EP2944601A1 - Autonomous driverless transport vehicle and transport system - Google Patents

Autonomous driverless transport vehicle and transport system Download PDF

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Publication number
EP2944601A1
EP2944601A1 EP15165802.8A EP15165802A EP2944601A1 EP 2944601 A1 EP2944601 A1 EP 2944601A1 EP 15165802 A EP15165802 A EP 15165802A EP 2944601 A1 EP2944601 A1 EP 2944601A1
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EP
European Patent Office
Prior art keywords
transport vehicle
transport
lifting fork
drive system
lifting
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15165802.8A
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German (de)
French (fr)
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EP2944601B1 (en
Inventor
Marco Kick
Carsten Rietig
Waldemar Müller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volkswagen AG
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Volkswagen AG
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Publication of EP2944601A1 publication Critical patent/EP2944601A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07513—Details concerning the chassis
    • B66F9/07531—Battery compartments

Definitions

  • the invention relates to an autonomous driverless transport vehicle and an autonomous driverless transport system, for example for in-house material transport.
  • towing vehicles with pulled sequence cars are often used.
  • the sequence cars can, for example, transport molded skylights or center consoles.
  • a high number of sequence cars a high number of required towing vehicles is required. This means that the volume of traffic within the assembly is steadily increasing. This results in production-related waiting times of the tractor due to the delivery processes, in which the vehicle additionally requires floor space or waiting areas in the workshop.
  • EP 0 290 634 A1 shows a method of guiding a driverless vehicle, wherein optical sensors mounted on the vehicle receive a broken mark along the road to guide the vehicle.
  • the invention is based on the object to improve the material transport.
  • the autonomous driverless transport vehicle according to the invention with an electric drive system and an energy storage for the drive system provides that a lifting fork is provided for transport, that the drive system is arranged outside the lifting fork and that a vertical height of the lifting fork is greater than vertical heights of the energy storage and of the drive system.
  • the transport vehicle according to the invention has the advantage that due to the low height of the transport vehicle this under container or transport systems can drive and then lift it.
  • the height of the transport vehicle is between 10 and 30 cm, preferably 15 cm. This allows a considerable space saving in production, since the transport vehicle no longer drags the trolley, but drives directly under a trolley.
  • the energy storage is arranged between the forks of the lifting fork.
  • the energy storage such as a battery or one or more capacitors, in a safe position.
  • the center of gravity is favorable in this central arrangement.
  • a navigation system is provided with at least one sensor.
  • the navigation system recognizes objects and / or route or route markings and thus enables a position determination and a route navigation. This allows the vehicle to navigate autonomously.
  • navigation systems come, for example, laser, mirror or star navigation, navigation by reference, such as camera systems or magnetic point navigation in question.
  • a master computer of the vehicle has one or more interfaces for the navigation system, so that it can be selected and used modularly as required.
  • At least one sensor is arranged in a tower arranged behind the lifting fork and the lifting fork protruding in height.
  • the tower provides a better overview, which is especially important for laser navigation.
  • a host computer is provided.
  • the host computer supports a completely autonomous movement of the vehicle.
  • the master computer can execute programs, process sensor data and calculate routes and respond to user input.
  • the master computer can control the drive and the lifting fork as well as monitor and regulate the energy storage.
  • a lifting system of the lifting fork is designed mechanically. This can be raised even at very low height and with little energy required a large mass. It is conceivable, for example, a spindle drive with toggle. Preferably, an identical drive is provided for each fork tine. Alternatively, hydraulic or pneumatic lifting systems can be used.
  • the drive system has four, arranged at the corner regions of the transport vehicle wheel elements, of which at least one is a driven drive element.
