Track tile module, modular track system, and method for manufacturing a track tile module

Abstract

A track tile module providing a driving track for a self-driving wheeled transport vehicle. The track tile module comprises an upper side intended to face upwards and a lower side intended to face downwards. A grooved track structure is arranged on the upper side. The grooved track structure comprises a first pair of parallel track grooves and a second pair of parallel track grooves extending in a direction perpendicular to the first pair of parallel track grooves in an intersecting relationship. Intersections of the first pair of parallel track grooves with the second pair of parallel track grooves form four track groove junctions, each having a first corner positioned between the first pair of parallel track grooves and between the second pair of parallel track grooves, a second corner arranged opposite the first corner and positioned outside the first pair of parallel track grooves and outside the second pair of parallel track grooves, a third corner positioned between the first pair of parallel track grooves and outside the second pair of parallel track grooves, and a fourth corner arranged opposite the third corner and positioned between the second pair of parallel track grooves and outside the first pair of parallel track grooves. The third corner is having a less sharp corner configuration compared to the first corner, and the fourth corner is having a less sharp corner configuration compared to the first corner.

Description

[0001] TRACK TILE MODULE, MODULAR TRACK SYSTEM, AND METHOD FOR MANUFACTURING A TRACK TILE MODULE

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to a track tile module. The track tile module is providing a driving track for a self-driving wheeled transport vehicle. The track tile module comprises an upper side intended to face upwards and a lower side intended to face downwards. A grooved track structure is arranged on the upper side. The grooved track structure comprises a first pair of parallel track grooves and a second pair of parallel track grooves extending in a direction perpendicular to the first pair of parallel track grooves in an intersecting relationship. Intersections of the first pair of parallel track grooves with the second pair of parallel track grooves form four track groove junctions. The disclosure further relates to a modular track system and a method for manufacturing a track tile module.

[0004] BACKGROUND

[0005] Transportation systems with self-driving wheeled transport vehicles are commonly used in different applications where there is a need for transporting objects or other goods between different transporting destinations. Such systems may for example be used in manufacturing facilities for transporting parts or products between workstations, and for transporting products to and from packaging stations. Other application areas may for example be in warehouses fortransporting goods or objects to different storage locations. The self-driving wheeled transport vehicles are commonly arranged as driverless self-propelled transport vehicles providing automated material flows. Such driverless transport vehicles are generally guided by track systems, inductive conductors, or optical markings on the floor. However, freely navigating transport vehicles can also be used, where the vehicles are equipped with navigation devices for orientation on a transport surface. Track system based transportation systems are used for an efficient guiding of the self-driving wheeled transport vehicles. However, current transportation systems are often complex in design and non-flexible in construction.

[0006] When the transportation systems are configured as modular track system with a plurality of connected track tile modules, a grooved track structure is used for guiding the transport vehicles. Such grooved track structures commonly comprise a first pair of parallel track grooves and a second pair of parallel track grooves extending in a direction perpendicular to the first pair of parallel track grooves in an intersecting relationship. Intersections of the first pair of parallel track grooves with the second pair of parallel track grooves form four track groove junctions. The transport vehicles are arranged with wheels that are used for propelling and guiding the transport vehicles along the parallel track grooves in different directions. In order to change driving direction, the wheels of the transport vehicle may be turned or rotated relative to the track groove junctions, in order to align the wheels with either the first pair of parallel track grooves or the second pair of parallel track grooves. During such turning or rotating displacement of the wheels, there is a risk for misalignment of the wheels relative to the track grooves, which may cause inoperable transport vehicles, or even derailment of the transport vehicles.

[0007] There is thus a need for more reliable modular track systems using a plurality of connected track tile modules, to avoid inoperable transport vehicles due to misalignment of wheels, or derailment of transport vehicles.

[0008] SUMMARY

[0009] An object of the present disclosure is to provide a track tile module, a modular track system, and a method for manufacturing a track tile module, where the previously mentioned problems are avoided. This object is at least partly achieved by the features of the independent claims. The dependent claims contain further developments of the track tile module, the modular track system and the method for manufacturing a track tile module.

[0010] The disclosure concerns a track tile module providing a driving track for a self-driving wheeled transport vehicle. The track tile module comprises an upper side intended to face upwards and a lower side intended to face downwards. A grooved track structure is arranged on the upper side. The grooved track structure comprises a first pair of parallel track grooves and a second pair of parallel track grooves extending in a direction perpendicular to the first pair of parallel track grooves in an intersecting relationship. Intersections of the first pair of parallel track grooves with the second pair of parallel track grooves form four track groove junctions, each having a first corner positioned between the first pair of parallel track grooves and between the second pair of parallel track grooves, a second corner arranged opposite the first corner and positioned outside the first pair of parallel track grooves and outside the second pair of parallel track grooves, a third corner positioned between the first pair of parallel track grooves and outside the second pair of parallel track grooves, and a fourth corner arranged opposite the third corner and positioned between the second pair of parallel track grooves and outside the first pair of parallel track grooves. The third corner is having a less sharp corner configuration compared to the first corner, and / or the fourth corner is having a less sharp corner configuration compared to the first corner.

[0011] Advantages with these features are that the track groove junctions are enabling an efficient rotational positioning of the wheels of the transport vehicle through the configuration of the track groove junctions with the third corner and / or the fourth corner having less sharp corner configurations compared to the first corner. The less sharp corner configurations are allowing a correct positioning and repositioning of the wheels of the transport vehicles, since the wheels can easily rotate freely without interacting with the corners of the track groove junctions or other structural parts of the track structure. The sharper corner configuration of the first corner may further support a correct positioning of the transport vehicle relative to the parallel track grooves during the rotational movement of the wheels. The respective corner configurations are efficiently reducing the risk for misalignment of the wheels relative to the track grooves, which is preventing inoperable transport vehicles, or derailment of the transport vehicles. Suitably, both the third corner and the fourth corner are having less sharp corner configurations compared to the first corner. Alternatively, only one of the third corner and the fourth corner is having a less sharp corner configuration compared to the first corner. The other of the third corner and the fourth corner may then have a sharp corner configuration but arranged at a distance from the opposite corner for creating enough room for the wheels to rotate freely without interacting with the corners of the track groove junctions or other structural parts of the track structure.

[0012] In one embodiment, the less sharp corner configurations of the third corner and / or the fourth corner are a more bevelled and / or rounded and / or recessed corner configuration than the first corner. These corner configurations are efficiently allowing the wheels to rotate freely in the track groove junctions for an efficient rotational displacement of the wheels.

[0013] In one embodiment, the second corner is having a less sharp corner configuration compared to the first corner. In this way, the track groove junction can alternatively be configured with the second corner, the third corner, and the fourth corner, with less sharp corner configurations compared to the first corner, for an efficient rotational positioning of the wheels of the transport vehicle.

