An autonomous industrial transportation system

Abstract

An autonomous industrial transportation system comprising: a modular track system (S) comprising a plurality of track tile modules (1) arranged in connection to each other for providing a driving track structure (2); at least one self-driving wheeled transport vehicle (V) arranged on the track tile modules (1) and having an electric propulsion system powered by an electric energy storage (14), wherein the driving track structure (2) is configured for guiding wheels (W) of the at least one transport vehicle (V); and a wireless charging system configured for charging the electric energy storage of the at least one transport vehicle (V). The wireless charging system comprises a stationary transmitter device (10) arranged in connection to at least one of the plurality of track tile modules (1) and a receiver device (11) attached to the at least one transport vehicle (V), wherein the transmitter device (10) is connected to an electrical power supply (17), wherein the receiver device (11) is connected to the electric energy storage (14) of the at least one transport vehicle (V), wherein the transmitter device (10) and the receiver device (11) are configured to enable wireless transfer of electrical energy from the transmitter device (10) to the receiver device (11) when arranged in an overlapping relationship with each other.

Description

[0001] AN AUTONOMOUS INDUSTRIAL TRANSPORTATION SYSTEM

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to an autonomous industrial transportation system, and a method for wireless charging of at least one transport vehicle of an autonomous industrial transportation system.

[0004] The autonomous industrial transportation system comprises at least one self-driving wheeled transport vehicle having an electric propulsion system powered by an electric energy storage, wherein a wireless charging system is provided for charging the electric energy storage of the at least one transport vehicle.

[0005] BACKGROUND

[0006] 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.

[0007] 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. In addition, the charging processes for charging the electrical batteries of the transport vehicle is often time consuming, requires a dedicated charging area, and results in reduced effective utilisation rate of the transport vehicles.

[0008] There is thus a need for an improved system that provides a robust, flexible and reliable modular track system, in combination with an improved charging process in terms of compact and space-efficient installation and increased utilisation rate of the transport vehicles.

[0009] SUMMARY

[0010] An object of the present disclosure is to provide an autonomous industrial transportation system, and a method for wireless charging of at least one transport vehicle of an autonomous industrial transportation system, 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 system and method.

[0011] According to a first aspect of the present disclosure, there is provided an autonomous industrial transportation system.

[0012] Preferably the autonomous industrial transport system comprises a modular track system, preferably comprising a plurality of track tile modules arranged in connection to each other for providing a driving track structure.

[0013] The autonomous industrial transport system preferably comprises at least one selfdriving wheeled transport vehicle, preferably arranged on the track tile modules. The at least one transport vehicle has an electric propulsion system powered by an electric energy storage, preferably the driving track structure is configured for guiding wheels of the at least one transport vehicle.

[0014] The autonomous industrial transport system comprises a wireless charging system configured for charging the electric energy storage of the at least one transport vehicle, preferably the wireless charging system comprises a stationary transmitter device preferably arranged in connection to at least one of the plurality of track tile modules and a receiver device attached to the at least one transport vehicle, preferably the transmitter device is connected to an electrical power supply, wherein the receiver device is connected to the electric energy storage of the at least one transport vehicle, preferably the transmitter device and the receiver device are configured to enable wireless transfer of electrical energy from the transmitter device to the receiver device preferably when arranged in an overlapping relationship with each other.

[0015] Advantages with these features are that the modular track system can be made simple in design and flexible in construction. The driving track structure is easily and quickly installed by simply placing the track tile modules on an underlying base structure in a suitable arrangement for providing the desired track. The track structure does not require permanent attachment to a floor or machining of a track groove in the floor, and the track tile modules may be easily displaced or moved for adapting the driving track structure to changed needs. Furthermore, the track tile modules with the track structure enables simplified control system for driving the transport vehicles, because the wheels of transport vehicles automatically always follow the track structure. Consequently, the track tile modules enable reduced need for safety concerns, navigation, collision mitigation compared to free driving transport vehicles.

[0016] Furthermore, the wireless charging of the electrical energy storage of the transport vehicles provides a compact and space-efficient installation and increased utilisation rate of the transport vehicles.

[0017] In addition, a relatively dense net of wireless chargers enables use of a battery, a supercapacitor, or a combination of battery and supercapacitor as electrical energy storage. The battery may be of any type suitable for use in mobile applications, such as for example Li-Ion battery, Lithium iron phosphate battery, Lead-Acid battery, etc.

[0018] Further advantages are achieved by implementing one or several of the features of the dependent claims.

[0019] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the wireless charging system is a capacitive or inductive wireless charging system.

[0020] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the transmitter device is attached to, or integrated in, the at least one of the plurality of track tile modules. This enables a more protected installation of the transmitter device against damages and wear, ensures increased likelihood of a proper alignment of track tile module and transmitter device, and renders installation of the transmitter devices better adapted to shape and form of the track tile modules.

[0021] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the plurality of track tile modules comprise an upper side intended to face upwards and a lower side intended to face downwards, wherein the driving track structure is arranged on the upper side of the plurality of track tile modules, wherein the transmitter device is located in one of the following installation positions: at the lower side of the at least one of the plurality of track tile modules; at the upper side of the at least one of the plurality of track tile modules; in a recess formed in the upper side of the at least one of the plurality of track tile modules; within an interior space of the at least one of the plurality of track tile modules; or integrally formed in the at least one of the plurality of track tile modules by insert injection moulding manufacturing process. All these different installation positions of the transmitter device have different advantages in terms of protected installation of the transmitter, manufacturing cost of track tile module, wireless energy transfer capacity, etc.

[0022] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the lower side of the plurality of track tile modules comprises a plurality of integrated reinforcing ribs, wherein the transmitter device is located below said integrated reinforcing ribs of the at least one of the plurality of track tile modules. This enables use of a transmitter device having a relatively large effective power transfer area.

[0023] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the transmitter device and the at least one of the plurality of track tile modules are attached to each other by adhesive or by one or more fasteners. Attachment of the transmitter device to the track tile module ensures increased likelihood of a proper alignment of track tile module and transmitter device, and simplifies modifications of an installed track system. In some example embodiments, that may be combined with any one or more of the above-described embodiments, the plurality of track tile modules comprise a first longitudinal side edge, a second longitudinal side edge, a first lateral side edge, and a second lateral side edge, wherein a first pair of parallel tracks is extending in a longitudinal direction of the track tile modules parallel to the first longitudinal side edge and the second longitudinal side edge, wherein a second pair of parallel track is extending in a lateral direction of the track tile modules parallel to the first lateral side edge and the second lateral side edge, such that the second pair of parallel tracks extend in a direction perpendicular to the first pair of parallel tracks in an intersecting relationship. Thereby, a plurality of track tile modules can easily form a large track structure that can be utilised by one or more transport vehicles, while keeping the steering and navigation control of the transport vehicle less complex.

[0024] In some example embodiments, that may be combined with any one or more of the above-described embodiments, a maximal length of the transmitter device in the lateral direction of the at least one of the plurality of track tile modules is larger than a distance between the first pair of parallel tracks, and wherein the transmitter device extends beyond the first pair of parallel tracks in the lateral direction of the at least one of the plurality of track tile modules. This enables use of a transmitter device having a relatively large effective power transfer area.

[0025] In some example embodiments, that may be combined with any one or more of the above-described embodiments, a maximal length of the transmitter device in the longitudinal direction of the at least one of the plurality of track tile modules is larger than a distance between the second pair of parallel tracks, and wherein the transmitter device extends beyond the second pair of parallel tracks in the longitudinal direction of the at least one of the plurality of track tile modules. This enables use of a transmitter device having a relatively large effective power transfer area.

[0026] In some example embodiments, that may be combined with any one or more of the above-described embodiments, a maximal length of the transmitter device in the lateral direction of the at least one of the plurality of track tile modules is smaller than a distance between the first pair of parallel tracks, and wherein the transmitter device is fully encompassed by the first pair of parallel tracks in the lateral direction of the at least one of the plurality of track tile modules. This enables mounting of the transmitter device closer to the transport vehicle, and thus enabling increased wireless power transfer capacity.

[0027] In some example embodiments, that may be combined with any one or more of the above-described embodiments, a maximal length of the transmitter device in the longitudinal direction of the at least one of the plurality of track tile modules is smaller than a distance between the second pair of parallel tracks, and wherein the transmitter device is fully encompassed by the second pair of parallel tracks in the longitudinal direction of the at least one of the plurality of track tile modules. This enables mounting of the transmitter device closer to the transport vehicle, and thus enabling increased wireless power transfer capacity.

[0028] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the at least one transport vehicle has an upper side arranged for carrying goods and a lower side having the wheels and configured to face the plurality of track tile modules, wherein the receiver device is located at the lower side of the at least one transport vehicle. This enables mounting of the receiver device closer to the track tile module, and thus enabling increased wireless power transfer capacity.

[0029] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the at least one transport vehicle comprises four wheels, wherein the location of the first, second, third and fourth wheel, corresponds to the consecutive corners of a rectangular shape, wherein a size and design of the receiver device is such that the receiver device protrudes outwards in a horizontal plane between the first and second wheels and between the third and fourth wheels. This enables increased surface area of the receiver device, and thus enabling increased wireless power transfer capacity.