  • This modular drive system can be adapted depending on the application.
  • the transport vehicle can turn from two drive elements on the spot, resulting in a very small turning radius.
  • a wheel element which is not driven, for example, has a rotatable roller.
  • the drive element may have a propulsion motor and a rotary motor. This also allows in cooperation with one or two transmissions a compact drive element which drives one or more drive wheels and can change the angular position for steering.
  • the autonomous driverless transport system comprises at least one transport vehicle as described above.
  • the same advantages and modifications apply as described above.
  • an inductive charging system is provided for the energy storage of the transport vehicle.
  • the inductive charging system operates without contact and can be integrated in the infrastructure or in certain areas of the infrastructure such as unloading, loading and / or waiting positions. Thus, a continuous operation of the vehicle can be done because the energy storage is charged in normal driving.
  • FIG. 1 shows an autonomous driverless transport vehicle 10 as it is used for in-house goods or material transport.
  • the transport vehicle 10 is floor bound, that is, that it can move freely in the plane of the ground, that is, in particular, is independent of a rail system.
  • the transport system 10 has a frame-shaped chassis 12 which receives the individual components of the transport vehicle 10 and surrounds these components for protection.
  • Central part of the transport vehicle 10 is the lifting fork 14.
  • the lifting fork 14 has two identical forks 16.
  • the lifting fork 14 corresponds in its dimensions, in particular the distance between the two forks 16 of conventional lifting forks, such as those used with forklifts. This guarantees extensive compatibility of the transport vehicle 10 with existing transport systems. In contrast to a forklift, however, the two forks 16 of the lifting fork 14 are not attached to a common fork carriage.
  • the transport vehicle 10 is equipped with a modular drive system 18.
  • the drive system 18 is located in corner regions of the rectangular chassis 12 and thus outside the lifting fork 14 or outside of the fork tines 16.
  • an energy storage 20 here arranged in the form of a battery, for example a lithium-ion battery.
  • the energy store 20 can also be constructed, for example, from supercapacitors.
  • the middle between the lifting fork 14 of the partially sensitive energy storage 20 is optimally protected.
  • the transport vehicle 10 includes environmental monitoring sensors 22, with the aid of which collisions are avoided and / or a travel route of the transport vehicle 10 is found.
  • a master computer 26 controls the transport vehicle 10 and monitors and controls the individual subsystems of the transport vehicle 10, in particular the drive system 18 and the forks 14.
  • the control system 24 also processes the sensor data Energy storage 20, the sensors 22 and the navigation system 24 can be monitored and / or controlled by the host computer 26.
  • the navigation system 24 may be part of the master computer 26.
  • the modular drive system 18 allows adaptation of the transport vehicle 10 to different purposes, such as maneuverability, speed or acceleration.
  • the drive system 18 comprises one or more drive elements 28 and not one or more wheel elements 30.
  • the drive elements 28 are driven and allow both the propulsion of the transport vehicle 10 and a rotation of the transport vehicle 10.
  • the wheel member 30 has a freely movable roller, which followed by the or the drive elements 28 predetermined movement.
  • two drive elements 28 and correspondingly two wheel members 30 are provided.
  • the transport vehicle 10 has a modular structure, that is to say that all components of the transport vehicle 10 located in the chassis 12 can be selected and installed according to the respective application. This applies in particular to the drive system 18, the energy store 20, the sensors 22 and the navigation system 24. But also the master computer 26 or the lifting fork 14 can be changed according to the purposes.
  • the transport vehicle 10 is characterized by its low construction. It is designed so that the height in the vertical direction of the lifting fork 14, in particular the surfaces of the forks 16, is higher than the other components of the transport vehicle 10, which are located in the region of the lifting fork 14. These components include, in particular, the drive system 18, the energy store 20 and also the sensors 22. This ensures that the transport vehicle 10 can almost completely bypass a good to be conveyed, such as a sequence car. Only a relatively small area of the transport vehicle 10, which is arranged behind the lifting fork 14, then remains outside the sequence carriage.
