 2a inside, thereby preventing people from contacting the work stations AS1 and AS2 located inside the machine modules while they are in operation. This is because when the safety door 2a is open, the work stations AS1 and AS2 located inside the machine modules are immediately brought to a stop state.

[0088] The objective of System 1 is to fill primary packaging containers 1V, which are initially filled with different products P1 and P2, into different secondary packaging containers 2V, and to close these secondary packaging containers 2V and transport them to one of two discharge conveyors 23.1 and 23.2, which transport these secondary packaging containers 2V to a location away, possibly outside of Hall 20.

[0089] In this case, the two different secondary packaging containers 2V.1 and 2V.2 that are handled are controlled by the central control unit 1. ※ The items are transported back and forth between individual machine modules MM1 to MM6 in Hall 20 by automated guided vehicles (AGVs), which can move independently of each other on the hall floor under remote control. In this case, the top surface of the AGV acts as a receiving surface 13, on which the items to be transported, in this case secondary packaging containers, are placed for transport.

[0090] In this case, two different products P1 and P2 are preferably transported from outside the hall 20 on two different product conveyors 51.1 and 51.2 that run parallel to each other, and each is grasped by a so-called picker line or robot line 50.1 and 50.2 which has a plurality of transport robots 53, so-called pickers, arranged in front of and behind each other in the direction of travel of the product conveyors 51.1 and 51.2, and transported into primary packaging containers 1V.1 to 1V.4.

[0091] For this purpose, a serial F5 robot 53 is shown, which has an upper arm and a lower arm, and the arm portions of the robot 53 can pivot relative to each other around a vertical axis. In addition, the robot 53 has fourth and fifth axes, and the arm portions can pivot relative to each other. Degrees of freedom, the vertical support at the free end of the forearm can be moved in the height direction in a controlled manner and rotated around the vertical axis.

[0092] Packaging belts 52.1, 52.2, or 52.3, 52.4 extend from each of the two product belts 51.1, 51.2, and on them, in this case flowing in the same direction as the product belts, tray-shaped primary packaging containers 1V.1 to 1V.4 with open tops flow alongside the product belts, and thus they are eventually filled with products from the adjacent product belts.

[0093] In both picker lines 50.1 and 50.2, trays, i.e., primary packaging 1V.1 and 1V.3, are supplied to one side, each capable of holding four products arranged in a rectangle, while trays 1V.2 and 1V.4, each capable of holding six products in two rows of three, are supplied to the other side.

[0094] The objective is to place multiple such filled primary packaging containers 1V.1 and 1V.2 in successive layers, as shown in Figures 2a and 2b, into appropriately sized secondary packaging containers 2V.1 or 2V.2 until the secondary packaging container is completely filled.

[0095] Figure 2a shows how the three layers of filled tray-shaped primary packaging 1V.1, 1V.3, and 1V.1 are arranged vertically within the carton 2V.2, which serves as the secondary packaging. Specifically, the middle layer is filled with product P1, and the bottom and top layers are filled with product P2.

[0096] According to Figure 2b, carton 2V.1 should have four layers of tray-shaped primary packaging stacked on top of each other as secondary packaging, with each of the bottom three layers containing one of the following: six products in primary packaging 1V.2, six products in primary packaging 1V.4, six products in primary packaging 1V.2, and one of the top four layers of primary packaging 1V.3. Above that is layer 1 primary packaging 1V.3 which contains only four products. In this case as well, the products should alternate from layer to layer, starting with product P1 in the bottom layer.

[0097] For this purpose, an AGV, for example, vehicle F3, is first driven to machine module MM6, which has only one work station AS6, where robot R6 takes the top blank from a stack of flat cardboard blanks, presses the blank into matrix 55, thereby assembling the blank into a cardboard box with an open top as secondary packaging 2V.1, so that the walls of the cardboard boxes are also glued together.