[0030] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the size and design of the receiver device is such that the receiver device protrudes outwards in the horizontal plane also between the first and fourth wheels and between the second and third wheels. This enables increased surface area of the receiver device, and thus enabling increased wireless power transfer capacity. In some example embodiments, that may be combined with any one or more of the above-described embodiments, the receiver device is located in a sealed interior space of the at least one transport vehicle. As a result, the operational reliability of the transport vehicle is increased, because the risk of damages and malfunction due to entering of water or moisture into the transport vehicle electrical components is reduced.

[0031] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the at least one transport vehicle comprises a bottom side protective cover, and the receiver device is located on an interior side of said protective cover. As a result, the operational reliability of the transport vehicle is increased, because the risk of damages and malfunction due to entering of water or moisture into the transport vehicle electrical components is reduced.

[0032] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the wireless charging system is a capacitive wireless charging system, wherein the transmitter device and the receiver device are configured to jointly form a capacitive coupler when arranged in an overlapping relationship with each other for enabling wireless transfer of electrical energy from the transmitter device to the receiver device, wherein the capacitive coupler has one of the following structures: a two-plate structure with a single transmitter plate in the transmitter device and single receiver plate in the receiver device, wherein a current return path is provided by a parasitic capacitance between the vehicle chassis and the earth ground; a row-arranged four-plate coupling structure with first and second transmitter plates located side by side in a common plane in the transmitter device and first and second receiver plates located side by side in a common plane in the receiver device; a column-arranged four-plate coupling structure with first and second transmitter plates located in a stacked configuration in the transmitter device and first and second receiver plates located in a stacked configuration in the receiver device; or a six-plate coupling structure, wherein the transmitter device has first and second transmitter plates located side by side in a common plane in the transmitter device and with a third transmitter plate located in a stacked configuration relative to the first and second transmitter plates, and wherein the receiver device has first and second receiver plates located side by side in a common plane in the receiver device and with a third receiver plate located in a stacked configuration relative to the first and second receiver plates. Capacitive wireless transfer system enables low-cost wireless power transfer and offers large flexibility in terms of form and shape of the transmitter and receiver devices.

[0033] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the wireless charging system is an inductive wireless charging system, wherein the transmitter device and the receiver device are configured to jointly form an inductive coupler when arranged in an overlapping relationship with each other for enabling wireless transfer of electrical energy from the transmitter device to the receiver device, wherein the inductive coupler has a transmission coil in the transmission device and a receiver coil in the receiver device, wherein the transmitter coil is configured to generate an alternating magnetic field that induces an alternating current in the receiver coil, and wherein the receiver coil is connected to the electric energy storage for charging thereof. Inductive wireless transfer system enables high-power transfer over larger distances.

[0034] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the electric energy storage comprises a supercapacitor. Supercapacitors generally has lower weight, lower cost and simplified logistics of the transport vehicles is provided, compared with chemical batteries, such as Li-Ion batteries.

[0035] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the electric energy storage comprises a supercapacitor and / or an electric battery. In some example embodiments, a hybrid solution having both a supercapacitor and an electric battery may be advantageous.

[0036] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the electric energy storage is free from an electric battery. This may enable a simplified logistics of the transport vehicles.

[0037] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the modular track system comprises a first track tile module arranged in connection to a second track tile module for providing a continuous driving track structure extending over the first and second track tile modules, wherein the first and second track tile modules have the same design, except for a stationary transmitter device being attached to or integrated in one of the first and second track tile modules. By using the same type of track tile module for both charging tiles and non-charging tile, the overall cost of the system is reduced.

[0038] In some example embodiments, that may be combined with any one or more of the above-described embodiments, about 5 - 40%, specifically about 10 - 30%, of all track tile modules of the modular track system comprise a stationary transmitter device of the wireless charging system. This enables short and frequent charging events, that is particularly suitable for transport vehicles having a supercapacitor as electric energy storage.

[0039] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the transmitter device of the at least one of the plurality of track tile modules and the receiver device of the at least one transport vehicle are configured to jointly provide a wireless power transfer in the range of 200 - 2000 Watt, specifically 300 - 750 Watt, when overlapped in a stacked configuration. This enables short and frequent charging events, that is particularly suitable for transport vehicles having a supercapacitor as electric energy storage.

[0040] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the driving track structure comprises: a grooved driving track structure comprising 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, wherein the grooved driving track structure is formed integrally in or attached to the plurality of track tile modules and configured to guide the wheels of the transport vehicle, or a protruding driving track structure comprising a first pair of parallel track protrusions and a second pair of parallel track protrusions extending in a direction perpendicular to the first pair of parallel track protrusions in an intersecting relationship, wherein the protruding driving track structure is formed integrally in or attached to the plurality of track tile modules and configured to guide the wheels of the transport vehicle. This design enables a cost-efficient and highly modular track system.

[0041] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the extension of a track tile module in the longitudinal direction is greater than the extension of a track tile module in the lateral direction, wherein 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, wherein the second track gauge is wider than the first track gauge. Thereby, the transport vehicle may have the same rectangular shape as many of the standardised work tray or pallets.

[0042] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the track tile modules are configured as single piece track tile modules. This enables a cost-efficient manufacturing, handling and installation of a driving track system.

[0043] In some example embodiments, that may be combined with any one or more of the above-described embodiments, the first pair of parallel tracks of the track tile modules when arranged in connection to each other define a first drive lane for the transport vehicle, wherein the first drive lane is configured to guide the wheels of the transport vehicle along the first pair of parallel tracks, wherein the second pair of parallel tracks of the track tile modules when arranged in connection to each other define a second drive lane for the transport vehicle, wherein the second drive lane is configured to guide wheels of the transport vehicle along the second pair of parallel tracks. Thereby, a large and complex drive track system can easily be built.

[0044] The present disclosure also relates to a method for wireless charging of at least one transport vehicle of an autonomous industrial transportation system. Preferably the method comprises operating a self-driving wheeled transport vehicle along a driving track structure preferably provided by a plurality of track tile modules, preferably the driving track structure is configured for guiding wheels of the at least one transport vehicle, and preferably the transport vehicle has an electric propulsion system, an electric energy storage, and a receiver device of a wireless power transfer system. Preferably the method comprises driving over a stationary transmitter device of the wireless power transfer system preferably arranged in connection to at least one of the track tile modules, such that the transmitter device and the receiver device establish a wireless transfer of electrical energy from the transmitter device to the receiver device for charging of the electric energy storage of the at least one transport vehicle.

[0045] As an alternative the method comprises temporarily stopping the transport vehicle on a stationary transmitter device of the wireless power transfer system preferably arranged in connection to at least one of the track tile modules, such that the transmitter device and the receiver device establish a wireless transfer of electrical energy from the transmitter device to the receiver device for charging of the electric energy storage of the at least one transport vehicle.

[0046] This method provides the same advantages as described above with respect to the independent system claim.

[0047] Further features and advantages of the invention will become apparent when studying the appended claims and the following description. The skilled person in the art realizes that different features of the present disclosure may be combined to create embodiments other than those explicitly described hereinabove and below, without departing from the scope of the present disclosure.

[0048] BRIEF DESCRIPTION OF DRAWINGS

[0049] The autonomous industrial transportation system and associated method for wireless charging according to the disclosure will be described in detail in the following, with reference to the attached drawings, in which

[0050] Fig. 1a-1b show schematically a modular track system comprising a plurality of track tile modules and a transport vehicle,

[0051] Fig. 2a-2b show schematically upper and lower side of a track tile module,

[0052] Fig. 3a-3b show schematically a side view and top view of a transport vehicle having turning wheels,

[0053] Fig. 4a-4b show schematically a side view and top view of a transport vehicle having lifting wheels,

[0054] Fig. 5-7 show schematically a first example embodiment of a track tile module, transport vehicle and cross-section thereof, having a relatively large transmitter device and receiver device, i.e. extending beyond the tracks,

[0055] Fig. 8 shows schematically the same view as figure 7, but having the track tile module mounted in a support frame,

[0056] Fig. 9-11 show schematically a further example embodiment of a track tile module, transport vehicle and cross-section thereof, having a relatively small transmitter device, i.e. not extending beyond the tracks, and a receiver device,

[0057] Fig. 12-14 show schematically three further example locations of the transmitter device,

[0058] Fig. 15-17 show schematically a further example embodiment of a track tile module, transport vehicle and cross-section thereof, having a four-plate capacitive wireless power transfer system,

[0059] Fig. 18-21 show schematically further example implementations of a capacitive wireless power transfer system having a two-plate structure, a four-plate structure with side-by-side or stacked configuration, and a six-plate structure,

[0060] Fig. 22-24 show schematically three views of an autonomous industrial transportation system having an inductive wireless power transfer system.

[0061] DESCRIPTION OF EXAMPLE EMBODIMENTS

[0062] 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.

