TRANSPORTATION DEVICE, PROCESSING FACILITY, AND METHOD FOR TRANSPORTING AND / OR PROCESSING AN OBJECT

Abstract

The present invention relates to a vehicle, which is used in particular for transporting objects, in particular workpieces, and in which one or more storage elements are preferably provided for storing one or more objects.

Description

Technical Field

[0001] The present invention relates to a vehicle, which can be used in a processing facility, in particular as a component of a transfer device. The present invention further relates to a method for transferring and / or processing an object.

Background Art

[0002] In a processing facility, such as a painting facility, a roller conveyor, a chain conveyor or an overhead conveyor can be used in particular to transfer a workpiece to be painted. Incidentally, in relation to the present invention, Patent Documents 1 to 3 are known. Patent Document 1 discloses a transport vehicle system that makes the turning centers of a transport carriage and a drive vehicle coincide to run the transport carriage with higher accuracy. Patent Document 2 discloses a component assembly device that can reduce the load on a transport device while ensuring a desired synchronization accuracy for the transport device that transports an assembly. Patent Document 3 discloses a transfer carriage device. 〔Prior Art Documents〕 〔Patent Documents〕

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0003] The problem of the present invention is to provide a vehicle and / or a transfer device that can transfer an object to be transferred simply and flexibly.

Means for Solving the Problems

[0004] According to the present invention, this problem is solved by the features of claim 1.

[0005] The present invention is preferably suitable for transferring an object, in particular a vehicle body.

[0006] Preferably, the vehicle: has a base body; It has a chassis on which a base body can be placed and / or can move on a base that can move, and the base body can move on the chassis; It has a drive device for driving the vehicle; It has a storage device, and the storage device has one storage member, two storage members or more than two storage members for storing at least one object.

[0007] The movable base is particularly a floor, for example a fixed floor, particularly a hall floor.

[0008] The movable base is particularly formed of concrete or asphalt or metal, or has concrete, asphalt and / or metal.

[0009] The vehicle is particularly formed to move by itself and / or autonomously.

[0010] Preferably, the vehicle is floor-mounted.

[0011] The vehicle is preferably automatically controllable, and / or guided non-contact, or can be guided.

[0012] The storage device can have exactly two storage members.

[0013] The two storage members can preferably store exactly one object, particularly exactly one vehicle body.

[0014] A plurality of storage members, particularly all storage members, preferably extend in a common plane, and the plane particularly extends perpendicular and / or parallel to the longitudinal central axis of the vehicle.

[0015] A plurality of storage members, particularly all storage members, preferably extend in the vertical longitudinal central plane of the vehicle.

[0016] In particular, the central axis and / or the longitudinal axis of each individual receiving member extends in a common plane, in particular in a vertical longitudinal central plane.

[0017] The longitudinal axes or central axes of a plurality of receiving members, in particular of all receiving members, are preferably oriented parallel to each other and / or, at least when the vehicle is arranged on a substantially horizontal drivable base, are oriented parallel to the direction of gravity.

[0018] It can be effective if the central longitudinal axis of the vehicle is one of the main driving directions of the vehicle or defines two main driving directions of the vehicle.

[0019] One or more receiving members, in particular all receiving members, are preferably the only members projecting upwards from the base body of the vehicle.

[0020] Preferably, one or more receiving members, in particular all receiving members, project beyond the base body as the only component of the vehicle, by more than about 5% or more than about 10% of the height of the base body.

[0021] One receiving member, two receiving members or more than two receiving members are movably arranged on the base body.

[0022] In particular, one receiving member, two receiving members or more than two receiving members are arranged on the base body so as to be movable parallel to the direction of gravity.

[0023] In this description, the direction of gravity is generally the height direction oriented substantially perpendicular to the drivable base on which the vehicle can drive.

[0024] Instead or in addition thereto, one receiving member, two receiving members or more than two receiving members can be coupled to the base body so as not to be movable.

[0025] Furthermore, all the receiving members can be movably arranged on the base body. Alternatively, all the receiving members can be arranged on the base body so as not to be movable.

[0026] The vehicle preferably has a lift drive device, by means of which one receiving member, two receiving members or more than two receiving members can be lifted and / or lowered relative to the base body.

[0027] In particular, one receiving member, two receiving members or more than two receiving members can be withdrawn from the base body and / or entered into it by means of the lift drive device.

[0028] In that case, the withdrawal and entry do not necessarily have to be a complete withdrawal or a complete lowering. Rather, it is also possible to provide an extension or a shortening of the section of the receiving member that projects from the base body.

[0029] It can be effective if the vehicle has a scraping device, by means of which, when one or more receiving members enter or lower, the dirt adhering to one or more receiving members can be scraped off from the receiving members. Thereby, the undesirable dirt in the internal space of the base body can preferably be avoided or at least reduced.

[0030] In some preferred cases, a plurality of receiving members, in particular all the receiving members, are coupled to each other and / or are necessarily movable together relative to the base body.

[0031] In particular, a plurality of receiving members, in particular all the receiving members, can be lifted absolutely simultaneously and / or can be lowered absolutely simultaneously.

[0032] The lift drive device of the vehicle can have a lift drive member, in which case the lift drive member preferably couples a lift drive motor and two or more than two receiving members to each other, so that two or more than two receiving members can be moved together by the lift drive motor.

[0033] The lift drive member is in particular a lift drive belt or a lift drive chain.

[0034] By means of the lift drive member, preferably two or more receiving members can be lifted and / or lowered in common with respect to the base body.

[0035] It can be effective if the lift drive member extends through the drive shaft of the drive device for driving the vehicle.

[0036] Instead or in addition thereto, the lift drive member can extend through below the drive shaft of the drive device for driving the vehicle.

[0037] Two or more drive members are preferably arranged on opposite sides of the drive shaft of the drive device.

[0038] In an embodiment of the receiving member, a lubricating device, in particular an integrated lubricating device, can be provided.

[0039] The lubricating device is preferably integrated in the receiving member, in particular in the shaft section and / or the receiving section of the receiving member, for example arranged completely inside the shaft section and / or the receiving section.

[0040] The lubricating device preferably has a reservoir for containing the lubricant and a metering member for supplying the lubricant from the reservoir to the object to be lubricated in an open-loop and / or closed-loop controllable manner.

[0041] The object to be lubricated is in particular part of a lifting device for lifting and / or lowering the receiving member with respect to the base body, in which the receiving member is arranged on or in the base body and is in particular slidably supported.

[0042] For example, the receiving member can be arranged slidably on the base body using a spindle member, and in particular can be withdrawn from the base body and / or can enter the base body.

[0043] The lubrication device is preferably formed such that a lubricant can be supplied to the object to be lubricated, in particular to the spindle member, thereby ensuring reliable lubrication of the object and, accordingly, reliable lift drive of the receiving member.

[0044] For this purpose, the metering member is controlled, in particular as required, and / or is time-controlled, for example using a time member. For example, the metering member can be activated after a predefined number of lift cycles of the receiving member, thereby ensuring regular metering of the lubricant to the object to be lubricated, in particular to the spindle member.

[0045] The metering member can in particular be a valve arranged below the reservoir and / or directed towards the object to be lubricated, and the valve can be opened and closed as required.

[0046] The lubrication device, in particular the reservoir and / or the metering device, can preferably be accessed from above, in particular to replace the lubricant and / or to refill the lubricant, through the receiving section and / or by removing the receiving section.

[0047] It can be effective if the drive device has a drive shaft that connects two drive members of the drive device, in particular drive wheels. The drive shaft is preferably directed substantially transversely, in particular at least approximately perpendicular, to the longitudinal central axis of the vehicle and / or to the main travel direction.

[0048] In particular, the vehicle can have exactly one drive shaft.

[0049] It can be effective if the drive device has a drive shaft, and the drive shaft connects two drive members of the drive device, in particular drive wheels, to each other, and in that case the drive shaft is arranged at least approximately in the center of the base body of the vehicle with respect to the longitudinal central axis and / or the main travel direction of the vehicle.

[0050] The expression "at least approximately in the center" means in particular that one or more axes of rotation (about which one or more drive members of the drive shaft, for example drive wheels, are rotatable) are arranged at most about 20% of the entire longitudinal extent of the vehicle away from the horizontal transverse central axis of the vehicle.

[0051] The drive members, in particular the drive wheels, are preferably arranged at a certain distance from each other, and the size of this distance is greater than about 50% of the maximum width of the vehicle and / or the base body, in particular greater than about 70%.

[0052] It can be effective if one or more support rollers are arranged in each of the four corner regions of the vehicle.

[0053] These support rollers are in particular non-driven support rollers.

[0054] Preferably, the support roller is a support roller that can rotate freely 360° with respect to a substantially vertical axis of rotation.

[0055] The drive device can have a drive shaft, and the drive shaft connects two drive members of the drive device, in particular drive wheels, to each other, and in that case these drive members are commonly borne by the base body by means of the drive shaft.

[0056] The drive shaft in particular has a shaft member that firmly connects the drive wheels to each other.

[0057] Therefore, the drive shaft is in particular a rigid shaft. Preferably, no individual wheel suspension is provided.

[0058] However, in an alternative form, individual wheel suspensions can also be provided. In that case, preferably, a coupling device is provided for mechanically coupling the drive member, in particular the drive wheel, thereby ensuring that the drive member, in particular the drive wheel, is uniformly pressed against the drivable base.

[0059] The plurality of drive members of the drive device, in particular the drive wheels, are preferably drivable independently of one another.

[0060] For this purpose, in particular, it is possible for the vehicle to have a plurality of drive motors.

[0061] For example, a drive motor is associated with each drive member, in particular with each drive wheel.

[0062] The drive motor is in particular an electric motor.

[0063] It can be effective if the drive device has a drive shaft and / or one or more drive members, which can be lowered onto the floor and / or pressed against it and / or lifted from the floor by an operating device.

[0064] The drive shaft and / or one or more drive members are preferably integrated into the vehicle's base body and / or are surrounded on five sides by the base body.

[0065] The operating device can preferably be accessed from the outside in order to operate the vehicle.

[0066] Therefore, it is particularly preferred that there are provided drive components that are not accessible and / or protected in the drive device. In that case, at the same time, for example, the drive device can be deactivated by lifting one or more drive members from the outside of the vehicle by means of the operating device, thereby enabling the vehicle to be moved manually, in particular in the event of a failure of the drive device.

[0067] Furthermore, by means of an operating device, it is possible to adjust the pressing force of one or more drive members, in particular drive wheels, on a drivable base, preferably.

[0068] A shaft member is provided which is pivotally mounted about an axis extending parallel to the longitudinal central axis of the vehicle, which can be particularly effective when it connects two drive members, in particular drive wheels, to each other. The drive members, in particular drive wheels, preferably have a rotation axis which is fixed, in particular identical, with respect to each other.

[0069] The shaft member is pivotally or swingably mounted on the vehicle's base body by means of bearing members, in particular. The bearing members are particularly height-adjustable and / or spring-biased and mounted on the base body. By using an operating device, the height of the shaft member and / or the bearing member is preferably adjustable with respect to the base body.

[0070] The bearing member is preferably formed substantially in a U-shape.

[0071] Preferably, the bearing member has a central portion, and legs are respectively arranged at the ends of the central portion. By using one of the legs, the bearing member is preferably pivotally or swingably mounted on the base body.

[0072] The other leg of the bearing member preferably engages with a spring or is spring-biased. In particular, the bearing member is elastically movable with respect to the base body.

[0073] The central portion of the bearing member is preferably a bearing region, and the shaft member is pivotally or swingably mounted in the bearing region.

[0074] The U-shaped bearing member particularly surrounds a gap, and a lift drive member of a lift drive device extends through the gap.

[0075] It can be effective if the gap is a spatial region restricted by the legs of the bearing member on the sides facing each other.

[0076] One receiving member, two receiving members or more than two receiving members can each have a receiving section, and the receiving section tapers towards the upper end with respect to the direction of gravity.

[0077] In particular, it is possible for one or more receiving sections, in particular all receiving sections, to be formed in a substantially conical shape, a conical section shape, a frustum of a cone shape or a frustum of a cone section shape.

[0078] Thereby, the action area of the object or adapter device for receiving one or more objects, which is at least partially complementary to it, enables the object to be fixed particularly stably to the vehicle. In particular, the tapered form of the receiving section can prevent the lateral inclination of the object. Also thereby, preferably, the object can be stably received in the vehicle by only one or only two receiving members, which are each formed only in a pin shape, a bar shape or a protrusion shape.

[0079] In a form of the present invention, it is possible for one receiving member, two receiving members or more than two receiving members to be arranged at different positions with respect to the base body. In that case, one receiving member, two receiving members or more than two receiving members preferably project beyond the upper side of the base body and / or from the base body at the lowest position with respect to the direction of gravity.

[0080] One receiving member, two receiving members or more than two receiving members can have a height greater than the height of the base body of the vehicle as seen parallel to the direction of gravity when seen parallel to the direction of gravity.

[0081] One or more receiving members can be formed in one piece in particular, or in two parts.

[0082] For example, one or more receiving members are each formed as a metal bar.

[0083] One or more receiving members each preferably have a shaft portion that is substantially cylindrical, preferably a true cylindrical shape, and a receiving section is arranged at each end thereof.

[0084] The extension of one or more receiving members in one or more directions extending perpendicular to the direction of gravity is preferably at most about 10%, preferably at most about 5% of the longitudinal or transverse extension of the vehicle's base body.

[0085] In that case, the base body is the part of the vehicle that forms or has a supporting structure, in particular a metal frame.

[0086] The base body extends over preferably at least about 80%, preferably at least about 90% of the total length or width of the vehicle.

[0087] It can be effective if the vehicle has one or more receiving sensors with which it is possible to detect an object arranged in at least one receiving member and / or to monitor whether it is correctly fixed.

[0088] Instead of or in addition to that, the vehicle can have one or more receiving sensors with which it is possible to detect the orientation and / or positioning of an object arranged at a distance from at least one receiving member.

[0089] In particular, using at least one receiving sensor, it is possible to detect the orientation and / or positioning of the object before lifting or removing at least one receiving member.

[0090] In that case, the object to be detected or monitored using at least one receiving sensor is in particular the object to be transported, in particular the vehicle body, or also a combination of the object to be transported and an adapter device for accommodating the object.

[0091] It may be effective if at least one receiving sensor is arranged on the base body.

[0092] In particular, it is possible that two or more receiving sensors are arranged on the base body in a region surrounding one or more receiving members of the base body.

[0093] Using this one or more receiving sensors, it is possible to detect and / or monitor the approach and / or positioning and / or presence of an object, in particular in and / or within the region of the receiving member.

[0094] Alternatively, or in addition thereto, it is possible that at least one receiving sensor is arranged on the receiving member.

[0095] In particular, a plurality of receiving sensors can be arranged on a plurality of receiving members.

[0096] In particular, it is possible to provide a receiving sensor formed as a contact sensor.

[0097] The receiving sensor arranged on the base body is preferably a receiving sensor that operates non - contact.

[0098] At least one receiving sensor preferably interacts with a detection aid provided on or in the object to be received or received.

[0099] In particular, an opening, for example a hole, can be provided in the adapter device for receiving the object. In that case, the receiving sensor can be used to detect in particular this opening.

[0100] It may be effective if a cover for covering the internal space of the base body is arranged on the upper side of the base body.

[0101] This cover is preferably placed on the base body.

[0102] Preferably, the cover is arranged and / or formed in the same plane as the placement area of the base body so as to at least substantially completely surround it.

[0103] For example, the cover can end in the same plane as the placement area of the base body so as to at least substantially completely surround it.

[0104] Thus, the upper surface of the vehicle is preferably substantially completely flat, especially without considering one or more protruding receiving members.

[0105] Thus, the cover preferably cannot be gripped without using tools.

[0106] The cover is preferably only placed and is thus preferably held on the base body only by gravity and / or by clamping it laterally.

[0107] The cover covers at least preferably about 40%, for example at least about 60%, especially at least about 80% of the upper side of the vehicle, especially of the base body.

[0108] The cover is preferably formed integrally or in several parts. In particular, a plurality of cover members are provided according to the cover described above.

[0109] For example, the cover can be lifted from the base body using a suction device.

[0110] If a cover that covers the internal space of the base body is arranged on the upper side of the base body, it can be effective if the cover is preferably at least partially transparent.

[0111] The concept of "transparent" means, in particular, that a person can look through the cover, and thus at least one vehicle component within the interior space of the base body is visible. Thereby, the threshold for preventing people from walking on the vehicle can be increased, thereby reducing the load on the vehicle or its components and reducing wear.

[0112] The cover can be, for example, tinted transparent.

[0113] The base body preferably has one or more side surfaces, which are formed, for example, by a diagonal cut.

[0114] One or more side surfaces preferably extend diagonally, in particular at an angle between about 30° and 70° with respect to the horizontal and / or vertical.

[0115] One or more emergency off-switches are preferably arranged on one or more side surfaces. Thereby, the emergency off-switch can be accessed particularly easily, thereby enhancing the safety in the driving of the vehicle.

[0116] The concept of "emergency off" means, in particular, an emergency stop, for example, the stop of a moving component, component part and / or vehicle. Optionally, in the case of an emergency off, an interruption of the power supply can further be provided.

[0117] Instead of, or in addition to, this, one or more (other) emergency switches can be arranged on (other) vehicles or on one or more other components of a transfer device and / or a processing facility and / or a replenishment facility.

[0118] The processing facility is in particular a processing facility.

[0119] Preferably, one or more of the emergency switches, particularly each emergency switch, is / are associated with a communication device, particularly with a respective communication device. For example, one or more or all of the emergency switches each have a communication device, in which case a particularly emergency-off signal can be transmitted by the communication device to one or more or all of the vehicles, whereby one or more or all of the vehicles can shift to emergency-off driving.

[0120] In emergency-off driving, the vehicle is preferably stopped immediately and / or moved out of the danger zone. The braking action is preferably adapted to the loading state of the vehicle, whereby in particular damage to objects arranged on the vehicle, particularly workpieces, and / or the detachment of the vehicle from the workpiece are avoided.

[0121] It can be effective if, when the emergency switch is operated by the communication device, particularly of the emergency switch and / or by the communication device of the vehicle, the emergency-off signal is transmitted to one or more, particularly all, of the vehicles, particularly directly and / or indirectly via a higher-level control facility for controlling and / or monitoring a plurality of vehicles.

[0122] One or more, particularly all, of the vehicles preferably each have a control device with which the emergency-off signal can be processed, particularly before the vehicle shifts to emergency-off driving.

[0123] Preferably, the control device can check whether each vehicle must necessarily shift to the emergency-off state. For example, when checking this, the following can be considered: the position of the vehicle relative to one or more other vehicles; and / or the distance of the vehicle from one or more other vehicles; and / or the position of the vehicle relative to the emergency switch that actuated the emergency-off signal; and / or the distance of the vehicle from the emergency switch that actuated the emergency-off signal; and / or The actual speed of the vehicle at the time of transmission and / or activation of the emergency-off signal; and / or In particular, the predefined and / or calculated travel path of the vehicle with respect to one or more other vehicles and / or with respect to the emergency-off switch that activated the emergency signal.

[0124] For example, by this inspection, it is possible to determine whether there is a danger for each vehicle and / or for the object arranged thereon, in particular the workpiece, and / or whether a danger arises for one or more objects and / or persons from the vehicle or the object arranged thereon. In the case where the result is affirmative, the vehicle shifts to the emergency-off drive, and / or in the case where the result is negative, the vehicle is further driven in its previous drive state.

[0125] In particular, by inspection, it is possible to determine whether the vehicle receiving the emergency signal maintains a sufficiently large distance from other vehicles and / or other objects and / or persons or from the emergency-off switch that activated the emergency signal, and whether it is maintained based on the set and / or predicted travel path. If the result is affirmative, the vehicle is further driven, in particular, in its previous drive state. If the result is negative, the vehicle shifts, in particular, to the emergency-off drive.

[0126] The vehicle preferably has a communication device, using which the vehicle can communicate directly or indirectly via a control facility arranged above with one or more other vehicles, and thereby transmit, for example, an emergency-off signal and / or a position signal and / or a status signal and / or a request signal.

[0127] For example, one or more vehicles arranged around the vehicle for which the emergency signal is operated or has been operated can receive the emergency-off signal and subsequently stop and, in particular, shift to the emergency-off drive.

[0128] In that case, the surroundings are, for example, a spatial region centered on the transmitting device of a communication device for transmitting a very-off signal, and in that case, the extent of this spatial region results, in particular, from the signal strength and / or the reach of the transmitting device. For example, a transmitting device configured as a short-range transmitter can be provided, and using it, a very-off signal can be transmitted, for example, over a distance of up to about 20 m, in particular up to about 10 m. In that case, only the vehicles arranged within this spatial region receive the very-off signal and then shift to very-off driving. In that case, the vehicles arranged outside this spatial region remain in the driving mode that existed previously.

[0129] As the short-range transmitter, for example, a Bluetooth (registered trademark) low-energy transmitter (BLE transmitter) can be provided.

[0130] In other embodiments, one or more (other) very-off switches can be arranged on the vehicle or on one or more other components of the transfer device and / or the processing facility and / or the replenishment facility. Preferably, one or more communication devices are associated with one or more of the very-off switches, for example, one or more of the very-off switches each have a communication device, and in that case, by means of the communication device, in particular, a very-off signal can be transmitted to one or more vehicles, whereby one or more vehicles can shift to very-off driving.

[0131] It may be effective if different types of very-off driving scenarios are made operable by one or more very-off switches, and in that case, these different types of very-off driving scenarios are, for example, a) depending on the extent or size of the surroundings surrounding the vehicle that has shifted to very-off driving, and / or b) depending on the criteria for examination by the control device of each vehicle, and / or c) depending on the desired driving of various groups of vehicles, distinguished from one another.

[0132] It can be effective if vehicles are associated with various regions or zones according to their respective positions, and in that case, preferably, a separate emergency-off driving scenario is associated with each region or each zone. In that case, for a predetermined region or within a predetermined zone or for a predetermined region or for a predetermined zone, by operating the emergency-off switch, preferably at least the vehicle or vehicles associated with this region and / or this zone, or exactly those vehicles or only those vehicles can shift to emergency-off driving. In that case, all other vehicles outside this region or this zone preferably remain in the driving mode that existed before.

[0133] To associate vehicles with various regions or zones, in particular, sensor members for detecting the vehicles and / or sensor members provided on the vehicles for detecting the surroundings can be utilized. In particular, a vehicle position sensor or an external photointerrupter, scanner or other detector can be utilized.

[0134] The region or zone is in particular a processing region, for example a processing station, and / or a driving section, in particular a driving section outside the operating region, and / or a storage region.

[0135] The position recognition and / or position monitoring of one or more vehicles, in particular all vehicles, is preferably carried out over all possible movement paths and / or parking areas of the vehicles. In particular, uninterrupted and / or spatially and / or temporally continuous position recognition and / or position monitoring is provided. It particularly means a repetition rate in position recognition and / or position monitoring of at least once per second, in particular at least ten times per second.

[0136] It can be effective if the position of one or more or all vehicles is consistently recognized and / or monitored along at least one processing region, in particular at least one processing station.

[0137] In the embodiment of the present invention, a vehicle that shifts to the emergency off drive can output a signal to one or more other vehicles around the vehicle. In that case, the one or more vehicles are shifted to a special attention state by the signal, and thereby, for example, a collision with a vehicle that has shifted to the emergency off drive, for example, a vehicle that suddenly brakes, can be avoided. For this purpose, the one or more vehicles are particularly braked to a reduced speed compared to before. Instead or in addition thereto, the one or more vehicles can follow a travel path different from the initially defined travel path in the attention state, and thereby, in particular, can bypass a possible danger that has caused the operation of the emergency off switch.

[0138] For the position recognition and / or position monitoring of one or more, particularly all vehicles, positioning aids can be provided, for example, integrated in the floor on which the vehicle can travel or arranged on or in it.

[0139] The positioning aid is preferably at least one fixedly arranged member or has such a member, and the member can be detected by a detection device arranged on the vehicle, for example, by a sensor and / or a camera, and the position of the vehicle can be estimated using the member, for example, by utilizing the recognition of the exact position of the positioning aid.

[0140] The positioning aid can be, for example, a guiding device and / or a code band, particularly a QR code (registered trademark) band.

[0141] Preferably, the positioning aid extends along the travel path of one or more vehicles and has position features that can be uniquely associated locally along this travel path. Therefore, particularly at each position along the travel path, the position of the vehicle can be uniquely determined. In particular, the determination is made by the control device of each vehicle and / or by the control facility arranged above, and in that case, the communication between each vehicle and the control facility arranged above is preferably carried out via a secure protocol.

[0142] In one form, the vehicle can have a plurality of position sensors, which are arranged at various locations, in particular along the longitudinal central axis of the vehicle and / or along a direction extending parallel to the longitudinal central axis of the vehicle.

[0143] One or more position sensors are used, in particular, to detect one or more positioning aids, in particular positioning aids fixedly arranged on the floor and / or integrated into the floor, such as one or more cord bands, in particular QR code (registered trademark) bands.

[0144] It can be effective to determine the position simultaneously using a plurality of position sensors at different locations along the vehicle's travel path.

[0145] It can be effective if one or more virtual position sensors are calculated from a plurality of, in particular real, position sensors using the vehicle's control device. In particular, a virtual position sensor can be calculated that is exactly centered with respect to the vehicle's longitudinal direction and / or with respect to the vehicle's transverse direction, and the preferably similarly calculated sensor values of that position sensor enable, based on the central arrangement, in particular an optimal positioning and / or orientation determination of the vehicle.

[0146] The control facility arranged above preferably adjusts a plurality of vehicles, in particular all vehicles. In particular, using the sensor facility arranged above, information regarding the position of the vehicle is available such that safety-critical position or speed deviations, which can in particular lead to dangerous situations, are compensated, in particular by adapting the travel path and / or drive parameters of one or more vehicles and / or by shifting one or more vehicles to an emergency stop drive.

[0147] It may be effective if the upper side of the vehicle is retracted with respect to the lower side of the vehicle. In particular, it is possible to easily realize the obliquely formed side surface by this. Further, it is possible to obtain a detection area optimized for detecting the surroundings by the sensors described later, particularly the sensor members of the sensor device.

[0148] It may be effective if the base body is formed substantially in a rectangular parallelepiped shape, and in that case, sensor devices that project outward of the vehicle are provided at two or four corner portions of the base body, respectively.

[0149] One or more sensor devices preferably each have one or more sensor members for detecting the surroundings of the vehicle. One or more sensor members preferably each have a detection area of at least about 250°, particularly about 270°, when viewed by itself or commonly in a substantially horizontal plane.

[0150] One or more sensor devices are preferably coupled to a control device of the vehicle. In that case, the control device is preferably formed and arranged such that the vehicle can be driven in two, three, or more than three different driving modes according to the sensor values detected and / or determined by the one or more sensor devices.