[0098] The assembled carton 2V.1, with space for four products arranged in a square, is then transported to a vehicle F3 waiting either under mattress 55 within machine module MM6 or in front of the airlock of enclosure 2 of machine module MM6, which transport can be performed by the same robot R6, or by another robot within machine module MM6, or by other handling means such as a conveyor belt or chute.

[0099] Vehicle F3 is driven to the primary packaging outlet 54.3 of the right-hand picker line 51.2, hereafter abbreviated as the PV outlet, along with a partially mounted but still empty secondary packaging 2V.1 that can be held on vehicle F3, for example by a suction cup, where it receives tray-shaped primary packaging 1V.3 filled with product P2 from robot 56, which is shown only in Figure 1b.

[0100] Such robots 56, located at each end of two picker lines 50.1 and 50.2, are shown as serial F2 robots with an upper arm and a lower arm, in which these two parts pivot relative to each other and relative to the robot base around a horizontal pivot axis, and these two parts have only two degrees of freedom, horizontally and vertically, perpendicular to the pivot axis.

[0101] Next, the vehicle, for example F3, travels to PV exit 54.1, where it receives the next tray 1V.1, which is tray 1V.1 filled with product P1, and then returns to exit 54.3, where the vehicle receives another tray 1V.3 filled with product P2.

[0102] As shown in Figure 2a, with the secondary packaging 2V.1 now fully filled, the vehicle F3 moves through the airlock 17 into the machine module MM3, which contains a work station AS3 consisting of a robot R3. The robot R3 picks up the lid 2V.1D from the separated carton, places the lid 2V.1D on the filled secondary packaging 2V.1, and closes the lid 2V.1D while the secondary packaging remains on the vehicle F3.

[0103] Therefore, for this purpose, the vehicle F3 must be positioned very precisely within the MM3, and for this purpose, as shown in Figure 1b, a target marking 16 is provided on the floor surface inside the machine module MM3, and if the machine module MM3 has a floor plate above the floor plate, or if the frame of the machine module MM3 ends at the bottom with a freely extending columnar body, the target marking 16 is provided on the floor surface of the hall 20, and the target marking 16, for example, taking the form of a QR code 16, is provided in a predetermined position so that it can be recognized by the AGV camera AGV-K on the underside of the vehicle F3 which is facing the floor, and the onboard control unit of the vehicle F3 can automatically position the vehicle F3 itself in the correct rotational position around the vertical axis, and thus in the correct position for positioning the cover 2V.1D, if the filled secondary packaging 2V.1 is in the intended target position on the vehicle F3.

[0104] This could be the mechanical module MM3 positioned above the vehicle's position during high-altitude flight. The positioned camera K verifies the situation, and if a deviation occurs, the central control unit 1 ※ Please initiate the corrective movement of vehicle F3 via [this method].

[0105] If there are no target markings within the AS3 work station, precise positioning of the secondary packaging is performed exclusively via a high-altitude camera, which is preferably mounted on the frame of the MM3 machine module.

[0106] Such target markers on the ground are preferably located within or at each waiting position where the AGV awaits to perform handling on those loads. Furthermore, such target markings 16 may also be located on the machine module, specifically on each machine module, preferably on the upper side of the machine module's frame, thereby allowing the central control unit 1 to pinpoint the exact position of each machine module within the hole 20. ※This can be determined using a camera located above each machine module, preferably in the hall ceiling, and this determination can be made automatically, for example, after switching a machine module to a new packaging machine system.

[0107] The machine modules can be easily moved, for example, by using a forklift truck to move them after cutting their supply lines, which usually extend from the hall ceiling. For this purpose, transport eyelets 24 are provided on the top surface of the frame of each machine module, so that the frame floor can be made extremely thin, if present, thereby facilitating the driving of AGVs onto the machine module floor.

[0108] However, the frame of the machine module may end at its bottom with a freely extending support column that stands on the hall floor, so that the hall floor also forms a drive surface for the AGVs within the machine module.