[0063] With reference to figure 1a and 1b, the disclosure relates to an autonomous industrial transportation system comprising a modular track system S comprising a plurality of track tile modules 1 arranged in connection to each other for providing a driving track structure 2, and at least one self-driving wheeled transport vehicle V arranged on the track tile modules 1 , wherein the driving track structure 2 is configured for guiding wheels of the at least one transport vehicle V.

[0064] Figure 1a schematically shows a perspective view of the of a modular track system S, and in figure 1b shows a more detailed top view of a modular track system S. 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 structure 2 configured for guiding wheels 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 track tile modules 1 may be installed on almost any type of rigid base structure. For example, the track tile modules 1 may be installed directly on a relatively flat ground or floor, or on an underlying base structure comprising support beams or the like. The track tile modules 1 are arranged in connection to each other and preferably attached to the base structure.

[0065] The configuration of the driving track structure 2 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 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.

[0066] 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 the autonomous industrial transportation system according to the present disclosure is configured for having a plurality of transport vehicles V operated simultaneously on the modular track system, each working on completing its own individual transportation task.

[0067] The track tile modules comprise a driving track structure 2 having a grooved driving track structure 2 or a protruding driving track structure 2.

[0068] When the driving track structure 2 is provided with a grooved driving track structure 2, the grooved driving 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 the grooved driving track structure is formed integrally in or attached to the plurality of track tile modules and configured to guide the wheels of the transport vehicle. The grooved track structure 2 of the track tile modules 1 are forming the driving track structure 2 when the track tile modules 1 are arranged in connection to each other.

[0069] When the driving track structure 2 is provided with a protruding driving track structure 2, the protruding driving track structure 2 comprising a first pair of parallel track protrusions 2a and a second pair of parallel track protrusions 2b extending in a direction perpendicular to the first pair of parallel track protrusions 2a in an intersecting relationship, wherein the protruding driving track structure is formed integrally in or attached to the plurality of track tile modules and configured to guide the wheels of the transport vehicle. The protruding driving track structure is for example a rail structure or the like.

[0070] 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.

[0071] The modular track system S comprises a plurality of track tile modules 1 attached to the base structure. In the embodiment shown in figures 1a-b, the plurality of track tile modules 1 attached to the base structure are configured as tile modules having the same design, i.e. they are identical and / or manufactured by the same manufacturing tool, such as the same injection moulding tool.

[0072] With reference to figures 1a - 2a, 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.

[0073] The track tile module 1 is, as described above, providing a driving track structure 2 for the self-driving wheeled transport vehicle V. As illustrated in figures 2a-b, 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 structure 2 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.

[0074] As illustrated in figure 2a, 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.

[0075] 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 figure 2a. 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.

[0076] 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.

[0077] As a result, the second pair of parallel tracks 2b extend in a direction perpendicular to the first pair of parallel tracks 2a in an intersecting relationship.

[0078] 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.

[0079] In the embodiment shown in figures 2a-b, 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 structure 2 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.

[0080] 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-b, the track tile modules 1 comprise four locking arrangements 9 arranged in each corner section of the track tile modules 1 .

[0081] The track tile module 1 also comprise alignment projections 8a and alignment recesses 8b, such that track tile modules 1 arranged next to each other are properly mutually aligned.

[0082] 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 3a-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 3b. 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.

[0083] 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 3b, 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.

[0084] 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 3b, 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.

[0085] In an alternative configuration shown in figure 4a-b, the transport vehicle V comprises two sets of wheels W. A first set of wheels W1 are configured for driving the transport vehicle V 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. A second set of wheels W2 are configured for driving the transport vehicle V 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. Each of the first set of wheels W1 and second set of wheels W2 may suitably be arranged as a wheel set that could be raised and lowered relative to the transport vehicle V, as indicated in figure 4a. In a lowered position PL, the set of wheels are used for driving the transport vehicle V, and in a raised position PR, the set of wheels are deactivated from driving the vehicle, as understood from figures 4a- b. In the illustrated embodiment, the first set of wheels W1 are arranged in the lowered position PL and the second set of wheels W2 are arranged in the raised position PR, allowing the transport vehicle V to drive along the first drive lanes Di. The set of wheels are lowered and raised when the transport vehicle V is positioned on a track tile module 1 with each wheel W aligned with a corresponding pair of parallel track grooves.

[0086] Figures 1 b, 2a and 2b schematically indicates that a transmitter device 10 of a wireless charging system is arranged in connection to some of the track tile modules 1 , and that a receiver device 11 of the wireless charging system is located in the at least one transport vehicle V. As a result, electrical energy may wirelessly transferred from the transmitter device 10 to the receiver device 11 , for charging of an electric energy storage of the at least one transport vehicle V, when the transport vehicle V drives over a track tile module 1 having a transmitter device 10, or when the transport vehicle V for example stops on a track tile module 1 having a transmitter device 10 for a while.

[0087] In fact, the electrical energy that is wirelessly transferred from the transmitter device

[0088] 10 to the receiver device 11 may also be used for driving the transport vehicle V, when the transport vehicle V drives over a track tile module 1 having a transmitter device 10. In other words, the electrical energy that is wirelessly transferred from the transmitter device 10 to the receiver device 11 may be used for both driving the transport vehicle V and charging of an electric energy storage of the transport vehicle V.

[0089] A first example embodiment of the autonomous industrial transportation system is described below in more detail with reference to figures 5, 6 and 7, wherein figure 5 schematically shows a top view of an example of a track tile module 1 , figure 6 schematically shows a bottom view of an example of a transport vehicle V, and figure 7 shows schematically a cross-section view of the transport vehicle V along cut A-A of figure 6 when the transport vehicle V is located on an example track tile module 1 . In other words, also the track tile module 1 is here schematically illustrated in a crosssection view.

[0090] With reference to figures 1-7, the autonomous industrial transportation system comprises a modular track system S comprising a plurality of track tile modules 1 arranged in connection to each other for providing a driving track structure 2. The transportation system further comprises at least one self-driving wheeled transport vehicle V arranged on the track tile modules 1 and having an electric propulsion system powered by an electric energy storage 14, wherein the driving track structure 2 is configured for guiding wheels W of the at least one transport vehicle V. Moreover, the transportation system also comprises a wireless charging system configured for charging the electric energy storage 14 of the at least one transport vehicle V, wherein the wireless charging system comprises a stationary transmitter device 10 arranged in connection to at least one of the plurality of track tile modules 1 and a receiver device 11 attached to the at least one transport vehicle V, wherein the transmitter device 10 is connected to an electrical power supply 17, wherein the receiver device 11 is connected to the electric energy storage 14 of the at least one transport vehicle V, wherein the transmitter device 10 and the receiver device 11 are configured to enable wireless transfer of electrical energy from the transmitter device 10 to the receiver device 11 when arranged in an overlapping relationship with each other.

[0091] As a result, the electric energy storage 14 of the transport vehicle may be charged while in-motion, or temporarily stopping due to loading or unloading of cargo, or the like. In any event, stopping the transport vehicle merely for charging, i.e. dedicated charging pauses, can be reduced or even completely eliminated. Thereby, the transport vehicle utilisation rate increases and the total number of transport vehicles may be reduced, because all, or at least almost all of the transport vehicles can be constantly utilised for accomplishing the given transportation task.

[0092] In addition, the complex and demanding task of finding an appropriate charging strategy of the fleet of transport vehicles V may in most implementations be eliminated, because the transport vehicles V may instead be intermittently charged by merely driving over, or temporarily stopping for another reason than charging.

[0093] A further advantage of wireless charging is elimination of galvanic charging contactors that are required for galvanic charging. The elimination of charging contactors enables improved sealing of the interior content of the transport vehicle, such as control electronics, energy storage, etc., against moisture and water, because there is no longer a need for a feed through for the galvanic charging contactors.

[0094] The quick and spontaneous start of a charging event made possible by simply placing the transport vehicle V on a track tile module having a transmitter device, in combination with a certain level of distributed track tile modules having a transmitter device, also enables use of a relatively small and lightweight supercapacitor as electrical energy storage of the transport vehicle. A supercapacitor generally enables increased charging rate compared to a battery, and may thus benefit from relatively short high-power charging events that may be implemented using a wireless charging system. A supercapacitor is also less problematic in terms of logistics, storing and recycling compared with batteries. A supercapacitor having maximal power for driving for example 5 minutes generally has significant less weight than a battery having power sufficient for driving several hours.

[0095] The electric propulsion system of the transport vehicle V may be an electric propulsion motor 13 drivingly connected to one or more of the wheels W, with or without an intermediate transmission unit. For example, as schematically illustrated in figure 6, each wheel W may be fastened to a vertically extending rotatable turning shaft 16, and the electric propulsion motor 13 may also be attached to said turning shaft 16 and drivingly connected to the wheel W. The one or more turning shafts 16 may be powered by individual or a common electrical turning motor.

[0096] The electric propulsion system may also include an electronic motor controller that is connected to the electric energy storage 14 and to the electric propulsion motor 13, and which controls the amount of electrical power to be supplied to the electric propulsion motor 13.