[0151] For example, one of the driving modes can be normal driving, in which an unexpected, and / or unknown, and / or obstructive object is not arranged within the traveling path of the vehicle or other predetermined surrounding area.

[0152] Alternatively, or in addition to this, one of the driving modes can be warning driving, in which one or more unexpected, and / or unknown, and / or obstructive objects are arranged within a predetermined warning section of the traveling path or other predetermined surrounding area of the vehicle.

[0153] Alternatively, or in addition thereto, one of the driving modes can be a stop drive, in which one or more unexpected and / or unknown and / or obstructive objects are arranged within a predefined stop section of the vehicle and / or a predefined surrounding area of the vehicle.

[0154] The warning section and / or the stop section and / or the various surrounding areas for activating the warning drive and / or the stop drive are preferably obtained from a predefined minimum distance and / or maximum distance from the vehicle of unexpected and / or unknown and / or obstructive objects, where this minimum distance and / or maximum distance can preferably be varied, preferably using a control device, according to the actual loading of the vehicle and / or the actual driving direction and / or the actual driving speed.

[0155] Furthermore, the vehicle can have one or more sensor devices with which the spatial surroundings of the vehicle can be detected and / or monitored together with the spatial surroundings and / or spatial area of the object being transported by the vehicle.

[0156] In all embodiments of the vehicle, preferably one or more sensor devices are provided for each vehicle, with which the respective surrounding area of the vehicle can be detected.

[0157] The three-dimensional surroundings, i.e., the three-dimensional surrounding area, can be detected by one or more sensor devices, where the detection itself is preferably performed two-dimensionally or similarly three-dimensionally, i.e., the object detected within the detected surrounding area is preferably detected with respect to its scale and positioning relative to the vehicle. In particular, the scale and positioning of the object detected by the sensor device of the vehicle are calculated from the sensor data of one or more sensor devices.

[0158] The surrounding area is preferably composed of a plurality of zones or has a plurality of zones. These zones can be formed to overlap each other or can cover completely different spatial regions from each other.

[0159] One or more sensor devices are used, and preferably different zones of the surrounding area are detectable.

[0160] Zone division can be obtained, for example, by selecting boundary lines at various intervals from the vehicle. The surrounding area can be divided, for example, in the horizontal direction into, for example, three zones.

[0161] The innermost zone having the smallest distance from the vehicle, especially the zone directly adjacent to the vehicle, is, for example, a protection zone.

[0162] The protection zone is preferably an area in which no object other than the vehicle itself (and optionally the object) should be placed for particularly obstacle-free driving. Preferably, if an object is detected within this protection zone, the vehicle immediately and / or automatically shifts to stop driving.

[0163] The protection zone is particularly formed in a ring shape within a horizontal section.

[0164] Another zone contiguous to the protection zone is, for example, a warning zone. The warning zone preferably surrounds the protection zone in a ring shape, especially with respect to a horizontal cross-section passing through the vehicle, the protection zone, and the warning zone.

[0165] The warning zone is particularly an area in which no object other than the vehicle itself should be placed, and in that case, the detection of an object does not necessarily yet result in the operation of stop driving. Rather, if an object is detected within this warning zone, the vehicle preferably immediately and / or automatically shifts to warning driving.

[0166] Outside the warning zone, there is in particular a free zone which can be detected by one or more sensor devices if necessary, but the presence of objects etc. is not monitored.

[0167] An object referred to as an object detected by at least one sensor device should not be in a position where it is detected during the predicted normal driving of the vehicle and / or the processing facility. Of course, one or more sensor devices also detect objects that are components of the transfer device and / or the processing facility and whose presence is necessary.

[0168] Using the vehicle's control device and / or using a sensor facility arranged above, preferably it is checked, in particular calculated, whether the detected object is an object that is not predicted, and / or unknown, and / or an obstacle, or an object whose presence is acceptable.

[0169] Preferably this inspection is carried out before the vehicle shifts to warning driving or stop driving.

[0170] Depending on the actual state of the vehicle, in particular depending on whether the vehicle is loaded or not, and / or depending on the speed and direction in which the vehicle is currently moving, preferably the boundary line between the zones is changed. For example, when the speed of the vehicle is relatively high, the boundary line in the area in front of the vehicle (with respect to the driving direction) is moved away from the vehicle, so that an expansion of the zone, in particular the warning zone and / or the protection zone, occurs in front of the vehicle.

[0171] In the case of curved driving, for example, the curvature of the zone and / or at least a partial lateral shift can be provided so that it covers as large a spatial area as possible along the actual driving section (travel path) in the area in front of the vehicle.

[0172] The area behind the vehicle (with respect to the driving direction) usually does not need to be monitored in great detail, so the part of the zone, especially the warning zone and / or protection zone, that is behind the vehicle can be reduced.

[0173] Using the vehicle's control device and / or using the control equipment arranged above, the boundary transition and / or scale and / or shape of the zone, especially the warning zone and / or protection zone, are preferably adapted regularly, for example, multiple times per minute or second, to each actual state.

[0174] Instead, or in addition, the adaptation can always be carried out, especially when the vehicle undergoes a state change, such as a change in direction, loading, unloading, acceleration, etc.

[0175] As a state characteristic that particularly affects the boundary transition of the zone, furthermore, preferably, the actual position of the vehicle inside the transfer device and / or processing equipment can be utilized.

[0176] In particular, the zone can change according to the actual position of the vehicle inside the transfer device and / or processing equipment with respect to its scale and / or shape.

[0177] For example, when it is predicted that the vehicle approaches the station and a part of the station reaches into the warning zone and / or protection zone (or the warning zone and / or protection zone extends into a part of the station), the zone, especially the warning zone and / or protection zone, can be reduced so that a part of the station comes outside the warning zone and / or protection zone.

[0178] In particular, for the predicted straight driving within the station, the lateral peripheral detection can be reduced or even completely deactivated.

[0179] Instead of, or in addition to, this, when the vehicle approaches the station, the station mode can be activated, in which the maximum speed of the vehicle is reduced, thereby compensating for the increased potential danger resulting from the reduced peripheral monitoring. The approach to the station can be determined, for example, by means of a positioning assistance scan and / or by means of position sensors and / or distance sensors.

[0180] In particular, the following can be utilized to define the transition and / or scale and / or shape of the zone boundary: - The speed and driving direction of the vehicle, in particular determined using a laser scanner and / or an incremental coder, preferably with software support; - Hall sensor signals from one or more drive motors of the drive device Preferably, a unified signal is calculated based thereon, in particular the driving speed and the rotational speed. If a plausibility check implemented selectively results in inconsistent values, preferably an emergency stop is activated (in particular, an emergency off-drive is initiated). If the plausibility check results in consistent values, the transition and / or scale and / or shape of the zone are preferably determined from these values.

[0181] Preferably, furthermore, instead of, or in addition to, the zone division in the horizontal direction, a zone division in the vertical direction can be provided, which can be effective.

[0182] In particular, in the vertical direction, a zone within which the vehicle is arranged can be defined. This zone is in particular the vehicle zone.

[0183] The vehicle zone extends in particular in the vertical direction from the floor on which the vehicle can travel up to the upper side of the vehicle's base body or up to the upper end of one or more receiving members.

[0184] Thus, by detecting the spatial region of the surrounding area that forms or has a vehicle zone, it is possible to determine, in particular, whether the vehicle is approaching another vehicle and / or whether the vehicle is at risk of colliding with an object on its own.

[0185] The other zones in the vertical direction are obtained from the sizing of the object located on the vehicle. This zone covering the object extends, in the vertical direction, in particular from the lower side of the object (which may include an adapter or skid, etc. in some cases) and / or up to the upper side of the object, preferably from the lowest point of the object (which may include an adapter or skid, etc. in some cases) and / or up to the highest point of the object. This zone is herein referred to as the object zone.

[0186] The object zone can be directly adjacent to the vehicle zone.

[0187] Alternatively, an intermediate zone can be arranged between the object zone and the vehicle zone, which extends, in particular, from the upper side of the vehicle's base body and / or down to the lower side of the object (which may include an adapter or skid, etc. in some cases), preferably down to the lowest point of the object (which may include an adapter or skid, etc. in some cases).

[0188] Furthermore, the intermediate zone can extend, in the vertical direction, at least approximately by the distance by which one or more receiving members project from the vehicle's base body.

[0189] It can be effective if the zones divided in the vertical direction overlap with the zones divided in the horizontal direction, thereby enabling optimal surrounding detection and danger avoidance, in particular for the combination of the vehicle and the object.

[0190] Preferably, a warning zone and / or a protection zone is associated with the vehicle zone, so that, in particular, it is possible to monitor whether the vehicle is approaching another vehicle or other object too closely.

[0191] Furthermore, since a warning zone and / or a protection zone can be associated with the target zone, in particular, it is possible to monitor whether the vehicle is approaching another vehicle or other object too closely.

[0192] Furthermore, since a warning zone and / or a protection zone can be associated with the intermediate zone, in particular, it is possible to monitor whether the vehicle is approaching an object too closely within the area of one or more receiving members.

[0193] The spatial extent and / or shape of the warning zone associated with the vehicle zone and / or the protection zone associated with the vehicle zone, particularly in the horizontal direction, depends in particular on whether the vehicle is loaded and / or where the vehicle is within the transfer device and / or processing facility.

[0194] The spatial extent and / or shape of the warning zone associated with the target zone and / or the protection zone associated with the target zone, particularly in the horizontal direction, depends in particular on whether the target is arranged on the vehicle, what scale the target itself has, and / or where the vehicle is within the transfer device and / or processing facility together with the target on which it is arranged. In particular, when the vehicle is not loaded, i.e., when there is no target, the surrounding monitoring within the area of the target zone can be completely deactivated.

[0195] The spatial extent and / or shape of the warning zone associated with the intermediate zone and / or the protection zone associated with the intermediate zone, particularly in the horizontal direction, depends in particular on whether the target is arranged on the vehicle, how much one or more receiving members protrude from the base body, and / or where the vehicle is within the transfer device and / or processing device together with the target on which it is sometimes arranged. In particular, when the vehicle enters the station and / or passes through the station and in that case one or more receiving members protrude into or extend through the separation bed, the surrounding monitoring within the intermediate zone can be deactivated.

[0196] In one form, each vehicle can autonomously and independently of other vehicles, for example based on surrounding monitoring, inspect and / or monitor its route resulting from a task or its travel path resulting from a task, in particular to avoid collisions.

[0197] In addition, furthermore, the vehicles can inform each other (directly or indirectly via a control facility arranged above) about their respective driving states and / or zones, in particular the respective extent and / or shape of warning zones, protection zones, vehicle zones, target zones and / or intermediate zones. Thereby, in particular, an overlap based on a plan within a zone, such as may occur when two vehicles pass closely in opposite directions, can be intentionally tolerated without activating unnecessary warning drives.

[0198] Even if each object is not arranged on a vehicle, it may be preferable if one or more or all objects, in particular on the vehicle body, are associated with a target zone and / or a warning zone and / or a protection zone. In particular, this kind of zone division can also be provided at storage locations and / or parking positions.

[0199] This kind of zone association enables the overall adjustment of all objects, in particular regardless of their respective arrangement in the vehicle, and thereby preferably also minimizes the potential risk of a moving object (an object arranged on a vehicle) colliding with a parked object (an object not arranged on a vehicle).

[0200] It can be effective if the width of the opening in the station that the vehicle passes through when entering a tunnel under the separation floor of the station, for example, corresponds to at least the maximum width of the vehicle, preferably at least about 105% of the width of the vehicle.

[0201] Depending on whether the vehicle is carrying a target or not, preferably, the surrounding monitoring that activates normal driving and / or warning driving and / or stop driving can be adapted by a control device. Thereby, in particular, it is possible to avoid the activation of warning driving and / or stop driving based on an object above the vehicle, even though the object is not placed on the vehicle and thus does not pose any obstacle to the vehicle.

[0202] Thereby, in particular, a bridge and / or a return travel area with a reduced driving height can be passed under and / or through in normal driving, and in that case, at the same time, monitoring is carried out to ensure that the target to be transferred to the vehicle is not actually placed. Otherwise, the target will be damaged.

[0203] In warning driving, preferably, the driving speed of the vehicle is reduced, especially compared to normal driving. Furthermore, in warning driving, preferably, an acoustic warning signal and / or an optical warning signal can be output by a warning device of the vehicle.

[0204] The normal driving of the vehicle is a driving mode in which the vehicle is driven, in particular, in the optimal and trouble-free driving of a facility having one or more vehicles, especially a transfer device and / or a processing facility.

[0205] The upper control facility is preferably formed and arranged such that one or more, or all, of the features and / or functions included in and related to this specification and the appended claims can be implemented, and / or one or more, or all, of the individual, multiple, or all results included in and related to this specification and the appended claims can be obtained.

[0206] Preferably, further, each individual, or a plurality, or all of the vehicles are formed and arranged such that one or more, or all of the features and / or functions included in and related to this specification and the appended claims can be implemented and / or one or more, or all of the results included in and related to this specification and the appended claims can be obtained.

[0207] Using a control facility arranged above and / or using a vehicle control device, preferably, a task to be cleared by the vehicle can be created. The task can be, for example, a transfer task for transferring an object and / or a charging task for charging the vehicle's energy storage device and / or a relocalize task for driving the vehicle to another predefined position. Further, the task can be a maintenance task, in which the vehicle drives to a maintenance area and maintenance is performed on the vehicle there.

[0208] Task creation can be performed, for example, automatically, especially using a control facility arranged above. The control facility arranged above creates the task such that, in particular, the transfer of an object using one or more vehicles enables optimal utilization of facilities, especially processing facilities, to be obtained.

[0209] When one or more vehicles perform an automatically created task, they preferably drive autonomously, and in that case, each vehicle preferably drives along a movement path optimized with respect to driving time.

[0210] Furthermore, tasks can be created manually for one or more vehicles. The tasks can be created manually in a control facility arranged above, especially by an operator or worker.

[0211] Due to the tasks created manually, only partial autonomous driving of each vehicle is provided, in particular. In particular, due to the tasks formed manually, only the previously created travel routes, in particular only the manually created routes, can be made selectable, and each vehicle can only travel along this travel route when implementing the manually created tasks.

[0212] One or more vehicles can preferably be driven in alignment drive, in which each vehicle does not perform the task but rather prepares to perform the task later, in particular memorizes it. For example, in alignment drive, various routes can be created manually, and the route can later be selected as the travel route for implementing the manually created task.

[0213] In alignment drive, especially when creating a route manually, the vehicle can reach a situation that would represent an obstacle in the normal drive of the vehicle. For example, for a manually created route, intentionally different limit values, such as a smaller safety distance, may be selected compared to the vehicle's travel route in fully autonomous driving.

[0214] Especially when creating a manual route and / or when implementing a manually created task (or also in all other driving modes), the vehicle can drive in intrinsic safety, thereby reliably reacting to possible dangerous situations themselves and effectively avoiding them, or the vehicle can drive without intrinsic safety, thereby autonomously avoiding or being unable to avoid possible dangerous situations. The latter case occurs especially when the sensor device for monitoring the vehicle's surroundings fails or is deactivated, and / or when one or more other safety devices or safety functions of the vehicle are deactivated, for example, by intentionally bypassing it. Furthermore, non-intrinsically safe driving may occur only when orienting the vehicle in one or more positioning aids, such as in one or more QR codes (registered trademarks), and / or in one or more code bands.

[0215] In the case of the vehicle running in a vehicle-specific safety mode, preferably, a higher standard speed and / or a higher maximum speed of the vehicle are provided than in the case of the vehicle running not in the vehicle-specific safety mode.

[0216] For example, the standard speed and / or the maximum speed of the vehicle in the vehicle-specific safety mode is at least about 3 times, in particular at least about 5 times, for example at least about 10 times the standard speed and / or the maximum speed of the vehicle in the non-vehicle-specific safety mode.

[0217] In particular in the case of the leveling drive, the standard speed and / or the maximum speed of the vehicle in the vehicle-specific safety mode can be between about 10 m / min and about 20 m / min, preferably between about 12 m / min and about 18 m / min, for example about 15 m / min.

[0218] In particular in the case of the leveling drive, the standard speed and / or the maximum speed of the vehicle in the non-vehicle-specific safety mode can be between about 0.5 m / min and about 5 m / min, preferably between about 1 m / min and about 3 m / min, for example about 2 m / min.

[0219] The standard speed of the vehicle is, in particular, the average speed at which the vehicle moves forward on a straight section.

[0220] In the case of the vehicle stop drive, the vehicle is preferably braked or can be braked to a stop state. Instead of or in addition thereto, in the stop drive, an acoustic emergency signal and / or an optical emergency signal can be output by a warning device of the vehicle. Further, alternatively or complementarily thereto, in the stop drive, an emergency signal can be transmitted to a higher-level control facility for controlling and / or monitoring a plurality of vehicles by using a control device.

[0221] The warning signal and / or the emergency signal preferably has a request to clear the driving path and / or the surroundings of the vehicle.

[0222] The warning signal and / or the emergency signal can be, for example, a report of a person speaking or a machine speaking.

[0223] It may be effective if the vehicle can travel in multiple directions, particularly in both directions.

[0224] Using one or more display members, preferably in each corner region of the vehicle, it is possible to display whether each corner region is actually the front region or the rear region of the vehicle according to the actual traveling direction.

[0225] One or more display members are particularly arranged and / or formed in the corner regions of the vehicle.

[0226] One or more display members preferably simultaneously form a blinker member, and the blinker member displays the traveling direction in which the vehicle is directed when turning while traveling in a curve and / or deviating from the main transfer section.

[0227] In an embodiment of the present invention, the vehicle can have one or more charging connection points for charging the energy storage device of the vehicle.

[0228] The charging connection point is arranged, for example, on the lower side of the base body. Preferably, the vehicle can be positioned above the charging connection point in the charging area associated therewith for charging the energy storage device.

[0229] Alternatively, or in addition thereto, the charging connection point can be arranged on the upper side of the base body. In that case, preferably, the vehicle can be positioned below the charging point in the charging area associated therewith for charging the energy storage device.

[0230] The charging area is particularly part of a charging device, in which non-contact, for example inductive, and / or mechanically coupled energy transfer takes place.

[0231] In the charging area, at a given time, particularly exactly one vehicle can be charged.

[0232] The charging area preferably has a charging connection point on the energy source side. The charging connection point on the reservoir side is preferably arranged and / or formed on the vehicle.

[0233] Preferably, energy is obtained from the power grid through the charging connection point of the charging area.

[0234] Using the charging connection point of the vehicle, energy is preferably taken out from the charging connection point of the charging area and supplied to the energy reservoir of the vehicle.

[0235] It can be effective if the charging connection point can be coupled so as to contact the charging connection point of the associated charging area.

[0236] The contacting charging connection points are, for example, sliding contacts or have them.

[0237] Instead, or in addition thereto, the charging connection point can be non-contact and can be coupled to the charging connection point of the associated charging area.

[0238] In that case, in particular, inductive energy transfer can be provided.

[0239] It can be effective if the vehicle has a charging connection point arranged on the side wall of the base body, which is in particular an additional charging connection point and is provided in addition to, for example, a charging connection point arranged on the lower side of the base body.

[0240] The charging connection point provided on the side wall of the base body is in particular another charging connection point and is in particular connectable to the charging connection point of the associated charging area by means of a plug connection.

[0241] In the form of the vehicle, the charging connection point arranged on the lower side of the base body can be the main charging connection point, and through which, in the normal driving of the vehicle, most of the energy required for driving can be taken in.

[0242] The other charging connection points are, in particular, reserve charging connection points and / or emergency charging connection points. In that case, energy can be supplied to the energy storage device of the vehicle via these other charging connection points, in particular when the vehicle can no longer move to the charging area for the main charging connection point for some reason.

[0243] It can be effective if at least one charging connection point is arranged and / or formed in at least one receiving member.

[0244] The receiving member can have one or more contact areas and / or one or more contact members and / or control contacts.

[0245] One or more contact areas and / or one or more contact members are preferably not accessible when at least one receiving member is in the retracted position. In that case, the contact area and / or the contact member are not accessible, in particular for optimally protecting people, especially when no object is transported by the vehicle and accordingly no object covers one or more receiving members.

[0246] One or more contact areas and / or one or more contact members and / or control contacts are arranged and / or formed, in particular, in the shaft area of at least one receiving member and / or in the receiving cylinder.

[0247] Preferably, two contact areas and / or contact members are arranged and / or formed on opposite sides of at least one receiving member, in particular in the shaft area of at least one receiving member and / or in the receiving cylinder, with respect to the vertical longitudinal central axis of the vehicle.

[0248] Instead, or in addition thereto, in particular, contact areas and / or contact members arranged at various heights in the shaft area of at least one receiving member and / or in the receiving cylinder can be provided.

[0249] In particular, using one or more sliding contacts, one or more contact areas and / or contact members can preferably be easily brought into contact with the receiving member, thereby enabling energy to be supplied to the energy storage device of the vehicle.

[0250] The vehicle has an energy storage device for storing and providing electrical energy for driving the vehicle. In that case, it can be effective if the energy storage device has one or more energy storage units, which are formed as capacitors, in particular supercapacitors or ultracapacitors.

[0251] Furthermore, the vehicle can have an energy storage device, and electrical energy for driving the lift drive device of the vehicle can be stored and provided using it.

[0252] Using the same energy storage device, in particular the same energy storage unit, or the same energy storage unit of the energy storage device, energy can preferably be stored and provided for driving the lift drive device as well as for driving the vehicle.

[0253] The driving of the vehicle is in particular the forward movement of the vehicle.

[0254] The vehicle preferably has one energy storage device, which in particular has a plurality of energy storage units.

[0255] It can be effective if the energy storage device has one or more drive energy storage units for storing the energy for driving the vehicle as a whole and / or for driving the lift drive device.

[0256] One or more, or all, of the drive energy storage units can be formed, for example, as supercapacitors.

[0257] Instead of, or in addition to, the energy storage device can have one or more buffer energy storage units, and energy can be provided using them to drive, for example, a control device and / or one or more sensor devices and / or one or more communication devices.

[0258] One or more, or all, of the buffer energy storage units can be formed, for example, as lithium-ion accumulators.

[0259] Optionally, one or more, or all, of the buffer energy storage units are coupled to, or can be coupled to, the drive device of the vehicle and / or the lift drive device, and in particular can provide energy for driving the drive device and / or the lift drive device when the drive energy storage unit can no longer provide sufficient energy therefor.

[0260] One or more drive energy storage units and one or more buffer energy storage units can have different standard drive voltages and / or charging voltages from each other.

[0261] For example, one or more drive energy storage units can be drivable at a voltage of at least approximately 48 V, in particular a direct current voltage.

[0262] One or more buffer energy storage units can be drivable at a voltage of at least approximately 24 V, in particular a direct current voltage.

[0263] To charge the energy storage device in the charging area, the charging area preferably has one or more charging connection points, and each of the charging connection points has a plurality of contact areas and / or contact members to provide voltages with voltage values of various heights.

[0264] In particular, at one or more charging connection points, two or more pairs of contact areas and / or contact members are provided respectively, and they are used to provide different charging voltages.

[0265] The contact area can be formed, in particular, as a surface contact point and / or as a contact member, in particular as a protruding contact member and / or as a sliding contact point.

[0266] The contact areas on the vehicle side of one or more charging connection points of the vehicle are preferably arranged at least partially complementary to the contact areas of one or more charging connection points on the energy source side, at least with respect to their spatial formation and / or arrangement.

[0267] The contact areas are formed and / or arranged in such a way that, in particular, cross - contact between contact areas of pairs of contact areas that do not belong to each other is excluded.

[0268] It can be effective if one or more or all of the charging connection points each have at least one pair of contact areas located on the outside, which is particularly used for charging at least one drive energy storage unit.

[0269] Furthermore, it can be effective if one or more or all of the charging connection points each have at least one pair of contact areas located on the inside, which is particularly used for charging at least one buffer energy storage unit.

[0270] The at least one pair of contact areas located on the inside is particularly arranged between two contact areas of the at least one pair of contact areas located on the outside.

[0271] Instead, the reverse use of the contact areas can also be provided, so that at least one pair of contact areas located on the inside, for example, is used for charging at least one drive energy storage unit, and at least one pair of contact areas located on the outside is used for charging at least one buffer energy storage unit, for example.

[0272] Furthermore, one or more or all of the charging connection points can each have one or more position contacts, and vehicle position recognition and / or position monitoring can be carried out using them.

[0273] For example, one or more pairs of position contacts can be provided, which are arranged in particular so as to be located inside and / or outside between the contact areas of each charging connection point, so that the contact areas of each charging connection point are arranged between the position contacts.

[0274] It can be effective to use one or more position sensors and / or position contacts to determine whether the vehicle occupies the position required to charge the energy storage device with respect to the charging connection point, and if so, whether one or more charging voltages at the charging connection point are released to charge the energy storage device.

[0275] It can be effective if one or more contact areas and / or contact members for charging an energy storage device, in particular one or more drive energy storage units and / or one or more buffer energy storage units, are simultaneously used as one or more position contacts.

[0276] One or more contact areas and / or contact members and / or one or more position contacts of the vehicle can each have a safety device, in particular a relay and / or a contactor, and a temporary voltage cut-off can be carried out using it to avoid a short circuit in the energy storage device, for example when using the contact area and / or the position contact for position recognition and / or position monitoring.

[0277] Instead of, or in addition to, one or more or all of the contact areas and / or contact members and / or one or more position contacts of the charging connection points on the energy source side can each have a safety device, for example a relay and / or a contactor, and using it, for example, when using the contact area and / or the position contact for position recognition and / or position monitoring, a temporary voltage cut-off can be carried out to avoid a short circuit in the energy source.

[0278] In particular, in order to drive the safety device appropriately and to switch between the position recognition mode and the charging mode, a handshake is preferably provided between the vehicle and the charging connection point and / or the control equipment arranged above.

[0279] In particular, on the energy source side, it is possible to determine whether the vehicle is correctly positioned at each charging connection point by measuring the voltage in the contact area and / or the contact member.

[0280] For example, if the measured voltage is greater than 0.2 V, particularly greater than 0.5 V, it can be estimated that the vehicle is correctly positioned.

[0281] After completion of the charging process, the charging connection point preferably transitions to the position recognition mode newly, particularly by activation of the safety device.

[0282] The vehicle preferably has a control device, and the control device is formed and arranged in particular such that the vehicle can be driven selectively in the safety mode or in the express mode.

[0283] Preferably, the vehicle can be driven selectively in the normal mode and / or in the warning mode and / or in the stop mode a) only in the safety mode, or b) only in the express mode, or c) in both the safety mode and the express mode.

[0284] When a person is detected around the vehicle and / or when the vehicle is traveling in an area where a person can approach, the vehicle preferably shifts to, or is capable of shifting to, a safety mode.