[0109] Figure 1b shows the vehicle's energy storage unit 6 in the work station AS3 when the vehicle is correctly positioned to place the lid on the AGV's recharge contact 14. ※ Specifically, via the recharge contact 14 ※ This also indicates that the recharging module 14 is located in a position where it can be recharged by contacting the recharging module 14.

[0110] The recharge module 14 may be present in or within each work station. Next, the vehicle F3 on which the filled and sealed carton 2V.1 is placed proceeds to the discharge conveyor 23.1, where the carton 2V.1 is transported to the discharge conveyor 23.1 as secondary packaging by any handling means which may also be part of the vehicle F3, and the discharge conveyor 23.1 transports the carton 2V.1 further away, for example to an adjacent hall, where the filled and sealed secondary packaging is palletized or combined and placed into other larger containers.

[0111] Needless to say, it's not just one F3 vehicle as an AGV that lies along the aforementioned route; rather, there are many F3 vehicles, at least as many as the number of mechanical modules, that lie along the route described.

[0112] Figure 1a also shows a similar process for primary packaging 1V.2 and 1V.4, as well as for secondary packaging 2V.2, which is fully filled with 1V.3, and secondary packaging 2V.2 is correspondingly, • Assembled as a carton 2V.2 with an open top within the machine module MM5, and delivered to one of the vehicles, for example, F4. F4 then alternately takes on three primary packings 1V.2, 1V.4, and again 1V.2 at PV outlets 54.2 and 54.4. Next, move to PV exit 54.3 and pick up the filled primary packaging 1V.3. From there, the fully filled secondary packaging 2V.2 enters the machine module MM4, and at the work station AS4 of the machine module MM4, the lid that is already integrally present on the open carton 2V.2 is closed using a handling unit (not shown) while the secondary packaging 2V.2 is on the vehicle, for example F4. After closing the secondary packaging, vehicle F4 travels to the discharge conveyor 23.2, as in the case of discharge conveyor 23.1, and its load is transported to the discharge conveyor 23.2, or vehicle F4 exits from hall 20 through the airlock 17 in the wall of hall 20 and travels to an adjacent hall for the purpose of palletizing the filled cartons 2V.2 along a physically formed travel path 22 that can be closed, for example, in a tunnel-like manner, as shown in addition to Figure 1b in relation to Figure 1a.

[0113] In Figure 1b, the tunnel-shaped travel path 22 is at a height above head height, i.e., just below the height of the hall ceiling. An AGV traveling on the floor of the hall can be moved from the floor of the hall 20 to the height of the elevated walkway 22 using the lift 25 also shown in Figure 1b, and this can also be controlled by the central controller 1 ※ This allows the AGV's movement to be controlled in a time-coordinated manner.

[0114] In this way, the AGV can be driven between different halls 20 without interrupting pedestrian and low-clearance vehicle traffic between halls. To cover longer distances, these travel paths 22 may include not only stationary travel surfaces for AGVs, but also conveyor belts on which AGVs are transported stationarily or on which AGVs travel additionally in the desired transport direction.

[0115] Figures 3a and 3b show the AGV in a side view, and Figures 4a and 4b show the AGV in a top view of its housing surface 13. As can be seen from the figure, in this case such an AGV has a non-regular hexagonal shape when viewed from above, with wheels 15 circumferentially on each of its second, three shorter sides, and the three axes of rotation of these wheels 15 preferably intersect when viewed from above.

[0116] Each wheel 15 is designed as a so-called omnidirectional wheel 15, with a spherical barrel-shaped roller mounted on its circumference, the rotating axle of the barrel extending tangentially to the wheel 15, thereby allowing such an omnidirectional wheel 15 to travel in all directions without significant slippage.