  • FIG. 2 the lifting fork 14 is shown with a fork 16 and a lifting system 32 for lifting the fork 16.
  • This in FIG. 2 shown system is in the transport vehicle 10, as in FIG. 1 shown, available in two versions. So that the two forks 16 are moved synchronously, the two lifting systems 32 of the two forks 16 are either synchronized by means of an electronic control or mechanically.
  • the lifting system 32 comprises a rotating spindle 34, at the two toggle lever 36 are arranged in a known manner.
  • a motor 38 acting on the spindle causes the spindle 32 to move, thereby raising or lowering the toggles 36.
  • About the contact with the toggle levers 36 of the forks 16 is moved upward. Downwardly, the forks 16 moves due to its weight.
  • the toggle lever 36 are in a lower position free from the forks 16, which then rests on a stop at a rear end. This allows the forks 16 and thus the lifting fork 14 in transport containers with transport straps, which surround the forks 16 from all sides, is possible.
  • the lifting system 32 shown here has a high energy efficiency and allows the lifting of large loads.
  • the drive element 28 of the drive system 18 has a propulsion motor 40 and a rotary motor 42.
  • the propulsion motor 40 is connected to a propulsion transmission 44.
  • the propulsion ratio 44 may include gears and / or friction wheels.
  • the rotary motor 42 is connected to a rotation ratio 46.
  • the rotary ratio 46 may have gears and / or friction wheels.
  • the propulsion transmission 44 and the rotation ratio 46 are at least partially supported on common axes of rotation, wherein the propulsion transmission 44 can move independently of the rotational ratio 46.
  • the rotational ratio 46 is arranged above the propulsion transmission 44.
  • the propulsion ratio 44 leads to a bevel gear 48, which rotates about a vertical axis and with a friction wheel 50 is engaged.
  • the friction wheel 50 is rotatably mounted on an axle 52.
  • the axis 52 is the axis of two wheels 54.
  • the rotary ratio 46 is connected to a rotating about a vertical axis rotary flange 56.
  • a housing 58 is rotatably mounted, in which the bevel gear 48, the friction wheel 50 and the axis 52 are arranged.
  • the angular position of the housing 58 and thus the wheels 54 can be adjusted. Accordingly, a movement range 60 for the wheels 54 is enabled.
  • the axes of rotation of the bevel gear 48 and the rotary flange 56 coincide, but the two components can be rotated independently.
  • FIG. 5 another example of a transport vehicle 10 is shown.
  • the chassis 12 with the components arranged therein corresponds to the illustration in FIG. 1 ,
  • the drive system 18 and the energy storage 20 are covered for protection with covers.
  • a tower 62 is arranged.
  • the tower 62 serves as an elevation for a sensor 22, such as a laser navigation sensor, to provide a better overview.
  • a control panel 64 is arranged for a user.
  • the master computer 26 and the navigation system 24 are also arranged in the tower 62.
  • emergency stop buttons 66 are arranged at easily reachable points of the tower to be able to stop the transport vehicle 10 in an emergency immediately.
  • FIG. 6 another example of a transport vehicle 10 is shown with a transport carriage 68 to be transported. At a bottom of the trolley 68 tabs 70 are arranged, which serve to receive the forks 16.
  • the sensors 22 of the transport vehicle 10 are attached to laterally outboard and rear-mounted carriers 72. In the rear area, the control panel 64 and the emergency stop buttons 66 are arranged.
  • FIG. 7 the transport vehicle 10 is shown, which is now under the trolley 68. It can be clearly seen that the transport vehicle 10 drive due to its very low height directly under the trolley 68 and then lift it. It can also be clearly seen that the drive system 18 and the energy store 20 are lower or in other words have a lower height than the lifting fork 14.
  • One or preferably several transport vehicles 10 may form an autonomous driverless transport system, with each transport vehicle 10 carrying a trolley 68 or similar load.
  • the transport vehicles 10 bring material or semi-finished products to a processing unit and can optionally bring semi-finished or intermediate products from one processing unit to another processing unit or to a storage position.
  • the transport vehicles 10 navigate autonomously and can move along free or fixed rods.
  • the energy storage 20 of the transport vehicle 10 is charged.
  • the inductive charging system is located in a travel path of the transport vehicle 10.
  • the charging system is arranged in areas in which the transport vehicle 10 is. These can be loading positions, unloading positions or waiting positions.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