[0285] The detection of a person is in particular the detection of an object that may be a person. In that case, it is not necessarily required to recognize whether it is actually a person. Rather, it must be ensured that if it is a person, that person is protected from damage.

[0286] Furthermore, when no person is detected around the vehicle and / or when the vehicle is traveling in an area where a person cannot approach, the vehicle preferably moves to, and / or is capable of moving to, an express mode.

[0287] The vehicle is drivable in particular in the safety mode so that the VDI guideline 2510 is observed.

[0288] Preferably in the safety mode, one or more sensor devices of the vehicle monitor the surroundings of the vehicle.

[0289] According to the result of the sensor monitoring, preferably in the safety mode, it is selectable by the control device whether the vehicle is driven in normal drive, warning drive, and / or stop drive.

[0290] The maximum speed in the safety mode preferably conforms to the existing standards, guidelines, and / or recommendations for self-driving vehicles within the space and / or area where people stay or can stay.

[0291] In the express mode, preferably, the maximum speed is not defined. Rather, in the express mode, the vehicle is controlled by the control device only to avoid damage to objects. In particular, when the vehicle is not loaded, a very high speed far exceeding the maximum speed in the safety mode can be set. For example, the speed of the vehicle in the express mode is at least about 150%, in particular at least about 200%, for example at least about 300% of the maximum speed of the vehicle in the safety mode.

[0292] It can be effective if the vehicle can shift to the safety mode or the express mode using a device present in the vehicle, in particular a GPS receiver and / or a real-time location system, and / or using a device not present in the vehicle, in particular a sensor device, for example using an external safety contact, etc.

[0293] A device not present in the vehicle is in particular a monitoring device, and using it, it is monitored whether a person has entered or can enter the express area where the vehicle is driven in the express mode. For example, an entrance door monitored as an entrance to the express area can immediately shift the vehicle in the express area from the express mode to the safety mode when it is opened.

[0294] Furthermore, the control device of the vehicle can use a dedicated sensor and / or by querying an external sensor to inspect the state of the express area before the vehicle shifts to the express mode. For example, the switching from the safety mode to the express mode in the express area can be blocked when an internal and / or external sensor device detects a person in the express area.

[0295] Instead of detecting a person, other parameters or states can also be used to safely select the express mode.

[0296] The express area can be formed and / or provided, for example, in one or more planes of the processing equipment.

[0297] It can be effective if the express area extends at least substantially completely, especially over at least about 90%, for example at least about 95%, of the usable area of this one or these multiple planes, across one or more planes of the processing area.

[0298] Alternatively, or in addition thereto, the safety area can be formed and / or provided, for example, in one or more planes of the processing equipment.

[0299] It may be preferable if the safety area extends at least substantially completely, especially over at least about 90%, for example at least about 96%, of the usable area of this one or these multiple planes, across one or more planes of the processing equipment.

[0300] Furthermore, one or more planes of the processing equipment can each have one or more safety areas and one or more express areas.

[0301] Preferably, at least about 50%, especially at least about 80%, for example at least about 95%, of the planes formed as express areas have a majority or all automatic workplaces, that is, a majority or all, stations and / or processing areas where the object is processed by robots or machines.

[0302] Preferably, at least about 50%, especially at least about 80%, for example at least about 95%, of the planes formed as safety areas have a majority or all manual workplaces, that is, a majority or all, stations and / or processing areas where the object is processed by humans.

[0303] One or more receiving members of the vehicle can be directly fixed to, for example, the object to be transferred.

[0304] However, the object to be transferred can be fixed to, or can be made fixable to, one or more receiving members of the vehicle using an adapter device.

[0305] Therefore, the device according to the invention also relates to an adapter device for receiving an object, in particular a workpiece, such as a vehicle body.

[0306] The adapter device preferably: has a central member; has one or more adapter members, which are fixed to the central member and are geometrically adapted to the object in order to receive the object.

[0307] One or more action areas, in particular introduction openings, acting on one or more receiving members for receiving the adapter device are preferably arranged on and / or formed in the central member and / or one or more adapter members.

[0308] The central member preferably connects a plurality of adapter members to each other.

[0309] In particular, one or more receiving pins for receiving one or more objects, such as a vehicle body, are provided on each of the one or more adapter members.

[0310] One or more action areas, in particular introduction openings, are preferably arranged and / or formed so as to preferably substantially complement one or more receiving sections.

[0311] In particular, one or more action areas, in particular introduction openings, are formed substantially in a conical shape, a conical section shape, a frustum of a cone shape or a frustum of a cone section shape.

[0312] It can be effective if one or more action areas, in particular introduction openings, are arranged on and / or formed on the lower side of the adapter device and are tapered in a direction opposite to the direction of gravity.

[0313] The adapter device according to the present invention is particularly suitable for use in combination with a vehicle according to the present invention.

[0314] Accordingly, the present invention also relates to a combination comprising at least one vehicle and at least one adapter device.

[0315] In particular, in order to accommodate objects of various geometric arrangements and / or sizes, a plurality of adapter members of various geometric arrangements and / or sizes can be provided.

[0316] In particular, the combination can have a building block system for forming adapter devices for various types of objects, in which case in particular one or more identically formed central members and adapter members of various geometric arrangements and / or sizes that can be selectively arranged thereon, in particular screwed thereon, are provided.

[0317] The vehicle according to the present invention and / or the adapter device according to the present invention and / or the combination according to the present invention are particularly suitable for use in a transfer device for transferring an object.

[0318] Accordingly, the present invention also relates to a transfer device for transferring an object, in particular a workpiece, for example a vehicle body.

[0319] In that case the transfer device particularly has one or more vehicles, in particular a vehicle according to the present invention.

[0320] The transfer device further preferably has one or more stations to which the object can be transferred by one or more vehicles and / or at which the object can be released and / or accommodated.

[0321] In particular, the object can be handed over from the vehicle to the station transfer device and / or to the station accommodation part at one or more stations and can be picked up therefrom.

[0322] In at least one of the stations, preferably, there are provided two or more positions for two or more objects.

[0323] The object can preferably be discharged to the station at the first position by a vehicle. At the second position, the object can preferably be accommodated by a vehicle and then carried out of the station.

[0324] The first position is in particular a discharge position.

[0325] The second position is in particular an accommodation position.

[0326] It can be effective if the object is processable at an intermediate position where it is being transferred from the first position to the second position or is disposed therebetween.

[0327] It can be effective if at least one vehicle is formed and arranged such that the object can be discharged to the station at the first position and then the object that had been previously discharged to this first position and then transferred to the second position of this station can be accommodated at the second position. Thus, it is possible to skip one cycle of the transfer device in particular using at least one vehicle.

[0328] The vehicle can preferably be further used, but one or more objects remain temporarily in the station and are in particular processed.

[0329] The object discharged at the first position by at least one vehicle is then accommodated at the second position by another vehicle that had discharged other objects to the first position therebetween, in particular after the object has been processed in the intermediate zone.

[0330] Therefore, the vehicle of the transfer device is preferably optimized with respect to the transfer process. Particularly preferably, the waiting time during the processing of the object is avoided.

[0331] It can be effective if one or more stations have a separation floor and at least one vehicle is movable below the separation floor (especially while one or more objects are movable above the separation floor) to move one or more objects above the separation floor.

[0332] In that case, the object is preferably arranged completely above the separation floor.

[0333] At least one vehicle, especially the base body and the chassis, is preferably arranged below the separation floor, in which case one or more receiving members may project through the separation floor and / or project into the separation floor. In particular, the base body of at least one vehicle is preferably arranged completely below the separation floor.

[0334] The separation floor preferably extends from a discharge position to a receiving position.

[0335] At least the separation floor preferably extends over the entire processing area, especially in the region of the intermediate position when the station is formed as a processing station, for example.

[0336] The separation floor is preferably passable for people and / or passable for machines.

[0337] The separation floor can be formed, for example, substantially flat or as a tunnel.

[0338] In particular, the separation floor can form a double floor, which can be arranged substantially parallel to a drivable base, especially a hall floor on which a transfer device is installed.

[0339] The separation floor is preferably substantially fluid-tight and especially drip-tight.

[0340] It can be effective if the separation bed and / or the station transfer device is, in particular partially, liftable and / or lowerable. Thereby, in particular, the object can be accommodated by one or more vehicles and / or other transfer facilities and / or delivered to one or more vehicles and / or other transfer facilities.

[0341] It can be effective if the separation bed is oriented substantially parallel to the drivable base on which the transfer device is mounted. The distance between the preferably walkable surface of the separation bed and the preferably drivable surface of the drivable base is preferably at most about 5 times, in particular at most about 4 times, preferably at most about 2 times the height of the vehicle and / or the height of the base body of the vehicle.

[0342] It can be effective if at least one section of the separation bed is formed to be completely closed above the transfer path of the vehicle. Thereby, the object to be transferred is preferably spatially completely separated from at least one vehicle.

[0343] In that case, the one or more vehicles and the object preferably no longer come into contact. In particular, no part protruding through the separation bed is provided. In this way, when the vehicle travels under the station where it is properly installed, special protection of the vehicle from dirt, overheating, moisture, etc. can be ensured.

[0344] The completely closed section of the separation bed can extend over at least substantially the entire longitudinal extension of the processing area for processing the object.

[0345] The delivery from the vehicle to the station transfer device and / or the pickup from the station transfer device to at least one vehicle are preferably carried out outside the processing station.

[0346] However, one or more objects can also be directly moved to the processing position by a vehicle. In that case, the station transfer device can preferably be omitted. In that case, in order to protect the vehicle, the vehicle can lower one or more objects at the processing position and leave the processing area. At a later point in time, using the same vehicle or another vehicle, one or more objects that have been processed at that time can be newly accommodated and further transferred.

[0347] In this specification, processing preferably generally means performing any step of product treatment, formation, and / or manufacturing. In particular, processing means forming, treating, coating, assembling, repairing, managing, etc. of a product or a part thereof.

[0348] The longitudinal extension of the processing area is, in particular, the extension of the processing area along the transfer direction and / or the transfer path, for example, from the inlet and / or discharge position of the station to the outlet and / or accommodation position of the station.

[0349] It can be effective if the separation bed has a passage area, for example, a passage slit, through which one or more receiving members of at least one vehicle extend and / or into which one or more receiving members of at least one vehicle extend.

[0350] The passage area, in particular the passage slit, preferably extends along the transfer path of the transfer device and / or defines the transfer path of the transfer device.

[0351] Passage edge regions can be formed on one or both sides of the passage area, in particular the passage slit, and are formed to be higher, in particular, compared to the remaining separation bed.

[0352] Forming to be higher relates to the height level, in particular, in the part of the separation bed surrounding the passage edge region, in particular, within the passable floor area of the separation bed.

[0353] Accordingly, the passage area, in particular the passage opening in the separation bed formed by the passage slit, is preferably arranged above the walkable floor plane, thereby in particular avoiding that loose parts or liquids located on the walkable floor area of the separation bed reach at least one vehicle through the passage area.

[0354] The average released or releasable spacing between two passage edge regions facing each other with respect to the passage area is preferably at most about 4 times, in particular at most about 3 times, in particular at most about 2 times the average thickness of at least one receiving member of at least one vehicle, seen horizontally and vertically with respect to the transfer path.

[0355] The average released or releasable spacing between two passage edge regions facing each other with respect to the passage area is at most about 150%, preferably at most about 100%, for example at most about 80% of the average extension of the central member of an adapter device for receiving at least one object, seen horizontally and vertically with respect to the transfer path. Thereby, the central member of the adapter device can at least partially or completely cover the passage area, in particular the passage slit, thereby in particular avoiding or at least reducing undesired soiling of the vehicle.

[0356] The passage edge region can be formed substantially in an L-shape in a cross-section seen perpendicular to the transfer path.

[0357] Instead or in addition thereto, the passage edge region can extend obliquely with respect to the direction of gravity and / or obliquely with respect to the horizontal direction.

[0358] It may be preferred if the transfer device, in particular the separation bed, for example the passage edge region, has one or more closing members with which the passage area, in particular the passage slit, can be preferably permanently or temporarily closed.

[0359] In particular, the passage area, in particular the passage slit, can be automatically closed using one or more closing members.

[0360] Alternatively, or in addition thereto, the passage area, in particular the passage slit, can be closed using one or more closing members, particularly when the receiving member does not protrude through the passage area.

[0361] Furthermore alternatively, or in addition thereto, the passage area, in particular the passage slit, can be closed using one or more closing members within a section of the passage area, in particular of the passage slit, in which no receiving member protrudes through the passage area at all.

[0362] One or more closing members are operable, in particular using one or more receiving members, and are movable, in particular, to an open position and / or a closed position.

[0363] Alternatively, or in addition thereto, one or more closing members can be moved automatically from an open position to a closed position, elastically and / or under the action of gravity.

[0364] One or more closing members are formed, in particular, as thin plates and / or flaps.

[0365] It may be preferable if a transfer device is used to transfer an object, in particular a workpiece, for example a vehicle body, and in that case the transfer device preferably has a separating bed.

[0366] The separating bed preferably has a passage area, in particular a passage slit.

[0367] Preferably, one or more receiving members for accommodating at least one object can extend through the passage area, in particular the passage slit, preferably from bottom to top, opposite to the direction of gravity.

[0368] The separation bed can form a walkable floor in a station and / or a processing area and / or a processing chamber of a processing facility.

[0369] One or more vehicles can preferably travel below the separation bed, particularly within a travel space formed below the separation bed.

[0370] The passage area, particularly the passage slit, preferably extends along the transport direction of the transport device.

[0371] It can be effective if the separation bed has one or more closing members and the passage area, particularly the passage slit, can be closed using them.

[0372] The passage area, particularly the passage slit, can be closed automatically and / or temporarily and / or locally and / or globally using one or more closing members.

[0373] The passage area, particularly the passage slit, can be closed using one or more closing members, particularly when no accommodating member protrudes through the passage area.

[0374] Alternatively, or in addition thereto, the passage area, particularly the passage slit, can be closed using one or more closing members, particularly within a section of the passage area, particularly the passage slit, where no accommodating member protrudes through the passage area.

[0375] It can be effective if one or more closing members are operable by an accommodating member and are particularly movable to an open position and / or a closed position.

[0376] Preferably, using the accommodating member, exactly one closing member or two closing members can always be moved from the closed position to the released position.

[0377] Preferably, when no particular receiving member acts on each closing member, one or more closing members, in particular all closing members, are automatically movable from the open position to the closed position.

[0378] One or more closing members, in particular all closing members, are preferably operable independently of each other and are in particular movable independently of each other from the closed position to the open position.

[0379] It can be effective if one or more closing members are automatically movable from the open position to the closed position under the action of elasticity and / or gravity. Thereby, preferably, it can be ensured that the closing member is always arranged in the closed position without the action of the receiving member, and thus the passage area, in particular the passage slit, is closed.

[0380] One or more closing members, in particular all closing members, can be formed, for example, as thin plates and / or flaps and / or closing disks.

[0381] For example, as a closing member, a circular, in particular round, closing member can be provided.

[0382] It can be effective if one or more closing members are displaceable, in particular in the horizontal direction, whereby the passage area is temporarily released for passing one or more receiving members.

[0383] The displacement is in particular a linear sliding and / or a rocking.

[0384] The separation bed has a plurality of closing members, and they can be arranged overlapping each other in their closed position and / or open position.

[0385] In particular, the separation bed has a plurality of closing members, which are arranged in planes that are different from each other, in particular in planes that are parallel to each other, preferably horizontal planes, and / or can be made movable relative to each other and / or relative to one or more support plates of the separation bed.

[0386] In particular, the separation bed can have a plurality of closing members arranged in and / or movable in a first plane, and additionally a plurality of closing members arranged in and / or movable in a second plane. The first plane and the second plane are preferably arranged parallel to each other and / or are oriented horizontally.

[0387] The closing members arranged in different planes and / or movable are preferably continuous with each other and / or arranged adjacent to each other in a direction extending perpendicular to the plane.

[0388] One or more closing members, in particular all closing members, can be arranged below one or more support plates of the separation bed.

[0389] One or more, in particular all, closing members preferably project laterally beyond one or more support plates, at least in their closed position, in particular into the passage region formed between two opposing support plates.

[0390] One or more, in particular all, closing members project laterally beyond one or more support plates at the upper side, which is preferably at most about 70%, in particular at most about 50%, preferably at most about 40% of their entire surface and is located above in the direction of gravity, at least in their closed position.

[0391] One or more closing members, in particular all closing members, remain below one or more support plates for at least about 30%, preferably at least about 50%, for example about 60%, preferably both in the closed position and in the open position, over their entire surface. Thereby, the support function of one or more, in particular all, closing members on one or more support plates can be realized.

[0392] One or more closing members, in particular all closing members, are preferably walkable.

[0393] It can be effective if one or more, in particular all, closing members are supported by each other and / or on one or more support plates of the separating bed, in particular in the closed position and / or in the open position, or are supportable.

[0394] One or more, in particular all, closing members can be movable in a direction that is oblique to the transport direction, in particular in a direction extending vertically and / or in a direction that is at least approximately horizontal, and in particular can be linearly slidable.

[0395] Thus, one or more, in particular all, closing members can move out of the movement path of one or more receiving members obliquely to the transport direction, in particular vertically, and in particular can be slid laterally by one or more receiving members.

[0396] One or more receiving members act directly on one or more closing members, whereby in particular one closing member moves from the closed position to the open position after another closing member and / or one pair of closing members moves after another pair of closing members, and thus one or more closing members can move along a passage region, in particular a passage slit.

[0397] It can be effective if one or more, in particular all, closing members are rotatable, for example freely rotatable and / or rotatable 360 °, and are arranged in a closing member receiving part of the separating bed.

[0398] One or more, in particular all, of the closing members are formed, for example, as closing disks.

[0399] In some preferred embodiments, one or more, in particular all, of the closing members are linearly slidable and preferably simultaneously rotatable when moving from the closed position to the open position and / or from the open position to the closed position.

[0400] In an embodiment of the invention, one or more, in particular all, of the closing members can jointly form a closure of a passage region, in particular a passage slit, the closure having a height that is small compared to the maximum lateral extension of the passage region, in particular the passage slit, for example having a height of, for example, at most about 80%, preferably at most about 50%, for example at most about 20% of the maximum width of the passage region, in particular the passage slit. Thereby, preferably, an optimized running space can be formed below the walkable surface of the separation floor, so that the vehicle can travel below the separation floor without damaging the closing members, especially when one or more receiving members are fully retracted.

[0401] One or more, in particular all, of the closing members are preferably accommodated by one or more closing member receptacles.

[0402] In particular, a separate closing member receptacle is associated with each closing member.

[0403] It can be effective if one or more, in particular all, of the closing member receptacles are arranged on the support structure of the separation floor and are in particular arranged movably.

[0404] It can be effective if the separation floor has a return device with which the closing members and / or the closing member receptacles, together with the closing members arranged thereon, are movable from the open position to the closed position after their operation.

[0405] The return device in particular has a return member, the return member having or forming one or more closing member receptacles.

[0406] Preferably, a return member is associated with each closure member receiving portion, or a separate closure member receiving portion is arranged for each return member.

[0407] Each return member is preferably movably arranged in a return member receiving portion, particularly in a separate return member receiving portion.

[0408] The return member receiving portion is particularly fixed to the support structure of the separable floor.

[0409] It can be effective if the return members are slidably arranged, particularly linearly slidably, in their respective return member receiving portions.

[0410] For example, the return members are arranged in their respective return member receiving portions so as to be elastically displaced by a spring device, particularly a compression spring.

[0411] Therefore, when the closure member is operated, the closure member, together with the closure member receiving portion and / or the return member, is moved relative to its respective return member receiving portion and, accordingly, relative to the support structure, for example against the action of a spring device.

[0412] By a return device, particularly by a spring device, for example a compression spring, after the engagement of each receiving member is disengaged, each closure member is moved together with the closure member receiving portion and / or the return member so as to return to the closed position.

[0413] In order to limit the movement of the return member relative to the return member receiving portion, for example, a stopper member can be provided, which is particularly slidably arranged in a guide opening, and in that case, two end positions of the return member relative to the return member receiving portion and, accordingly, of each closure member relative to the passage region, particularly the passage slit, are defined.

[0414] In particular, a walkable area, especially a part of the walkable surface of the separation floor, is preferably formed between the closed areas formed by the closing members that at least temporarily fill and / or close a passage area, such as a passage slit.

[0415] The other walkable surface of the separation floor, which is in particular formed by a plurality of support plates, is arranged displaced in the vertical direction by preferably up to about 200%, preferably up to about 150% of the maximum height of the closing member. For example, by using a flat closing member having a maximum height of up to about 5 cm, for example up to about 2 cm, a walkable surface of the separation floor can thus be formed which has the smallest possible displacement and accordingly a low risk of injury for a person.

[0416] In an embodiment of the invention, the separation floor can have two or more centering devices and / or opening devices, which are in particular arranged on and / or formed by one or more closing members.

[0417] Using the centering device, additional centering of, for example, a receiving member and / or a vehicle having the receiving member can be carried out.

[0418] For this purpose, the centering device has, for example, two centering members arranged in the passage area, which are in particular formed with an entry ramp and can thus effect centering of the center of the receiving member in the passage area, in particular in the passage slit.

[0419] The opening device can preferably have one or more opening members.

[0420] The entry ramp of the opening device can be directed in particular obliquely with respect to the horizontal and / or obliquely with respect to the vertical and enables operation of one or more closing members, for example by vertical movement of one or more receiving members.

[0421] With this type of release device, in particular, a vehicle arranged below the separation bed (one or more of its receiving members are likewise arranged entirely below the fully closed member) can effect the operation of one or more closing members from below the separation bed, whereby one or more receiving members can pass through the passage area from below the separation bed and engage, for example, with an object arranged above the separation bed.

[0422] If the transfer device has a station transfer device with which the object can be transferred regardless of the vehicle, and in that case the station transfer device is preferably integrated into the separation bed of the station, this can be effective.

[0423] The object can preferably be transferred using the station transfer device regardless of the vehicle, from the release position to the processing position and / or to the receiving position and / or to another station and / or to a buffer area that buffers the object to be transferred.

[0424] The station transfer device can be, for example, a roller conveyor, a rail conveyor or a chain conveyor, and can have a roller conveyor, a rail conveyor and / or a chain conveyor.

[0425] In particular, the rollers of a roller conveyor, which can be driven individually, for example, are integrated into the separation bed.

[0426] Furthermore, one or more rails of a rail conveyor can be integrated into the separation bed.

[0427] It can be effective if the transfer device has a plurality of stackable vehicles.

[0428] In particular, the transfer device has a plurality of equally formed vehicles that can be stacked on top of each other with a slight distance between them or directly on top of each other.

[0429] For this purpose, the transfer device can have, for example, a stacking device for stacking a plurality of vehicles and / or removing them from the stack.

[0430] A stack consisting of vehicles can be particularly effective for transferring and / or storing vehicles.

[0431] Using the stacking device, in particular a plurality of stacked vehicles can be individualized after their transfer.

[0432] The stacking device can have, for example, a lift unit, and using it, one or more vehicles can be lifted from a base on which they can travel in such a way that the upper side of the lift unit (in particular on which the vehicle travels before being lifted) is in the same plane as the upper side of the vehicle or an intermediate member described below, so that the vehicle on the lift unit can climb onto another vehicle.

[0433] In that case, the lift unit particularly has side walls, and the side walls are at least partially formed complementarily to the side walls of the vehicle.

[0434] In particular, the drivable surface of the lift unit is adapted to the shape of the upper side of the vehicle and / or the shape of an intermediate member for stacking the vehicles on at least one side.

[0435] Furthermore, one or more shelf units can be used, in which case the vehicle can be inserted into the shelf unit, preferably into the individual shelf compartments of the shelf unit, using the stacking device.

[0436] The vehicles can be stacked directly on top of each other, for example.

[0437] However, in particular, when one or more receiving members project from the base body of each vehicle, these receiving members are not suitable for this type of stacking.

[0438] Therefore, it can be effective if one or more intermediate goods, especially those that can run, are inserted between two vehicles respectively, or attached to the vehicle, and then another vehicle is placed on this vehicle.

[0439] One or more intermediate members form a space between the base bodies of the vehicles that should be stacked on top of each other, thereby avoiding a collision with one or more receiving members.

[0440] Furthermore, one or more intermediate members can be used to lock the vehicles to each other.

[0441] Furthermore, it can be effective if a charging connection point is prepared by the intermediate member, whereby in particular, the energy storage of a vehicle that is placed on another vehicle and thus cannot drive directly above the charging connection point of the direct charging area can also be charged.

[0442] In the form of the present invention, the transfer device has one or more charging areas for charging the energy storage of at least one vehicle.

[0443] One or more charging areas are preferably arranged at one or more stations of the transfer device, the object can be transferred to the station by at least one vehicle, and / or the object can be released and / or accommodated at the station.

[0444] One or more charging areas are preferably arranged between two stations of the transfer device with respect to the transfer path of at least one vehicle, the object can be transferred to the station by at least one vehicle, and / or the object can be released and / or accommodated at the station.

[0445] One or more charging areas are arranged in or on the transfer path of at least one vehicle. In that case, the transfer path is a path along which the object can be transferred by at least one vehicle.

[0446] The entire transfer path or the entire travel path of each vehicle preferably has a transfer path along which one or more objects are transferred and a return transfer path, and each vehicle travels back along the return transfer path, for example, from the terminal station where the object is finally released from the transfer device to the initial station where the object first contacts the transfer device.

[0447] The return transfer path is, in particular, a path where the vehicle is not loaded.

[0448] It can be effective if one or more charging areas are arranged within or on a road section, which permanently or temporarily form a section of the transfer path of one or more vehicles and a section of the return transfer path of the same one or more vehicles or one or more other vehicles.

[0449] In particular, one or more charging areas can be arranged in or within a road section, and the road section can alternately form a section of the transfer path of one or more vehicles and a section of the return transfer path of the same one or more vehicles or one or more other vehicles.

[0450] It can be effective if one or more charging areas are arranged in a multi-directional transfer area, in which and / or through which one or more vehicles pass in various travel directions.

[0451] Preferably, one or more charging areas are arranged in or on a cross area where one or more transfer paths and / or one or more return transfer paths of the vehicle intersect, which can be effective.

[0452] By appropriately positioning the charging area, in particular, the length of the conductor between the energy source and each charging area can be minimized.

[0453] One or more charging areas are preferably stationary charging areas in which at least one vehicle charges an energy storage device and / or is stationary during the charging of the energy storage device.

[0454] In that case, one or more charging areas can be arranged, for example, to be located directly in the transfer path without the possibility of detours. In that case, one or more vehicles can be inserted into one or more charging areas, for example, without detours, and can be shifted to a stopped state in order to charge their respective energy storage devices therein. After the charging process, the vehicles are moved again and follow the new transfer path.