[0117] When illustrated using symbols, such an AGV has a receiving surface 13 based on its preferably flat upper surface, which preferably has no raised edges, and as a result, articles to be transported can be placed on it, and when viewed from above, the articles protrude above the receiving surface 13, and the receiving surface 13, • A drive system 4 equipped with 15 independently controllable drive motors 4M1 to 4M3 for each wheel, • An energy storage unit 6 for AGVs, taking the form of a supercup 6a, and a battery 6b as an emergency battery, • An acceleration sensor 5 measures the acceleration of the AGV, including its duration. • Communication means 7, specifically a wireless antenna and a wireless transmitter, • As seen in the top view, two trailer couplers 8 adjacent to each other are located on one of the outer surfaces of the AGV, Specifically, at least one recharging contact 14 for contacting the system's recharging station 14 in one of the standby positions W1, W2 for the AGV, either within or on one of the machine modules. ※ and, • One or more AGV cameras AGV-K, provided that their image evaluation units are designed only to recognize predefined environmental patterns, such as QR codes, and It is equipped with.

[0118] Such an AGV camera can be directed towards the floor to recognize, for example, a QR code applied to the floor as a target marker for precise positioning of the AGV, or recognize a target marker applied to a component within the environment, such as a work station, for precise positioning of the AGV and accurately approach it, and can also be horizontally oriented from the AGV.

[0119] Figures 3a and 4a show, in side and top views, that the AGV can automatically connect and move a trailer 9 that can accommodate, for example, a secondary package 2V.5 thereon using one or preferably both of its trailer connectors 8.

[0120] Therefore, the trailer connector 8 of the AGV can be lowered, and by lifting the opposing element of the trailer 9 from below, the trailer connector 8 of the AGV can be securely connected. When the corresponding adjustable legs on this side of the trailer 9 and under the trailer 9 are lifted from the ground, the AGV can easily move the trailer 9 using the wheels arranged at the end facing away from the connector.

[0121] Figure 4b also shows that two AGVs can also be connected to each other using specifically the same trailer connectors to form a fixed unit, whereby a larger and heavier load can be transported by such a combination of two AGVs. For this purpose, a central control unit 1 ※ can synchronously control the two connected AGVs. [List of reference signs] 1…Packaging machine plant, plant, 1 ※…Central control unit, 2…Safety enclosure, 2a…Security door, 3…Navigation system, 4…Drive unit, 4M1, 4M2…Motor, 5…Accelerometer, 6…Energy storage device, 6a…Supercup, electric capacitor, 6b…Battery, 7…Means of communication, transmitter / receiver, 8…Trailer coupling, 9…Trailer, 10…Vertical, 11…First horizontal, 12…Second horizontal, 13…Storage area, 14…Reloading device, 15…Omnidirectional wheels, 16…Target marking, 17…Lock, 18…Permanent obstacle, 19…Temporary obstacle, 20…Hole, 21…Positioning device, 22…Physical route, 22.1, 22.2…Travel path module, 23.1, 23.2…Conveyor, 24…Transport eyelet, 25…Lift, 26… 50.1.50.2…Picker Route, Robot Route, 51.1.51.2…Product Tape, 52.1~.4…Packaging Tape, 53…Robot, Picker, 54.1~.4…Primary Packaging Exit, PV Exit, 55…Matrix, 56…Robot, AS1, AS2…Work Station, Delta…Difference, FF…Drive Surface Area, Drive Surface, FF1, FF2…Drive Surface Sector, Sector, F1, F2…Vehicle, AGV, AGV-C…AGV Onboard Control System, AGV-K…AGV Environmental Sensor, AGV Camera AGV-R…AGV Handling Unit, AGV Robot, AGV-S…AGV Cleaning Unit, AGV Vacuum Cleaner, h…Mounting Height Camera, Height, H…Maximum Height Module, K…Position Detector, Camera, MM1, MM2…Machine Module, P, P1, P2…Product, R1, R2…Handling Unit, Robot, QR…Predefined Environmental Pattern, QR Code, 1V, 1V.1, 1V.2…Primary Packaging, Tray, 2V, 2V.1, 2V.2…Secondary Packaging, Cardboard, W1, W2…Standby Position