[0097] The transmitter device 10 is connected to an electrical power supply 17, such as a national or regional electrical grid, or a local power supply source. The electrical power supply 17 may for example supply 110 - 240 volt AC, and the transmitter device 10 typically includes an appropriate power converter for generating the required electrical power level and form for operating the transmitter device.

[0098] The transmitter device 10 and the receiver device 11 are configured to enable wireless transfer of electrical energy from the transmitter device to the receiver device both when arranged in full and partial overlapping relationship with each other, wherein a larger degree or overlapping relationship results in increased power transfer capacity.

[0099] In some example embodiments, the wireless charging system is a capacitive or inductive wireless charging system.

[0100] A capacitive wireless power transfer system generates an alternating electrical field between the transmitter device and receiver device for transfer of energy from the transmitter device to the receiver device. Specifically, the transmitter device is configured to generate an alternating electric field that induces an alternating current in a circuit connected to the receiver device, also known as a displacement current.

[0101] Similarly, an inductive wireless power transfer system generates an alternating magnetic field between the transmitter device and receiver device for transfer of energy from the transmitter device to the receiver device. Specifically, the transmitter device is configured to generate an alternating magnetic field that induces an alternating current in a circuit connected to the receiver device.

[0102] The frequency of the alternating electrical or magnetic field is typically in the range of KHz - MHz, such as for example 0.1 - 100 MHz. Some advantages of an inductive wireless power transfer system are robustness, durability, relative long transfer range and high power transfer capacity, and some disadvantages of an inductive wireless power transfer system are EMI and heating of metal objects located within the magnetic field.

[0103] Some advantages of a capacitive wireless power transfer system are less costly, more compact, no problems with metal objects located in magnetic field, and some disadvantages of an capacitive wireless power transfer system are more limited operating range and lower power transfer capacity.

[0104] The vertical distance between the transmitter and receiver devices 10, 11 generally have a strong effect on the power transfer capacity, at least for a capacitive wireless power transfer system, and may preferably be set to less than 250 mm, for avoiding too large electric or magnetic fields in an capacitive or inductive wireless power transfer system. Higher frequencies and voltages are necessary for bridging larger distances. Since higher frequencies and higher voltages imposes higher requirements on the converter components, and since higher electric field between the transmitter and receiver devices may require more strict safety regulation, there is an advantage in designing the track tile modules 1 and transport vehicles V such that the distance between the transmitter and receiver devices is low.

[0105] Consequently, the transport vehicle may have an upper side arranged for carrying goods and a lower side having the wheels and configured to face the plurality of track tile modules 1 , and the receiver device may be located at the lower side of the transport vehicle. Thereby, the distance between the transmitter and receiver devices can be low.

[0106] In some example embodiments, the transport vehicle V comprises a bottom side protective cover, and the receiver device may be located on an interior side of said protective cover. Thereby, the distance between the transmitter and receiver devices can be low.

[0107] In addition, by installing the receiver device in a sealed interior space of the at least one transport vehicle V, the interior parts of the transport vehicle V, such as control electronics and electrical energy storage, are better protected from moisture, water, external objects, wear, etc. The sealing may be accomplished by mounting the bottom side protective cover in a sealed manner to the transport vehicle.

[0108] In a capacitive wireless power transfer system, the transmitter and receiver devices 10, 11 will include one or more thin metal plates or sheets, made of for example aluminium or copper or the like. Various different metal plate structures are possible as will be discussed more in detail below.

[0109] The metal plate(s) of the transmitter and receiver devices 10, 11 may be relatively thin, for example about 0.5 - 2 mm, so the transmitter and receiver devices 10, 11 of a capacitive wireless power transfer system will be relatively easy to implement and attach to the track tile module 1 and transport vehicle V, respectively.

[0110] The wireless transfer capacity of a capacitive wireless power transfer system depends on parameters such as switching frequency, voltage level between transmitter and receiver plate(s) and coupling capacitance level between transmitter and receiver plate(s), wherein said coupling capacitance depends on parameters such as metal plate area and distance between the two plates. In other words, high frequency, high voltage level, large plates and small distance between plates, tend to increase the power transfer capacity.

[0111] A certain level of misalignment between the transmitter and receiver plate does not lower the power transfer significantly. Consequently, charging of the electric energy storage 14 of the transport vehicle V may take place also when the transmitter and receiver devices 10, 11 are partially overlapping.

[0112] There is no special shape required for the metal plates of the transmitter and receiver devices 10, 11 , allowing for a versatile and flexible design that can be adapted to the design of the transport vehicle and the track tile module.

[0113] For example, figure 6 illustrates an example of how the receiver device 11 may have a shape that maximises the surface area in view of the available surface area. Specifically, in the example embodiment of figure 6, the transport vehicle comprises four wheels W, wherein the location of the first, second, third and fourth wheels W1 , W2, W3, W4, corresponds to the consecutive corners of a rectangular shape, wherein a size and design of the receiver device 11 is such that the receiver device 11 protrudes outwards in a horizontal plane between the first and second wheels W1 , W2 and between the third and fourth wheels W3, W4.

[0114] A first portion 11 a of the receiver device 11 protrudes outwards in the horizontal plane between the first and second wheels W1 , W2, and a second portion 11b of the receiver device 11 protrudes outwards in the horizontal plane between the third and fourth wheels W3, W4.

[0115] Furthermore, in some example embodiments, the size and design of the receiver device 11 is such that the receiver device protrudes outwards in the horizontal plane also between the first and fourth wheels W1 , W4 and between the second and third wheels W2, W3.

[0116] A third portion 11 c of the receiver device 11 protrudes outwards in the horizontal plane between the first and fourth wheels W1 , W4, and a fourth portion 11 d of the receiver device 11 protrudes outwards in the horizontal plane between the second and third wheels W2, W3.

[0117] Depending on the design, maybe the receiver device 11 could even have been designed to extend around the wheels W, for the purpose of further increasing the metal plate area, i.e. coupling capacitance, of the receiver device 11.

[0118] Large surface area of the transmitter device 10 is also improving the capacitive wireless power transfer capacity. Consequently, the transmitter device 10 may be designed to cover a significant portion of the total area of the track tile module 1. In the example embodiment of figure 5, the transmitter device 10 covers the entire track tile module 1 except for a narrow band along the edges of the track tile module 1. The purpose is to use the narrow band portion of the track tile module 1 for attachment to the base structure 3 and the like, but in other example embodiments, the transmitter device 10 may be designed to cover the entire upper surface of the track tile module 1.

[0119] With reference to figure 5, a maximal length L1 of the transmitter device 10 in the lateral direction DLA of the track tile module 1 is larger than a distance L2 between the first pair of parallel tracks 2a, and the transmitter device 10 extends beyond the first pair of parallel tracks 2a in the lateral direction DLA of the track tile module 1 . Moreover, a maximal length L3 of the transmitter device 10 in the longitudinal direction DLO of the track tile module 1 is larger than a distance L4 between the second pair of parallel tracks 2b, and the transmitter device 10 extends beyond the second pair of parallel tracks 2b in the longitudinal direction DLO of the track tile module 1.

[0120] Figure 7 schematically shows a cross-section of an example embodiment of each the transport vehicle V and track tile module 1 . The transport vehicle V may for example have an interior rigid chassis 18, a top side cover 20, and bottom side cover 21 , the electric energy storage 14, electronic equipment 19, such as long term data memory for storing the operating software code of the transport vehicle, RAM memory, a microprocessor for implementing the electronic controller of the transport vehicle, electric propulsion motor controller and steering motor controller, a communication interface for communication with a central controller of the autonomous industrial transportation system, etc.

[0121] The track tile module 1 comprises an upper side 5a intended to face upwards and a lower side 5b intended to face downwards, wherein the driving track structure is arranged on the upper side 5a of the track tile module 1 . The grooved track structure comprises a first pair of parallel track grooves 2a. In figure 7, the wheels W of the transport vehicle V are guided by the first pair of parallel track grooves 2a.

[0122] Generally, the transmitter device 10 is attached to, or integrated in, the track tile module 1. However, in some example embodiments, the transmitter device 10 may simply be located below the track tile module 1 , i.e. sandwiched between the lower side 5b of the track tile module 1 and a support surface of an underlying base structure 3.

[0123] In the example embodiment of figures 5 - 7, the transmitter device 10 is located at the lower side 5b of the track tile module 1 , in particular below lower side 5b, between lower side 5b and the base structure 3. As a result, the driving track structure 2 of the track tile module does not interfere with the transmitter device 10, and the transmitter device 10 may be designed with a large area. On the other hand, a vertical distance 22 between the transmitter and receiver devices 10, 11 is relatively large despite the fact that the receiver device 11 is located at the bottom of the transport vehicle V. In the example embodiment of figure 5 - 7, the transmitter and receiver devices 10 have substantially the same length L1 in the lateral direction DLA of the track tile module 1.