[0455] However, instead of or in addition thereto, one or more charging areas can also be arranged, for example, optimized or shortest, slightly away from the transfer path. In that case, at least one vehicle leaves the optimized and / or shortest transfer path for a short time in order to charge its respective energy storage device in one or more charging areas. After the charging process, one or more vehicles then return to the optimized or shortest transfer path, for example.

[0456] In particular, if there is a relatively large time and / or space interval between a plurality of vehicles being transferred along a common transfer path, they can stop directly on the optimized and / or shortest transfer path in order to charge their respective energy storage devices. Thereby, preferably, a particularly space-saving form of the transfer device can be obtained.

[0457] On the other hand, if the time and / or space interval between successive vehicles is short, it can be effective for the vehicle to be charged to leave the predefined, in particular optimized and / or shortest transfer path in order not to block the subsequent vehicle.

[0458] All of the features described above can be provided in a non-fixed charging area, i.e., in a mobile charging area. In this type of mobile charging area, in particular, a speed reduced compared to the normal speed or the normal speed itself is defined as the driving speed of the vehicle.

[0459] It can be effective if one or more charging areas are mobile charging areas and at least one vehicle can pass and move in contact with it during charging of the energy storage device, or at least one vehicle can move through the mobile charging area during charging of the energy storage device.

[0460] It can be effective if the mobile charging area has a plurality of charging connection points, which are distributed and arranged in particular over a spatial area larger than the dimension of the vehicle in the horizontal direction.

[0461] In particular, the charging connection points of the mobile charging area are preferably arranged continuously along the charging section, so that preferably vehicles traveling along the charging section pass successively through the charging connection points of the mobile charging area and in particular drive over them.

[0462] When the vehicle moves along the charging section or the vehicle is positioned on the charging section, only a part of the charging connection points of the mobile charging area is always covered by the vehicle.

[0463] It can be effective if the voltage supply and / or current supply at the charging connection points of the mobile charging area is open-loop controlled and / or closed-loop controlled by a control device and / or a control facility arranged above, i.e., only the charging connection points always covered by the vehicle guide the current and / or only a voltage is applied to it. In that case, the remaining charging connection points not covered by this vehicle or another vehicle are preferably switched to no current and / or no voltage. Thereby, the undesired risk of electric shock for people can be effectively avoided.

[0464] In order to determine which single charging connection point or which multiple charging connection points are covered by the vehicle, it is possible to provide, in particular, position recognition and / or position monitoring for each vehicle, in which case the coverage is calculated, for example.

[0465] Alternatively or in addition thereto, one or more charging connection points, in particular all charging connection points, can each have one or more sensor devices, which can in particular determine the presence of the vehicle at each charging connection point, in particular above it, and in that case current and / or voltage for charging the vehicle's energy storage device is applied to and in particular permitted at each charging connection point only if the vehicle is recognized by one or more sensor devices.

[0466] This type of sensor device can in particular be a contact device, which cooperates with the vehicle, in particular the associated mating contact, in order to detect the presence of the vehicle and / or to directly or indirectly close the current circuit for charging the energy storage device. For this purpose, the contact device is in particular an electrical and / or mechanical and / or electromagnetic contact device different from the charging contact on the charging connection point side.

[0467] In order to detect the presence of the vehicle in a predetermined part of the charging section, in particular in order to determine the position of each vehicle, one or more contact rails, in particular location-resolving contact rails, can be provided.

[0468] The charging connection points can be arranged, for example, below the vehicle, beside the vehicle and / or above the vehicle.

[0469] Preferably, the charging connection points are not accessible to a person during normal driving of the vehicle and / or the vehicle's transfer device.

[0470] A transfer device, in particular one or more vehicles, for example all vehicles each having a release device, which can be used to temporarily release one or more charging connection points of each vehicle and / or one or more charging connection points of each charging area to charge the respective energy storage device, in particular to expose them, can be effective. For example, the contact area can be released by, in particular, causing a contact member and / or by pushing open a cover member, etc.

[0471] In that case, the release device is operated in particular by the interaction between the vehicle and the charging area.

[0472] If the release device is direction-dependent, so that in particular at least one charging area arranged in at least one multi-directional transfer area can release various contact areas for vehicles oriented in various directions, it can be effective. Thereby, in particular, polarity errors can be effectively avoided.

[0473] One or more charging areas can be arranged in and / or formed, for example, in the passage area of the separation bed of the transfer device.

[0474] For example, one or more closing members can form the contact member of the charging area to contact the contact area on the vehicle, in particular one or more receiving members.

[0475] Instead of or in addition to that, one or more closing members can be operating members that operate the release device for releasing one or more contact areas of the vehicle.

[0476] It can be effective if one or more charging areas are arranged and / or formed below the separation bed of the station of the transfer device.

[0477] In that case, one or more charging areas are accessible particularly from below, and in that case, the charging connection point of the vehicle corresponding to the charging connection point of the charging area is preferably arranged and / or formed on the upper side of the vehicle.

[0478] The charging connection point of the vehicle protrudes particularly from below towards the separation floor of the transfer device, and in that case, particularly when the vehicle is stationary, the energy storage device of the vehicle can be charged. Alternatively, mobile charging can also be provided, in which case the energy storage device of the vehicle is charged while the vehicle drives into, passes through, or drives out of the station.

[0479] The transfer device preferably has a plurality of such stations.

[0480] One or more charging areas can be arranged on the floor, and at least one vehicle can drive on that floor. One or more charging areas are particularly arranged directly below and / or formed under the separation floor of the transfer device station.

[0481] If one or more charging areas are formed as charging bays and one or more vehicles can enter them to charge their respective energy storage devices, particularly by bypassing, for example, an optimized and / or shortest vehicle transfer path and / or an optimized and / or shortest return transfer path, it can be effective.

[0482] One or more charging bays are preferably waiting areas for temporarily storing one or more vehicles.

[0483] Alternatively, or in addition, one or more charging bays can be maintenance areas for performing maintenance work on one or more vehicles.

[0484] The waiting area is, in particular, an area in which each vehicle waits for subsequent tasks, or the vehicle waits until a task that has already been created starts.

[0485] In one form, a waiting area for a plurality of vehicles can be provided, in which case the vehicles can be arranged, in particular, in a line one behind the other, in particular as a waiting loop.

[0486] Vehicles preferably enter and leave the waiting area according to the FIFO (First In - First Out) principle.

[0487] It can be effective if a charging area, in particular a charging connection point on the energy source side, within the waiting area is arranged only at the frontmost waiting position of the waiting area, in particular with respect to the main driving direction of the vehicles within the waiting area and / or with respect to a line in which a number of vehicles can be arranged one behind the other. Thereby, in particular, one or more energy storage devices of the vehicle that will next receive a task can always be charged.

[0488] Instead, or in addition, a plurality of charging areas, in particular a plurality of charging connection points on the energy source side, can be arranged within the waiting area, in particular at a plurality of waiting positions of the waiting area.

[0489] For example, a filling area, in particular a charging connection point on the energy source side, can be arranged at the frontmost waiting position and at the rearmost waiting position of the waiting area, respectively. Thereby, in particular, the energy storage device of the vehicle entering the waiting area can be charged, so that a longer waiting time for the vehicles within the waiting area is possible and / or the shortest charging time at the frontmost waiting position can be achieved.

[0490] In order to obtain charging within the energy storage of a vehicle waiting in a waiting area not used as a charging area, the vehicle located in the frontmost waiting position leaves the waiting position after a predefined waiting time and can line up at the rear end of the row of waiting vehicles. Thereafter, other vehicles move forward to close the gap. By regularly alternating in this way, all the waiting vehicles reach the charging area one after another, so that the energy storage of all the waiting vehicles can be charged.

[0491] It can be effective if the state of charge of one or more energy storages of a vehicle is checked by the vehicle and / or by a control facility located above before the vehicle is moved away from the charging area to carry out a task.

[0492] In particular, the vehicle can start to carry out a task only when the state of charge of one or more energy storages is sufficient to fully carry out the task and preferably additionally to drive to the charging area following the task.

[0493] Optionally further, a safety reserve can be provided, for example as follows, i.e. the task is started only when the state of charge is at least 5%, in particular at least 10% above the state of charge required to fully carry out the task, either absolutely (with respect to the total capacity of one or more energy storages) or relatively (with respect to the amount of energy required to carry out the task).

[0494] The maintenance area is in particular an area in which the maintenance and / or servicing of one or more vehicles can be carried out by a person trained therefor.

[0495] In an embodiment of the invention, one or more charging areas can be arranged at the discharge position of the station and / or at the accommodation position of the station such that the energy storage of the vehicle can be charged, in particular while positioning the vehicle with respect to the station, in particular for handing over or picking up an object.

[0496] The discharge position and the accommodation position are, in particular, areas where one or more objects are handed over from the vehicle to the station transfer device or from the station transfer device to the vehicle. For this purpose, an extremely accurate positioning of the vehicle relative to the station is required, so the positioning process can be carried out at a reduced speed compared to the maximum speed of the vehicle, for example at a speed lower than about 0.5 m / s. Thus, since the vehicle moves only a short distance interval during the positioning process, the energy storage of the vehicle can be charged during the positioning process, for example using slide contacts or by induction.

[0497] It can be effective if the transfer device extends over a plurality of planes and has one or more charging areas and is arranged in a transfer device for transferring one or more vehicles from one plane to another plane.

[0498] The transfer device is, in particular, an elevator or other lifting device for transferring one or more vehicles from one plane to another plane.

[0499] In that case, the plane of the transfer device is further the plane of a processing facility on which various or the same processing processes are carried out.

[0500] In that case, the transfer device can be formed such that one or more vehicles can be transferred simultaneously or one by one in succession. In that case, the transfer can be carried out, on the one hand, with one or more objects arranged on one or more vehicles or without objects.

[0501] It can be effective if the transfer device has one or more charging connection points, each of which has a plurality of charging areas for charging a plurality of vehicles simultaneously.

[0502] The charging areas of one or more charging connection points are preferably arranged and / or oriented such that a plurality of vehicles can be charged in the charging area in various orientations or in the same orientation, i.e., parallel to each other.

[0503] One or more charging connection points are preferably arranged at locations where a plurality of transfer paths and / or return transfer paths intersect and / or overlap.

[0504] It can be effective if the transfer device has one or more safety areas and one or more express areas, where one or more vehicles can preferably be shifted to the safety mode by the control device within one or more safety areas, and where one or more vehicles can preferably be shifted to the express mode by the control device within one or more express areas.

[0505] The safety area is particularly accessible to people.

[0506] The express area is an area where people cannot approach, at least temporarily. When it is detected by one or more sensor devices that a person has entered or can enter the express area, it is detected, and preferably automatically, the safety mode is activated for all vehicles within the express area as well.

[0507] The express area is an area that is spatially separated and / or blocked from the safety area.

[0508] One or more express areas preferably have one or more return transfer paths or return transfer path sections in which one or more vehicles are unloaded.

[0509] In particular, when each vehicle is unloaded, no object is placed where each vehicle is located.

[0510] Therefore, at least one express area can be formed flat so that when one or more vehicles are placed within the express area, no object can be accommodated in those vehicles.

[0511] The express area is particularly adapted to the height of vehicles in which no object is placed.

[0512] In some preferred cases, one or more express areas and / or one or more safety areas are connected to each other by one or more passage openings.

[0513] One or more passage openings are, in particular, openings through which one or more vehicles can travel from the express area into the safety area and / or from the safety area into the express area.

[0514] One or more passage openings preferably have a shape that is at least substantially and / or at least partially complementary to the shape of one or more vehicles.

[0515] Thereby, in particular, unwanted entry of people into the express area can be avoided.

[0516] One or more passage openings can be arranged within one or more stations of the transfer device.

[0517] Alternatively, or in addition thereto, one or more passage openings can be formed through one or more stations of the transfer device.

[0518] Therefore, one or more stations preferably separate the express area from the safety area.

[0519] In that case, for example, one or more vehicles can transfer the object to be transferred to a station and hand it over to, for example, a station transfer device. Thereafter, the one or more vehicles drive, for example, through the station and into the express area, and accelerate and further drive, especially to take on other tasks. In that case, the object placed in one or more stations can be removed from the station by, for example, a station transfer device and / or by one or more other vehicles, and can be further transferred, for example, especially to one or more other stations and / or to a buffer device for intermediate storage of the object.

[0520] In some preferred cases, one or more express areas are formed by a walkable and / or drivable double floor.

[0521] In particular, the express area can be a gap between a hall floor and an additional floor extending parallel to the hall floor.

[0522] The distance between the hall floor and the additional floor is less than preferably 4 times, preferably less than 3 times, for example at most about 2 times the height of the vehicle, especially the height of the vehicle's base body.

[0523] Instead of the hall floor, other drivable bases can also be provided.

[0524] The area on the additional floor or the area where there is no additional floor is especially a safety area.

[0525] The additional floor is, for example, a separated floor or can have a separated floor.

[0526] The transfer device preferably has multiple types of stations. In that case, at least two types of stations are preferably provided with a plurality of stations respectively.

[0527] The vehicle can be controlled by a control device, preferably according to the occupancy of each type of station. Particularly preferably, the supply of the object to the station can be controlled according to the occupancy of each type of station. Particularly preferably, the supply of the object to the station can be selected according to the respective occupancy of each type of station.

[0528] In an embodiment of the present invention, the object to be transferred can be transferred in a predetermined order by one or more vehicles and / or through one of each of various types of stations. By a control device, preferably each individual station of each type of station can be selected: In particular a) according to the actual occupancy of each individual station of each type of station and / or b) according to the equipment of each individual station of each type of station and / or c) according to the form of each individual station of each type of station and / or d) according to the actual maintenance status or degree of dirt of each individual station of each type of station, it can be selected.

[0529] The transfer device is particularly suitable as a component of a processing facility for processing an object, particularly a workpiece, such as a vehicle body.

[0530] Therefore, the present invention also relates to a processing facility for processing an object.

[0531] The processing facility preferably has a transfer device, particularly a transfer device according to the present invention.

[0532] The processing facility according to the present invention preferably has one or more of the features and / or advantages described in connection with the transfer device according to the present invention and / or the vehicle according to the present invention.

[0533] One or more stations of the transfer device, which are technically coupled to each other for transferring an object by means of a vehicle of the transfer device, can be effective if they are processing stations of the processing equipment.

[0534] Therefore, by means of one or more vehicles of the transfer device, preferably, the objects to be processed can be successively supplied to various processing stations of the processing equipment.

[0535] It can be effective if the transfer device has a handover area in which one or more objects can be handed over from the vehicle to a station transfer device or other storage device.

[0536] The handover area can in particular form a storage position and / or a discharge position, or can be a component thereof.

[0537] At the handover position of the handover area, the vehicle is preferably positioned such that, for example, the adapter device and / or the object can be lowered and / or placed on the station transfer device or other storage device by means of the entry or lowering of one or more storage members of the vehicle.

[0538] Thereby, preferably, the adapter device and / or the object can be separated from the vehicle.

[0539] If a plurality of vehicles attempt to hand over a plurality of objects in succession in a short time sequence, it may be preferable if the vehicle cannot drive away from the handover position through the entry area in the opposite direction to the entry direction. This is because otherwise other vehicles would have to be held at a large distance from the handover area.

[0540] Preferably, at least one entry area of the handover area (through which the vehicle can approach the handover position of the handover device) is spatially separated from at least one exit area of the handover area (through which the vehicle can drive away from the handover position).

[0541] Instead of, or in addition to, this, the entry direction, in which the vehicle can enter the handover area, can be transverse to, in particular at least approximately perpendicular to, the exit direction in which the vehicle can exit the handover area.

[0542] The vehicle is rotatable, in particular at the handover position, preferably about its own vertical axis, in particular the central axis, for example by two drive wheels rotating in opposite directions.

[0543] The rotation is carried out, for example, by at least approximately 90°, so that the vehicle can preferably leave the handover position in an exit direction which is at least approximately perpendicular to the entry direction.

[0544] In that case, other vehicles can preferably drive directly on, without any appreciable waiting time, through the entry area to the handover position, thereby ultimately being able to transfer other objects to the station.

[0545] The invention further relates to a method for processing and / or transferring objects.

[0546] In that case, the object is transferred, in particular by one or more vehicles, in particular the vehicle according to the invention, and / or by a transfer device, in particular the transfer device according to the invention.

[0547] Instead of, or in addition to, this, the object can be processed in and / or with a processing facility, in particular the processing facility according to the invention.

[0548] This method preferably has one or more of the features and / or advantages described in connection with the vehicle, the transfer device and / or the processing facility.

[0549] Of course, in principle, all features and / or advantages of the vehicle, adapter device, transfer device, processing equipment and / or method can be freely combined with each other to obtain a special form of the present invention.

[0550] Other preferred features and / or advantages of the present invention are the subject of the following description of the embodiments and the drawings.

Brief Description of the Drawings

[0551]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 7a

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18

Figure 19

Figure 20

Figure 21

Figure 22

Figure 23

Figure 24

Figure 25

Figure 26

Figure 27

Figure 28

Figure 29

Figure 30

Figure 31

Figure 32

Figure 33

Figure 34

DETAILED DESCRIPTION OF THE INVENTION

[0552] In all the figures, the same or functionally equivalent members are provided with the same reference numerals.

[0553] The first embodiment of the vehicle, indicated as a whole by reference numeral 100 and shown in FIGS. 1 to 8, is in particular a transfer vehicle without a driver, especially for transferring the object 102 (for this, see for example FIG. 11).

[0554] As can be particularly understood from FIGS. 1 to 8, the vehicle 100 has a substantially cuboid-shaped base body 104, and the base body forms the support structure of the vehicle 100.

[0555] Furthermore, the vehicle 100 has a chassis 106, and the chassis has a plurality of, for example, four support rollers 108 and a drive device 110.

[0556] The support rollers 108 are disposed on the lower side 114 of the vehicle 100, particularly within the four corner regions of the vehicle 100.

[0557] Since the support rollers 108 are particularly partially inserted into the base body 104 of the vehicle 100, the vehicle 100 has the smallest possible overall height.

[0558] The support roller 108 is in particular freely rotatably mounted about a substantially vertical axis of rotation 116 by 360°.

[0559] In particular, the support roller 108 is a non-driven wheel.

[0560] The drive device 110 has, for example, two drive members 118, which are formed, for example, as drive wheels 120.

[0561] Each drive member 118 is preferably associated with a drive motor 122 of the drive device 110, so that the drive members 118 can be driven independently of one another.

[0562] The drive motor 122 and the drive member 118 are preferably firmly connected to one another by a shaft member 124.

[0563] In that case, the drive members 118 are rotatably mounted, in particular at opposite ends of the shaft member 124.

[0564] The shaft member 124 is rotatably or pivotably mounted on the base body 104 of the vehicle 100 by a bearing member 126 of the drive device 110. For this purpose, the bearing member 126 is formed, for example, in a substantially C-shaped form and / or has a central portion 128 and two legs 130 projecting away from the central portion 128 in the same direction.

[0565] The end of the leg 130 opposite the central portion 128 preferably forms a bearing location 132, at which the bearing member 126 is rotatably or pivotably mounted on the base body 104 of the vehicle 100.

[0566] Since the other leg 130 of the bearing member 126 preferably interacts with the spring member 134, the rocking and / or rotational movement of the bearing member 126 about the bearing location 132, particularly about the bearing axis 136 defined by the bearing location 132, is a spring-displacing movement.

[0567] The bearing axis 136 is particularly substantially parallel to the main travel direction 138 of the vehicle 100, which main travel direction is preferably simultaneously parallel to the horizontal longitudinal central axis 140 of the vehicle 100. In the central portion 128 of the bearing member 126, a rocking joint 142 is provided, particularly for coupling the bearing member 126 to the shaft member 124.

[0568] In particular, the shaft member 124 is pivotally supported by the bearing member 126 by means of the rocking joint 142.

[0569] The rocking axis 144 (about which the shaft member 124 is pivotable relative to the bearing member 126) is preferably parallel to the bearing axis 136 and / or parallel to the longitudinal central axis 140 and / or parallel to the main travel direction 138.

[0570] Furthermore, the rocking axis 144 is preferably arranged substantially centrally between the two drive members 118 and / or substantially centrally between the two drive motors 122.

[0571] Since the rocking axis 144 and the bearing axis 136 are displaced parallel to each other, by rotating the bearing member 126 about the bearing axis 136, the rocking joint 142 and, along with it, the shaft member 124 and the drive member 118 arranged thereon can be lifted or lowered.

[0572] As can be particularly understood from FIG. 4, this enables, in particular, the drive wheels 118 to be positioned so as to project from the base body 104 at different distances.

[0573] For example, the operating device 146 shown in FIG. 2 is preferably used to adjust the orientation of the bearing member 126 about the bearing shaft 136. In particular, this can be done by the sliding of the spring member 134 or by the sliding of the mating piece acting on the spring member 134.

[0574] And preferably, the operating device 146 adjusts the extent to which the drive member 118 projects from the base body 104.

[0575] Since the drive device 110, in particular the shaft member 124 and the drive member 118, are arranged substantially centrally of the base body 104 with respect to the longitudinal central axis 140 of the vehicle 100, the vehicle 100 can be steered particularly without taking up space. In particular, the vehicle 100 can be steered sideways by the drive member 118 being driven in different rotational directions by the respective drive motors 122.

[0576] In particular, as is apparent from FIG. 4, the drive members 118 are firmly connected to each other by the shaft member 124, so that the drive shaft 148 formed thereby is substantially a fixed shaft.

[0577] The drive motors 122 of the vehicle 100 are preferably supplied with electrical energy from the energy storage 150 of the vehicle 100.

[0578] The energy storage 150 particularly has a plurality of energy storage units 152, in particular a plurality of supercapacitors 154.

[0579] The energy storage 150 is chargeable by a charging device 156.

[0580] The charging device 156 particularly has a charging area 158, which is arranged, for example, on a drivable base 160, in particular on a hall floor (see FIGS. 4 and 7 in particular). The charging area 158 particularly has a charging connection point 164, which is fixed, for example, on the drivable base 160 and is, for example, firmly screwed on.

[0581] The charging connection point 164 of the vehicle 100 that can be coupled to the charging connection point 164 in the charging area 158 is preferably arranged on the vehicle, particularly on the lower side 114 of the vehicle 100 (see, for example, FIG. 3).

[0582] The charging connection point 164 can have, for example, a slide contact, or other mechanical or non-contact transmission deformation examples that can be coupled are also conceivable. For example, inductive energy transmission can also be provided.

[0583] In an alternative embodiment of the vehicle 100 (not shown), one or more additional alternator filling connection points 164 can be arranged and / or formed, for example, in the side wall 166 of the vehicle 100, particularly of the base body 104. For example, a conventional plug connection for connecting a charging cable can be provided.

[0584] Furthermore, alternatively or additionally, the charging connection point 164 of the vehicle 100 can be provided on one or more (described later) receiving members.

[0585] As can be particularly understood from FIGS. 1, 2, 7 and 8, the vehicle 100 has a receiving device 168, and one or more objects 102 can be received by the receiving device.

[0586] In particular, the receiving device 168 has one or more, for example, two, receiving members 170, and these receiving members project from the vehicle at the upper side 172 of the base body 104 of the vehicle 100.

[0587] The receiving member 170 is particularly formed in a bar shape or a pin shape.

[0588] Preferably, these receiving members 170 are formed at least sectionally and / or at least approximately in a cylindrical shape, for example, a true cylindrical shape.

[0589] The receiving member 170 preferably has a height H AEand has a height that is at least approximately equivalent to the height H of the base body 104 of the vehicle 100. Gk is at least approximately equivalent.

[0590] Each receiving member 170 preferably has a shaft section 173, and a receiving section 174 is continuous with the shaft section.

[0591] The receiving section 174 preferably tapers against the direction of gravity g as long as the vehicle 100 is on a horizontal plane and the upper side 172 of the base body 104 faces upward.

[0592] In an alternative embodiment of the receiving member 170, particularly as apparent from FIG. 7a, for example, a built-in lubrication device 175 can be provided.

[0593] The lubrication device 175 is preferably integrated into the receiving member 170, particularly into the shaft section 173 and / or the receiving section 174, for example, is completely arranged inside the shaft section 173 and / or the receiving section 174.

[0594] The lubrication device 175 preferably has a reservoir 177 for storing lubricant and a metering member 179 for supplying the lubricant from the reservoir 177 to the object to be lubricated in an open-loop controllable and / or closed-loop controllable manner.

[0595] The object to be lubricated is particularly part of a lift drive 178 for raising and / or lowering the receiving member 170 relative to the base body 181, and the receiving member 170 is arranged on or in the base body and is particularly slidably supported.

[0596] For example, the receiving member 170 can be slidably arranged on the base body 181 by a spindle member 183 and is particularly removable from the base body 181 and / or can enter the base body 181.

[0597] The lubrication device 175 is preferably formed so as to be able to supply a lubricant to the object to be lubricated, in particular the spindle member 183, thereby particularly reliably lubricating it and, in connection therewith, ensuring reliable lift drive of the receiving member 170.

[0598] For this purpose, the metering member 179 is driven particularly as required and / or is time-controlled, for example by a time element. For example, the metering member 179 can be activated automatically after a predetermined number of lift cycles of the receiving member 170, thereby ensuring regular metering of the lubricant to the object to be lubricated, in particular the spindle member 183.

[0599] The metering member 179 can in particular be arranged below the reservoir 177 and / or be a valve directed towards the object to be lubricated, which valve can be opened and closed as required (see FIG. 7a).

[0600] The lubrication device 175, in particular the reservoir 177 and / or the metering member 179, can preferably be accessed, for example from above, in order to be exchanged and / or filled with other lubricants, in particular through the receiving section 174 and / or by removing the receiving section 174.

[0601] In particular, as is apparent from FIGS. 4 and 6, the receiving member 170 is arranged such that its central axis is located within the vertical longitudinal central plane 176 of the vehicle 100.

[0602] The receiving member 170 is movable in particular by means of a lift drive device 178, is in particular retractable upwards from the base body 104 and / or is at least partially re-enterable.

[0603] For this purpose, the lift drive device 178 particularly has a lift drive motor 180, which is, for example, an electric motor and can be driven using energy from the energy storage device 150.

[0604] Furthermore, the lift drive device 178 has a lift drive member 182, for example a lift drive belt 184, with which the receiving members 170 are coupled to each other and further to the lift drive motor 180.

[0605] Thus, the two receiving members 170 can be run particularly in common by the lift drive motor 180.

[0606] Since the receiving members 170 are preferably arranged on opposite sides of the drive device 110 along the longitudinal central axis 140 of the vehicle 100, if the lift drive member 182 extends to one receiving member 170 as well as to the other receiving member, it is effective for permanently coupling the two receiving members 170 by the lift drive member 182.

[0607] As is apparent from FIG. 8, the lift drive member 182, formed as the lift drive belt 184 for example, is guided through the drive device 110 for this purpose.