[0014] In one embodiment, the less sharp corner configuration of the second corner is a more bevelled and / or rounded and / or recessed corner configuration than the first corner. These corner configurations are efficiently allowing the wheels to rotate freely in the track groove junctions for an efficient rotational displacement of the wheels.

[0015] In one embodiment, the less sharp corner configuration is determined by viewing or measuring the configurations of the first corner, the second corner, the third corner, and the fourth corner, of each of the four track groove junctions, from a top-view perspective.

[0016] In one embodiment, a side wall of the third corner and a side wall of the fourth corner are more bevelled and / or rounded and / or recessed than a side wall of the first corner. Alternatively, a side wall of the second corner, a side wall of the third corner, and a side wall of the fourth corner, are more bevelled and / or rounded and / or recessed than a side wall of the first corner. These configurations of the side walls are efficiently allowing the wheels to rotate freely in the track groove junctions for an efficient rotational displacement of the wheels of the transport vehicle.

[0017] In one embodiment, the track tile module comprises a first longitudinal side edge, a second longitudinal side edge, a first lateral side edge, and a second lateral side edge. The first pair of parallel track grooves are extending in a longitudinal direction of the track tile module parallel to the first longitudinal side edge and the second longitudinal side edge. The second pair of parallel track grooves are extending in a lateral direction of the track tile module parallel to the first lateral side edge and the second lateral side edge.

[0018] In one embodiment, the extension of the track tile module in the longitudinal direction is greater than the extension of the track tile module in the lateral direction. The first pair of parallel track grooves is arranged with a first track gauge and the second pair of parallel track grooves is arranged with a second track gauge. The second track gauge is wider than the first track gauge. This different extension in the two directions is enabling a flexible and efficient system, where transport vehicles of different configurations may be used. Further, the modular track system could with this configuration of the track tile module be made efficient with respect to space needed for the system. The first pair of parallel track grooves arranged with a first track gauge and the second pair of parallel track grooves arranged with a second track gauge are enabling formation of the driving track with different track widths, when track tile modules are arranged in connection to each other.

[0019] In one embodiment, the lower side comprises one or more integrated reinforcing ribs. The integrated reinforcing ribs are enabling a stiff and durable construction of the track tile modules.

[0020] In one embodiment, the track tile module is configured as a single piece track tile module, or the track tile module is configured as a multi-piece track tile module comprising two or more joined track tile sub-parts. The single piece track tile module is manufactured in one structural piece. The multi-piece track tile module comprises two or more joined track tile sub-parts that are manufactured in separate structural pieces forming the sub-parts that are joined to form the track tile module.

[0021] The disclosure further concerns a modular track system comprising a plurality of track tile modules as described above. The modular track system further comprises a base structure, and the track tile modules are arranged in connection to each other and attached to the base structure. The grooved track structure of the track tile modules arranged in connection to each other are forming the driving track, and the driving track is configured for guiding wheels of the self-driving wheeled transport vehicle. Advantages with these features are that the track groove junctions are enabling an efficient rotational positioning of the wheels of the transport vehicle through the configuration of the track groove junctions with the third corner and / or the fourth corner having less sharp corner configurations compared to the first corner. The less sharp corner configurations are allowing a correct positioning and repositioning of the wheels of the transport vehicles, since the wheels can easily rotate freely without interacting with the corners of the track groove junctions or other structural parts of the track structure. The sharper corner configuration of the first corner may further support a correct positioning of the transport vehicle relative to the parallel track grooves during the rotational movement of the wheels. The respective corner configurations are efficiently reducing the risk for misalignment of the wheels relative to the track grooves, which is preventing inoperable transport vehicles, or derailment of the transport vehicles. Suitably, both the third corner and the fourth corner are having less sharp corner configurations compared to the first corner. Alternatively, only one of the third corner and the fourth corner is having a less sharp corner configuration compared to the first corner. The other of the third corner and the fourth corner may then have a sharp corner configuration but arranged at a distance from the opposite corner for creating enough room for the wheels to rotate freely without interacting with the corners of the track groove junctions or other structural parts of the track structure. The base structure is providing a reliable support for the track tile modules arranged in connection to each other. The base structure may be configured as a floor structure, or as a frame or beam system arranged for holding the plurality of track tile modules.

[0022] In one embodiment, the track tile modules further comprise one or more locking arrangements configured for releasably attaching the track tile modules to the base structure. In a locked state of the one or more locking arrangements, the track tile modules are connected to the base structure. In an unlocked state of the one or more locking arrangements, the track tile modules are disconnected from the base structure. The locking arrangements are enabling efficient attachment and removal of the track tile modules.

[0023] In one embodiment, the locking arrangements are rotatably connected to the track tile modules. The locking arrangements comprise a latch configured for being rotatably displaced between the unlocked state and the locked state. In the unlocked state, the latch is disengaged from the base structure. In the locked state, the latch is engaging the base structure. The rotating configuration is enabling a simple attachment of the track tile modules to the base structure. By rotating the locking arrangements with the latch from the unlocked state to the locked state, the latch is engaging a locking recess, track, or similar receiving arrangement, in the base structure. To remove the track tile modules from the base structure, the latch is rotated from the locked state to the unlocked state for disengaging the latch from the base structure. In the unlocked state, the track tile modules can easily be removed from the base structure for maintenance or replacement.

[0024] In one embodiment, the first pair of parallel track grooves of the track tile modules when arranged in connection to each other define first drive lanes for the transport vehicle. The first drive lanes are configured to guide the wheels of the transport vehicle along the first pair of parallel track grooves. The second pair of parallel track grooves of the track tile modules when arranged in connection to each other define second drive lanes for the transport vehicle. The second drive lanes are configured to guide wheels of the transport vehicle along the second pair of parallel track grooves. The drive lanes are enabling different possibilities for routing the transport vehicle, and the drive lanes may be arranged in many different ways, depending on how the track tile modules are arranged in connection to each other.

[0025] In one embodiment, at least some of the plurality of track tile modules attached to the base structure are configured as tile modules having the same design. The configuration of the system with at least some of the plurality of track tile modules attached to the base structure are configured as tile modules having the same design, is enabling a simple and efficient construction of the modular track system for transporting objects or goods. In this way, the same type of track tile modules are used on the base structure. The purpose of arranging the track tile modules with the same design is to simplify the construction and flexibility of the modular track system using track tile modules arranged as standard components. With the expression track tile modules configured as tile modules having the same design is meant that the track tile modules have the same dimensions and configurations, and are arranged with the same grooved track structure and corner configuration. The grooved track structure is arranged in the same way on each track tile module configured as tile modules having the same design with the first pair of parallel track grooves and the second pair of parallel track grooves, where the second pair of parallel track grooves is extending in a direction perpendicular to the first pair of parallel track grooves. The track tile modules configured as tile modules having the same design are manufactured with the aim to be identical, for example by machining the track tile modules with the same configurations and dimensions from the same suitable material, by injection moulding the track tile modules from the same material in identical moulds, by deep drawing or press forming the track tile modules from a suitable material, or by 3D printing the track tile modules in a 3D printer from a suitable printing material. The track tile modules may for example be made of plastic materials, composite materials, metallic materials, wood, or wood composites.