[0124] In some example embodiments, the lower side 5b of the track tile module 1 comprises a plurality of integrated reinforcing ribs 23, 24, and the transmitter device 10 is located below said integrated reinforcing ribs 23, 24 of the track tile module 1. In other words, the transmitter device 10 is sandwiched between the integrated reinforcing ribs 23, 24 and the support surface of the underlying base structure 3. This is consistent with figures 2b and figure 7.

[0125] The track tile module 1 is for example made in one piece by an injection moulding machine. Alternatively, the track tile module 1 can be assembled from different parts making up the autonomous industrial transportation system.

[0126] The track tile module 1 may include a plurality reinforcing ribs 23, 24, as schematically illustrated in figure 7, thereby providing a track tile module 1 with high strength and robustness. However, in other example embodiments, there is merely one or more integrated reinforcing ribs 24 located under each of the grooved track structure, i.e. under the first pair of parallel track grooves 2a, and with reduced size reinforcing ribs 24, or no reinforcing ribs at all, at a central region of the track tile module 1 .

[0127] The more centrally arranged reinforcing ribs 23 of the track tile module 1 may in some example embodiments be slightly shorter in the vertical direction DVE for enabling positioning of the transmitter device 10 under the track tile module 1 without being clamped by the load of the transport vehicle V and associated cargo.

[0128] In some example embodiments, the transmitter device 10 and the track tile module 1 are attached to each other by adhesive or by one or more fasteners, such as clamps, clips, threaded members, screws, etc.

[0129] The track tile module 1 itself may for example be secured to the underlying base structure using fasteners 25.

[0130] In case the transmitter and receiver devices 10, 11 are designed as capacitive wireless energy transmission system, a thickness 26 of the transmitter and receiver devices 10, 11 is relatively small, such as for example 0.5 - 2 mm, or the like. In case the transmitter and receiver devices 10, 11 are designed as inductive wireless energy transmission system, a thickness 26 of the transmitter and receiver devices 10, 11 is larger due to the required space of the metal coil located therein. The thickness may then be for example about 3 - 10 mm, or the like.

[0131] The maximal size of the track tile module 1 in the vertical direction may for example be 25 - 100 mm. The minimum depth of the grooves of the driving track may be for example 10 mm, specifically 20 mm.

[0132] Figure 8 schematically shows a cross-section of an example embodiment of each the transport vehicle V and track tile module 1 , wherein the track tile module 1 is mounted on a base structure 3 in form of a pair of longitudinally extending support beams 27. In such an installation of the track tile module 1 , the transmitter device 10 may for example be attached to the lower side 5b of the track tile module, for example by means of adhesive or fasteners. The length of transmitter device in lateral direction L1 may be selected to be less than a smallest length in the lateral direction between the two support beams 27, for avoiding loading on the transmitter device 10, and for enabling an interference-free attachment of the track tile module 1 to the support beams 27.

[0133] In still a further example embodiment, the transmitter device 10 may use the base structure 3 as attachment support. In other words, the transmitter device 10 is fastened to the base structure 3, such as for example to the support beams 27 of figure 8, and the track tile module 1 , which is free from the transmitter device 10, is mounted separately on the base structure 3. Such an arrangement simplifies installation of the track tile module, but may increase the vertical distance 22 between the transmitter and receiver devices 10, 11 slightly, and thus result in a slightly reduced coupling between the transmitter and receiver devices 10, 11.

[0134] A further example embodiment of the autonomous industrial transportation system is described below in more detail with reference to figures 9, 10 and 11 , wherein figure 9 schematically shows a top view of an example of a track tile module 1 , figure 10 schematically shows a bottom view of an example of a transport vehicle V, and figure 11 shows schematically a cross-section view of the transport vehicle V along cut A-A of figure 10 when the transport vehicle V is located on an example track tile module 1. In other words, also the track tile module 1 is here schematically illustrated in a cross-section view.

[0135] In this example embodiment, the track tile module 1 does not have reinforcing ribs in a central area of the track tile module, when viewed from a bottom side of the track tile module. Consequently, the transmitter device 10 may be installed in said central area, which is surrounded by the first pair of parallel track grooves 2a and the second pair of parallel track grooves 2b.

[0136] Consequently, the track tile module 1 comprises an upper side 5a intended to face upwards and a lower side 5b intended to face downwards, wherein the driving track structure 2 is arranged on the upper side 5a of the plurality of track tile modules 1 , wherein the transmitter device 10 is located within an interior space 29 of the track tile module 1.

[0137] In some example embodiments, the interior space 29 is limited by the first and second pair of parallel track grooves 2a, 2b, and by a substantially flat top wall 28 of the track tile module 1.

[0138] The interior space 29 may be accessible from the bottom side 5b of the track tile module 1.

[0139] The total surface area of the transmitter device 10 would in such an assembly be lower compared with the installation of the embodiment of figure 5, but the reduced surface area may be compensated by significantly reduced vertical distance 22 between the transmitter and receiver devices 10, 11 , such that the coupling between the transmitter and receiver devices 10, 11 may be largely maintained, or even increased.

[0140] In the example embodiment of figures 9 - 11 , a maximal length L1 of the transmitter device 10 in the lateral direction DLA of the track tile module is smaller than a distance L2 between the first pair of parallel tracks 2a, and the transmitter device 10 is fully encompassed by the first pair of parallel tracks 2a in the lateral direction DLA of the track tile module.

[0141] In other words, the transmitter device 10 does not extend beyond any of the first pair of parallel tracks 2a in the lateral direction DLA of the track tile module 1. Furthermore, in the example embodiment of figures 9 - 11 , a maximal length L3 of the transmitter device 10 in the longitudinal direction DLO of the track tile module 1 is smaller than a distance L4 between the second pair of parallel tracks 2b, and the transmitter device 10 is fully encompassed by the second pair of parallel tracks 2b in the longitudinal direction DLO of the track tile module 1.

[0142] In other words, the transmitter device 10 does not extend beyond any of the second pair of parallel tracks 2b in the longitudinal direction DLO of the track tile module 1 .

[0143] The area size of the transmitter and receiver devices 10, 11 do not need to match in a capacitive wireless power transfer system. Hence, in the example embodiment illustrated with reference to figures 10 - 11 , the maximal length of the receiver device 11 is larger than the corresponding maximal length of the transmitter device 10, because the receiver device is not limited in size by the track grooves 2a, 2b, as the transmitter device 10.

[0144] Consequently, in some example embodiments, a maximal length L5 of the receiver device 11 in the lateral direction DLA is larger than the maximal length L1 of the transmitter device 10 in the lateral direction DLA.

[0145] Furthermore, in some example embodiments, a maximal length L6 of the receiver device 11 in the longitudinal direction DLO is larger than the maximal length L3 of the transmitter device 10 in the lateral direction DLO.

[0146] As a result, the transmitter and receiver devices 10, 11 may be located more offset from each other, in both the longitudinal and lateral directions, without interrupting the wireless power transfer from the transmitter device 10 to the receiver device 11.

[0147] Figure 12 schematically shows a cross-section of a further example embodiment of the track tile module comprising a transmitter device 10 of the wireless power transfer system. In this example embodiment, the transmitter device 10 is simply mounted on the upper side 5a of the track tile module 10, i.e. on a top surface of the top wall 28 of track tile module 10.

[0148] In other words, the track tile module 1 comprises an upper side 5a intended to face upwards and a lower side 5b intended to face downwards, wherein the driving track structure 2 is arranged on the upper side 5a of the plurality of track tile modules 1 , wherein the transmitter device is located at the upper side 5a of the track tile module 1.

[0149] This mounting of the transmitter device 10 provides the minimal vertical distance 22 to the receiver device 11 , but it also results in a more exposed installation of the transmitter device 10 against external wear, and there is likely a limitation in area size of the transmitter device caused by the track grooves 2a, 2b of the transmitter device 10.

[0150] Figure 13 schematically shows a cross-section of a further example embodiment of the track tile module comprising a transmitter device 10 of the wireless power transfer system. In this example embodiment, the transmitter device 10 is integrated in the top wall 28 of track tile module 1 , i.e. insert moulded in the track tile module 1 , or the like.

[0151] In other words, the track tile modules 1 comprise an upper side 5a intended to face upwards and a lower side 5b intended to face downwards, wherein the driving track structure 2 is arranged on the upper side 5a of the plurality of track tile modules 1 , wherein the transmitter device is integrally formed in the track tile modules 1 by insert injection moulding manufacturing process.

[0152] This mounting of the transmitter device 10 provides a nearly minimal vertical distance 22 to the receiver device 11 and it also a very protected installation against external wear, but there is likely a limitation in area size of the transmitter device caused by the track grooves 2a, 2b of the transmitter device 10.

[0153] Figure 14 schematically shows a cross-section of a further example embodiment of the track tile module comprising a transmitter device 10 of the wireless power transfer system. In this example embodiment, the track tile module 1 is provided with a recess 30 and a cover 31 covering the recess 30, wherein the transmitter device 10 is located in said recess 30. In some example embodiments, the recess 30 be formed in the top wall 28 of track tile module 1 .