[0608] In that case, the lift drive device 182 extends particularly through the gap 186 formed between the two legs 130 of the bearing member 126.

[0609] With respect to the shaft member 124 and / or the bearing member 126, as is further apparent from FIG. 4, the lift drive member 182 preferably also extends through below the drive device 110.

[0610] Thus, the receiving members 170 are particularly simply mechanically coupled, whereby reliable operation of those receiving members is possible for receiving one or more objects.

[0611] The vehicle 100 preferably has one or more receiving sensors 188, with which it is possible to detect whether the object 102 and / or the adapter device described later is arranged on the vehicle 100.

[0612] The receiving sensor 188 is arranged, in particular, in front of and behind one of the receiving members 170 along the longitudinal central axis 140 of the vehicle 100 (see FIGS. 1 and 2 in particular).

[0613] The detection method will be explained in more detail below in connection with the description of the adapter device.

[0614] As is particularly apparent from FIG. 5, the vehicle 100 has one or more sensor devices 190, which are arranged, in particular, in the corner regions 112 of the vehicle 100, in particular of the base body 104.

[0615] In particular, exactly one sensor device 190 is provided in each of two diagonally opposite corner regions.

[0616] The sensor device 190 can monitor the surrounding area 192 of the vehicle 100, in particular to enable autonomous driving of the vehicle 100.

[0617] Furthermore, a barcode reader 194 can be provided, for example, on the upper side 172 of the base body 104, and by using it to scan, for example, a barcode arranged on the object 102 and / or on the adapter device, information about the object 102 arranged on or to be arranged on the vehicle 100 can be detected.

[0618] The base body 104 preferably has a cover 196 on its upper side 172.

[0619] The cover 196 is, for example, a superimposed plate, and the plate is placed on a mounting area 198 that is closed in a ring shape and extends in a circle, and ends substantially in the same plane as the mounting area 198.

[0620] The cover 196 is thereby preferably fixed to the base body 104 without additional fixing members, in particular in such a way that an unauthorized person cannot remove the cover 196 without tools.

[0621] The cover 196 is preferably transparent, for example, transparent with added color tone.

[0622] Therefore, the components of the vehicle 100 arranged inside the base body 104 are preferably recognizable through the cover 196.

[0623] By forming the cover 196 to be transparent, in particular, in order to prevent a person from getting on the upper side 172 of the base body 104, a deterrent effect of deterrence can be obtained. Thereby, for example, the safety in driving the vehicle 100 can be optimized.

[0624] The vehicle 100 further preferably has a warning device 200, and when an object that becomes an obstacle, for example, a person in the traveling path, is detected by the sensor device 190, a warning can be output using the warning device.

[0625] The warning device 200 is, for example, an acoustic warning device and / or an optical warning device, and using it, an acoustic signal, for example, a warning tone or a warning message, and / or an optical warning signal, for example, a flashing light, can be generated and output to the surroundings.

[0626] For example, in order to give an acoustic warning, one or more display members 202 of the vehicle 100 can be used to generate a flashing warning signal.

[0627] The vehicle 100, particularly one, a plurality, or all of the above-described components, are preferably controllable by the control device 204 of the vehicle 100.

[0628] In that case, the control device 204 can particularly react completely autonomously, or can also communicate with a control facility arranged above.

[0629] The object 102 can be arranged, for example, directly on the vehicle 100, for example, in the receiving member 170.

[0630] In contrast, it may be effective to use an adapter device 298 for placing a particularly large and / or heavy object 102, such as a vehicle body 206.

[0631] An adapter device 208 is shown by way of example in FIGS. 9 to 11.

[0632] The adapter device 208 particularly has a central member 210, which connects two or more adapter members 212 to one another.

[0633] The adapter members 212 are adapted to the object 102 to be transferred. For example, each adapter member 212 has one, two or more receiving pins 214, which project upward, for example against the direction of gravity g, and act on the underside thereof, for example to receive an object 102 formed as a vehicle body 206.

[0634] The adapter members 212 are adapted to the object 102 to be transferred with respect to the geometric arrangement, number and / or shape of the receiving pins 214.

[0635] As is particularly apparent from FIG. 10, the adapter device 208 has two action areas 216, such as introduction openings 218, on which a receiving member 170, in particular a receiving section 174 of the receiving member 170, can act.

[0636] The introduction opening 218 is formed to taper conically, in particular to form a stable connection between the adapter device 208 and the receiving member 170.

[0637] In the embodiment of the adapter device 208 shown in FIGS. 9 to 11, the action areas 216, in particular the introduction openings 218, are arranged on the adapter members 212. However, they can also be provided on and / or formed on the central member 210.

[0638] As is even more apparent from FIGS. 9 and 10, the adapter device 208 has a detection aid 220, which is formed, for example, as a passage opening. The detection aid 220 is arranged, in particular with respect to the longitudinal direction of the adapter device 208, in front of or behind the action area 216, in particular of the introduction opening 218, at the same distance at which, in particular, one or more receiving sensors 188 are spaced apart from the receiving member 170 of the vehicle 100.

[0639] Since the detection aid 220 is merely present, the receiving sensors 188 can monitor whether the adapter device 208 is arranged in the correct rotational orientation on the vehicle 100. This is because whether an object that is not arranged directly above the receiving sensor 188, i.e., in the case of the passage opening, the detection aid 220, is detectable or whether the central member 210 is detectable depends on whether the adapter device 208 is arranged in the desired orientation on the vehicle 100.

[0640] Other receiving sensors 188 not associated with the detection aid 220 can preferably monitor the adapter member 212 for its presence, thereby determining whether the adapter device 208 is arranged on the vehicle 100 at all.

[0641] Of course, numerous other detection variants are conceivable, for example, the use of sensors that contact the receiving member 170, in particular the receiving section 174, to form mechanical or electrical contacts for detecting and / or monitoring the adapter device 208.

[0642] The vehicle 100 is in particular a component of the transfer device 222.

[0643] The transfer device 222 in particular has a plurality of vehicles 100 that are substantially identically formed.

[0644] The transfer device 222 is, for example, a component of a processing facility 224, in particular a facility for manufacturing motor vehicles.

[0645] In particular, when the transfer device 222 has a large number of vehicles 100 all substantially connected to the ground, it can be effective to stack the vehicles 100 at least temporarily.

[0646] Therefore, the transfer device 222 preferably has a stacking device 225, an example of which is shown in FIGS. 12 and 13.

[0647] The stacking device 225 particularly has a lift unit 226, which enables the lift unit to lift two or more vehicles 100 to various height levels.

[0648] For this purpose, the lift unit 226 is arranged in the recess 228 and has, for example, one lift floor 230, which can preferably be positioned substantially in the same plane as the drivable base 160.

[0649] Therefore, the vehicle 100 can particularly drive directly from the drivable base 160 onto the lift floor 230 of the stacking device 225.

[0650] In that case, the vehicle 100 can particularly be lifted by the lift unit 226.

[0651] In that case, other vehicles 100 arranged particularly immediately adjacent to the recess 228 and / or immediately adjacent to the lift unit 226 form a base for a stack consisting of a plurality of vehicles 100.

[0652] Particularly as is apparent from FIG. 13, the vehicle 100 moved to the lift floor 230 can be moved onto the vehicle 100 arranged adjacent thereto after being lifted by the lift unit 226 and thus stacked on another vehicle.

[0653] Depending on how much the one or more receiving members 170 protrude from the upper side 172 of the base body 104 of each vehicle 100, these receiving members 170 can interfere with stacking.

[0654] Thus, in one form, it can be effective to attach one or more intermediate members 232 on the vehicle 100 that forms the base of the stack of vehicles 100, thereby enabling the next vehicle 100 to travel.

[0655] One or more (not shown) fixing devices can preferably couple the vehicles 100 stacked on top of each other. For example, the receiving member 170 of the lower vehicle 100 can be pulled out, thereby acting on the associated working area of the lower side 114 of the upper vehicle 100, and thus the vehicles 100 are fixed relative to each other.

[0656] Of course, the stacking device 225 can stack more than two vehicles 100 on top of each other.

[0657] Furthermore, in the reverse order, a plurality of stacked vehicles 100 can be removed from the stack. This can be particularly effective for transporting the vehicle 100 from its manufacturing location to its place of use, thereby minimizing the transport area required for the transport.

[0658] The transfer device 222 preferably has one or more stations 234, and the object 102 can be transferred to the station by a plurality of vehicles 100.

[0659] When the transfer device 222 is a component of the processing facility 224, the station 234 is particularly a processing station 236.

[0660] For example, one or more robots 238 for treating the surface of the object 102, particularly the vehicle body 206, are arranged in the processing station 236.

[0661] Instead of or in addition to the robot 238, the processing station 236 can also be provided for manual activities.

[0662] As is particularly apparent from FIGS. 14 and 15, the station 234 preferably has a first position 240, which is in particular the discharge position 242 and is used to transfer the object 102 from the vehicle 100 to the station transfer device 244.

[0663] The station transfer device 244 is in particular a roller conveyor 245. In addition or alternatively, a chain conveyor and / or a rail conveyor can be provided.

[0664] The station 234 particularly has a lifting device 246 at the first position 240, by means of which the station transfer device 244 can be lifted and lowered, thereby enabling the object 102 to be lifted and moved from the vehicle 100.

[0665] Alternatively or in addition, when the vehicle 100 is arranged at the first position 240, the receiving member 170 of the vehicle 100 can be lowered, thereby enabling the object 102 to be lowered onto the station transfer device 244 and accordingly transferred to the station transfer device 244.

[0666] As is particularly apparent from FIG. 15, the station 234 particularly has one or more separation beds 248, which are arranged above the movable base 160, in particular above the hall floor 162, and under which the vehicle 100 can drive through.

[0667] In contrast, the object 102 is arranged above the separation bed 248.

[0668] The station transfer device 244 is particularly integrated in the separation bed 248.

[0669] Therefore, in order to lift and separate the object 102 from the vehicle 100, the separation bed 248 can be lifted and lowered at the first position 240 by using the lifting device 240.

[0670] By means of the station transfer device 244, the object 102 can be transferred through the processing station 236, particularly in the transfer direction 250.

[0671] In particular, the object 102 can be transferred from the first position 240 through the processing area 252 of the processing station 236 to the second position 254 of the station 234.

[0672] The second position 254 is in particular the receiving position 256, at which the object 102 can be handed over to the vehicle 100 by means of the station transfer device 244, i.e., at which the object 102 can be received by the vehicle 100.

[0673] At the second position 254, in particular, a lifting device 246 is provided, by means of which the separation bed 248 also provided at the second position 254 can be lifted and lowered, so that finally the object 102 can be handed over to the vehicle 100.

[0674] In FIGS. 14 and 15, showing the station 234 divided into three parts is used to simply display functionally different positions. In the actual form of the transfer device 222, in order to transfer the object 102 from the first position 240 to the second position 254 in practice, the station transfer device 244 is of course formed without interruption.

[0675] At the intermediate position 258 formed by the processing area 252 between the first position 240 and the second position 254, the vehicle body 206 can be processed, in particular treated.

[0676] In particular, surface treatment, joint sealing and / or management of the object 102 can be carried out by means of one or more robots 238 and / or by means of manual operation.

[0677] In particular, when there is a possibility of dirt occurring within the processing area 252, it can be effective if the separation bed 248 is formed to be closed at least within the processing area 252. Thus, the separation bed 248 has a closed section 260, and that section extends along the transfer direction 250 particularly over the entire length of the processing area 252.

[0678] At the first position 240 and / or at the second position 254, the separation bed 248 preferably has a passage area 262, which is particularly formed as a passage slit 264 and extends along the transfer direction 250.

[0679] Through this passage area 262, in particular one or more receiving members 170 of the vehicle 100 can protrude, so that by moving the vehicle 100 below the separation bed 248, the object 102 can be positioned above the separation bed 248.

[0680] In particular, by the receiving member 170 being retracted, the vehicle 100 can pass through below the closed section 260 of the separation bed 248 without the risk of collision with the separation bed 248.

[0681] For this purpose, the separation bed 248 particularly has a raised portion, for example triangular in cross-section, which extends along the transfer direction 250 and thus forms a free space for the receiving member 170 below the separation bed 248.

[0682] The area below the separation bed 248 is particularly a running space 266, where people cannot approach.

[0683] Thus, within this free space 266, the danger from the vehicle 100 is eliminated, so the vehicle 100 can, for example, increase its speed and drive.

[0684] Thus, the area below the separation bed 248 is particularly an express area 268, within which the vehicle 100 can be driven in express mode.

[0685] When a person remains spatially separated from the vehicle 100 outside the station 234, and in particular around the vehicle 100, this vehicle 100 is preferably drivable in a safety mode. Therefore, this area outside the express area 268 is in particular the safety area 270.

[0686] As is further apparent from FIGS. 14 and 15, the adapter device 208 can also be formed as a skid in order to enable easy transfer of the object 102 on the station transfer device 244, which is in particular formed as a roller conveyor 245.

[0687] In that case, one or more working areas 216, in particular the introduction opening 218, are arranged and / or formed on the transverse stay of the adapter device 208 formed as a skid or on a central member arranged on the transverse stay.

[0688] In the context of efficiently utilizing the vehicle 100 within the transfer device 222, it can be effective if the vehicle 100 for transferring the object 102 is not permanently associated with the same object 102.

[0689] For example, optimization of vehicle utilization can be achieved by the object 102 to be transferred being handed over by the vehicle 100 to the station transfer device 244 at a first position 240 of the station 234. The object 102 that has already been handed over to the station transfer device 244 before that (which has been processed within the processing station 236 during the intervening time and transferred to another position 254 by the station transfer device 244) can then be received and further transferred by this vehicle 100.

[0690] Therefore, when transferring the object 102 through the station 234, the vehicle 100 preferably skips at least one cycle.

[0691] The alternative embodiment of station 234 shown in FIGS. 16 and 17 is distinguished from the embodiment shown in FIGS. 14 and 15 substantially by the fact that the object 102 does not remain on the station transfer device 244 formed as a roller conveyor 245 within the processing area 252. Rather, a lifting facility 272 is provided for lifting the object 102 from the station transfer device 244 and / or from the adapter device 208.

[0692] The lifting facility 272 is in particular an overhead conveyor and / or an electric suspension track, or enables the object 102 to be lifted at least horizontally and constantly.

[0693] The lifting facility 272 enables access, in particular to the underside of the object 102, for the robot 238 and / or for manual processing, for example for applying a bottom protection or a seam seal to the underside of the object 102, in particular of the vehicle body 206.

[0694] Otherwise, the embodiment of station 234 shown in FIGS. 16 and 17 corresponds to the embodiment shown in FIGS. 14 and 15 with respect to structure and function, and to that extent the above description is incorporated by reference.

[0695] In the transfer device 222, one or more stations 234 based on the embodiment shown in FIGS. 14 and 15 and the embodiment shown in FIGS. 16 and 17 can be provided, in particular for performing various processing steps on the object 102.

[0696] Another alternative embodiment of station 234 shown in FIG. 18 is distinguished from the embodiment shown in FIGS. 16 and 17 substantially by the fact that the lifting facility 272 is formed as a lift table 274 arranged on two sides of the station transfer device 244.

[0697] Thereby, the object 102 can be moved to various height levels, thereby enabling various processing steps to be performed on the object 102.

[0698] In other respects, the embodiment of the station 234 shown in FIG. 18 is identical to the embodiments shown in FIGS. 16 and 17 in terms of structure and function, and thus the above description is referred to to that extent.

[0699] Also, the embodiment of the station 234 shown in FIG. 18 can be provided singly or in plurality in the transfer device 222, instead of, or in addition to, one or more of the embodiments shown in FIGS. 14 and 15, and / or instead of, or in addition to, one or more of the embodiments shown in FIGS. 16 and 17.

[0700] In FIGS. 19 to 23, various modifications of the separation bed 248 and the passage area 262 are shown enlarged, thereby clarifying their functions and the modifications.

[0701] Each of the embodiments of the separation bed 248 and / or the passage area 262 shown in FIGS. 19 to 23 can in principle be provided in each of the respective conceivable stations 234, in particular in each of the embodiments described above and / or shown in FIGS. 14 to 18.

[0702] The form of the separation bed 148 shown in FIG. 19 substantially corresponds to the embodiments shown in FIGS. 14 to 18, in which case the passage area 262 is completely open and in particular no closed section 260 is provided.

[0703] In order to minimize the dirt on the vehicle 100 below the separation bed 248, for example, the central portion 210 of the adapter device 208 has a width that is greater than the width of the passage slit 264 when viewed in the lateral direction with respect to the transfer direction 250.

[0704] Therefore, the central member 210 can preferably at least partially cover the passage slit 264.

[0705] The two regions of the separation bed 248 that define the passage region 262 are hereinafter referred to as the passage edge regions 276 and, in the embodiment shown in FIG. 19, are oriented, for example, obliquely with respect to the direction of gravity g. The passage edge regions 276 extend obliquely upward starting particularly from the separation bed 248. Thereby, it is possible to prevent an object from accidentally falling or rolling into the passage slit 264. Further, by appropriately forming the passage edge regions 276, the risk to a person potentially originating from the passage slit 264 can be minimized.

[0706] In particular, the passage edge regions 276 are raised components formed within the separation bed 248, thereby providing a movement space for the receiving member 170. f

[0707] As is apparent from the dashed lines in FIG. 19, in the form of the vehicle 100 and / or the transfer device 222, instead of or in addition to the embodiments already described and / or shown, a charging device 156 for charging the energy storage 150 of the vehicle 100 can also be formed such that energy transfer from the charging region 158 to the vehicle 100 takes place within the region of one or more receiving members 170.

[0708] For this purpose, the receiving member 170 is provided, for example, with one or more contact regions 278 that form the charging connection points 164 of the vehicle 100.

[0709] The charging connection points 164 to be engaged therewith are formed, for example, by one or more contact members 280 that are arranged particularly on the separation bed 248 and project in the direction of the receiving member 170, particularly towards the contact regions 278.

[0710] The contact members 280 particularly form sliding contacts that enable contact energy transfer from the charging region 158 to the vehicle 100.

[0711] Furthermore, in order to optimize and control the charging process in particular, a control contact 282 can be provided. Instead of or in addition to this, the information transfer necessary to optimize the charging process can be carried out wirelessly, for example via WLAN.

[0712] Another embodiment of the separation bed 248 shown in FIG. 20 is substantially different from the embodiment shown in FIG. 19 in that the passing edge regions 276 are substantially parallel to each other and / or project substantially vertically upward from the separation bed 248, and thus, for example, are formed substantially in an L-shape.

[0713] Otherwise, the embodiment of the separation bed 248 shown in FIG. 20 is consistent with the embodiment shown in FIG. 19 in terms of structure and function, and thus the above description is referred to to that extent.

[0714] The embodiment of the separation bed 248 shown in FIG. 21 is substantially different from the embodiment shown in FIG. 20 in that the passing edge region 276 is swingably arranged and / or formed on the separation bed 248.

[0715] Thus, the passing edge region 276 particularly has one or more closing members 284, which are preferably swingably arranged on the separation bed 248 and enable the closing of the passing edge region 276, particularly the passing slit 264.

[0716] The closing member 284 is preferably biased by a spring and / or is arranged and / or formed such that, based on gravity, the closing member automatically reaches, for example, a substantially horizontal closing position without operation.

[0717] When the vehicle 100 is guided under the separating floor 248, the opening of the closing position 284 according to the pulling-out position of the receiving member 170 can be carried out by the closing member being pushed up by the receiving member 170, in particular being lifted upwards. As soon as one receiving member 170 or a plurality of receiving members 170 move so as to pass through the individual closing members 248, the closing members preferably automatically return to the closed position.

[0718] Preferably, a plurality of closing members 248 are arranged one behind the other along the conveying direction 250 and are operable independently of one another.

[0719] Thus, preferably always only the closing members 248 which are actually acted upon by the receiving member 170 and / or in which the receiving member 170 is arranged come to the open position.

[0720] In other respects, the embodiment of the separating floor 248 shown in FIG. 21 corresponds in terms of structure and function to the embodiment shown in FIG. 20, and to that extent the above description thereof is referred to.

[0721] An alternative embodiment of the separating floor 248 shown in FIG. 22 is distinguished from the embodiment shown in FIG. 21 in that the closing members 248 are formed, for example, as thin plates and are displaceable, in particular in the horizontal direction, such that the passage region 262 is temporarily released to allow one or a plurality of receiving members 170 to be inserted therethrough.

[0722] In that case, the closing members 248 - although in principle the same as the closing members shown in FIG. 21 - can form or have one or a plurality of contact members 280, so that energy can be transmitted by the closing members 241 to charge the energy storage 150 of the vehicle 100.

[0723] Depending on the positioning of the receiving member 170 and / or depending on the shape of the receiving member 170, various regions for the closing member 248 and / or the contact member 280 to act on can be provided.

[0724] In particular, as is apparent from FIGS. 22 and 23, the receiving member 170 has a receiving cylinder 286 that already projects above the base body 104 of the vehicle 100, respectively, and / or can be arranged therein. The movable part of the receiving member 170 or the entire receiving member 170 is movable with respect to the base body 104 and / or the respective receiving cylinder 286 in particular, and can in particular withdraw from it and / or enter it.

[0725] The receiving cylinder 286 can be formed, for example, so as to always project through the passage area 262, in particular the passage slit 264. By positioning the receiving member 170 differently, in particular by pulling out the movable part from the receiving cylinder 286 by different distances, the adapter device 208 can be lowered, for example, together with the object 102 arranged thereon in some cases (see FIG. 22), or lifted (see FIG. 23).

[0726] In other respects, the embodiment of the separation bed 248 shown in FIGS. 22 and 23 is consistent with the embodiment shown in FIG. 21 in terms of structure and function, and to that extent the above description is referred to.

[0727] FIGS. 24 and 25 schematically show an example of the layout of the processing facility 224.

[0728] In that case, the processing facility 224 has a number of stations 234, which are in particular processing stations 236 for processing and / or managing the object 102, in particular the vehicle body 206.

[0729] In that case, FIGS. 24 and 25 show two different planes 288 of the same processing facility 224, so the two FIGS. 24 and 25 are considered together for the following description.

[0730] The processing facility 224 in particular has one or more transfer devices 290 with which the object 102 to be transferred can be moved onto the respective plane 288.

[0731] The transfer device 290 is in particular an elevator or other lifting device.

[0732] The processing facility 224 particularly has, based on the above-described embodiment, the transfer device 222 and, associated therewith, particularly a plurality of vehicles 100 for transferring the object 102.

[0733] For the sake of clarity, the object 102 and the vehicles 100 are not shown in FIGS. 24 and 25. Rather, in these figures, the transfer path 292 and the return transfer path 294 are shown, along which the vehicles 100 can travel.

[0734] The object 102 can be transferred along the transfer path 292.

[0735] Along the return transfer path 294, the vehicle 100 can travel without the object 102 disposed thereon, and in particular thereby the vehicle 100 can be returned from the end position of the processing section of the processing facility 224 to the initial position. The station 234 is shown as a rectangle and has characters, and the characters suggest an example of the transfer order. In particular, the object can be successively supplied to the next station 234 by the vehicle 100.

[0736] For example, the object 102 is supplied from the sorting storage 296 to stations A, B, C, and D successively by one or a plurality of vehicles 100 as determined (see FIG. 25).

[0737] The station E is selective and can be selectively skipped or also passed through a number of times, particularly in a different order.

[0738] Next, the object 102 is transferred to the transfer device 290 and is transferred by the transfer device onto the plane 288 shown in FIG. 24.

[0739] Thereafter, the object 102 is supplied to stations H, J, K, L, O, P, Q, and R as determined, and thereafter the object 102 is transferred by another transfer device 290 to return into the plane 288 shown in FIG. 25. Thereafter, the object is supplied to station S where it is finally transferred to a plane 288 (not shown) for further processing via another transfer device 290.

[0740] Optionally, one or more stations G can be passed through before station H.

[0741] Station L can be bypassed, and in particular, station M can be provided.

[0742] Furthermore, stations N and / or P are provided to optionally bypass station O.

[0743] In a first layout variant, the following can be provided:

[0744] Stations 234 on the plane 288 shown in FIG. 24 are mostly or all manual work stations or workplaces where the object 102 is processed by people. Therefore, people must preferably have permanent access to stations 234, and thus the vehicle 100 on the plane 288 shown in FIG. 24 is preferably in a safety mode for most of its usage period and / or most of its travel route, in particular at least about 90%, for example at least about 95%.

[0745] Therefore, in particular, the following stations 234 are manual stations or workplaces, or have them: G, H, J, K, L, M, N, O, P, Q, R

[0746] However, one or some of these stations can be formed as automatic stations or workplaces where the object 102 is processed by a robot 238 or other machinery.

[0747] The station 234 on the plane 288 shown in FIG. 25 is in particular a mostly or all automatic station or workplace, in which the object 102 is processed by a robot 238 or other machine. Thus, a person approaches the temporary station 234 only for maintenance or management purposes, preferably. Thus, the vehicle 100 on the plane 288 shown in FIG. 25 can be in express mode for preferably most of its usage period, in particular up to at least 90%, for example at least about 95%, in the unloaded state and / or in the loaded state.

[0748] Furthermore, the vehicle 100 on the plane 288 shown in FIG. 25 can be in express mode for preferably most of its travel path, in particular up to at least about 90%, especially at least about 95%, in the unloaded state and / or in the loaded state.

[0749] Thus, the following stations 234 are automatic stations or workplaces, or have them: A, B, C, D, E, F, S

[0750] However, one or more of these stations can also be formed as manual stations or workplaces, in which the object 102 is processed by a person.

[0751] In contrast, in a second layout variant, the following can be provided:

[0752] The station 234 on the plane 288 shown in FIG. 25 is in particular a mostly or all manual station or workplace, in which the object 102 is processed by a person. Thus, a person must have permanent access to the station 234, and thus the vehicle 100 on the plane 288 shown in FIG. 25 is in safety mode for preferably most of its usage period and / or most of its travel path, in particular up to at least 90%, for example at least about 95%.

[0753] Therefore, in particular, the following stations 234 are automatic stations or workplaces, or have them: A, B, C, D, E, F, S.

[0754] However, one or more of these stations can be formed as automatic stations or workplaces, in which the object 102 is processed by the robot 238 or by other machines.

[0755] The stations 234 on the plane 288 shown in FIG. 24 are in particular mostly or all automatic stations or workplaces, in which the object 102 is processed by the robot 238 or other machines. Therefore, a person only needs to have temporary access to the station 234, preferably only for maintenance or management purposes. Therefore, the vehicle 100 on the plane 288 shown in FIG. 24 can be in the express mode for preferably most of its usage period, in particular at least about 90%, for example at least about 90%, in the unloaded state and / or in the loaded state.

[0756] Furthermore, the vehicle 100 on the plane 288 shown in FIG. 24 can be in the express mode for preferably most of its travel path, in particular at least about 90%, for example at least about 95%, in the unloaded state and / or in the loaded state.