[0026] In one embodiment, the track tile modules comprise alignment structures arranged at a first longitudinal side edge, a second longitudinal side edge, a first lateral side edge, and a second lateral side edge. The alignment structures are configured for aligning the grooved track structures when the track tile modules are arranged in connection to each other. The alignment structures are used for aligning the grooved track structures when the track tile modules are arranged in connection to each other. The alignment structures may have any suitable design, and the alignments structures are securing correct alignment between adjacent track tile modules in order to establish a driving track without misaligned track grooves. The alignment structures may be arranged as protruding sections and recessed sections of the respective side edges. In this way, the protruding sections are configured for engaging recessed sections of adjacent track tile modules, and the recessed sections are configured for engaging protruding sections of adjacent track tile modules, for an efficient arrangement of the modular track system.

[0027] The disclosure further concerns a method for manufacturing a track tile module. The track tile module is providing a driving track for a self-driving wheeled transport vehicle. The method comprises the step: forming the track tile module in an injection moulding operation, a deep drawing operation, a press forming operation, a 3D printing operation, or a machining operation. The track tile module comprises an upper side intended to face upwards and a lower side intended to face downwards. A grooved track structure is arranged on the upper side. The grooved track structure comprises a first pair of parallel track grooves and a second pair of parallel track grooves extending in a direction perpendicular to the first pair of parallel track grooves in an intersecting relationship. Intersections of the first pair of parallel track grooves with the second pair of parallel track grooves form four track groove junctions, each having a first corner positioned between the first pair of parallel track grooves and between the second pair of parallel track grooves, a second corner arranged opposite the first corner and positioned outside the first pair of parallel track grooves and outside the second pair of parallel track grooves, a third corner positioned between the first pair of parallel track grooves and outside the second pair of parallel track grooves, and a fourth corner arranged opposite the third corner and positioned between the second pair of parallel track grooves and outside the first pair of parallel track grooves. The third corner is having a less sharp corner configuration compared to the first corner, and / or the fourth corner is having a less sharp corner configuration compared to the first corner.

[0028] Advantages with these features are that the manufacturing of the track tile modules can be made simple and efficient. The track tile modules may be made of any suitable material, such as plastic materials, composite materials, metallic materials, wood, or wood composites. In one specific embodiment, the track tile modules are manufactured with the aim to be identical, for example by machining the track tile modules with the same configurations and dimensions from the same suitable material, by injection moulding the track tile modules from the same material in identical moulds, by deep drawing or press forming the track tile modules from a suitable material, or by 3D printing the track tile modules in a 3D printer from a suitable printing material. The track tile modules may for example be made of plastic materials, composite materials, metallic materials, wood, or wood composites. The track groove junctions are enabling an efficient rotational positioning of the wheels of the transport vehicle through the configuration of the track groove junctions with the third corner and / or the fourth corner having less sharp corner configurations compared to the first corner. The less sharp corner configurations are allowing a correct positioning and repositioning of the wheels of the transport vehicles, since the wheels can easily rotate freely without interacting with the corners of the track groove junctions or other structural parts of the track structure. The sharper corner configuration of the first corner may further support a correct positioning of the transport vehicle relative to the parallel track grooves during the rotational movement of the wheels. The respective corner configurations are efficiently reducing the risk for misalignment of the wheels relative to the track grooves, which is preventing inoperable transport vehicles, or derailment of the transport vehicles. Suitably, both the third corner and the fourth corner are having less sharp corner configurations compared to the first corner. Alternatively, only one of the third corner and the fourth corner is having a less sharp corner configuration compared to the first corner. The other of the third corner and the fourth corner may then have a sharp corner configuration but arranged at a distance from the opposite corner for creating enough room for the wheels to rotate freely without interacting with the corners of the track groove junctions or other structural parts of the track structure.

[0029] In one embodiment, the second corner is having a less sharp corner configuration compared to the first corner. In this way, the track groove junction can alternatively be configured with the second corner, the third corner, and the fourth corner, with less sharp corner configurations compared to the first corner, for an efficient rotational positioning of the wheels of the transport vehicle.

[0030] BRIEF DESCRIPTION OF DRAWINGS

[0031] The disclosure will be described in detail in the following, with reference to the attached drawings, in which

[0032] Fig. 1a-b show schematically, in a perspective view and in a view from above, an embodiment of a modular track system and a part of the modular track system, where the modular track system comprises a plurality of track tile modules providing a driving track that is guiding wheels of selfdriving wheeled transport vehicles,

[0033] Fig. 2a-d show schematically, in a perspective view from above, a track tile module configured as a single piece track tile module, and a base structure; in a perspective view from below, the track tile module configured as a single piece track tile module; in a perspective view from above, track tile modules configured as a single piece track tile modules arranged in connection to each other; and in a perspective view from above, a track tile module configured as a multi-piece track tile module comprising joined track tile sub-parts. Fig. 3a-b show schematically, in perspective partly cross-sectional views, a locking arrangement of the modular track system configured for releasably attaching the track tile modules to the base structure,

[0034] Fig. 4a-b show schematically, in a perspective view and in a view from above, corner configurations of track groove junctions of the track tile modules, where each track groove junction has a first corner, a second corner, a third corner, and a fourth corner,

[0035] Fig. 5a-b show schematically, in a side view and in a view from below, an embodiment of the self-driving wheeled transport vehicle, where the transport vehicle is arranged with wheels that are rotatably arranged around a wheel axis,

[0036] Fig. 6a-c show schematically, in views from above, different embodiments of corner configurations of track groove junctions,

[0037] Fig. 7a-c show schematically, in views from above, different embodiments of alternative corner configurations of track groove junctions, and

[0038] Fig. 8a-c show schematically, in cross-sectional side views, different embodiments of side wall configurations of track groove junction corners.

[0039] DESCRIPTION OF EXAMPLE EMBODIMENTS

[0040] Various aspects of the disclosure will hereinafter be described in conjunction with the appended drawings to illustrate and not to limit the disclosure, wherein like designations denote like elements, and variations of the described aspects are not restricted to the specifically shown embodiments, but are applicable on other variations of the disclosure.

[0041] Figure 1a schematically shows an embodiment of a modular track system S, and in figure 1 b a part of the modular track system S is shown more in detail. The modular track system S comprises a plurality of track tile modules 1 arranged in connection to each other. By arranging the track tile modules 1 in connection to each other, a driving track T configured for guiding wheels W of a self-driving wheeled transport vehicle V is provided. The transport vehicle V is used for transporting any suitable type of object or objects between different locations of the modular track system S, such as for example between different workstations or from a workstation to a packing unit or other transportation unit. The modular track system S further comprises a base structure 3, and the track tile modules 1 are arranged in connection to each other and attached to the base structure 3.