Claims

1. Specifically, packaging machinery (1) for filling a secondary packaging container (2V), specifically a carton (2V), with a product (P) that has already been primary packaged, Specifically, one or more mechanical modules (MM1) whose outsides are closed by a safety door (2), A machine module comprising at least one work station (AS1, AS2), each equipped with a robot (R1), specifically at least one movable handling unit (R1) having tools for handling or processing products (P) or packaging containers (1V, 2V), A transport system having remotely controlled, freely and independently movable unmanned transport vehicles (AGV1, AGV2) for transporting at least one item to be transported, such as a product (P) or packaging container (2V), between individual work stations (AS1, AS2) within a machine module (MM1) and / or between the machine modules (MM1, MM2), A central control unit (1) is located away from the AGV and controls the AGV using a wireless signal connection with the AGV. ※ )and, Within the system (1), a position detector (K), specifically a camera (K), for determining the current position of each of the AGVs, specifically the transported articles (P, 2V) on them, In a packaging machinery and equipment (1) equipped with, The central control unit (1 ※ ) is the central control unit (1 ※ The system is designed to grasp the spatial position, i.e., the position and / or rotational position of the AGV, specifically the spatial position of its load, and to coordinately control the movement of the handling units (R1, R2). Packaging machinery and equipment (1) characterized by the following.

2. The plant according to claim 1, The central controller (1 ※ ) is the central control unit (1 ※ Specifically, the central control unit (1 ※ Only the navigation system (3) is designed to include a navigation system (3) which can determine the position of the AGV using the position detector (K), determine the route to the destination from the position of the navigation system (3), and transmit corresponding route commands, specifically including local and time specifications, to the relevant AGV. The onboard controller of the aforementioned AGV (AGV ※ The onboard controller (AGV) controls the vehicle to ensure that the designated driving route is followed according to the driving route command. ※ The system is designed to control only the drive unit (4) based on the aforementioned travel path command. A plant characterized by the following features.

3. A plant according to any of the prior claims, The central control unit and the in-vehicle control unit are said to be The actual position of the AGV is detected using the position sensor, and if there is a deviation from the target position on the target travel path, a correction travel command is transmitted to the AGV to cause it to travel to the target travel path, specifically to the target position. So that it can be done, and / or, If the position detector (K) of the central controller malfunctions, the mounted controller determines the actual position of the AGV based on the control commands issued to the driving drive unit (4) after the final target / actual comparison, or based on the movement of the wheels of the driving drive unit. and / or, Even if the signal connection between the central controller, the AGV, and the known destination is faulty, if there are no further driving commands, the on-board controller can determine the straight-line path between the AGV's current position and the destination and issue a corresponding control command to the driving drive unit (4). A plant characterized by its design.

4. A plant according to any of the prior claims, The central control unit and the in-vehicle control unit are, If the position detector (K) of the central controller malfunctions, the onboard controller uses the acceleration profile of the AGV recorded after the final target / actual comparison using the acceleration sensor (5) to determine the actual position of the AGV (actual AGV position). and / or, If the signal connection between the central controller and the AGV is faulty, and the destination is known but no further driving commands have been issued, the onboard controller can determine the straight-line path between the AGV's current position and the destination, issue a corresponding control command to the driving drive unit, and use the acceleration profile recorded after the final target / actual comparison using the acceleration sensor (5) to confirm the AGV's current position on its way to the destination. A plant characterized by being designed in such a way.

5. A plant according to any of the prior claims, The AGV has a controllable drive unit, an energy storage unit (6), and communication means (7) for wireless data connection with the central controller. The AGV has at most one environmental sensor (AGV-K), specifically a camera (AGV-K), for detecting the environment, whose image evaluation unit is capable of recognizing predefined environmental patterns (QR), such as barcodes or QR codes (QR), but is incapable of recognizing unknown environmental features. A plant characterized by the following features.