[0757] Therefore, in particular, the following stations 234 are manual stations or workplaces, or have them: G, H, J, K, L, M, N, O, P, Q, R.

[0758] However, one or more of these stations can be formed as manual stations or workplaces, in which the object 102 is processed by a person.

[0759] The object 102 can be transferred bidirectionally between the planes 288, in which case the vehicle 100 preferably remains on the same plane 288. However, the transfer of the object 102 can also be performed such that the vehicle 100 is transferred bidirectionally between the planes 288 together with the vehicle 102.

[0760] In order to optimally drive the transfer device 222 for transferring the object 102, a number of charging areas 158 are required.

[0761] In FIGS. 24 and 25, all the charging areas 158 are shown as circles. In particular in FIGS. 24 and 25, preferably all the white circles or hatched circles are the charging areas 158.

[0762] In particular, when the energy storage unit 150 of the vehicle 100 has a supercapacitor 154 instead of a lithium-ion accumulator 155, the energy storage 150 of each vehicle 100 must be rechargeable at relatively short time and / or space intervals. Therefore, the charging areas 158 are arranged, for example, at each station 234, preferably at the discharge position 242 of each station 234. This charging area 158 is preferably a fixed charging area 298.

[0763] In that case, since the vehicle 100 is fixed, especially while delivering the object 102 to each station 234, the stop of the vehicle 100 originally required for the delivery can be utilized for the charging process.

[0764] Alternatively, or in addition thereto, a charging area 158 can be provided in the receiving position 256 of each station 234 when receiving.

[0765] Along the entire length of the transfer path 292 and / or the return transfer path 294, instead of and / or in addition to the charging areas 158 associated with the stations 234, charging areas 158 arranged in the transfer path 292 and / or the return transfer path 294 can also be provided.

[0766] In that case, the charging area 158 can be arranged on the optimal and / or shortest route formed as the transfer path 292 and the return transfer path 294, especially in FIGS. 24 and 25. In that case, the vehicle 100 stops without detour for charging.

[0767] Alternatively, the vehicle 100 can also be charged while running. In that case, the charging area 158 is especially the mobile charging area 300.

[0768] Furthermore, in order to charge each energy storage device 150 of the vehicle 100, the vehicle 100 can temporarily drive away from the optimal and / or shortest transfer path 192 and / or the return transfer path 294, for example, into the filling bay 302. Then, after charging, the vehicle 100 preferably returns to the optimal and / or shortest transfer path 292 and / or the shortest return transfer path 294.

[0769] The charging bay 302 can especially be a waiting area 304, in which the vehicle 100 can stay not only for charging the energy storage device 150, but also when there is no 100% full operation of the vehicle 100 and thus the waiting time until the next transfer task has to be bridged.

[0770] The charging bay 302 and / or the waiting area 304 can further be a maintenance area 306, in which one or more vehicles 100 are maintained manually and / or automatically. For example, repairs or other work can be carried out on the vehicle 100 in the maintenance area 306.

[0771] The charging area 158 is preferably arranged so as to capture as many transfer paths 292 and / or return transfer paths 294 as possible with a wire length that is as short as possible and a charging area 158 that is as small as possible.

[0772] For this purpose, one or more charging areas 158 are arranged, for example, at the charging connection point 308 and / or in the multi-directional transfer area 310.

[0773] The charging connection point 308 is an area where a number of charging areas 158 are provided, in particular, for simultaneously charging a plurality of vehicles 100 therein. Thereby, in particular, the length of the conductor for supplying electrical energy to the charging area 158 can be reduced.

[0774] Arranging one or a number of charging areas 158 within the multi-directional transfer area 310 enables, in particular, optimal utilization of one or a plurality of charging areas 158. This is because within the multi-directional transfer area 310, one or a plurality of vehicles 100 can successively or simultaneously cross and / or pass through one or a plurality of charging areas 158 in various driving directions. Thereby, it is possible to eliminate the need for time-consuming vehicle orientation.

[0775] Therefore, one or a plurality of charging areas 158 arranged within the multi-directional transfer area 310 can be visited more frequently and can be used to charge a plurality of vehicles 100 in a shorter time.

[0776] As the multi-directional transfer area 310, in particular, transfer paths 292 and / or return transfer paths 294 that overlap and / or intersect with each other can be provided.

[0777] To optimize the transfer speed, the transfer device 222 can preferably be divided into various areas.

[0778] In that case, since the safety area 270 is an area where a person can particularly approach the vehicle 100 and, in some cases, the object 102 arranged thereon, the person must be particularly protected.

[0779] For that purpose, the vehicle 100 has, in particular, a predefined maximum speed and additional safety measures, thereby ensuring the protection of the person and simultaneously protecting the object 102 to be transferred from damage.

[0780] In addition to the safety area 270, an express area 268 can be provided.

[0781] The express area 268 is, in particular, an area spatially separated from the safety area 270, and the area is inaccessible to people at least temporarily.

[0782] In particular, since one or more return transfer paths 294 are preferably formed as the express area 268, the vehicle 100 can travel back at a high speed compared to the maximum speed within the safety area 270, for example, from the end position of the processing section to the initial position.

[0783] Thereby, the vehicle 100 can be made available more quickly for a new transfer process, thereby increasing the efficiency of the transfer device 222.

[0784] The vehicle 100 can, in particular, travel through one or more passage openings 312 in one or more separating devices, in particular a separating wall for separating the express area 268 from the safety area 270.

[0785] In that case, the passage opening 312 is adapted to the outer contour of the vehicle 100, in particular with respect to its shape, thereby preferably ensuring that a person cannot step into the express area 268 without permission and without a closing mechanism for closing the passage opening 312, and thus will not be in danger.

[0786] However, if a person steps into the express area 268 despite these precautionary measures, this type of intrusion into the express area 268 can preferably be recognized by a sensor device (not shown). The vehicle 100 located in or entering the express area 268 preferably remains in the safety mode when it is in the safety area 270 and does not enter the express mode in that case.

[0787] The variations in the layout of station 234 and the arrangement and / or form of the charging area 158 shown in FIGS. 24 and 25 are merely examples and can be used optionally in combination with other embodiments of the other stations 234 and / or other charging areas 158 described and / or illustrated elsewhere.

[0788] FIGS. 26 to 28 show embodiments of a handover area 400 which is used, for example (not shown in the figures but which can be arranged on the adapter device 208), to hand over an object 102 from the vehicle 100 to the station transfer device 244. Furthermore, this type of handover area 400 can be used to hand over the object 102 from the station transfer device 244 to the vehicle 100. In that case, the movement directions and / or travel sequences described later are appropriately adapted and / or reversed.

[0789] The handover area 400 can in particular form or comprise a receiving position 256 and / or a release position 242. Thus, with regard to the basic functional method and usability, reference is made to the above description thereof, in particular with regard to the description of FIGS. 14 and 15.

[0790] As is apparent from FIG. 26, the adapter device 208 (on which the object 102 is optionally arranged) is transferred by the vehicle 100 to the handover area 400. In that case, the vehicle 100 travels in particular through the access area 402 to the handover position 404.

[0791] Within the handover position 404, the vehicle 100 is stopped and then the adapter device 208 and / or the object 102 are positioned so that they can be lowered, for example by the entry of the receiving member 170, and lowered onto the station transfer device 244.

[0792] Thereby, the adapter device 208 and / or the object 102 are separated from the vehicle 100.

[0793] The station transfer device 244 can move the adapter device 208 and / or the object 102 away from the handover area 400, and in particular supply them to the station 234.

[0794] For this purpose, since the station transfer device 244 is formed as a roller conveyor, for example, the adapter device 208 formed as a skid or having a skid can be easily supplied to the station 234.

[0795] One or more transfer members 406, in particular a plurality of rollers, are preferably arranged on the support member 408 of the station transfer device 244. The support member 408 is arranged, for example, on the floor (preferably on which the vehicle 100 moves), and is, for example, screwed.

[0796] Since the support member 408 is in particular a support member or a support column protruding upward from the floor, the adapter device 208 together with the object 102 arranged thereon can be accommodated and transferred in a plane above the movement path of the vehicle 100, for example.

[0797] Preferably, a plurality of support members 408 are arranged on a plurality of sides of the handover position 404.

[0798] It can be effective if the plurality of support members 408 are arranged at intervals from each other, whereby in particular an access area 402 is formed between two support members 408.

[0799] Furthermore, preferably at least one exit area 410 is formed between two, in particular two other, spaced-apart support members 408.

[0800] It can be effective if two exit areas 410 are arranged on and / or formed on opposite sides of the handover position 404.

[0801] On the side of the handover position 404 facing the entry area 402, preferably at least one section leading to station 234, or station 234 of the station transfer device 244, is arranged.

[0802] As is clear from FIGS. 26 to 28, the vehicle 100 can preferably travel through the entry area 402 along the entry direction 412 to the handover position 404.

[0803] The entry direction 412 is preferably oriented at least approximately parallel to the transfer direction 250 of the station transfer device 244.

[0804] When a plurality of vehicles 100 attempt to successively supply a plurality of objects 102 to the station 234 in a short time order, it may be effective if the vehicle 100 does not travel away from the handover position 404 through the entry area 402 in the opposite direction to the entry direction 412. This is because in that case, other vehicles 100 would have to stop at a large distance from the handover area 400.

[0805] Rather, in that case, the vehicle 100 is rotated, for example, within the handover position 400, especially about its own vertical central axis, by rotating the drive wheels 120 (see FIG. 4) in the reverse direction.

[0806] The rotation is performed, for example, by about 90°, so that in that case the vehicle 100 can leave the handover position 400 in an exit direction 414 oriented at least approximately perpendicular to the entry direction 412.

[0807] In that case, other vehicles 100 can directly and continuously travel through the entry area 402 to the handover position 404 without any appreciable waiting time, and in particular can thereby finally supply other objects 102 to the station 234.

[0808] Depending on the form of the vehicle 100, particularly depending on the maximum lift height of the receiving member 170, and / or depending on the type and form of the station transfer device 244, it can be effective if a plurality of support members 408 are coupled to each other. However, it is also possible that at least two support members 408, particularly the support members 408 that define the access area 402, are separated from the remaining support members 408, and / or are separated from the remaining support members 408 by one or more exit areas 410 in particular.

[0809] The spacing between the support members 408 is preferably selected such that the object 102 and / or the adapter device 208 supported on the transfer member 406 provided on the support member 408 is supported downward at all possible positions along the transfer path in the station transfer device 244, and thus is reliably protected against undesired tilting or dropping.

[0810] The handover area 400 preferably has an exit area 410 spatially separated from the access area 402, whereby a large number of objects 102 can preferably be handed over efficiently and in a relatively short time.

[0811] In other respects, the embodiments of the handover area 400 shown in FIGS. 26 to 28 correspond in terms of structure and function to the receiving position 256 and / or the discharge position 242 shown in FIGS. 14 and 15, and to that extent the above description thereof is referred to.

[0812] In all embodiments of the vehicle 100, preferably one or more sensor devices 190 of the vehicle 100 are provided, and using them, the respective surrounding area 192 of the vehicle 100 can be detected.

[0813] One or more sensor devices 190 can detect a three-dimensional surroundings, i.e., a three-dimensional surrounding area 192. In that case, the detection itself is preferably performed two-dimensionally or three-dimensionally as well, i.e., the objects detected in the surrounding area 192 are preferably detected with respect to their scale and positioning relative to the vehicle 100. In particular, the scale and positioning of the detected objects are calculated from the sensor data of one or more sensor devices 190 by a control device of the vehicle 100.

[0814] The surrounding area 192 preferably consists of a plurality of zones or has a plurality of zones. These zones may overlap with each other or can cover completely different spatial regions from each other.

[0815] One or more sensor devices 190 can detect preferably different zones of the surrounding area 192.

[0816] The zone division can be obtained, for example, by the selection of boundary lines at various distances from the vehicle. In particular, as is apparent from FIG. 29, the surrounding area 192 can be divided, for example, into three zones in the horizontal direction, in particular according to the distance from the vehicle 100.

[0817] The innermost zone having the smallest distance to the vehicle 100, in particular the zone directly adjacent to the vehicle 100, is, for example, a protection zone SZ.

[0818] This protection zone SZ is preferably an area in which no object may be placed outside the vehicle 100 itself (and optionally the object 102) for particularly obstacle-free driving. Preferably, if an object is detected within this protection zone SZ, the vehicle 100 is immediately and / or automatically stopped from driving.

[0819] The protection zone SZ is particularly formed in a ring shape in a horizontal cross-section.

[0820] Other zones contiguous to the protection zone SZ are, for example, the warning zone WZ. This warning zone WZ preferably surrounds the protection zone SZ annularly, particularly with respect to a horizontal cross-section passing through the vehicle 100, the protection zone SZ, and the warning zone WZ.

[0821] The warning zone WZ is, in particular, an area in which no other object of the vehicle 100 itself should be placed. In that case, the detection of an object does not necessarily yet result in the activation of the stop drive. Rather, the vehicle 100 is preferably immediately and / or automatically put into warning drive when an object is detected within this warning zone WZ.

[0822] Outside the warning zone WZ, there is in particular a free zone, which can be detected by one or more sensor devices if necessary, but is not monitored for the presence of objects etc.

[0823] An object referred to as an object detected by at least one sensor device 190 is an object that should not be in the position detected in the predicted normal drive of the vehicle 100 and / or the processing facility. Of course, objects that are components of the transfer device and / or the processing facility and whose presence is necessary are also detected by one or more sensor devices 190.

[0824] By the control device 204 of the vehicle 100 and / or by a control facility arranged above, preferably, it is checked, particularly calculated, whether the detected object is an object that is not predicted and / or unknown and / or an obstacle, or an object whose presence can be accepted.

[0825] Preferably, this check is carried out before the vehicle 100 switches to warning drive or stop drive.

[0826] Depending on the actual state of the vehicle 100, in particular whether an object 102 is loaded on the vehicle 100 or not, and / or at what current speed, and / or in which direction the vehicle 100 is moving, preferably the boundary lines between the zones are changed. For example, when the speed of the vehicle 100 is relatively high, preferably the boundary lines within the area in front of the vehicle 100 (with respect to the driving direction) are moved away from the vehicle 100, so that an expansion of the zones, in particular the warning zone and / or the protection zone, occurs in front of the vehicle 100.

[0827] In the case of curve driving, for example, the curvature of the zones and / or at least a partial lateral movement can be provided such that a spatial area as large as possible along the actual driving section (travel route) is covered, in particular within the area in front of the vehicle 100.

[0828] Since the area behind the vehicle 100 (with respect to the driving direction) usually does not need to be monitored as carefully, the part of the zones, in particular the warning zone and / or the protection zone, located behind the vehicle 100 can be reduced.

[0829] By the control device 204 of the vehicle 100 and / or by a control facility arranged above, the boundary line transitions and / or the scale and / or the shape of the zones, in particular the warning zone and / or the protection zone, are preferably adapted regularly, for example, multiple times per minute or second, to the actual state respectively.

[0830] Alternatively or additionally thereto, the adaptation can always be performed, especially when the vehicle 100 experiences a state change, such as a direction change, loading, discharging, acceleration, etc.

[0831] As a state characteristic that particularly affects the boundary line transition of the zones, furthermore, preferably the then position of the vehicle 100 inside the transfer device and / or the processing facility can be utilized.

[0832] In particular, the zones can vary according to the position of the vehicle 100 at that time inside the transfer device and / or the processing facility, with respect to their size and / or shape.

[0833] For example, if it is predictable that the vehicle 100 approaches the station 234 and a part of the station 234 reaches within the warning zone WZ and / or the protection zone SZ (or the warning zone WZ and / or the protection zone SZ extends into a part of the station 234), the reduction of the zones, in particular the warning zone WZ and / or the protection zone SZ, can be carried out such that a part of the station 24 comes outside the warning zone WZ and / or the protection zone SZ.

[0834] In particular, for the predicted straight-line travel within the station 234, the lateral perimeter detection can be reduced or even completely deactivated.

[0835] Instead of or in addition to that, when the vehicle 100 approaches the station 234, the station mode can be activated, in which the maximum speed of the vehicle 100 is reduced, thereby compensating for the increased potential risk resulting from the reduced perimeter monitoring. The approach to the station 234 can be determined, for example, by a scan of the positioning assistance and / or by position sensors and / or distance sensors.

[0836] Regarding FIG. 29, in particular the zone division in the horizontal direction has been described. Preferably, further, instead of or in addition to the horizontal zone division, a vertical zone division can be carried out, which can be effective.

[0837] As is apparent from FIG. 30, in particular in the vertical direction, a zone can be provided inside which the vehicle 100 is arranged. This zone is in particular the vehicle zone FZ.

[0838] The vehicle zone FZ extends, particularly in the vertical direction, starting from the floor on which the vehicle can travel and reaching up to the upper side 172 of the base body 104 of the vehicle 100 or the upper end of one or more receiving members 170.

[0839] Thus, by detecting the spatial region of the surrounding region 192 that forms or has the vehicle zone FZ, it is possible to determine, in particular, whether the vehicle 100 is approaching another vehicle 100.

[0840] Other zones in the vertical direction are obtained from the sizing of the object 102 arranged on the vehicle 100. This zone covering the object 102 extends, particularly in the vertical direction, from the lower side of the object 102 (which may include an adapter or a skid, etc. in some cases) and / or up to the upper side of the object 102, preferably from the lowest point of the object 102 (which may include an adapter or a skid, etc. in some cases) and / or up to the highest point of the object 102. This zone is herein referred to as the object zone GZ.

[0841] The object zone GZ can be directly adjacent to the vehicle zone FZ.

[0842] Alternatively, an intermediate zone ZZ can be arranged between the object zone GZ and the vehicle zone FZ, and the intermediate zone extends, particularly from the upper side 172 of the base body 104 of the vehicle 100 and / or from the lower side of the object 102 (which may include an adapter or a skid, etc. in some cases), preferably up to the lowest point of the object 102 (which may include an adapter or a skid, etc. in some cases).

[0843] Furthermore, the intermediate zone ZZ can extend, at least approximately in the vertical direction, by the distance by which one or more receiving members 170 protrude from the base body 104 of the vehicle 100.

[0844] In some cases, it may be preferable for the vertically divided zones to overlap with the horizontally divided zones, thereby enabling optimal surrounding detection and danger avoidance, particularly for the combination of the vehicle 100 and the object 102.

[0845] Preferably, a warning zone WZ and / or a protection zone SZ are associated with the vehicle zone FZ, so that, in particular, it is possible to monitor whether the vehicle 100 is approaching another vehicle 100 or another object too closely.

[0846] Associating the zones (warning zone WZ, protection zone SZ) resulting from the horizontal division with the zones (vehicle zone FZ, intermediate zone ZZ, target zone GZ) resulting from the vertical division means, in particular, that the spatial regions forming the zones (FZ, ZZ, GZ) which are defined only in the vertical direction and thus not in the horizontal direction are divided in the horizontal direction into a plurality of zones (WZ, SZ).

[0847] Furthermore, a warning zone WZ and / or a protection zone SZ can be associated with the target zone GZ, so that, in particular, it is possible to monitor whether the vehicle 100 is approaching another vehicle 100 or another object too closely.

[0848] Furthermore, a warning zone WZ and / or a protection zone SZ can be associated with the intermediate zone ZZ, so that, in particular, it is possible to monitor whether the vehicle 100 is approaching an object too closely within the region of one or more receiving members 170.

[0849] The spatial extent and / or shape of the warning zone WZ associated with the vehicle zone FZ and / or the protection zone SZ associated with the vehicle zone FZ, in particular in the horizontal direction, depends in particular on whether the vehicle 100 is loaded and / or on the location of the vehicle 100 within the transfer device and / or the processing facility.

[0850] The spatial extent and / or shape of the warning zone WZ associated with the target zone GZ and / or the protection zone SZ associated with the target zone GZ, particularly in the horizontal direction, depends in particular on whether the target zone GZ is arranged on the vehicle 100, what scale the target 102 itself has, and / or where in the transfer device and / or processing facility it is together with the target 102 on which the vehicle 100 is arranged. In particular, when the vehicle 100 is unloaded, i.e., when the target 102 is absent, the perimeter monitoring within the area of the target zone GZ can be completely deactivated.

[0851] The spatial extent and / or shape of the warning zone WZ associated with the intermediate zone ZZ and / or the protection zone SZ associated with the intermediate zone ZZ, particularly in the horizontal direction, depends in particular on whether the target 102 is arranged on the vehicle 100, how much the one or more receiving members 170 protrude from the base body 104, and / or where in the transfer device and / or processing facility it is together with the target 102 on which the vehicle 100 is arranged in some cases. In particular, the perimeter monitoring within the area of the intermediate zone ZZ can be deactivated when the vehicle 100 enters into and / or passes through the station 234 and in that case the one or more receiving members 170 protrude into or through the separation bed 248.

[0852] In one form, each vehicle 100 can autonomously and independently of other vehicles 100 inspect and / or monitor, for example based on perimeter monitoring, the routes resulting from tasks or the movement paths resulting from tasks, particularly to avoid collisions.

[0853] In addition, the vehicles 100 inform each other (either directly or indirectly via control facilities arranged above) about their respective vehicle states and / or zones, in particular about the respective extent and / or shape of the warning zone WZ, protection zone SZ, vehicle zone FZ, target zone GZ and / or intermediate zone ZZ. Thereby, in particular, overlaps within the zones, which may occur, for example, when two vehicles 100 pass closely in opposite directions, and which are in particular based on a plan, can be deliberately tolerated without activating unnecessary warning drives.

[0854] In that case, it may be preferable if, when the respective target 102 is not arranged on the vehicle 100, one or more or all of the targets 102, in particular on the vehicle body 206, are associated with the target zone GZ and / or warning zone WZ and / or protection zone SZ. In particular, this type of association can be provided at storage locations and / or parking positions.

[0855] This type of association enables the adjustment of all targets 102, in particular the upper ones, regardless of their respective arrangement on the vehicle 100, thereby preferably minimizing the potential risk of a moving target 102 (target 102 arranged on the vehicle 100) colliding with a parked vehicle 102 (target 102 not arranged on the vehicle).

[0856] The embodiment of the separating bed, designated as a whole by reference numeral 248 and shown in FIGS. 31 to 33, can in principle be used in all variants of the transfer device.

[0857] The separating bed 248 is used in particular to separate the processing area 252 of the station 234, in particular the processing chamber 500, from the travel section 266.

[0858] The travel space 266 is arranged in particular below the separating bed 248, and the processing area 252, in particular the processing chamber 500, is arranged above the separating bed 248.

[0859] As already explained with respect to other embodiments, the separation bed 248 preferably has a passage region 262, in particular a passage slit 264.

[0860] Preferably further, a plurality of closing members 248 are provided, with which the passage region 262 can be closed.

[0861] The closing member 248 in particular forms a closing region 502 of the separation bed 248.

[0862] Together with the plurality of support plates 504 of the separation bed 248, the closing region 502 preferably forms a surface 506 of the separation bed 248 that is at least approximately completely walkable.

[0863] The closing member 248 is formed, for example, as a thin plate 508 and / or a closing disk 210.

[0864] The separation bed 248 preferably has a support structure 512 (see in particular FIG. 32), which is used on the one hand to accommodate the support plates 504 and on the other hand to fix the closing member 248.

[0865] In the support structure 512, in particular, a plurality of return member receiving portions 514 of one or more return devices 516 are arranged.

[0866] The plurality of return members 518 of the return device 516 are preferably arranged movably with respect to the return member receiving portion 514 in the return member receiving portion.

[0867] For example, a mechanical and / or electrical relative movement of the return member 518 with respect to the return member receiving portion 514 can be provided.

[0868] For example, for this purpose, the return device 516 has one or more spring devices 520, in particular one or more compression springs 522, so that the spring device enables the return member 518 to be fixed in the return member receiving portion 514, in particular elastically displaced.

[0869] The return member 518 is supported by a return member housing portion 514 so as to be slidable particularly in a direction perpendicular to the transfer direction 250 and / or in a direction perpendicular to the transfer path 292.

[0870] The return members 518 preferably each have one or a plurality of closure member housing portions 524.

[0871] The one or a plurality of closure member housing portions 514 are particularly formed as bolts and are each used to house a respective closure member 284.

[0872] Particularly, the closure member 284 is disposed in the closure member housing portion 524 so as to be rotatable freely.

[0873] Particularly, as is apparent from FIG. 33, each return device 516 preferably has a stopper device 526 and a guide opening 528.

[0874] The stopper member 526 is slidable particularly within the guide opening 528, and in that case, the maximum extent of the guide opening 528 along the movement direction of the return member 518 defines the maximum movement path of the return member 518 by the stopper member 526 abutting against the end of the guide opening 512.

[0875] Particularly, as is apparent from FIGS. 31 and 32, the closure members 284 of the separation bed 248 are disposed so as to overlap each other, so that a closed region 502 can be formed which is closed, particularly at least substantially completely closed, at the closed position of the closure members 284.

[0876] The closure members 284 are particularly circular, for example, formed round.

[0877] As the receiving member 170 enters the passage area 262 along the transfer direction 250 and / or along the transfer path 292, the closing members 284 can move away laterally one after another and / or in pairs perpendicular to the transfer direction 250 and / or perpendicular to the transfer path 262. Therefore, each receiving member 170 can move along the transfer direction 250 and / or along the transfer path 292 so as to protrude through the passage area 262.

[0878] A centering device 530 having a plurality of, particularly two, centering members 534, particularly with an entry ramp 532, can preferably enable centering of the receiving member 170 inside the passage area 262.

[0879] Furthermore, for example, an opening device 536 having one or more, particularly two, opening members 538 can be used to open the closed area 502, particularly to operate one or more closing members 284. This can be made possible by inserting the receiving member 170 into the passage area 262 from bottom to top along a vertical direction and / or moving below the closing member 284 and engaging with the opening member 538.

[0880] The centering device 530 and the opening device 536 can be formed as, for example, one and the same device. In that case, each function can occur particularly according to the movement of the receiving member 170 relative to this device.

[0881] As is further apparent from FIG. 33, the separation bed 248 particularly has a plurality of bottom modules 540. In that case, each bottom module 540 has and / or supports and / or houses one or more return devices 516 and / or a return member housing 514 and / or a closing member housing 524 and / or the closing member 284.

[0882] The operating module 540 is coupled to other components of the support structure 512, particularly in the attachment area 542, where the attachment area 542 is arranged at and / or formed at the end of the bottom module 540 opposite to the passage area 262.

[0883] The bottom module 540 projects freely, particularly away from the attachment area 542.

[0884] Preferably, the bottom module 540 is further used to accommodate or even forms one or more support plates 504.

[0885] Otherwise, the embodiments shown in FIGS. 31 to 33 coincide with one or more of the embodiments described above in terms of structure and function, and to that extent, the above description is referred to, and it is also pointed out that the combinability considered for providing other (not shown) embodiments is also referred to.