[0042] The configuration of the driving track T is enabling transportation of the transport vehicle V in a longitudinal direction DLO of the modular track system S, and in a lateral direction DLA of the modular track system S. By designing the transport vehicle V with wheels W that are rotatably arranged, the transport vehicle V can alter between driving in the longitudinal direction DLO and the lateral direction DLA of the modular track system S.

[0043] The transport vehicle V may be connected to a control unit for controlling the driving operation. Alternatively or in combination, the transport vehicle V is provided with a suitable software for controlling the driving operation. It should be understood that a plurality of transport vehicles V could be operated simultaneously on the modular track system.

[0044] The track tile modules comprise a grooved track structure 2 having a first pair of parallel track grooves 2a and a second pair of parallel track grooves 2b extending in a direction perpendicular to the first pair of parallel track grooves 2a. The grooved track structure 2 of the track tile modules 1 are forming the driving track T when the track tile modules 1 are arranged in connection to each other. As indicated in figures 1a-b, the first pair of parallel track grooves 2a of the track tile modules 1 when arranged in connection to each other define first drive lanes Di for the transport vehicle V. The first drive lanes Di are configured to guide the wheels W of the transport vehicle V in the longitudinal direction DLO along first pairs of parallel track grooves 2a of track tile modules 1 arranged in connection to each other. The second pair of parallel track grooves 2b of the track tile modules 1 when arranged in connection to each other define second drive lanes D2 for the transport vehicle V. The second drive lanes D2 are configured to guide wheels W of the transport vehicle V in the lateral direction DLA along second pairs of parallel track grooves 2b of track tile modules 1 arranged in connection to each other. The arrangement with the first drive lanes Di and the second drive lanes D2 is enabling different possibilities for routing the transport vehicle V, and the drive lanes may be arranged in many different ways, depending on how the track tile modules 1 are arranged in connection to each other.

[0045] The modular track system S comprises a plurality of track tile modules 1 attached to the base structure 3. In the embodiment shown in figures 1a-b, the plurality of track tile modules 1 attached to the base structure 3 are configured as tile modules having the same design, as will be further described below.

[0046] The base structure 3 may be configured as a floor structure, or as a frame or beam system arranged for holding the plurality of track tile modules 1. The track tile modules 1 may be configured as single piece track tile modules, or the track tile modules 1 may be configured as multi-piece track tile modules comprising two or more joined track tile sub-parts 1a.

[0047] The track tile module 1 is, as described above, providing a driving track T for the selfdriving wheeled transport vehicle V. As illustrated in figures 2a-d, the track tile module 1 comprises an upper side 5a intended to face upwards and a lower side 5b intended to face downwards towards the base structure 3. The grooved track structure 2 is arranged on the upper side 5a, with the first pair of parallel track grooves 2a and the second pair of parallel track grooves 2b. The second pair of parallel track grooves 2b is extending in a direction perpendicular to the first pair of parallel track grooves 2a in an intersecting relationship. The grooved track structure 2 of the track tile modules 1 are forming the driving track T with the first drive lanes Di and the second drive lanes D2 when the track tile modules 1 are arranged in connection to each other.

[0048] As illustrated in figures 2a and 2d, the track tile modules 1 have an extension in a longitudinal direction DLO and a lateral direction DLA. The longitudinal direction DLO of the track tile modules 1 when the track tile modules 1 are arranged in connection to other track tile modules 1 in the modular track system S is corresponding to the longitudinal direction DLO of the modular track system S. The lateral direction DLA of the track tile modules 1 when the track tile modules 1 are arranged in connection to other track tile modules 1 in the modular track system S is corresponding to the lateral direction DLA of the modular track system S. Intersections I of the first pair of parallel track grooves 2a with the second pair of parallel track grooves 2b form four track groove junctions J, as shown in for example figures 2a and 2c-d. When wheels W of the transport vehicle V is positioned in the track groove junctions J, the transport vehicle V can change driving directions between directions along the first pair of parallel track grooves 2a in the longitudinal direction DLO of the modular track system S and the second pair of parallel track grooves 2a in the lateral direction DLA of the modular track system S.

[0049] The transport vehicle V may have any suitable configuration, and to shift between driving in the first drive lanes Di and the second drive lanes D2, the transport vehicle V is arranged with wheels W that are rotatably arranged around a wheel axis Aw, as shown in figures 5a-b. In a first wheel position P1 , the transport vehicle V is configured for driving in the first drive lanes Di along first pairs of parallel track grooves 2a of track tile modules 1 arranged in connection to each other. In a second wheel position P2, where the wheels are rotated 90 degrees from the first position P1 , the transport vehicle V is configured for driving in the second drive lanes D2 along second pairs of parallel track grooves 2b of track tile modules 1 arranged in connection to each other. The wheels W are rotated between the first position P1 and the second position P2, when the transport vehicle is positioned on a track tile module 1 with each wheel W arranged in a corresponding track groove junction J of the track tile module 1 , such as the positions schematically shown in figures 1b and 5b. The transport vehicle V and / or the track tile modules 1 may be arranged with sensors or other suitable sensing devices for a correct positioning of the transport vehicle V on the track tile module 1 , aligning each wheel Wwith a corresponding track groove junction J.

[0050] In a first example, the transport vehicle V is driving in the longitudinal direction DLO along a first pair of parallel track grooves 2a with the wheels arranged in the first wheel position P1. To change driving direction of the transport vehicle V from driving in the longitudinal direction DLO along the first pair of parallel track grooves 2a to driving in the lateral direction DLA along a second pair of parallel track grooves 2b, the transport vehicle V is propelled in the longitudinal direction DLO and stopped at any track tile module 1 of the modular track system S suitable for changing driving direction. When the transport vehicle V is positioned on the track tile module 1 with each wheel W arranged in a corresponding track groove junction J of the track tile module 1 , as shown in figure 5b, the wheels are rotated from the first wheel position P1 to the second wheel position P2. When the wheels have been positioned in the second wheel position P2, the transport vehicle V can start driving in the lateral direction DLA along the second pair of parallel track grooves 2b.

[0051] In a second example, the transport vehicle V is driving in the lateral direction DLA along a second pair of parallel track grooves 2b with the wheels arranged in the second wheel position P2. To change driving direction of the transport vehicle V from driving in the lateral direction DLA along the second pair of parallel track grooves 2b to driving in the longitudinal direction DLO along a first pair of parallel track grooves 2a, the transport vehicle V is propelled in the lateral direction DLA and stopped at any track tile module 1 of the modular track system S suitable for changing driving direction. When the transport vehicle V is positioned on the track tile module 1 with each wheel W arranged in a corresponding track groove junction J of the track tile module 1 , as shown in figure 5b, the wheels are rotated from the second wheel position P2 to the first wheel position P1. When the wheels have been positioned in the first wheel position P1 , the transport vehicle V can start driving in the longitudinal direction DLO along the first pair of parallel track grooves 2a.