6. A plant according to any of the prior claims, The energy storage system comprises a supercap (6a) and an emergency battery (6b), the supercap (6a) and the emergency battery (6b) being sized such that the AGV can reach the next recharging station from any position within the system. A plant characterized by the following features.

7. A plant according to any of the prior claims, Each of the AGVs has an automatically functioning and / or controllable trailer coupling (8) for automatically coupling or uncoupling a trailer (9) and / or another AGV. A plant characterized by the following features.

8. A plant according to any of the prior claims, The position detector (K), specifically the camera (K), of the central control system, located within the system (1), preferably outside the mechanical modules (MM1, MM2), is also usable within the mechanical modules (MM1, MM2), specifically, at a height (h) above the maximum height (H) of the mechanical modules (MM1, MM2). A plant characterized by the following features.

9. A plant according to any of the prior claims, The upper part of the AGV or trailer (9) serves as a receiving surface (13) for the goods being transported. Specifically, the movable part of the handling unit, specifically the robot arm, is mainly positioned at a height above the housing surface (13). A plant characterized by the following features.

10. A plant according to any of the prior claims, The work stations (AS1, AS2) have contact-type or non-contact-type electric recharging devices (14) at the standby positions (W1, W2) of the AGV. and / or The entire possible drive area (FF) of the AGV is virtually divided into sectors (FF1, FF2), and the route command for the AGV is defined for each sector. Specifically, the conveyance of the AGV from a certain sector (FF1) to the next sector (FF2) is defined from both the perspectives of location and time, and is controlled as a target / actual comparison by the central control system (1 ※ ), and / or The image evaluation of the camera (K), which is used as a position sensor (K) for the position of the AGV and the position of the obstacle (18), is performed using artificial intelligence (AI). and / or The drive surfaces (FF) for the AGV can be used in multiple stages, one above the other. Specifically, the transition from one floor surface to another is preferably performed via a lifting device, specifically an elevator, rather than via a ramp, and is scheduled in terms of location and time within the travel route command from the central controller. and / or The drive surface (FF) for the AGV is a moving drive surface, and / or A guardrail for the AGV is provided on one or both sides of the travel path for the AGV. and / or On the system side, along the travel path for the AGV, there is a driven driver for the AGV, and / or The driving surface for the AGV (AGV) is separated at least visually, and specifically physically, from the walking surface for people. and / or The AGV's drive system (4) is designed such that the AGV can rotate instantly in place and travel in any direction from a stopping position, specifically by having omnidirectional wheels (15). and / or The AGV has its own handling unit (AGV-R), specifically a robot (AGV-R), which is also specifically controlled from the central control system, and / or The AGV has its own cleaning unit (AGV-S) for cleaning the travel path, specifically a brush unit and / or a suction unit (AGV-S), which is also specifically controlled from the central control unit. and / or The AGV is the central controller (1 ※ ) has a target marker (16) for scanning by the position sensor. A plant characterized by the following features.

11. A plant according to any of the prior claims, The work station, specifically, has, in or within, a preferably lockable airlock (17) for the AGV to enter, a scannable, specifically optically visible, target marking (16) by the AGV. A plant characterized by the following features.

12. A method for operating packaging machinery and equipment, specifically the transport system thereof, wherein the packaging equipment is specifically the packaging machinery and equipment described in one of the preceding claims. Multiple work stations, each having at least one movable handling unit, specifically a robot, equipped with tools for handling or processing products or packaging, A transport system having freely and independently movable unmanned remotely controlled transport vehicles (AGVs) for transporting products or packaging, abbreviated as transported goods, between individual work stations, A central control system located away from the AGV for controlling the AGV, Within the system, a position detector, specifically a camera, for determining the current spatial position of each of the AGVs, specifically the items being transported on them, In a method that includes, The spatial position, i.e., the position viewed from above and / or the rotational position, specifically the movement, of the AGV, and in the case of a loaded AGV, the transported goods located on it, are monitored centrally in real time. The handling unit is centrally controlled in synchronization with the spatial position, specifically the movement, of the AGV. A method characterized by the following features.