[0886] FIG. 34 shows an example of a circuit based on which the energy storage 150 of the vehicle 100 can be charged. One or more charging areas 158 and / or charging connection points 164 can be arranged and / or formed according to this circuit. Further, according to an alternative embodiment, in one or more charging areas 158, one or more of the features described below can be insulated, particularly only the sole charging device 156, for one type of energy storage unit.

[0887] The energy storage 150 is used particularly to store and provide electrical energy for driving the vehicle 100 and preferably has one or more energy storage units 152.

[0888] It may be effective for the energy storage 150 to have one or more drive energy storage units 152a for storing energy for driving the vehicle 100 as a whole and / or for driving the lift drive 178.

[0889] One or more or all of the drive energy storage units 152a can be formed, for example, as a super capacitor 154.

[0890] Instead, or in addition thereto, the energy storage 150 can have one or more buffer energy storage units 152p, and energy can be provided using the same to drive the control device 204 and / or one or more sensor devices 190 and / or one or more communication devices.

[0891] One or more or all of the buffer energy storage units 152p can be formed, for example, as a lithium-ion accumulator 155.

[0892] Optionally, one or more or all of the buffer energy storage units 152p are coupled to or can be coupled to the drive device 110 and / or the lift drive device 178 of the vehicle 100, particularly for procuring energy when the drive energy storage unit 152a can no longer sufficiently provide energy for driving the drive device 110 and / or the lift drive device 178.

[0893] One or more drive energy storage units 152a and one or more buffer energy storage units 152p can have different rated drive voltages and / or charging voltages from each other.

[0894] For example, one or more drive energy storage units 152a can be driven at a voltage of at least approximately 48V, particularly a direct current voltage.

[0895] Furthermore, one or more buffer energy storage units 152p can be driven at a voltage of at least approximately 24V, particularly a direct current voltage.

[0896] To charge the energy storage device 150 in the charging area 158, the charging area 158 preferably has one or more charging connection points 164, each of which has a plurality of contact areas 278 and / or contact members 280 for providing electrical energy. In particular, a plurality of contact areas 278 and / or contact members 280 are provided to provide voltages having different voltage values, whereby various energy storage units 152 can be simultaneously charged at their respective required voltages.

[0897] For example, one or more charging connection points 164 are each provided with two or more pairs of contact areas 278 and / or contact members 280, which are used to provide various charging voltages.

[0898] The contact areas 278 and / or contact members 280 on the vehicle side of one or more charging connection points 164 of the vehicle 100 are preferably at least partially complementarily arranged with respect to the contact areas 278 and / or contact members 280 of one or more charging connection points 164 on the energy source side, at least in terms of their spatial formation and / or arrangement.

[0899] The contact areas 278 and / or contact members 280 are formed and / or arranged in such a way that cross-contact between pairs of contact areas 278 and / or contact members 280 that do not belong to each other, in particular between the contact areas 278 or contact members 280, is eliminated.

[0900] It can be effective if one or more or all of the charging connection points 164 each have a pair 281a of contact areas 278 and / or contact members 280 located at least on the outside, which is used in particular to charge at least one drive energy storage unit 152a.

[0901] Furthermore, it can be effective if one or more, or all, of the charging connection points 164 each have a pair 281i of a contact area 278 and / or a contact member 280 located at least in part inside, with the pair being used in particular to charge at least one buffer energy storage unit 152p.

[0902] A pair 281i located at least in part inside at least one of the contact area 278 and / or the contact member 280 is in particular arranged between pairs 281a located at least in part outside at least one of the contact area 278 and / or the contact member 280.

[0903] Alternatively, since the contact area 278 and / or the contact member 280 can also be used in the reverse way, a pair 281i located at least in part inside at least one of the contact area 278 and / or the contact member 280 is used, for example, to charge at least one drive energy storage unit 152a, and a pair 281a located at least in part outside at least one of the contact area 278 and / or the contact member 280 is used, for example, to charge at least one buffer energy storage unit 152p.

[0904] Furthermore, one or more, or all, of the charging connection points 164 can each have one or more position contacts 283, and vehicle 100 position recognition and / or position monitoring can be carried out using the same.

[0905] For example, one or more pairs of position contacts 283 can be provided, which are arranged in particular so as to be located inside and / or outside between the contact area 278 and / or the contact member 280 of each charging connection point 164, so that the contact area 278 and / or the contact member 280 of each charging connection point 164 are arranged between the position contacts 283.

[0906] It may be effective if it is determined and affirmed by one or more sensor devices 190, in particular position sensors, and / or by one or more position contacts 283 that the vehicle 100 occupies the position necessary for charging the energy storage device 150 with respect to the charging connection point 164, and when one or more charging voltages at the charging connection point 164 are released to charge the energy storage device 150.

[0907] It may be effective if one or more contact areas 278 and / or contact members 280 for charging the energy storage device 150, in particular one or more drive energy storage units 152a and / or one or more buffer energy storage units 152p, are simultaneously used as one or more position contacts 283.

[0908] One or more contact areas 278 and / or contact members 280 and / or one or more position contacts 283 of the vehicle 100 can each have a safety device 285, in particular a relay and / or a contactor, and can use it to implement a temporary voltage cut-off, thereby avoiding a short circuit in the energy storage device 150, for example when the contact area 278 and / or contact member 280 and / or position contact 283 are used for position recognition and / or position monitoring.

[0909] Alternatively, or in addition thereto, one or more contact areas 278 and / or contact members 280 and / or one or more, or all, of the one or more position contacts 283 of the charging connection point 164 on the energy source side can each have a safety device 285, for example a relay and / or a contactor, and can use it to implement a temporary voltage cut-off, thereby avoiding a short circuit in the energy source, for example when the contact area 278 and / or contact member 280 and / or position contact 283 are used for position recognition and / or position monitoring.

[0910] In order to switch between the position recognition mode and the charging mode, and in particular to properly drive the safety device 285, a handshake is preferably performed between the vehicle 100 and the charging connection point 164 and / or the control equipment arranged above.

[0911] In particular on the energy source side, by measuring the voltage with the measuring device 287 in the contact area 278 and / or the contact member 280, it is possible to determine whether the vehicle 100 is accurately positioned at each charging connection point 164. For example, when the measured voltage is greater than 0.2 V, and in particular greater than 0.5 V, it is possible to connect to the correctly positioned vehicle 100. When it is correctly positioned, then in particular the charging mode is activated.

[0912] After completion of the charging process, the charging connection point 164 is preferably placed in the new position recognition mode, in particular by activation of the safety device 285.