[0154] In other words, the plurality of track tile modules 1 comprises an upper side 5a intended to face upwards and a lower side 5b intended to face downwards, wherein the driving track structure 2 is arranged on the upper side 5a of the plurality of track tile modules 1 , wherein the transmitter device is located in a recess 30 formed in the upper side 5a of the track tile module 1 . This mounting of the transmitter device 10 provides a nearly minimal vertical distance 22 to the receiver device 11 and also a well-protected installation against external wear, but there is likely a limitation in area size of the transmitter device caused by the track grooves 2a, 2b of the transmitter device 10.

[0155] A further example embodiment of the autonomous industrial transportation system is described below in more detail with reference to figures 15-17, wherein figure 15 schematically shows a top view of an example of a track tile module 1 , figure 16 schematically shows a bottom view of an example of a transport vehicle V, and figure 17 shows schematically a cross-section view of the transport vehicle V along cut A-A of figure 16 when the transport vehicle V is located on an example track tile module 1. In other words, also the track tile module 1 is here schematically illustrated in a cross-section view.

[0156] The embodiment of figures 15-17 differs from the embodiment of figures 6-8 in that the transmitter device 10 comprises two plates, i.e. first transmitter plate 41 and second transmitter plate 42, arranged side-by-side and in a common plane, and the receiver device 11 comprises two plates, i.e. first receiver plate 51 and a second receiver plate 52, arranged side-by-side in a common plane, in a corresponding arrangement as the transmitter plates 41 , 42.

[0157] Capacitive wireless power transfer may be implemented in various ways, and this installation corresponds to a row-arranged four-plate coupling structure with first and second transmitter plates 41 , 42 located side by side in a common plane in the transmitter device 10 and first and second receiver plates 51 , 52 located side by side in a common plane in the receiver device 11 .

[0158] A centre distance 32 between the first and second transmitter and / or receiver plates 41 , 42, 51 , 52 in the lateral direction DLA may be for example about 5 - 50 mm.

[0159] Furthermore, each of the first and second plates 41 , 42 of the transmitter device 10 is connected to the electrical power supply 17, and each of the first and second plates 51 , 52 of the receiver device 10 is connected to the electrical energy storage 14 of the transport vehicle V. Reference is made to the embodiment of figures 6-8 with respect to other features of the track tile module 1 , transport vehicle V, transmitter and receiver devices 10, 11 , etc. of figures 15-17.

[0160] As mentioned above, capacitive wireless power transfer may be implemented in various ways, of which figures 18-21 schematically show four different capacitive coupler structures that can be used for wireless powering of the transport vehicle V.

[0161] Figure 18 schematically shows a first example embodiment of the coupler structure. Specifically, the wireless charging system is a capacitive wireless charging system, wherein the transmitter device 10 and the receiver device 11 are configured to jointly form a capacitive coupler when arranged in an overlapping relationship with each other for enabling wireless transfer of electrical energy from the transmitter device 10 to the receiver device 11. The capacitive coupler has a so called two-plate structure with a single transmitter plate 41 in the transmitter device 10 and single receiver plate 51 in the receiver device 11 , wherein a current return path is provided by a parasitic capacitance 33, depicted by a dashed capacitor and line, between a vehicle electrically conducting chassis 18 and an earth ground connection 34 of the power supply.

[0162] More in detail, an electric power supply 17, such as an inverter, provides high- frequency AC to the single transmitter plate 41 of the transmitter device 10 and to an earth ground connection 34. A first electric compensation circuit 35 may be connected between the electric power supply 17 and the single transmitter plate 41 and earth ground connection 34 for creating resonance at a lower AC frequency, thereby resulting in increased voltage level and a better and more efficient coupling between the transmitter and receiver plates 41 , 51 .

[0163] An electric energy storage 14, such as a battery and / or a supercapacitor is connected to the single receiver plate 51 in the receiver device 11 and to the electrically conducting vehicle chassis 18. A second electric compensation circuit 36 may be connected between the electric energy storage 14, and the single receiver plate 51 and chassis 18, thereby resulting in increased charging current level and a better and more efficient coupling between the transmitter and receiver plates 41 , 51. Another reason to implement first and second compensation circuits 35, 36 is to increase the quality factor Q of the capacitive power transfer system. The Q-factor corresponds to the ratio of the initial energy stored in the resonator to the energy lost in one cycle of the oscillation. The first and / or second compensation circuits may for example L-compensation circuits, LC-compensation circuits, LCL-compensation circuit, or the like.

[0164] The second compensation circuit 36 preferably also includes a rectifier unit needed for converting the AC outputted from the capacitive coupler, i.e. the receiver plate(s), to DC that can be supplied to the electric energy storage 14.

[0165] Figure 19 schematically shows a further example embodiment of the coupler structure. Specifically, the wireless charging system of figure 19 is a capacitive wireless charging system, wherein the transmitter device 10 and the receiver device 11 are configured to jointly form a capacitive coupler when arranged in an overlapping relationship with each other for enabling wireless transfer of electrical energy from the transmitter device 10 to the receiver device 11 , wherein the capacitive coupler has a row-arranged four-plate coupling structure with first and second transmitter plates 41 , 42 located side by side in a common plane in the transmitter device and first and second receiver plates 51 , 52 located side by side in a common plane in the receiver device.

[0166] This coupling structure of figure 19 corresponds actually to the coupling structure of figures 15 - 17, wherein each of the transmitter and receiver devices 10, 11 had two plates arranged side by side and in same mutual plane.

[0167] When the AC source generates a positive electrical field at and adjacent the first plate 41 , and a negative electrical field at and adjacent the second transmitter plate 42, a displacement current starts to flow between from the first receiver plate 51 to the second receiver plate 52. As a result a certain level of charging current is supplied to the electric energy storage.

[0168] Similarly, when the AC source generates a negative electrical field at and adjacent the first plate 41 , and a positive electrical field at and adjacent the second transmitter plate 42, a displacement current starts to flow between from the second receiver plate 52 to the first receiver plate 51. As a result a certain level of charging current is supplied to the electric energy storage

[0169] The row-arranged four-plate coupling structure of figure 19, also known as the four- plate parallel structure, has some advantages, such as a very thin design of the transmitter and receiver devices 10, 11 , while still not be dependent on the parasitic capacitance 33 as described with reference to figure 18. In addition, this type of coupler provides a high capacitance coupling quality.

[0170] Figure 20 schematically shows a further example embodiment of the coupler structure. Specifically, the wireless charging system of figure 19 is a capacitive wireless charging system, wherein the transmitter device 10 and the receiver device 11 are configured to jointly form a capacitive coupler when arranged in an overlapping relationship with each other for enabling wireless transfer of electrical energy from the transmitter device 10 to the receiver device 11 , wherein the capacitive coupler has a column-arranged four-plate coupling structure with first and second transmitter plates 41 , 42 located in a stacked configuration in the transmitter device 10 and first and second receiver plates 51 , 52 located in a stacked configuration in the receiver device 11.

[0171] The stacked structure enables a compact design of the transmitter and receiver devices 10, 11.

[0172] Figure 21 schematically shows a further example embodiment of the coupler structure. Specifically, the wireless charging system of figure 20 is a capacitive wireless charging system, wherein the transmitter device 10 and the receiver device 11 are configured to jointly form a capacitive coupler when arranged in an overlapping relationship with each other for enabling wireless transfer of electrical energy from the transmitter device 10 to the receiver device 11 , wherein the capacitive coupler has a six-plate coupling structure. In a six-plate coupling structure, the transmitter device has first and second transmitter plates 41 , 42 located side by side in a common plane and a third transmitter plate 43 located in a stacked configuration relative to the first and second transmitter plates 41 , 41. Similarly, also the receiver device has first and second receiver plates 51 , 52 located side by side in a common plane and with a third receiver plate 53 located in a stacked configuration relative to the first and second receiver plates 51 , 52. The six-plate structure is also referred to as a shielding structure, because the wide metal plate located at a rearmost position of the transmitter and receiver devices 10, 11 , i.e. the third transmitter and receiver plates 43, 53, reduces the EMI emissions. Hence, the six-plate structure may be selected in implementations where large significance is put on low EMI emissions.

[0173] Other capacitive coupler structures are possible.

[0174] With reference to figures 22-24, the wireless charging system may alternatively be designed as an inductive wireless charging system, wherein the transmitter device 10 and the receiver device 11 are configured to jointly form an inductive coupler when arranged in an overlapping relationship with each other for enabling wireless transfer of electrical energy from the transmitter device 10 to the receiver device 11. The inductive coupler has a transmission coil 37 in the transmitter device 10 and a receiver coil 38 in the receiver device 11 , wherein the transmitter coil 37 is configured to generate an alternating magnetic field that induces an alternating current in the receiver coil 38, and wherein the receiver coil 38 is connected to the electric energy storage 14 for charging thereof.

[0175] An inductive wireless power transfer system generally enables higher electrical power transfer capacity, and longer vertical distance between the transmission and receiver devices 10, 11 , but it is also associated with higher EMI levels and a bulkier transmitter and receiver devices, compared with a capacitive wireless transfer system.