13. A method according to claim 12, The AGV preferably receives a travel path command from the central controller for the entire travel path to the destination, specifically a drive command for the travel drive unit, specifically for the individual drive motors (4M1, 4M2), Specifically, if the aforementioned situation changes, a corrected route command for the remaining route is transmitted by the central controller to the AGV. The drive command, specifically each of the drive commands, includes, specifically, an energy supply profile as a function of time from the start time. A method characterized by the following features.

14. A method according to one of the prior method claims, The actual spatial position of the AGV is determined by the position sensor, and specifically, if it deviates from the target spatial position on the target travel path, the central controller transmits a correction travel command to the AGV, which is used to drive the AGV to the target travel path, specifically to the target position. and / or If the position sensor of the central controller malfunctions, the onboard controller determines the actual spatial position of the AGV based on the control commands issued to the traction drive unit after the final target / actual comparison, or based on the movement of the wheels of the traction drive unit. and / or If the signal connection between the central controller, the AGV, and the known destination is faulty, but no further route commands are issued, the on-board controller determines the straight-line route between the AGV's current position and the destination, and issues a corresponding control command to the drive unit. A method characterized by the following features.

15. A method according to one of the prior method claims, If the position sensor of the central controller malfunctions, the onboard controller uses the acceleration profile of the AGV recorded after the final target / actual comparison using the acceleration sensor (5) to determine the actual position of the AGV. and / or If the signal connection between the central controller, the AGV, and the known destination is faulty, but no further travel route commands are issued, the onboard controller determines the straight-line route between the AGV's current position and the destination, issues a corresponding control command to the driving unit, and uses the acceleration sensor (5) to confirm the AGV's current position on its way to the destination using the acceleration profile recorded after the final target / actual comparison. A method characterized by the following features.

16. A method according to one of the prior method claims, Specifically, the AGVs in the standby positions (W1, W2) within the work stations (AS1, AS2) are electrically recharged by contact or non-contact charging. and / or The entire possible drive area (FF) of the AGV is virtually divided into sectors (FF1, FF2), and the route command for the AGV is defined for each sector. Specifically, the transport of an AGV from one sector to the next is defined in terms of both location and time, and is controlled by the central control system as a target / actual comparison. and / or The image evaluation of the camera used as a position sensor for the position of the AGV and the position of the obstacle (18.19) is performed using artificial intelligence (AI). A method characterized by the following features.

17. A method according to one of the prior method claims, Immediately before loading onto the AGV, its spatial position is determined with the highest possible accuracy using a positioning device (21) located within the work station. The spatial position of the goods to be transported on the AGV is determined immediately after loading. The position difference (delta) can be stored in order to control the position of the transported article with respect to and at the destination. A method characterized by the following features.

18. A method according to one of the prior method claims, The aforementioned packaging machinery and equipment When the aforementioned desired new work instruction is input to the central control unit, The transportable machine module, specifically one that can be transported by a forklift truck, is moved to a new position within the packaging machine system, specifically automatically. Specifically, this is based on activating or adding new machine modules, or removing or deactivating machine modules that are no longer needed. By modifying it, The central controller determines the precise position of the machine module using position sensors, specifically cameras, specifically the same position sensors used to determine the position of the AGV, specifically using target markings on the module. A method comprising the central control system automatically determining the required number and appropriately controlling it in synchronized interaction with the processing station.

19. The method according to claim 18, Where a physical travel path (22) exists or is required for the AGV, these are specifically arranged between the work stations, specifically arranged automatically, and specifically assembled automatically from travel path modules (22.1, 22.2). A method characterized by the following features.

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