[0913] Special embodiments are as follows. 〔Embodiment 1〕 A vehicle (100) for transporting an object (102), for example a vehicle body (206), wherein the vehicle (100) has: - a base body (104); - a chassis (106), by which the base body (104) is placed on and / or movable on a drivable base (160); - a drive device (110) for driving the vehicle (100); - a storage device (168) having one storage member (170), two storage members (170) or more than two storage members (170) for storing at least one object (102). 〔Embodiment 2〕 The vehicle (100) according to embodiment 1, characterized in that the storage device (168) has exactly two storage members (170). 〔Embodiment 3〕 A vehicle (100) according to any one of Embodiment 1 or 2, wherein a plurality of receiving members (170), in particular all receiving members (170), extend in a plane perpendicular and parallel to the longitudinal central axis (140) of the vehicle (100). [Embodiment 4] A vehicle (100) according to any one of Embodiments 1 to 3, characterized in that one receiving member (170), two receiving members (170) or more than two receiving members (170) are movably arranged on the base body (104). [Embodiment 5] A vehicle (100) according to Embodiment 4, characterized in that the vehicle (100) has a lift drive device (178), and by using it, one receiving member (170), two receiving members (170) or more than two receiving members (170) can be lifted and / or lowered relative to the base body (104). [Embodiment 6] A vehicle (100) according to any one of Embodiments 1 to 5, characterized in that a plurality of receiving members (170), in particular all receiving members (170), are coupled to each other and are absolutely movably common relative to the base body (104). [Embodiment 7] The lift drive device (178) of the vehicle (100) has a lift drive member (182), in particular a lift drive belt (184) or a lift drive chain, in which case the lift drive member (182) connects the lift drive motor (180) and two or more than two receiving members (170) to each other, so that two or more than two receiving members (170) can be commonly moved by the lift drive motor (180), and in particular can be lifted and / or lowered relative to the base body (104). A vehicle (100) according to Embodiment 6, characterized in that. [Embodiment 8] a) The lift drive member (182) extends through the drive shaft (148) of the drive device (110) for driving the vehicle (100), and / or b) The vehicle (100) according to embodiment 7, characterized in that the lift drive member (182) extends below the drive shaft (148) of the drive device (110) for driving the vehicle (100). [Embodiment 9] The drive device (110) has a drive shaft (148), and the drive shaft connects two drive members (118) of the drive device (110), particularly drive wheels (120), to each other. In that case, the drive shaft (148) is oriented substantially transversely, particularly at least approximately perpendicularly, to the longitudinal central axis (140) of the vehicle (100) and / or the main traveling direction (138). The vehicle (100) according to any one of embodiments 1 to 8, characterized in that. [Embodiment 10] The drive device (110) has a drive shaft (148), and the drive shaft connects two drive members (118) of the drive device (110), particularly drive wheels (120), to each other. In that case, the drive shaft (148) is arranged at least approximately centrally with respect to the base body (104) of the vehicle (100) with respect to the longitudinal central axis (140) of the vehicle (100) and / or the main traveling direction (138). The vehicle (100) according to any one of embodiments 1 to 9, characterized in that. [Embodiment 11] The drive device (110) has a drive shaft (148), and the drive shaft connects two drive members (118) of the drive device (110), particularly drive wheels (120), to each other. In that case, the drive members (118) are commonly supported on the base body (104) by the drive shaft (148). The vehicle (100) according to any one of embodiments 1 to 10, characterized in that. [Embodiment 12] A plurality of drive members (118) of the drive device (110), particularly drive wheels (120), are independently drivable from each other. The vehicle (100) according to any one of embodiments 1 to 11, characterized in that. [Embodiment 13] The drive device (110) has a drive shaft (148) and / or one or more drive members (118), and it can be lowered onto the floor and / or pressed against the floor and / or lifted from the floor by an operating device (146), and In that case, the drive shaft (148) and / or one or more drive members (118) are preferably integrated within the base body (104) of the vehicle (100) and / or are surrounded by the base body (104) on five sides, and / or in that case the operating device (146) is preferably outside the vehicle (100) and accessible for operating it. Vehicle (100) according to any one of embodiments 1 to 12, characterized in that. 〔Embodiment 14〕 Vehicle (100) according to any one of embodiments 1 to 13, characterized in that one receiving member (170), two receiving members (170) or more than two receiving members (170) each have a receiving section (174), and the receiving section tapers towards the upper end with respect to the direction of gravity (g). 〔Embodiment 15〕 Vehicle (100) according to embodiment 14, characterized in that one or more receiving sections (174), in particular all receiving sections (174), are formed substantially in a conical shape, a frustoconical shape, a truncated conical shape or a partial truncated conical shape. 〔Embodiment 16〕 Vehicle (100) according to any one of embodiments 1 to 15, characterized in that one receiving member (170), two receiving members (170) or more than two receiving members (170) can be arranged at different positions with respect to the base body (104), and in that case one receiving member (170), two receiving members (170) or more than two receiving members (170) preferably project beyond the upper side (172) of the base body (104) at the lowest position with respect to the direction of gravity (g). 〔Embodiment 17〕 Vehicle (100) according to any one of embodiments 1 to 16, characterized in that one receiving member (170), two receiving members (170) and / or more than two receiving members (170) have a height greater than the height of the base body (104) of the vehicle (100) when viewed parallel to the direction of gravity (g). 〔Embodiment 18〕 The vehicle (100) has one or more receiving sensors (188), and using the receiving sensors a) it is possible to detect an object (102) arranged on at least one receiving member (170) and / or to monitor whether it is correctly fixed; and / or b) it is possible to detect the orientation and / or position of an object (102) arranged at a distance from at least one receiving member (170), The vehicle (100) according to any one of Embodiments 1 to 17, characterized in that. [Embodiment 19] The vehicle (100) according to Embodiment 18, characterized in that at least one receiving sensor (188) is arranged on the base body (104) and / or on the receiving member (170). [Embodiment 20] The vehicle (100) according to Embodiment 18 or 19, characterized in that at least one receiving sensor (188) cooperates with a detection aid (220) provided on the object (102) to be received or received. [Embodiment 21] The vehicle (100) according to any one of Embodiments 1 to 20, characterized in that the receiving member (170) has a lubricating device (175), and the lubricating device is particularly integrated within the receiving member (170). [Embodiment 22] The vehicle (100) according to Embodiment 21, characterized in that the lubricating device (175) is integrated within the shaft section (173) and / or the receiving section (174) of the receiving member (170), for example, is completely arranged inside the shaft section (173) and / or the receiving section (174). [Embodiment 23] The vehicle (100) according to Embodiment 21 or 22, characterized in that the lubricating device (175) has a reservoir (177) for storing a lubricant and a metering member (179) for supplying the lubricant from the reservoir (177) to an object to be lubricated, in particular to a part of the lift drive (178), in an open-loop and / or closed-loop controllable manner. 〔Embodiment 24〕 A cover (196) for covering the interior of the base body (104) is disposed on the upper side (172) of the base body (104), where the cover (196) is placed on the base body (104) and / or ends in the same plane as the placement area (198) of the base body (104) so as to at least substantially completely surround it. The vehicle (100) according to any one of Embodiments 1 to 23, characterized in that. 〔Embodiment 25〕 A cover (196) for covering the interior of the base body (104) is disposed on the upper side (172) of the base body (104), where the cover (196) is at least partially formed transparently. The vehicle (100) according to any one of Embodiments 1 to 24, characterized in that. 〔Embodiment 26〕 The base body (104) is formed in a substantially rectangular parallelepiped shape. In that case, support rollers (108) that are preferably rotatable 360° and / or not driven are provided in four corner regions (112) of the base body (104). The vehicle (100) according to any one of Embodiments 1 to 25, characterized in that. 〔Embodiment 27〕 The base body (104) is formed in a substantially rectangular parallelepiped shape. In that case, a sensor device (190) of the vehicle (100) is provided so as to protrude outward at two or four corners (112) of the base body (104). The vehicle (100) according to any one of Embodiments 1 to 26, characterized in that. 〔Embodiment 28〕 The vehicle (100) has one or more sensor devices (190), and each of the sensor devices has one or more sensor members for detecting the surroundings of the vehicle (100). In that case, each of the one or more sensor members has a detection area of at least about 250°, particularly about 270°, when viewed by itself or in a substantially horizontal plane in common. The vehicle (100) according to any one of Embodiments 1 to 27, characterized in that. 〔Embodiment 29〕 The vehicle (100) has one or more sensor devices (190), and the sensor devices are coupled to a control device (204) of the vehicle (100), and in that case the control device (204) is formed and arranged such that the vehicle (100) can be driven in various driving modes, in particular in at least three different driving modes, according to sensor values detected and / or determined by the one or more sensor devices (190). Vehicle (100) according to any one of embodiments 1 to 28, characterized in that. [Embodiment 30] a) One of the driving modes is normal driving, in which no predicted and / or unknown and / or obstructive object is arranged within the travel path or within the other provided surrounding area (192) of the vehicle (100); and / or b) One of the driving modes is warning driving, in which one or more unpredicted and / or unknown and / or obstructive objects are arranged within a predefined warning section of the travel path or of the other provided surrounding area (192) of the vehicle (100); and / or c) One of the driving modes is stop driving, in which one or more unpredicted and / or unknown and / or obstructive objects are arranged within a predefined stop section of the travel path or of the other provided surrounding area (192) of the vehicle (100). Vehicle (100) according to embodiment 29, characterized in that. [Embodiment 31] i) In warning driving, the driving speed of the vehicle (100) is reduced and / or in warning driving, an acoustic signal and / or an optical signal is output by a warning device (200) of the vehicle (100); and / or ii) In stop driving, the vehicle (100) is braked until it stops and / or In the case of emergency stop driving, an acoustic emergency signal and / or an optical emergency signal is output by a warning device (200) of the vehicle (100), and / or in the case of emergency stop driving, an emergency signal is transmitted by a control device (204) to a higher-level control facility for controlling and / or monitoring a plurality of vehicles (100). The vehicle (100) according to Embodiment 30, characterized in that. [Embodiment 32] The vehicle (100) according to Embodiment 31, characterized in that the warning signal and / or the emergency signal has a requirement to make the driving path and / or the surroundings of the vehicle (100) clear of anything. [Embodiment 33] One or more emergency off switches are arranged in the vehicle (100) or in one or more other components of a transfer device and / or a processing facility and / or a supply facility. In this case, preferably, a communication device is associated with each emergency off switch, and an emergency off signal can be transmitted therewith to one, a plurality of, or all of the vehicles (100), whereby one or a plurality of, or all of the vehicles (100) are shifted to emergency off driving. The vehicle (100) according to any one of Embodiments 1 to 32, characterized in that. [Embodiment 34] One, a plurality of, or all of the vehicles (100) each have a control device (204), and an emergency off signal can be processed by the control device, particularly before the vehicle (100) is shifted to emergency off driving. The vehicle (100) according to Embodiment 33, characterized in that. [Embodiment 35] The control device (204) can inspect whether each vehicle (100) must be forcibly shifted to emergency off driving. In this case, the following are considered in this inspection: The position of the vehicle (100) relative to one or more other vehicles (100); and / or The distance of the vehicle (100) from one or more other vehicles (100); and / or The position of the vehicle (100) relative to the emergency off switch that activated the emergency off signal; and / or The distance of the vehicle (100) from the emergency off switch that activates the emergency off signal; and / or The vehicle's (100) then-current speed at the time of transmission and / or activation of the emergency off signal; and / or In particular, the predefined and / or calculated travel path of the vehicle (100) relative to one or more other vehicles (100) and / or relative to the emergency off switch that activates the emergency off signal; is taken into account, a vehicle (100) according to embodiment 34, characterized in that. 〔Embodiment 36〕 One or more emergency off switches enable various types of emergency off driving scenarios, wherein these various types of emergency off driving scenarios are, for example a) by the extent or size or dimensions of the surroundings (in which the vehicle (100) transitions to emergency off driving) and / or b) by the criteria for inspection by the control device (204) of each vehicle (100) and / or c) by the desired driving of various groups of vehicles (100), are distinguished from each other, a vehicle (100) according to any one of embodiments 1 to 35, characterized in that. 〔Embodiment 37〕 The vehicle (100) can transition to emergency off driving by an emergency off signal, and a signal can be output by the vehicle (100) within this emergency off driving to at least other vehicles (100) around the vehicle (100), where one or more vehicles (100) can transition to a special attention state by this signal, thereby avoiding, for example, a collision with the vehicle (100) that has transitioned to emergency off driving, a vehicle (100) according to any one of embodiments 1 to 36, characterized in that. 〔Embodiment 38〕 The vehicle (100) is capable of traveling in multiple directions, in particular bidirectionally, and Using one or more display members (202) provided in each end region of the vehicle (100), it is possible to display whether the end region is actually the front region or the rear region of the vehicle (100) according to the traveling direction at that time. The vehicle (100) according to any one of Embodiments 1 to 37, characterized in that. 〔Embodiment 39〕 The vehicle (100) according to any one of Embodiments 1 to 38, characterized in that the vehicle (100) has one or more charging connection points (164) for charging the energy storage device (150) of the vehicle (100). 〔Embodiment 40〕 The charging connection point (164) is arranged on the lower side (114) of the base body (104), and The vehicle (100) can be positioned above the charging connection point (164) of the charging region (158) related thereto in order to charge the energy storage device (150). The vehicle (100) according to Embodiment 39, characterized in that. 〔Embodiment 41〕 The vehicle (100) according to Embodiment 40, characterized in that this charging connection point (164) can be coupled to the charging connection point (164) of the related charging region (158) by contacting, for example, using a slide contact and / or non - contact, for example, inductively. 〔Embodiment 42〕 The vehicle (100) according to any one of Embodiments 39 to 41, characterized in that another charging connection point (164) is arranged on the side wall (166) of the base body (104), and in this case, this other charging connection point (164) can be coupled to the charging connection point (164) of the related charging region (158) particularly by a plug connection. 〔Embodiment 43〕 The vehicle (100) according to any one of Claims 39 to 42, characterized in that at least one charging connection point (164) is arranged in and / or formed in at least one housing member (170). 〔Embodiment 44〕 The vehicle (100) has an energy storage device (150) for storing and providing electrical energy for driving the vehicle (100), and in that case the energy storage device (150) has one or more energy storage units (152), and the energy storage unit is formed as a capacitor, in particular a supercapacitor or an ultracapacitor, the vehicle (100) according to any one of embodiments 1 to 43, characterized in that. 〔Embodiment 45〕 The vehicle (100) has an energy storage device (150), and using it, electrical energy for driving the lift drive device (178) of the vehicle (100) can be stored and provided, the vehicle (100) according to any one of embodiments 1 to 44, characterized in that. 〔Embodiment 46〕 Using the same energy storage device (150), in particular using the same energy storage unit (152), or using the same energy storage unit (152) of the energy storage device (150), energy can be stored and provided both for driving the lift drive device (178) and for driving the vehicle (100), the vehicle (100) according to embodiment 45, characterized in that. 〔Embodiment 47〕 The vehicle (100) has an energy storage device (150), and the energy storage device a) one or more drive energy storage units (152a) for storing energy for driving the vehicle as a whole and / or for driving the lift drive device, and b) one or more buffer energy storage units (152p), and using it, for example, energy for driving the control device (204) and / or one or more sensor devices (190) and / or one or more communication devices can be provided, the vehicle (100) according to any one of embodiments 1 to 46, characterized in that. 〔Embodiment 48〕 The vehicle (100) according to embodiment 47, characterized in that one or more drive energy storage units (152a) and one or more buffer energy storage units (152p) have different rated drive voltages and / or charging voltages from each other. [Embodiment 49] The vehicle (100) has a control device (204), and the control device is configured and arranged such that the vehicle (100) can be selectively driven in a safety mode or an express mode. In that case, the vehicle (100) shifts to the safety mode when a person is detected around the vehicle (100) and / or when driving in an area where a person can approach, and In that case, the vehicle (100) shifts to the express mode when no person is detected around the vehicle (100) and / or when driving in an area where a person cannot approach. The vehicle (100) according to any one of embodiments 1 to 48, characterized in that. [Embodiment 50] The vehicle (100) according to embodiment 49, characterized in that the vehicle (100) can shift to the safety mode and / or the express mode using a device not provided in the vehicle (100), particularly a sensor device (190), for example, while using an external safety contact. [Embodiment 51] The vehicle (100) according to any one of embodiments 1 to 50, characterized in that the vehicle (100) has one or more sensor devices (190), and the surrounding area (192) of the vehicle (100) can be detected using the sensor devices. [Embodiment 52] The vehicle (100) according to embodiment 51, characterized in that a three-dimensional surrounding area (192) can be detected three-dimensionally using one or more sensor devices (190), and in that case, the object detected within the detected surrounding area (192) is preferably detectable with respect to its scale and positioning relative to the vehicle (100). [Embodiment 53] The scale and positioning of the detected object are calculated from the sensor data of one or more sensor devices (190) by a control device (204) of a vehicle (100), the vehicle (100) according to Embodiment 52, characterized in that. 〔Embodiment 54〕 The surrounding area (192) is composed of a plurality of zones, or has a plurality of zones, in which case those zones are formed overlapping each other, or cover completely different spatial regions, the vehicle (100) according to any one of Embodiments 51 to 53, characterized in that. 〔Embodiment 55〕 By one or more sensor devices (190), different zones of the surrounding area (192) are detectable, the vehicle (100) according to any one of Embodiments 51 to 54, characterized in that. 〔Embodiment 56〕 The surrounding area (192) is divided into a plurality of zones, particularly three zones, in the horizontal direction, the vehicle (100) according to any one of Embodiments 51 to 55, characterized in that. 〔Embodiment 57〕 One of the zones is a protection zone (SZ), in which, in particular for trouble-free driving, no object other than the vehicle (100) itself and optionally an object (102) arranged on the vehicle (100) shall be arranged, the vehicle (100) according to Embodiment 56, characterized in that. 〔Embodiment 58〕 One of the zones is a warning zone (WZ), the warning zone particularly surrounding the protection zone (SZ) and / or in which no object other than the vehicle (100) itself and optionally an object (102) arranged on the vehicle (100) shall be arranged, in which case the detection of the object does not necessarily yet result in the activation of a stop drive of the vehicle (100), the vehicle (100) according to any one of Embodiments 56 or 57, characterized in that. 〔Embodiment 59〕 The vehicle (100) according to any one of embodiments 51 to 58, characterized in that the surrounding area (192) is divided into a plurality of zones, in particular three zones, in the vertical direction. [Embodiment 60] The vehicle (100) according to embodiment 59, characterized in that one of the zones is a vehicle zone (FZ), inside which the vehicle (100) is arranged. [Embodiment 61] The vehicle (100) according to any one of embodiments 59 or 60, characterized in that one of the zones is a target zone (GZ), inside which the target is arranged when the target (102) is accommodated by the vehicle (100). [Embodiment 62] An intermediate zone (ZZ) is arranged between the zone formed as the vehicle zone (FZ) and the zone formed as the target zone (GZ), and the intermediate zone extends at least approximately in the vertical direction by a distance by which one or more receiving members (170) project from the base body (104) of the vehicle (100). The vehicle (100) according to any one of embodiments 59 to 61, characterized in that. [Embodiment 63] Using the control device (204) of the vehicle (100) and / or using the control equipment arranged above, it is possible to inspect, in particular calculate, whether the object detected by one or more sensor devices (190) is an object that is not predicted and / or unknown and / or an obstacle, or an object whose presence is acceptable. The vehicle (100) according to any one of embodiments 51 to 62, characterized in that. [Embodiment 64] The vehicle (100) according to any one of embodiments 51 to 63, characterized in that the boundary line between the various zones of the surrounding area (192) is changed according to the actual state of the vehicle (100) by the control device (204) of the vehicle (100). [Embodiment 65] For the actual state of the vehicle (100), one or more of the following state characteristics are considered: a) whether the vehicle (200) is carrying the object (102) or not; and / or b) at what speed and in which direction the vehicle (100) is moving; and / or c) at what position within the transfer device (222) or the processing facility (224) the vehicle (100) is located, is taken into account, the vehicle (100) according to embodiment 64, characterized in that. 〔Embodiment 66〕 The transition of the boundary line and / or the scale and / or shape of the zone, in particular the warning zone (WZ) and / or the protection zone (SZ), can be adapted to the actual state of each vehicle (100) regularly by the control device (204) and / or by a control facility arranged above, for example, multiple times per minute or per second. The vehicle (100) according to any one of embodiments 64 or 65, characterized in that. 〔Embodiment 67〕 The surrounding area (192) is divided into a plurality of zones in the vertical direction and a plurality of zones in the horizontal direction, in which case a) a warning zone (WZ) and / or a protection zone (SZ) is associated with the vehicle zone (FZ); and / or b) a warning zone (WZ) and / or a protection zone (SZ) is associated with one of the object zones (GZ); and / or c) a warning zone (WZ) and / or a protection zone (SZ) is associated with the intermediate zone (ZZ), the vehicle (100) according to any one of embodiments 51 to 66, characterized in that. 〔Embodiment 68〕 An adapter device (208) for accommodating the object (102), in particular the vehicle body (206), in which case the adapter device (208) has the following: - having a central member (210); - having one or more adapter members (212) which are fixed to the central member (210) and geometrically adapted to the object (102) for accommodating the object (102), In that case, one or more working areas (216), in particular introduction openings (218), on which one or more receiving members (170) act to receive the adapter device (208), are arranged on and / or in one or more adapter members (212) and / or are formed in the central member (210). Adapter device. [Embodiment 69] A combination comprising at least one vehicle (100) according to any one of Embodiments 1 to 67 and at least one adapter device (208) according to Embodiment 68. [Embodiment 70] The combination according to Embodiment 69, characterized in that a plurality of adapter members (212) of various geometric arrangements and / or sizes are provided for accommodating objects (102) of various geometric arrangements and / or sizes. [Embodiment 71] A transfer device (222) for transferring an object (102), in particular a workpiece, such as a vehicle body (206), in which case the transfer device (222) has one or more vehicles (100) according to any one of Embodiments 1 to 67. [Embodiment 72] The transfer device (222) according to Embodiment 71, characterized in that the transfer device (222) has one or more stations (234), to which the object (102) can be transferred by the vehicle (100) and / or at which the object (102) can be placed and / or received. [Embodiment 73] At least one of the stations (234) is provided with two or more positions (240, 254) for two or more objects (102), in which case the object (102) can be placed at the station (234) at a first position (240) by the vehicle (100) and in which case the object (102) can be received by the vehicle (100) at a second position (254) and then removed from the station (234). The transfer device (222) according to Embodiment 72 [Embodiment 74] The transfer device (222) according to embodiment 73, characterized in that the object (102), which is different from the vehicle (100), can be transferred by the station transfer device (244) of the transfer device (222), in particular from a first position (240) to a second position (254). 〔Embodiment 75〕 The transfer device (222) according to embodiment 74, characterized in that the object (102) can be processed while being transferred from the first position (240) to the second position (254) or at an intermediate position (258) arranged therebetween. 〔Embodiment 76〕 At least one vehicle (100) is formed and arranged such that an object (102) can be discharged to the first position (240) of the station (234), and then, an object (102) that has been discharged to this first position (240) before and is transferred to the second position (254) of this station (234) at a later time can be accommodated at the second position (254). The transfer device (222) according to any one of embodiments 73 to 75, characterized in that 〔Embodiment 77〕 One or more stations (234) have a separation floor (248) under which at least one vehicle (100) can move, in particular one or more objects (102) can move above the separation floor (248) and / or one or more objects (102) are moved above the separation floor (248) thereby. The transfer device (222) according to any one of embodiments 72 to 76, characterized in that 〔Embodiment 78〕 The transfer device (222) according to embodiment 77, characterized in that the separation floor (248) is walkable for a person. 〔Embodiment 79〕 The separation bed (248) is oriented substantially parallel to the movable base (160) on which the transfer device (222) is mounted. In this case, the distance between the separation bed (248) and the surface of the movable base (160), preferably the walkable surface, is preferably at most about 5 times, particularly at most about 4 times, preferably at most about 3 times the height of the vehicle (100) and / or the height of the base body (104) of the vehicle (100). The transfer device (222) according to embodiment 77 or 78, characterized in that. 〔Embodiment 80〕 At least one section (260) of the separation bed (248) is formed completely closed above the transfer path (292) of the vehicle (100), whereby the object (102) to be transferred is spatially completely separated from the vehicle (100). The transfer device (222) according to any one of embodiments 77 to 79, characterized in that. 〔Embodiment 81〕 The completely closed section (260) of the separation bed (248) extends over at least substantially the entire longitudinal extent of the processing area (252) for processing the object (102). The transfer device (222) according to embodiment 80, characterized in that. 〔Embodiment 82〕 The separation bed (248) has a passage area (262), in particular a passage slit (264), through which one or more receiving members (170) of at least one vehicle (100) extend and / or are guidable. The transfer device (222) according to any one of embodiments 77 to 81, characterized in that. 〔Embodiment 83〕 The passage area (262), in particular the passage slit (264), extends along the transfer path (292) of the transfer device (222) or defines the transfer path (292) of the transfer device (222). The transfer device (222) according to embodiment 82, characterized in that. 〔Embodiment 84〕 The transfer device (222) according to embodiment 83, characterized in that a passage edge region (276) is formed on one or both sides of the passage region (262), in particular on one or both sides of the passage slit (264), and it is formed higher, in particular, compared to the remaining separation bed (248). 〔Embodiment 85〕 The average released or releasable interval between two passage edge regions (276) facing each other with respect to the passage region (262) is at most about 4 times, preferably at most about 3 times, in particular at most about 2 times the average thickness of at least one receiving member (170) of at least one vehicle (100) as seen horizontally and vertically with respect to the transfer path (292). The transfer device (222) according to embodiment 84, characterized by this. 〔Embodiment 86〕 The average released or releasable interval between two passage edge regions (276) facing each other with respect to the passage region (262) is at most about 150%, preferably at most about 100%, in particular at most about 80% of the average extension of the central member (210) of the adapter device (208) for accommodating at least one object (102) as seen horizontally and vertically with respect to the transfer path (292). The transfer device (222) according to any one of embodiments 84 or 85, characterized by this. 〔Embodiment 87〕 The transfer device (222) according to any one of embodiments 84 to 86, characterized in that the passage edge region (276) is formed in a substantially L - shaped cross - section when viewed perpendicular to the transfer path (294). 〔Embodiment 88〕 The transfer device (222) according to any one of embodiments 84 to 87, characterized in that the passage edge region (276) extends obliquely with respect to the gravitational direction (g) and / or obliquely with respect to the horizontal direction. 〔Embodiment 89〕 The transfer device (222), in particular the separation bed (248), for example the passing edge region (276), has one or more closing members (284) by means of which the passing region (262), in particular the passing slit (264), can be closed, in particular automatically, and / or in particular when no receiving member (170) projects through the passing region (262), and / or in particular within the section of the passing region (262), in particular of the passing slit (264), where the receiving member (170) does not project through the passing region (262), the transfer device (222) according to any one of embodiments 82 to 88, characterized in that it is closable. 〔Embodiment 90〕 The transfer device (222) according to embodiment 89, characterized in that one or more closing members (284) are operable by a receiving member (170) and are movable, in particular, to an open position and / or a closed position. 〔Embodiment 91〕 The transfer device (222) according to any one of embodiments 77 to 90, characterized in that the transfer device (222) has a station transfer device (244) by means of which the object (102) can be transferred independently of the vehicle (100), in which case the station transfer device (244) is preferably integrated into the separation bed (248) of the station (234). 〔Embodiment 92〕 The transfer device (222) according to embodiment 91, characterized in that the station transfer device (244) is a roller conveyor (245) or a chain conveyor, or has a roller conveyor (245) and / or a chain conveyor. 〔Embodiment 93〕 The transfer device (222) according to any one of embodiments 71 to 92, characterized in that the transfer device (222) has a stacking device (225) for stacking and / or removing a plurality of vehicles (100). 〔Embodiment 94〕 The transfer device (222) according to any one of embodiments 71 to 93, characterized in that it has one or more charging areas (158) for charging the energy storage device (150) of at least one vehicle (100). 〔Embodiment 95〕 The transfer device (222) according to embodiment 94, characterized in that one or more charging areas (158) are arranged at one or more stations (234) of the transfer device (222), the object (102) can be transferred to the station by at least one vehicle (100), and / or the object (102) can be discharged and / or accommodated at the station. 〔Embodiment 96〕 The transfer device (222) according to any one of embodiments 94 or 95, characterized in that one or more charging areas (158) are arranged between two stations (234) of the transfer device (222) with respect to the transfer path (292) of at least one vehicle (100), the object (102) can be transferred to the station by at least one vehicle (100), and / or the object (102) can be discharged and / or accommodated at the station. 〔Embodiment 97〕 The transfer device (222) according to any one of embodiments 94 to 96, characterized in that one or more charging areas (158) are arranged in or on the return transfer path (294) of at least one vehicle (100). 〔Embodiment 98〕 The transfer device (222) according to any one of embodiments 94 to 97, characterized in that one or more charging areas (158) are arranged in or on one road section, and the road section permanently or temporarily, especially alternately, forms a section of the transfer path (292) of one or more vehicles (100) and a section of the return transfer path (294) of one or more of the same vehicles (100) or one or more other vehicles (100). 〔Embodiment 99〕 One or more charging areas (158) are arranged in or on a cross area where one or more transfer paths (292) and / or one or more return transfer paths (294) of one or more vehicles (100) cross in the cross area, the transfer device (222) according to any one of embodiments 94 to 98. 〔Embodiment 100〕 One or more charging areas (158) are stationary filling areas (298), and at least one vehicle (100) is stationary in the charging area to charge the energy storage device (150) and / or during the charging of the energy storage device (150), the transfer device (222) according to any one of embodiments 94 to 99. 〔Embodiment 101〕 One or more charging areas (158) are mobile charging areas (300), and at least one vehicle (100) can pass by in contact with the mobile charging area during the charging of the energy storage device (150) and / or at least one vehicle (100) can move through the mobile charging area during the charging of the energy storage device (150), the transfer device (222) according to any one of embodiments 94 to 100. 〔Embodiment 102〕 One or more charging areas (158) are arranged in or formed in the passage area (262) of the separation bed (248) of the transfer device (222), the transfer device (222) according to any one of embodiments 94 to 101. 〔Embodiment 103〕 One or more charging areas (158) are arranged under and / or formed in the separation bed (248) of the station (234) of the transfer device (222), the transfer device (222) according to any one of embodiments 94 to 102. 〔Embodiment 104〕 One or more charging areas (158) are arranged on a walkable base (160) on which at least one vehicle (100) can travel, and in that case the one or more charging areas (158) are in particular arranged directly below and / or formed in the separation floor (248) of the station (234) of the transfer device (222). The transfer device (222) according to any one of embodiments 94 to 103, characterized in that. 〔Embodiment 105〕 One or more charging areas (158) are formed as charging bays (302) into which one or more vehicles (100) can enter, in particular avoiding the transfer path (292) and / or the return transfer path (294) of the vehicle (100), in order to charge their respective energy storage devices (150). The transfer device (222) according to any one of embodiments 94 to 104, characterized in that. 〔Embodiment 106〕 One or more of the charging bays (302) are a waiting area (304) for temporarily storing one or more vehicles (100) and / or a maintenance area (306) for performing maintenance work on one or more vehicles (100). The transfer device (222) according to embodiment 105, characterized in that. 〔Embodiment 107〕 One or more charging areas (158) are arranged at the discharge position (242) of the station (234) and / or at the receiving position (256) of the station (234) such that, in particular during the positioning process for positioning the vehicle (100) relative to the station (234), the energy storage device (150) of the vehicle (100) can be charged. The transfer device (222) according to at least one of embodiments 94 to 106, characterized in that. 〔Embodiment 108〕 The transfer device (222) extends over a plurality of planes (288) and has one or more charging areas (158), which are arranged within a transfer device (290) for transferring one or more vehicles (100) from one plane (288) to another plane (288). The transfer device (222) according to any one of embodiments 94 to 107, characterized in that. 〔Embodiment 109〕 The transfer device (222) has one or more charging connection points (308), and each of the charging connection points has a plurality of charging areas (158) for simultaneously charging a plurality of vehicles (100). The transfer device (222) according to any one of Embodiments 94 to 108, characterized in that. 〔Embodiment 110〕 One or more charging connection points (308) are arranged at locations where a plurality of transfer paths (292) and / or return transfer paths (294) intersect and / or overlap. The transfer device (222) according to Embodiment 109, characterized in that. 〔Embodiment 111〕 In order to charge the energy storage device (150), at least one charging area (158) has one or more charging connection points (164), and each of the charging connection points has a plurality of contact areas (278) and / or contact members (280) for providing voltages having different voltage values. The transfer device (222) according to any one of Embodiments 71 to 110, characterized in that. 〔Embodiment 112〕 Two or more pairs of contact areas (278) and / or contact members (280) are provided at each of one or more charging connection points (164), and they are used in particular to provide different charging voltages simultaneously. The transfer device (222) according to Embodiment 111, characterized in that. 〔Embodiment 113〕 One or more charging connection points (164), particularly all charging connection points (164), each have one or more sensor devices (190), and the presence of the vehicle (100) at each charging connection point (164), particularly above it, can be determined by the sensor device. The transfer device (222) according to any one of Embodiments 71 to 112, characterized in that. 〔Embodiment 114〕 The charging connection point (164) is configured such that current and / or voltage for charging the energy storage device (1590) of the vehicle (100) is applied to the respective charging connection point (164) only when the vehicle (100) is recognized by one or more sensor devices (190), and is controllable and / or drivable, as particularly permitted, for the transfer device (222) according to Embodiment 113. 〔Embodiment 115〕 The transfer device (222) has one or more safety areas (270) and one or more express areas (268), wherein one or more vehicles (100) can be shifted to a safety mode by a control device (204) within one or more safety areas (270), and wherein one or more vehicles (100) can be shifted to an express mode by a control device (204) within one or more express areas (268). The transfer device (222) according to any one of Embodiments 71 to 114, characterized in that. 〔Embodiment 116〕 One or more express areas (268) have one or more return transfer paths (294) and return transfer path sections, in which one or more vehicles (100) are not particularly loaded, for the transfer device (222) according to Embodiment 115. 〔Embodiment 117〕 One or more express areas (268) and / or one or more safety areas (270) are connected to each other by one or more passage openings (312), wherein the one or more passage openings (312) preferably have a shape that is at least partially, at least substantially, and at least partially complementary to the shape of one or more vehicles (100), for the transfer device (222) according to any one of Embodiments 115 or 116. 〔Embodiment 118〕 a) One or more passage openings (312) are arranged within or at one or more stations (234) of the transfer device (222), and / or b) one or more through openings (312) are formed through one or more stations (234) of the transfer device (222), The transfer device (222) according to embodiment 117, characterized in that. 〔Embodiment 119〕 The transfer device (222) according to any one of embodiments 115 to 118, characterized in that one or more express areas (268) are formed by a walkable and / or drivable double floor. 〔Embodiment 120〕 The transfer device (222) according to any one of embodiments 71 to 119, characterized in that the transfer device (222) has a plurality of types of stations (234), and in that case a plurality of stations (234I) are respectively provided by at least two types of stations (234). 〔Embodiment 121〕 The object (102) to be transferred can be transferred to and / or through one of each of various types of stations (234) in a predetermined order by one or more vehicles (100), and in that case the individual stations (234) of each type of station (234) can be selected by the control device (204), in particular a) according to whether the individual stations (234) of each type of station (234) are actually occupied, and / or b) according to the equipment of the individual stations (234) of each type of station (234), and / or c) according to the form of the individual stations (234) of each type of station (234), and / or d) according to the actual maintenance status or dirt of the individual stations (234) of each type of station (234), it is selectable, The transfer device (222) according to embodiment 120, characterized in that. 〔Embodiment 122〕 The transfer device (222) has a handover area (400), in which one or more objects (102) can be handed over from the vehicle (100) to the station transfer device (244) or to other storage devices. In this case, one entry area (402) is spatially separated from at least one exit area (410). Through this entry area, the vehicle can approach the handover position (404) of the handover device (400), and through the exit area, the vehicle (100) can drive away from the handover position (404). The transfer device (222) according to any one of Embodiments 71 to 121, characterized in that. 〔Embodiment 123〕 The transfer device (222) has a handover area (400), in which one or more objects (102) can be handed over from the vehicle (100) to the station transfer device (244) or to other storage devices. In this case, the entry direction (412) is transverse to the exit direction (414), particularly at least approximately perpendicular. Along the entry direction, the vehicle (100) can enter the handover area (300), and along the exit direction (414), the vehicle (100) can exit the handover area (400). The transfer device (222) according to any one of Embodiments 71 to 122, characterized in that. 〔Embodiment 124〕 A transfer device (222) for transferring an object (102), particularly a workpiece, such as a vehicle body (206). In this case, the transfer device (222) is particularly formed according to any one of Embodiments 71 to 123 and / or has a separation bed (248), which has a passage area (262), particularly a passage slit (264). Through this, one or more receiving members (170) for receiving at least one object (102) extend and / or are guidable. The transfer device. 〔Embodiment 125〕 The separation bed (248) has one or more closing members (284), by which the passage area (262), particularly the passage slit (264), can be closed. The transfer device (222) according to Embodiment 124, characterized in that. 〔Embodiment 126〕 The passage area (262), in particular the passage slit (264), can be closed automatically, and / or temporarily, and / or locally by one or more closing members (284), and / or, in particular, when no accommodation member (170) protrudes through the passage area (262), and / or, in particular, within any section of the passage area (262), in particular the passage slit (264), where no accommodation member (170) protrudes through the passage area (262), the transfer device (222) according to embodiment 125, characterized in that. [Embodiment 127] One or more closing members (284) are operable by an accommodation member (170) and are particularly movable to an open position and / or a closed position, the transfer device (222) according to any one of embodiments 124 to 126, characterized in that. [Embodiment 128] One or more closing members (284) are elastically, in particular automatically under the action of gravity, movable from an open position to a closed position, the transfer device (222) according to any one of embodiments 124 to 127, characterized in that. [Embodiment 129] One or more closing members (284) are formed as a thin plate (508) and / or a flap and / or a closing disk (510), the transfer device (222) according to any one of embodiments 124 to 128, characterized in that. [Embodiment 130] One or more closing members (284) are displaceable, in particular in a horizontal direction, whereby the passage area (262) is temporarily released to allow one or more accommodation members (170) to pass through, the transfer device (222) according to any one of embodiments 124 to 129, characterized in that. [Embodiment 131] The separation bed (248) has a plurality of closing members (284), and these closing members are arranged overlapping each other in their closed position and / or open position, the transfer device (222) according to any one of embodiments 124 to 130, characterized in that. [Embodiment 132] The separation bed (248) has a plurality of closing members (284), and these closing members are arranged in planes that are different from each other, particularly parallel planes with respect to each other, preferably horizontal planes, and / or are movable. The transfer device (222) according to any one of embodiments 124 to 131, characterized in that. 〔Embodiment 133〕 One or more closing members (284) are walkable. The transfer device (222) according to any one of embodiments 124 to 132, characterized in that. 〔Embodiment 134〕 One or more closing members (284) are supported by each other and / or by one or more support plates (504) of the separation bed (248), particularly in their closed position and / or open position. The transfer device (222) according to any one of embodiments 124 to 133, characterized in that. 〔Embodiment 135〕 One or more closing members (284) are movable in a direction that is oblique, particularly perpendicular, to the transfer direction (250), and are particularly linearly slidable. The transfer device (222) according to any one of embodiments 124 to 134, characterized in that. 〔Embodiment 136〕 One or more closing members (284) are rotatably, particularly freely rotatably and / or 360° rotatably, arranged in a closing member receiving portion (524) of the separation bed (248). The transfer device (222) according to any one of embodiments 124 to 135, characterized in that. 〔Embodiment 137〕 A passage area (262), particularly a passage slit (264), extends along the transfer path (292) of the transfer device (222), or defines the transfer path (292) of the transfer device (222). The transfer device (222) according to any one of embodiments 124 to 136, characterized in that. 〔Embodiment 138〕 The separation bed (248) is walkable for a person. The transfer device (222) according to any one of embodiments 124 to 137, characterized in that. 〔Embodiment 139〕 The transfer device (222) has one or more vehicles (100), in which case each vehicle (100) - has a base body (104); - has a chassis (106), by which the base body (104) is placed on and / or movable on a base (160) on which the base body (104) can travel; - has a drive device (110) for driving the vehicle (100); - has a storage device (168), which has one storage member (170), two storage members (170) or more than two storage members (170) for storing at least one object (102), in which case the transfer device (222) has one or more stations (234), to which the object (102) can be transferred by the vehicle (100) and / or at which the object (102) can be released and / or stored, The transfer device (222) according to any one of embodiments 124 to 138, characterized in that. 〔Embodiment 140〕 Processing equipment (224) for processing an object (102), in particular a vehicle body (206), in which case the processing equipment (224) has one or more transfer devices (222) according to any one of embodiments 71 to 139. 〔Embodiment 141〕 One or more stations (234) of the transfer device (222), which are connected to each other for transferring the object (102) by the vehicle (100) of the transfer device (222), are processing stations (236) of the processing equipment (224), The processing equipment (224) according to embodiment 140, characterized in that. 〔Embodiment 142〕 A method of transferring an object (102), in which case the object (102) is transferred by one or more vehicles (100) according to any one of embodiments 1 to 67 and / or by a transfer device (222) according to any one of embodiments 71 to 139. 〔Embodiment 143〕 A method of processing an object (102), in which case the object (102) is processed within and / or by the processing facility (224) described in any of Embodiments 140 or 141.

Claims

1. A vehicle (100) for transporting an object (102), the vehicle (100) comprising: - has a base body (104); - has a chassis (106) by means of which the base body (104) is mounted on and / or movable on a runnable foundation (160); - has a drive unit (110) for driving the vehicle (100); - a containment device (168) having one or more containment members (170) for containing at least one object (102), A plurality of receiving members (170) are connected to each other and are necessarily movable together relative to the base body (104); a lift drive device (178) of the vehicle (100) having a lift drive member (182) which couples the lift drive motor (180) and the two or more storage members (170) to each other so that the two or more storage members (170) are movable together by the lift drive motor (180); a) a lift drive member (182) extends through a drive shaft (148) of a drive device (110) for driving the vehicle (100); or b) the lift drive member (182) extends below a drive shaft (148) of a drive device (110) for driving the vehicle (100). Vehicle (100).

2. 2. The vehicle (100) of claim 1, wherein the plurality of receiving members (170) extend in a plane extending perpendicular to a central longitudinal axis (140) of the vehicle (100).

3. 3. The vehicle (100) according to claim 1 or 2, characterized in that one storage member (170), two storage members (170) or more than two storage members (170) are movably arranged on the base body (104).

4. 4. The vehicle (100) according to claim 3, characterized in that the vehicle (100) has a lift drive (178) by means of which one storage member (170), two storage members (170) or more than two storage members (170) can be lifted and / or lowered relative to the base body (102).

5. 5. The vehicle (100) according to claim 1, characterized in that the drive unit (110) has a drive shaft (148) which connects two drive members (118) of the drive unit (110) to each other, the drive shaft (148) being oriented substantially transversely to the longitudinal central axis (140) of the vehicle (100) and / or the main direction of travel (138).

6. The drive unit (110) has a drive shaft (148), said drive shaft connecting two drive members (118) of the drive unit (110) to each other; the drive shaft (148) is arranged at least approximately centrally in the base body (104) of the vehicle (100) with respect to the longitudinal central axis (140) of the vehicle and / or the main direction of travel (138); and / or The drive members (118) of the drive device (110) are independently drivable from each other; A vehicle (100) according to any one of claims 1 to 5.

7. The drive device (110) has a drive shaft (148) and / or one or more drive members (118) which can be lowered onto and / or pressed against and / or lifted from the floor by an operating device (146); the drive shaft (148) and / or the one or more drive members (118) are integrated in and / or surrounded on five sides by the base body (104) of the vehicle (100) and / or the operating device (146) is accessible on the outside of the vehicle (100) for operating same; A vehicle (100) according to any one of the preceding claims.

8. 8. A vehicle (100) according to any one of claims 1 to 7, characterized in that one storage member (170), two storage members (170) or more than two storage members (170) each have a storage section (174), the storage section narrowing towards an upper end in relation to the direction of gravity (g).

9. 9. The vehicle (100) of claim 8, wherein the one or more storage sections (174) are formed substantially conically or frusto-conically.

10. 10. A vehicle (100) according to any one of claims 1 to 9, characterized in that one storage member (170), two storage members (170) or more than two storage members (170) have a height relative to the direction of gravity (g) that is greater than a height relative to the direction of gravity of a base body (104) of the vehicle (100).

11. The vehicle (100) has one or more accommodation sensors (188), which are a) the object (102) placed on the at least one receiving member (170) is detectable and / or monitorable for its correct fixation; and / or b) the orientation and / or position of the object (102) located at a distance from the at least one receiving member (170) is detectable; A vehicle (100) according to any one of the preceding claims.

12. 12. The vehicle (100) according to claim 11, characterized in that at least one accommodation sensor (188) is arranged on the base body (104) and / or on the accommodation member (170).

13. 13. The vehicle (100) according to any one of the preceding claims, characterized in that the receiving member (170) comprises a lubrication device (175), said lubrication device being integrated in the receiving member (170).

14. 14. The vehicle (100) according to claim 13, characterized in that the lubrication device (175) is integrated into the shaft section (173) and / or the accommodating section (174) of the accommodating member (170) and is arranged completely inside the shaft section (173) and / or the accommodating section (174).

15. 15. A vehicle (100) according to claim 13 or 14, characterized in that the lubrication device (175) has a reservoir (177) for storing lubricant and a dispensing device (179) for controllably supplying the lubricant from the reservoir (177) to the object to be lubricated.

16. A vehicle (100) according to any one of claims 1 to 15, At least one adapter device (208) for accommodating the object (102), the adapter device (208) comprising: - has a central member (210), - one or more adapter members (212) fixed to the central member (210) and geometrically adapted to the object (102) in order to accommodate the object (102); and at least one adapter device (208), in which one or more action areas (216) are arranged and / or formed in the central member (210) and / or in the one or more adapter members (212), in which one or more accommodation members (170) act to accommodate the adapter device (208).

17. 17. The combination of claim 16, wherein a plurality of adapter members (212) of different geometries and / or sizes are provided to accommodate objects (102) of different geometries and / or sizes.

18. A transport device (222) for transporting an object (102), the transport device (222) comprising one or more vehicles (100) according to any one of claims 1 to 15. Transfer device (222).

19. A processing facility (224) for processing an object (102), the processing facility (224) comprising one or more transfer devices (222) according to claim 18.

20. A method for transporting and / or processing an object (102), wherein the object (102) is transported by one or more vehicles (100) according to any one of claims 1 to 15 and / or by one or more combinations according to any one of claims 16 or 17 and / or by a transport device (222) according to claim 18 and / or the object (102) is processed in and / or with a processing facility (224) according to claim 19. method.

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