[0052] As shown in for example figures 4a-b, each track groove junction J of a track tile module 1 is configured with a first corner 10a positioned between the first pair of parallel track grooves 2a and between the second pair of parallel track grooves 2b, a second corner 10b arranged opposite the first corner 10a and positioned outside the first pair of parallel track grooves 2a and outside the second pair of parallel track grooves 2b, a third corner 10c positioned between the first pair of parallel track grooves 2a and outside the second pair of parallel track grooves 2b, a fourth corner 10d arranged opposite the third corner 10c and positioned between the second pair of parallel track grooves 2b and outside the first pair of parallel track grooves 2a.

[0053] In a first embodiment of the track groove junction J, as illustrated in figures 6a-c, the third corner 10c is having a less sharp corner configuration compared to the first corner 10a, and the fourth corner 10d is having a less sharp corner configuration compared to the first corner 10a. These less sharp corner configurations are allowing the wheels W of the transport vehicle V to rotate freely in the track groove junctions J for an efficient rotational displacement of the wheels W, without having the wheels W engaging or impacting the track grooves upon the rotational displacement. In figures 6a-c, the rotational displacement of the wheels between the first wheel position P1 and second wheel position P2 is schematically illustrated. The less sharp corner configuration is determined by viewing or measuring the configurations of the first corner 10a, the third corner 10c, and the fourth corner 10d, of each of the four track groove junctions J, from a top-view perspective, as shown in figures 6a-c.

[0054] The less sharp corner configurations of the third corner 10c and the fourth corner 10d are suitably arranged as a more bevelled and / or rounded and / or recessed corner configuration than the first corner 10a. In figure 6a, the third corner 10c and the fourth corner 10d each have a bevelled corner configuration, and as understood from the figure, the corner configuration of the third corner 10c and the corner configuration of the fourth corner 10d are more bevelled than the corner configuration of the first corner 10a. In figure 6b, the third corner 10c and the fourth corner 10d each have a rounded corner configuration, and as understood from the figure, the corner configuration of the third corner 10c and the corner configuration of the fourth corner 10d are more rounded than the corner configuration of the first corner 10a. In figure 6c, the third corner 10c and the fourth corner 10d each have a recessed corner configuration, and as understood from the figure, the corner configuration of the third corner 10c and the corner configuration of the fourth corner 10d are more recessed than the corner configuration of the first corner 10a. These different alternative corner configurations are allowing the wheels W of the transport vehicle V to rotate freely in the track groove junctions J for an efficient rotational displacement of the wheels W. It should however be understood that the third corner 10c and the fourth corner 10d may have any suitable bevelled and / or rounded and / or recessed configurations allowing the wheels W of the transport vehicle V to rotate freely in the track groove junctions J for an efficient rotational displacement of the wheels W. The sharper corner configuration of the first corner 10a may be used for positioning the transport vehicle V correctly on the track tile modules when rotating the wheels W. If the wheels W are not fully centred in the track groove junction J, the rotational movement of the wheels W may push the transport vehicle V into a correct position though engagement or interaction between the wheel W and the first corner 10a.

[0055] Suitably, a side wall 11 c of the third corner 10c and a side wall 11 d of the fourth corner 10d are more bevelled and / or rounded and / or recessed than a side wall 11a of the first corner 10a. These different alternative configurations of the side walls are allowing the wheels W of the transport vehicle V to rotate freely in the track groove junctions J for an efficient rotational displacement of the wheels W.

[0056] In figures 8a-c, different embodiments of side wall configurations suitable for the side wall 11c of the third corner 10c and the side wall 11d of the fourth corner 10d are schematically illustrated in cross-sectional side views. In figure 8a, the side wall has a bevelled configuration, and as understood from the figure, the side wall 11c of the third corner 10c and the side wall 11d of the fourth corner 10d are more bevelled than the side wall 11a of the first corner 10a illustrated with dotted lines. In figure 8b, the side wall has a rounded configuration, and as understood from the figure, the side wall 11 c of the third corner 10c and the side wall 11 d of the fourth corner 10d are more rounded than the side wall 11a of the first corner 10a illustrated with dotted lines. In figure 8c, the side wall has a recessed configuration, and as understood from the figure, the side wall 11c of the third corner 10c and the side wall 11d of the fourth corner 10d are more recessed than the side wall 11a of the first corner 10a illustrated with dotted lines. It should however be understood that the side walls may have any suitable bevelled and / or rounded and / or recessed configurations allowing the wheels W of the transport vehicle V to rotate freely in the track groove junctions J for an efficient rotational displacement of the wheels W.

[0057] In a second embodiment of the track groove junction J, as illustrated in figures 7a-c, the second corner 10b is having a less sharp corner configuration compared to the first corner 10a, the third corner 10c is having a less sharp corner configuration compared to the first corner 10a, and the fourth corner 10d is having a less sharp corner configuration compared to the first corner 10a. These less sharp corner configurations are allowing the wheels W of the transport vehicle V to rotate freely in the track groove junctions J for an efficient rotational displacement of the wheels W, without having the wheels W engaging or impacting the track grooves upon the rotational displacement. In figures 7a-c, the rotational displacement of the wheels between the first wheel position P1 and second wheel position P2 is schematically illustrated. The less sharp corner configuration is determined by viewing or measuring the configurations of the first corner 10a, the second corner 10b, the third corner 10c, and the fourth corner 10d, of each of the four track groove junctions J, from a top-view perspective, as shown in figures 7a-c. The less sharp corner configurations of the second corner 10b, the third corner 10c, and the fourth corner 10d, are suitably arranged as a more bevelled and / or rounded and / or recessed corner configuration than the first corner 10a. In figure 7a, the second corner 10b, the third corner 10c, and the fourth corner 10d, each have a bevelled corner configuration, and as understood from the figure, the corner configuration of the second corner 10b, the corner configuration of the third corner 10c, and the corner configuration of the fourth corner 10d , are more bevelled than the corner configuration of the first corner 10a. In figure 7b, the second corner 10b, the third corner 10c, and the fourth corner 10d, each have a rounded corner configuration, and as understood from the figure, the corner configuration of the second corner 10b, the corner configuration of the third corner 10c, and the corner configuration of the fourth corner 10d, are more rounded than the corner configuration of the first corner 10a. In figure 7c, the second corner 10b, the third corner 10c, and the fourth corner 10d, each have a recessed corner configuration, and as understood from the figure, the corner configuration of the second corner 10b, the corner configuration of the third corner 10c, and the corner configuration of the fourth corner 10d, are more recessed than the corner configuration of the first corner 10a. These different alternative corner configurations are allowing the wheels W of the transport vehicle V to rotate freely in the track groove junctions J for an efficient rotational displacement of the wheels W. It should however be understood that the second corner 10b, the third corner 10c, and the fourth corner 10d, may have any suitable bevelled and / or rounded and / or recessed configuration allowing the wheels W of the transport vehicle V to rotate freely in the track groove junctions J for an efficient rotational displacement of the wheels W. The sharper corner configuration of the first corner 10a may be used for positioning the transport vehicle V correctly on the track tile modules when rotating the wheels W. If the wheels W are not fully centred in the track groove junction J, the rotational movement of the wheels W may push the transport vehicle V into a correct position though engagement or interaction between the wheel W and the first corner 10a.