[0176] With reference to figure 23-24, a power source, such as an electrical grid 17 or an inverter, is configured to supply for example single phase or three phase AC power to an induction coil 37 of the transmitter device 10. An intermediate first electric compensation circuit 35 having for example a resonance capacitor may be provided.

[0177] High-frequency AC, for example in the range of 10 - 150 kHz, is supplied to the induction coil 37 of the transmitter device 10 for generating an oscillating magnetic field, which in turn induces a corresponding AC voltage in a corresponding coil 38 arranged in the receiver device 11 of the transport vehicle V, thereby providing the desired wireless transfer of energy to the transport vehicle V.

[0178] The induced AC current may be supplied to the electric energy storage 14 via a second electric compensation circuit 36, which may include a rectifier for converting the induced high frequency AC to DC, which subsequently may be used for charging the electric energy storage 14, and driving the transport vehicle V.

[0179] Each of the first and second induction coils 37, 38 is schematically depicted as being made of a single spiral layer of a single wire, but each induction coil may in fact consist of a plurality of layers made of a multi-wire lead.

[0180] For example, the induction coils may be made of HF-Litz wires. Due to aspects such as winding losses and eddy current losses, massive single conductors with a large cross-sectional area may be deemed impractical for manufacturing of induction coils for inductive charging pads with frequencies in the kHz-range. Therefore, coil wires made of multiple thin individually insulated wire strands through which the AC current can travel with reduced conductor diameter d, called HF-Litz wires may be used. These bundles may then have a common external electrical insulation layer.

[0181] Figure 23 and 24 show top views of an example embodiment of the track tile module 1 and transport vehicle V, each having an individual induction coil for wireless power transfer there between. The induction coil 37, 38 of the transmitter and receiver devices 10, 11 may have a planar circular, rounded or rectangular coil having a plurality of windings. The induction coils 37, 38 may have a single layer of wires, or a plurality of layers of windings, as seen in a vertical direction.

[0182] Alternatively, the induction coils of each of the transmitter and receiver devices 10, 11 may have a double-D configuration, i.e. the coil conductor wire of each of the transmitter and receiver devices 10, 11 may be arranged to form two coils arranged side-by-side and with opposite winding direction, for the purpose of obtaining reduced magnetic stray field.

[0183] With respect to all embodiments showed and / or discussed herein, the electric energy storage may comprise a supercapacitor, or a combination of a supercapacitor and / or an electric battery. Alternatively, the electric energy storage may comprise a supercapacitor and being free from an electric battery, i.e. including no chemical battery, such li-lon battery or the like.

[0184] Moreover, according to a further example embodiment, the modular track system S may comprise a first track tile module 1 arranged in connection to a second track tile module 1 for providing a continuous driving track structure 2 extending over the first and second track tile modules, wherein the first and second track tile modules 1 have the same design, except for a stationary transmitter device being attached to or integrated in one of the first and second track tile modules 1 . In other words, the same type of track tile module 1 may be used for both electrified track tile modules 1 and non-electrified track tile modules 1. This enables improved cost-efficiency for manufacturing, logistics, and installation of the modular track system S, as well as increased flexibility in terms of building a new / modified track layout.

[0185] 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 structure 2 when the track tile modules 1 are arranged in connection to each other.

[0186] 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.

[0187] According to a further example embodiment, about 5 - 40%, specifically about 10 - 30%, of all track tile modules 1 of the modular track system S comprise a stationary transmitter device of the wireless charging system. In other words, most of the track tile modules 1 of the autonomous industrial transportation system may most likely be non-electrified track tile modules 1. Moreover, by optimizing the location of the electrified track tile modules 1 , such as at loading / unloading stations and / or hot spots in terms of traffic level, the number of track tile modules 1 having a transmission device 10 may be kept relatively low.

[0188] According to a further example embodiment, the transmitter device 10 of the track tile module 1 and the receiver device 11 of the transport vehicle V are configured to jointly provide a wireless power transfer in the range of 200 - 2000 Watt, specifically 300 - 750 Watt, when overlapped in a stacked configuration.

[0189] This power transfer range is applicable when a distance between transmitter / receiver is not more than 250 mm.

[0190] Furthermore, although figure 1A shows an autonomous industrial transportation system comprises a single transport vehicle 1 , it is clear that the autonomous industrial transportation system according to the disclosure in fact is designed to comprise a plurality of transport vehicles 1 that share a common modular track system S. Some or all of the vehicles using the common modular track system S may be transport vehicles of the kind described above.

[0191] In other words, the autonomous industrial transportation system may comprise a plurality of self-driving wheeled transport vehicles arranged on the track tile modules 1 , wherein at least some of the transport vehicles have an electric propulsion system and an electric energy storage, wherein the driving track structure 2 is configured for guiding wheels Wof the plurality of transport vehicles V; wherein the wireless charging system is configured for charging the electric energy storages of the plurality of transport vehicles, wherein the wireless charging system comprises a plurality of stationary transmitter devices arranged in connection to the plurality of track tile modules 1 and a plurality of receiver devices attached to the transport vehicles, wherein the plurality of transmitter devices are connected to an electrical power supply, wherein the plurality of receiver devices are connected to the electric energy storage of the plurality of transport vehicles, wherein any of the transmitter devices and any of the receiver devices are configured to enable wireless transfer of electrical energy from the transmitter device to the receiver device when arranged in an overlapping relationship with each other.

[0192] The disclosure according to the present invention also relates to a method for wireless charging of at least one transport vehicle of an autonomous industrial transportation system. The method comprises a first step of operating a self-driving wheeled transport vehicle V along a driving track structure 2 provided by a plurality of track tile modules 1 , wherein the driving track structure 2 is configured for guiding wheels W of the at least one transport vehicle V, and wherein the transport vehicle V has an electric propulsion system, an electric energy storage 14, and a receiver device 11 of a wireless power transfer system. The method further comprises a second step S20 of driving over, or temporarily stopping the transport vehicle V on, a track tile module 1 having a stationary transmitter device 10 of the wireless power transfer system arranged in connection thereto, such that the transmitter device 10 and the receiver device 11 establish a wireless transfer of electrical energy from the transmitter device 10 to the receiver device 11 for charging of the electric energy storage 14 of the at least one transport vehicle V.

[0193] 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.

[0194] 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

[0195] 1 : Track tile module 35 19: Electronic equipment

[0196] 2: Driving track structure 20: Top side cover

[0197] 2a: First pair of parallel track 21: Bottom side cover grooves 22: Vertical distance

[0198] 2b: Second pair of parallel track 23: Reinforcing ribs grooves 40 24: Reinforcing rib located under

[0199] 3: Base structure the grooved track structure

[0200] 5a: Upper side 25: Fastener

[0201] 5b: Lower side 26: Thickness transmission and

[0202] 6a: First longitudinal side edge receiver devices

[0203] 6b: Second longitudinal side edge 45 27: Support beams

[0204] 7a: First lateral side edge 28: Top wall of track tile module

[0205] 7b: Second lateral side edge 29: Interior space of the track tile

[0206] 8a: Protruding section module

[0207] 8b: Recessed section 30: Recess at top side of track tile

[0208] 9: Locking arrangement 50 module

[0209] 10: Transmission device 31: Cover

[0210] 11 : Receiver device 32: Centre distance

[0211] 11a: First portion of receiver 33: Parasitic capacitance device 34: Earth ground connection

[0212] 11b: Second portion of receiver 55 35: First electric compensation device circuit

[0213] 11c: Third portion of receiver 36: Second electric compensation device circuit

[0214] 11d: Fourth portion of receiver 37: Transmission coil device 60 38: Receiver coil

[0215] 12: Reinforcing rib 41: First transmitter plate

[0216] 13: Electric propulsion motor 42: Second transmitter plate

[0217] 14: Electric energy storage 43: Third transmitter plate

[0218] 15: Electrical power supply 51: First receiver plate

[0219] 16: Turning shaft 65 52: Second receiver plate

[0220] 17: Electrical power supply 53: Third receiver plate

[0221] 18: Chassis D First drive lane D2: Second drive lane 15 L4: Distance between second pair

[0222] DLA: Lateral direction of tracks

[0223] DLO: Longitudinal direction L5: Length receiver device in

[0224] DVE: Vertical direction lateral direction G1 : First track gauge L6: Length receiver device in

[0225] G2: Second track gauge 20 longitudinal direction

[0226] I: Intersection P1: First wheel position

[0227] J: Track groove junction P2: Second wheel position

[0228] L1: Length transmitter device in S: Modular track system lateral direction V: Transport vehicle

[0229] L2: Distance between first pair of 25 W: Wheel tracks W1 : First wheel

[0230] L3: Length transmitter device in W2: Second wheel longitudinal direction W3: Third wheel

[0231] W4: Fourth wheel

Claims

CLAIMS1. An autonomous industrial transportation system comprising: a modular track system (S) comprising a plurality of track tile modules (1) arranged in connection to each other for providing a driving track structure (2); at least one self-driving wheeled transport vehicle (V) arranged on the track tile modules (1) and having an electric propulsion system powered by an electric energy storage (14), wherein the driving track structure (2) is configured for guiding wheels (W) of the at least one transport vehicle (V); and a wireless charging system configured for charging the electric energy storage of the at least one transport vehicle (V), wherein the wireless charging system comprises a stationary transmitter device (10) arranged in connection to at least one of the plurality of track tile modules (1) and a receiver device (11) attached to the at least one transport vehicle (V), wherein the transmitter device(10) is connected to an electrical power supply (17), wherein the receiver device(11) is connected to the electric energy storage (14) of the at least one transport vehicle (V), wherein the transmitter device (10) and the receiver device (11) are configured to enable wireless transfer of electrical energy from the transmitter device (10) to the receiver device (11) when arranged in an overlapping relationship with each other.