[0058] Suitably, a side wall 11 b of the second corner 10b, a side wall 11 c of the third corner 10c, and a side wall 11d of the fourth corner 10d, are more bevelled and / or rounded and / or recessed than a side wall 11 a of the first corner 10a. These different alternative configurations of the side walls are allowing the wheels W of the transport vehicle V to rotate freely in the track groove junctions J for an efficient rotational displacement of the wheels W. In figures 8a-c, different embodiments of side wall configurations suitable for the side wall 11 b of the second corner 10b, the side wall 11 c of the third corner 10c, and the side wall 11d of the fourth corner 10d, are schematically illustrated in cross-sectional side views. In figure 8a, the side wall has a bevelled configuration, and as understood from the figure, the side wall 11b of the second corner 10b, the side wall 11c of the third corner 10c, and the side wall 11d of the fourth corner 10d are more bevelled than the side wall 11a of the first corner 10a illustrated with dotted lines. In figure 8b, the side wall has a rounded configuration, and as understood from the figure, the side wall 11 b of the second corner 10b, the side wall 11 c of the third corner 10c, and the side wall 11d of the fourth corner 10d, are more rounded than the side wall 11a of the first corner 10a illustrated with dotted lines. In figure 8c, the side wall has a recessed configuration, and as understood from the figure, the side wall 11b of the second corner 10b, the side wall 11c of the third corner 10c, and the side wall 11d of the fourth corner 10d are more recessed than the side wall 11a of the first corner 10a illustrated with dotted lines. It should however be understood that the side walls may have any suitable bevelled and / or rounded and / or recessed configurations allowing the wheels W of the transport vehicle V to rotate freely in the track groove junctions J for an efficient rotational displacement of the wheels W.

[0059] It should be understood that for the different embodiments of the track groove junction J, a less sharp corner configuration is meant that the corner when viewed from a topview perspective is less pointy, such as the described bevelled, rounded, and / or recessed corner configurations. The less sharp corner configuration has the purpose to free up space in the track groove junctions J through the less pointy shape, allowing efficient rotational displacement of the wheel W of the transport vehicle V.

[0060] The track tile modules 1 comprise a first longitudinal side edge 6a, a second longitudinal side edge 6b, a first lateral side edge 7a, and a second lateral side edge 7b. The first pair of parallel track grooves 2a are extending in the longitudinal direction DLO of the track tile module 1 parallel to the first longitudinal side edge 6a and the second longitudinal side edge 6b. The second pair of parallel track grooves 2b are extending in the lateral direction DLA of the track tile module 1 parallel to the first lateral side edge 7a and the second lateral side edge 7b. The lower side 5b comprises a plurality of integrated reinforcing ribs 12 that are enabling a stiff and durable construction of the track tile modules 1. In the embodiment shown in figures 2a-c, the extension of the track tile modules 1 in the longitudinal direction DLO is greater than the extension of the track tile modules 1 in the lateral direction DLA. This different extension in the two directions is enabling a flexible and efficient system, where transport vehicles V of different configurations may be used. Further, the modular track system S could with this configuration of the track tile modules 1 be made efficient with respect to space needed for the system. As described above, the first pair of parallel track grooves 2a is arranged with a first track gauge G1 and the second pair of parallel track grooves 2b is arranged with a second track gauge G2, enabling formation of the driving track T when the track tile modules 1 are arranged in connection to each other. The second track gauge G2 is wider than the first track gauge G1 , as understood from for example figure 2a. The respective track gauges are adapted to the configuration of the transport vehicles and are matching distances between the wheels W of the transport vehicles V.

[0061] The track tile modules 1 comprise one or more locking arrangements 9 configured for releasably attaching the track tile modules 1 to the base structure 3. In the embodiments shown in figures 2a-d, the track tile modules 1 comprise four locking arrangements 9 arranged in each corner section of the track tile modules 1. The locking arrangements 9 are illustrated more in detail in figures 3a-b.

[0062] The locking arrangements 9 are rotatably connected to the track tile modules 1 , as illustrated with an arrow in figure 3a. The locking arrangements 9 comprise a latch 9a configured for being rotatably displaced between an unlocked state Su and a locked state SL. In the locked state SL of the locking arrangements 9, the track tile modules 1 are connected to the base structure 3, and the latch 9a is in the locked state SL engaging the base structure 3. In the unlocked state Su of the locking arrangements 9, the track tile modules 1 are disconnected from the base structure 3, and the latch 9a is in the unlocked state Su disengaged from the base structure 3.

[0063] To connect the track tile modules 1 to the base structure 3, the track tile modules 1 are first placed in a correct position onto the base structure 3, as indicated in figure 3a. By rotating the locking arrangements 9 with the latch 9a from the unlocked state Su to the locked state SL, the latch 9a is engaging a locking recess, track, or similar receiving arrangement, in the base structure 3, as shown in figure 3b. To remove the track tile modules 1 from the base structure 3, the latch 9a is rotated from the locked state SL to the unlocked state Su for disengaging the latch 9a from the base structure 3. In the unlocked state Su, the track tile modules can easily be removed from the base structure 3, for maintenance or replacement. A suitable tool may be used for rotating the locking arrangements 9.

[0064] At least some of the plurality of track tile modules 1 attached to the base structure 3 are configured as tile modules having the same design. With the expression track tile modules 1 configured as tile modules having the same design is meant that the track tile modules 1 have the same dimensions and configurations, and are arranged with the same grooved track structure 2 and track groove junctions J. The grooved track structure 2 is thus arranged in the same way on each track tile module 1 configured as tile modules having the same design with a first pair of parallel track grooves 2a and a second pair of parallel track grooves 2b, where the second pair of parallel track grooves 2b is extending in a direction perpendicular to the first pair of parallel track grooves 2a. The first pair of parallel track grooves 2a is arranged with a first track gauge G1 and the second pair of parallel track grooves 2b is arranged with a second track gauge G2, enabling formation of the driving track T when the track tile modules 1 are arranged in connection to each other.

[0065] In one specific embodiment, the track tile modules configured as tile modules having the same design are manufactured with the aim to be identical, for example by machining the track tile modules with the same configurations and dimensions from the same suitable material, by injection moulding the track tile modules from the same material in identical moulds, by deep drawing or press forming the track tile modules from a suitable material, or by 3D printing the track tile modules in a 3D printer from a suitable printing material. The track tile modules 1 may for example be made of plastic materials, composite materials, metallic materials, wood, or wood composites.

[0066] The purpose of arranging the track tile modules 1 with the same design is to simplify the construction and flexibility of the modular track system S using track tile modules 1 arranged as standard components. In this way, the same type of track tile modules 1 are used. The track tile modules 1 configured as tile modules having the same design may be configured as single piece track tile modules, where the track tile modules 1 are manufactured in one structural piece. In the embodiment shown in figure 2a, the track tile modules 1 arranged as tile modules having the same design are configured as single piece track tile modules. Alternatively, the track tile modules 1 configured as tile modules having the same design are configured as multi-piece track tile modules comprising two or more joined track tile sub-parts 1a, where the track tile modules 1 are manufactured in separate structural pieces forming the subparts 1a that are joined to form the track tile modules 1. In figure 2d, an alternative embodiment of the track tile modules 1 arranged as tile modules having the same design, is schematically illustrated. In this embodiment, the track tile modules 1 are configured as multi-piece track tile modules comprising joined track tile sub-parts 1a. In the shown embodiment, the track tile modules 1 are formed by joining four track tile sub-parts 1a. The track tile sub-parts 1a may be joined by any suitable means for forming the track tile modules, such as for example by using glue, screw fastening members, rivets, snap fasteners, heat bonding operations, and / or welding operations.

[0067] With reference to the embodiment shown in figures 1a-b, all track tile modules 1 attached to the base structure 3 are configured as tile modules having the same design.

[0068] In the embodiments shown in figures 2a-d, the track tile modules 1 comprise alignment structures 8 arranged at the first longitudinal side edge 6a, the second longitudinal side edge 6b, the first lateral side edge 7a, and the second lateral side edge 7b. The alignment structures 8 are configured for aligning the grooved track structures 2 when the track tile modules 1 are arranged in connection to each other. The alignment structure 8 may have any suitable design, and the alignments structures 8 are securing correct alignment between adjacent track tile modules 1 in order to establish the driving track T without misaligned track grooves. In the embodiment shown in figures 2a-d, the alignment structures 8 are arranged as protruding sections 8a and recessed sections 8b of the respective side edges. The protruding sections 8a are engaging recessed sections 8b of adjacent track tile modules 1 , and the recessed sections 8b are engaging protruding sections 8a of adjacent track tile modules 1 , for an efficient configuration of the modular track system S.

[0069] The modular track system S is easily installed by attaching a plurality of track tile modules 1 to the base structure 3. At least some of the plurality of track tile modules 1 attached to the base structure 3 are configured as tile modules having the same design. As described above, one or more locking arrangements 9 are configured for releasably attaching the track tile modules 1 to the first structure 3. The locking arrangements 9 are arranged into a locked state SL for connecting the track tile modules 1 to the base structure 3. The locking arrangements 9 are arranged into an unlocked state Su for disconnecting the track tile modules 1 from the base structure 3.

[0070] For the different embodiments, the track tile modules 1 may be made of any suitable material, such as plastic materials, composite materials, metallic materials, wood, or wood composites. The track tile modules 1 may be manufactured with the track tile module configurations described in the embodiments above, from plastic materials or composite materials in an injection moulding operation; from aluminium or steel in deep drawing or press forming operations; from plastic materials, composite materials, or metallic materials, in a 3D printing operation; or from plastic materials, composite materials, metallic materials, wood, or wood composites, in a machining operation.

[0071] It will be appreciated that the above description is merely exemplary in nature and is not intended to limit the present disclosure, its application or uses. While specific examples have been described in the specification and illustrated in the drawings, it will be understood by those of ordinary skill in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present disclosure as defined in the claims. Furthermore, modifications may be made to adapt a particular situation or material to the teachings of the present disclosure without departing from the essential scope thereof. Therefore, it is intended that the present disclosure not be limited to the particular examples illustrated by the drawings and described in the specification as the best mode presently contemplated for carrying out the teachings of the present disclosure, but that the scope of the present disclosure will include any embodiments falling within the foregoing description and the appended claims. Reference signs mentioned in the claims should not be seen as limiting the extent of the matter protected by the claims, and their sole function is to make claims easier to understand. REFERENCE SIGNS

[0072] 1 : Track tile module

[0073] 1a: Track tile sub-part

[0074] 2: Grooved track structure

[0075] 2a: First pair of parallel track grooves

[0076] 2b: Second pair of parallel track grooves

[0077] 3: Base structure

[0078] 5a: Upper side

[0079] 5b: Lower side

[0080] 6a: First longitudinal side edge

[0081] 6b: Second longitudinal side edge

[0082] 7a: First lateral side edge

[0083] 7b: Second lateral side edge

[0084] 8: Alignment structure

[0085] 8a: Protruding section

[0086] 8b: Recessed section

[0087] 9: Locking arrangement

[0088] 9a: Latch

[0089] 10a: First corner

[0090] 10b: Second corner

[0091] 10c: Third corner

[0092] 10d: Fourth corner

[0093] 11 : Side wall

[0094] 12: Reinforcing rib

[0095] D First drive lane

[0096] D2: Second drive lane

[0097] DLA: Lateral direction

[0098] DLO: Longitudinal direction

[0099] G1 : First track gauge

[0100] G2: Second track gauge

[0101] I: Intersection

[0102] J: Track groove junction

[0103] P1: First wheel position P2: Second wheel position

[0104] S: Modular track system

[0105] SL: Locked state

[0106] Su: Unlocked state T: Driving track

[0107] V: Transport vehicle

[0108] W: Wheel

Claims

CLAIMS1. A track tile module (1) providing a driving track (T) for a self-driving wheeled transport vehicle (V), wherein the track tile module (1) comprises an upper side (5a) intended to face upwards and a lower side (5b) intended to face downwards, wherein a grooved track structure (2) is arranged on the upper side (5a), wherein the grooved track structure (2) comprises a first pair of parallel track grooves (2a) and a second pair of parallel track grooves (2b) extending in a direction perpendicular to the first pair of parallel track grooves (2a) in an intersecting relationship, wherein intersections (I) of the first pair of parallel track grooves (2a) with the second pair of parallel track grooves (2b) form four track groove junctions (J), each having a first corner (10a) positioned between the first pair of parallel track grooves (2a) and between the second pair of parallel track grooves (2b), a second corner (10b) arranged opposite the first corner (10a) and positioned outside the first pair of parallel track grooves (2a) and outside the second pair of parallel track grooves (2b), a third corner (10c) positioned between the first pair of parallel track grooves (2a) and outside the second pair of parallel track grooves (2b), a fourth corner (1 Od) arranged opposite the third corner (10c) and positioned between the second pair of parallel track grooves (2b) and outside the first pair of parallel track grooves (2a), wherein the third corner (10c) is having a less sharp corner configuration compared to the first corner (10a), and / or the fourth corner (10d) is having a less sharp corner configuration compared to the first corner (10a).