2. The autonomous industrial transportation system according to claim 1 , wherein the wireless charging system is a capacitive or inductive wireless charging system.

3. The autonomous industrial transportation system according to any of the preceding claims, wherein the transmitter device (10) is attached to, or integrated in, the at least one of the plurality of track tile modules (1).

4. The autonomous industrial transportation system according to any of the preceding claims, wherein the plurality of track tile modules (1) comprises an upper side (5a) intended to face upwards and a lower side (5b) intended to face downwards, wherein the driving track structure (2) is arranged on the upper side(5a) of the plurality of track tile modules (1), wherein the transmitter device (10) is located in one of the following installation positions: at the lower side (5b) of the at least one of the plurality of track tile modules (1); at the upper side (5a) of the at least one of the plurality of track tile modules (1); in a recess formed in the upper side of the at least one of the plurality of track tile modules (1); within an interior space of the at least one of the plurality of track tile modules (1); or integrally formed in the at least one of the plurality of track tile modules (1) by insert injection moulding manufacturing process.

5. The autonomous industrial transportation system according to any of the preceding claims, wherein the transmitter device (10) and the at least one of the plurality of track tile modules (1) is attached to each other by adhesive or by one or more fasteners.

6. The autonomous industrial transportation system according to any of the preceding claims, wherein the plurality of 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), wherein a first pair of parallel tracks (2a) is extending in a longitudinal direction (DLO) of the track tile modules (1) parallel to the first longitudinal side edge (6a) and the second longitudinal side edge (6b), wherein a second pair of parallel track (2b) is extending in a lateral direction (DLA) of the track tile modules (1) parallel to the first lateral side edge (7a) and the second lateral side edge (7b), such that the second pair of parallel tracks (2b) extend in a direction perpendicular to the first pair of parallel tracks (2a) in an intersecting relationship.

7. The autonomous industrial transportation system according to claim 6, wherein a maximal length (L1) of the transmitter device (10) in the lateral direction (DLA) of the at least one of the plurality of track tile modules (1) is larger than a distance(L2) between the first pair of parallel tracks (2a), and wherein the transmitter device (10) extends beyond the first pair of parallel tracks (2a) in the lateral direction (DLA) of the at least one of the plurality of track tile modules (1).

8. The autonomous industrial transportation system according to claim 6 or claim 7, wherein a maximal length (L3) of the transmitter device (10) in the longitudinal direction (DLO) of the at least one of the plurality of track tile modules (1) is larger than a distance (L4) between the second pair of parallel tracks (2b), and wherein the transmitter device (10) extends beyond the second pair of parallel tracks (2b) in the longitudinal direction (DLO) of the at least one of the plurality of track tile modules (1).

9. The autonomous industrial transportation system according to claim 6, wherein a maximal length of the transmitter device (10) in the lateral direction (DLA) of the at least one of the plurality of track tile modules (1) is smaller than a distance between the first pair of parallel tracks (2a), and wherein the transmitter device (10) is fully encompassed by the first pair of parallel tracks (2a) in the lateral direction (DLA) of the at least one of the plurality of track tile modules (1).

10. The autonomous industrial transportation system according to claim 6 or claim 9, wherein a maximal length of the transmitter device (10) in the longitudinal direction (DLO) of the at least one of the plurality of track tile modules (1) is smaller than a distance between the second pair of parallel tracks (2b), and wherein the transmitter device (10) is fully encompassed by the second pair of parallel tracks (2b) in the longitudinal direction (DLO) of the at least one of the plurality of track tile modules (1).11 . The autonomous industrial transportation system according to any of the preceding claims, wherein the at least one transport vehicle (V) has an upper side (5a) arranged for carrying goods and a lower side (5b) having the wheels (W) and configured to face the plurality of track tile modules (1), wherein the receiver device (11) is located at the lower side (5b) of the at least one transport vehicle (V).

12. The autonomous industrial transportation system according to any of the preceding claims, wherein the receiver device (11) is located in a sealed interior space of the at least one transport vehicle (V).

13. The autonomous industrial transportation system according to any of the preceding claims, wherein the at least one transport vehicle (V) comprises a bottom side protective cover (21), and wherein the receiver device (11) is located on an interior side of said protective cover (21).

14. The autonomous industrial transportation system according to any of the preceding claims, wherein the wireless charging system is a capacitive wireless charging system, wherein the transmitter device (10) and the receiver device (11) are configured to jointly form a capacitive coupler when arranged in an overlapping relationship with each other for enabling wireless transfer of electrical energy from the transmitter device (10) to the receiver device (11), wherein the capacitive coupler has one of the following structures: a two-plate structure with a single transmitter plate (41) in the transmitter device (10) and single receiver plate (51) in the receiver device (11), wherein a current return path is provided by a parasitic capacitance between the vehicle chassis (18) and the earth ground (34); a row-arranged four-plate coupling structure with first and second transmitter plates (41 , 42) located side by side in a common plane in the transmitter device (10) and first and second receiver plates (51 , 52) located side by side in a common plane in the receiver device (11); a column-arranged four-plate coupling structure with first and second transmitter plates (41 , 42) located in a stacked configuration in the transmitter device (10) and first and second receiver plates (51 , 52) located in a stacked configuration in the receiver device (11); or a six-plate coupling structure, wherein the transmitter device (10) has first and second transmitter plates (41 , 42) located side by side in a common plane in the transmitter device (10) and with a third transmitter plate (43) located in a stacked configuration relative to the first and second transmitter plates (41 , 42), and wherein the receiver device (11) has first and second receiver plates (51 , 52) located side by side in a common plane in the receiver device (11) and with a thirdreceiver plate (53) located in a stacked configuration relative to the first and second receiver plates (51 , 52).

15. The autonomous industrial transportation system according to any of the preceding claims 1 to 13, wherein the wireless charging system is an inductive wireless charging system, wherein the transmitter device (10) and the receiver device (11) are configured to jointly form an inductive coupler when arranged in an overlapping relationship with each other for enabling wireless transfer of electrical energy from the transmitter device (10) to the receiver device (11), wherein the inductive coupler has a transmission coil (37) in the transmission device (10) and a receiver coil (38) in the receiver device (11), wherein the transmitter coil (37) is configured to generate an alternating magnetic field that induces an alternating current in the receiver coil (38), and wherein the receiver coil (38) is connected to the electric energy storage (14) for charging thereof.

16. The autonomous industrial transportation system according to any of the preceding claims, wherein the electric energy storage (14) comprises a supercapacitor and / or an electric battery.

17. The autonomous industrial transportation system according to any of the preceding claims 1 to 15, wherein the electric energy storage (14) is free from an electric battery.

18. The autonomous industrial transportation system according to any of the preceding claims, wherein the modular track system (S) comprises a first track tile module (1) arranged in connection to a second track tile module (1) for providing a continuous driving track structure (2) extending over the first and second track tile modules (1), wherein the first and second track tile modules (1) have the same design, except for a stationary transmitter device (10) being attached to or integrated in one of the first and second track tile modules (1).

19. The autonomous industrial transportation system according to any of the preceding claims, wherein about 5 - 40%, specifically about 10 - 30%, of all tracktile modules (1) of the modular track system (S) comprise a stationary transmitter device (10) of the wireless charging system.

20. The autonomous industrial transportation system according to any of the preceding claims, wherein the transmitter device (10) of the at least one of the plurality of track tile modules (1) and the receiver device (11) of the at least one transport vehicle (V) are configured to jointly provide a wireless power transfer in the range of 200 - 2000 Watt, specifically 300 - 750 Watt, when overlapped in a stacked configuration.21 . A method for wireless charging of at least one transport vehicle of an autonomous industrial transportation system, wherein the method comprising: operating a self-driving wheeled transport vehicle (V) along a driving track structure (2) provided by a plurality of track tile modules (1), wherein the driving track structure (2) is configured for guiding wheels (W) of the at least one transport vehicle (V), and wherein the transport vehicle has an electric propulsion system, an electric energy storage (14), and a receiver device (11) of a wireless power transfer system; and driving over, or temporarily stopping the transport vehicle on, a stationary transmitter device (10) of the wireless power transfer system arranged in connection to at least one of the track tile modules (1), such that the transmitter device (10) and the receiver device (11) establish a wireless transfer of electrical energy from the transmitter device (10) to the receiver device (11) for charging of the electric energy storage (14) of the at least one transport vehicle (V).

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