2. The track tile module (1) according to claim 1 , wherein the less sharp corner configurations of the third corner (10c) and / or the fourth corner (10d) are a more bevelled and / or rounded and / or recessed corner configuration than the first corner (10a).

3. The track tile module (1) according to claim 1 or 2, wherein the second corner (10b) is having a less sharp corner configuration compared to the first corner (10a).

4. The track tile module (1) according to claim 3, wherein the less sharp corner configuration of the second corner (10b) is a more bevelled and / or rounded and / or recessed corner configuration than the first corner (10a).

5. The track tile module (1) according to any preceding claim, wherein the less sharp corner configuration is determined by viewing or measuring the configurations of the first corner (10a), the second corner (10b), the third corner (10c), and the fourth corner (1 Od), of each of the four track groove junctions (J), from a top-view perspective.

6. The track tile module (1) according to any preceding claim, wherein a side wall (11 c) of the third corner (10c) and a side wall (11 d) of the fourth corner (10d) are more bevelled and / or rounded and / or recessed than a side wall (11a) of the first corner (10a), or wherein a side wall (11 b) of the second corner (10b), a side wall (11c) of the third corner (10c), and a side wall (11 d) of the fourth corner (1 Od), are more bevelled and / or rounded and / or recessed than a side wall (11a) of the first corner (10a).

7. The track tile module (1) according to any preceding claim, wherein the track tile module (1) comprises a first longitudinal side edge (6a), a second longitudinal side edge (6b), a first lateral side edge (7a), and a second lateral side edge (7b), wherein the first pair of parallel track grooves (2a) are extending in a longitudinal direction (DLO) of the track tile module (1) parallel to the first longitudinal side edge (6a) and the second longitudinal side edge (6b), wherein the second pair of parallel track grooves (2b) are extending in a lateral direction (DLA) of the track tile module (1) parallel to the first lateral side edge (7a) and the second lateral side edge (7b).

8. The track tile module (1) according to claim 7, wherein the extension of the track tile module (1) in the longitudinal direction (DLO) is greater than the extension of the track tile module (1) in thelateral direction (DLA), wherein the first pair of parallel track grooves (2a) is arranged with a first track gauge (G1) and the second pair of parallel track grooves (2b) is arranged with a second track gauge (G2), wherein the second track gauge (G2) is wider than the first track gauge (G1).

9. The track tile module (1) according to any preceding claim, wherein the lower side (5b) comprises one or more integrated reinforcing ribs.

10. The track tile module (1) according to any preceding claim, wherein the track tile module (1) is configured as single piece track tile module, or wherein the track tile module (1) is configured as multi-piece track tile module comprising two or more joined track tile sub-parts (1a).

11. A modular track system (S) comprising a plurality of track tile modules (1) according to any of claims 1 to 10, wherein the modular track system (S) further comprises a base structure (3), wherein the track tile modules (1) are arranged in connection to each other and attached to the base structure (3), wherein the grooved track structure (2) of the track tile modules (1) arranged in connection to each other are forming the driving track (T), wherein the driving track (T) is configured for guiding wheels (W) of the self-driving wheeled transport vehicle (V).

12. The modular track system (S) according to claim 11 , wherein the track tile modules (1) further comprise one or more locking arrangements (9) configured for releasably attaching the track tile modules (1) to the base structure (3), wherein in a locked state (SL) of the one or more locking arrangements (9) the track tile modules (1) are connected to the base structure (3), wherein in an unlocked state (Su) of the one or more locking arrangements (9) the track tile modules (1) are disconnected from the base structure (3).

13. The modular track system (S) according to claim 12,wherein the locking arrangements (9) are rotatably connected to the track tile modules (1), wherein the locking arrangements (9) comprise a latch (9a) configured for being rotatably displaced between the unlocked state (Su) and the locked state (Si_), wherein in the unlocked state (Su) the latch (9a) is disengaged from the base structure (3), wherein in the locked state (SL) the latch (9a) is engaging the base structure (3).

14. The modular track system (S) according to any of claims 11 to 13, wherein the first pair of parallel track grooves (2a) of the track tile modules (1) when arranged in connection to each other define first drive lanes (Di) for the transport vehicle (V), wherein the first drive lanes (Di) are configured to guide the wheels (W) of the transport vehicle (V) along the first pair of parallel track grooves (2a), wherein the second pair of parallel track grooves (2b) of the track tile modules (1) when arranged in connection to each other define second drive lanes (D2) for the transport vehicle (V), wherein the second drive lanes (D2) are configured to guide wheels (W) of the transport vehicle (V) along the second pair of parallel track grooves (2b).

15. The modular track system (S) according to any of claims 11 to 14, wherein at least some of the plurality of track tile modules (1) attached to the base structure (3) are configured as tile modules having the same design.

16. The modular track system (S) according to any of claims 11 to 15, wherein the track tile modules (1) comprise alignment structures (8) arranged at a first longitudinal side edge (6a), a second longitudinal side edge (6b), a first lateral side edge (7a), and a second lateral side edge (7b), wherein the alignment structures (8) are configured for aligning the grooved track structures (2) when the track tile modules (1) are arranged in connection to each other.

17. A method for manufacturing a track tile module (1), wherein the track tile module(I) is providing a driving track (T) for a self-driving wheeled transport vehicle (V), wherein the method comprises the step: forming the track tile module (1) in an injection moulding operation, a deep drawing operation, a press forming operation, a 3D printing operation, or a machining operation, wherein the track tile module (1) comprises an upper side (5a) intended to face upwards and a lower side (5b) intended to face downwards, wherein a grooved track structure (2) is arranged on the upper side (5a), wherein the grooved track structure (2) comprises a first pair of parallel track grooves (2a) and a second pair of parallel track grooves (2b) extending in a direction perpendicular to the first pair of parallel track grooves (2a) in an intersecting relationship, wherein intersections (I) of the first pair of parallel track grooves (2a) with the second pair of parallel track grooves (2b) form four track groove junctions(J), each having a first corner (10a) positioned between the first pair of parallel track grooves (2a) and between the second pair of parallel track grooves (2b), a second corner (10b) arranged opposite the first corner (10a) and positioned outside the first pair of parallel track grooves (2a) and outside the second pair of parallel track grooves (2b), a third corner (10c) positioned between the first pair of parallel track grooves (2a) and outside the second pair of parallel track grooves (2b), a fourth corner (1 Od) arranged opposite the third corner (10c) and positioned between the second pair of parallel track grooves (2b) and outside the first pair of parallel track grooves (2a), wherein the third corner (10c) is having a less sharp corner configuration compared to the first corner (10a), and / or the fourth corner (1 Od) is having a less sharp corner configuration compared to the first corner (10a).

18. The method according to claim 17, wherein the second corner (10b) is having a less sharp corner configuration compared to the first corner (10a).

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