Die Erfindung betrifft ein autonomes fahrerloses Transportfahrzeug (10) mit einem elektrischen Antriebssystem (18) und einem Energiespeicher (20) für das Antriebssystem (18).The invention relates to an autonomous driverless transport vehicle (10) having an electric drive system (18) and an energy store (20) for the drive system (18).

Es ist vorgesehen, dass eine Hubgabel (14) für den Transport vorgesehen ist, dass das Antriebssystem (18) außerhalb der Hubgabel (14) angeordnet ist und dass eine vertikale Höhe der Hubgabel (14) größer ist als vertikale Höhen des Energiespeichers (20) und des Antriebssystems (18).

Figure imgaf001
It is provided that a lifting fork (14) is provided for transport, that the drive system (18) is arranged outside the lifting fork (14) and that a vertical height of the lifting fork (14) is greater than vertical heights of the energy store (20). and the drive system (18).
Figure imgaf001

Description

Die Erfindung betrifft ein autonomes fahrerloses Transportfahrzeug und ein autonomes fahrerloses Transportsystem zum Beispiel für den innerbetrieblichen Materialtransport.The invention relates to an autonomous driverless transport vehicle and an autonomous driverless transport system, for example for in-house material transport.

Für den innerbetrieblichen Materialtransport, zum Beispiel in einem Produktionsbetrieb wie in der Automobilindustrie, werden häufig Schleppfahrzeuge mit gezogenen Sequenzwagen verwendet. Die Sequenzwagen können beispielsweise Formhimmel oder Mittelkonsolen transportieren. Bei einer hohen Anzahl an Sequenzwagen ist auch eine hohe Anzahl an benötigten Schleppfahrzeugen erforderlich. Dies bedeutet, dass das Verkehrsaufkommen innerhalb der Montage sich stetig steigert. Dabei ergeben sich aufgrund der Anlieferungsprozesse fertigungsbedingte Wartezeiten des Schleppers, bei denen das Fahrzeug zusätzlich Nutzfläche beziehungsweise Warteplätze in der Werkhalle benötigt.For in-house material handling, for example, in a production plant such as in the automotive industry, towing vehicles with pulled sequence cars are often used. The sequence cars can, for example, transport molded skylights or center consoles. With a high number of sequence cars, a high number of required towing vehicles is required. This means that the volume of traffic within the assembly is steadily increasing. This results in production-related waiting times of the tractor due to the delivery processes, in which the vehicle additionally requires floor space or waiting areas in the workshop.

DE 29 30 569 A1 und DE 10 2008 029 421 A1 offenbaren schienengebundene Hubwagen. DE 29 30 569 A1 and DE 10 2008 029 421 A1 reveal rail-mounted pallet trucks.

EP 0 290 634 A1 zeigt ein Verfahren zum Führen eines ohne Fahrer frei beweglichen Fahrzeugs, bei dem am Fahrzeug angeordnete optische Sensoren eine längs der Fahrbahn angeordnete unterbrochene Markierung aufnehmen, um so das Fahrzeug zu führen. EP 0 290 634 A1 shows a method of guiding a driverless vehicle, wherein optical sensors mounted on the vehicle receive a broken mark along the road to guide the vehicle.

Der Erfindung liegt nun die Aufgabe zugrunde, den Materialtransport zu verbessern.The invention is based on the object to improve the material transport.

Diese Aufgabe wird gelöst mit einem autonomen fahrerlosen Transportfahrzeug gemäß Anspruch 1 beziehungsweise einem autonomen fahrerlosen Transportsystem nach Anspruch 8.This object is achieved with an autonomous driverless transport vehicle according to claim 1 or an autonomous driverless transport system according to claim 8.

Das erfindungsgemäße autonome fahrerlose Transportfahrzeug mit einem elektrischen Antriebssystem und einem Energiespeicher für das Antriebssystem sieht vor, dass eine Hubgabel für den Transport vorgesehen ist, dass das Antriebssystem außerhalb der Hubgabel angeordnet ist und dass eine vertikale Höhe der Hubgabel größer ist als vertikale Höhen des Energiespeichers und des Antriebssystems.The autonomous driverless transport vehicle according to the invention with an electric drive system and an energy storage for the drive system provides that a lifting fork is provided for transport, that the drive system is arranged outside the lifting fork and that a vertical height of the lifting fork is greater than vertical heights of the energy storage and of the drive system.

Das erfindungsgemäße Transportfahrzeug hat den Vorteil, dass aufgrund der niedrigen Bauhöhe des Transportfahrzeugs dieses unter Behälter- beziehungsweise Transportsysteme fahren kann und diese dann anheben kann. Die Höhe des Transportfahrzeugs beträgt zwischen 10 und 30 cm, vorzugsweise 15 cm. Dies ermöglicht eine erhebliche Platzeinsparung im Produktionsbetrieb, da das Transportfahrzeug die Transportwagen nun nicht mehr schleppt, sondern direkt unter einem Transportwagen fährt.The transport vehicle according to the invention has the advantage that due to the low height of the transport vehicle this under container or transport systems can drive and then lift it. The height of the transport vehicle is between 10 and 30 cm, preferably 15 cm. This allows a considerable space saving in production, since the transport vehicle no longer drags the trolley, but drives directly under a trolley.

In bevorzugter Ausgestaltung der Erfindung ist vorgesehen, dass der Energiespeicher zwischen den Gabelzinken der Hubgabel angeordnet ist. Damit befindet sich der Energiespeicher, beispielsweise eine Batterie oder einer oder mehrere Kondensatoren, in einer sicheren Position. Zudem ist bei dieser mittigen Anordnung der Schwerpunkt günstig.In a preferred embodiment of the invention it is provided that the energy storage is arranged between the forks of the lifting fork. Thus, the energy storage, such as a battery or one or more capacitors, in a safe position. In addition, the center of gravity is favorable in this central arrangement.

In weiterer bevorzugter Ausgestaltung der Erfindung ist vorgesehen, dass ein Navigationssystem mit mindestens einem Sensor vorgesehen ist. Das Navigationssystem erkennt Objekte und/oder Weg- oder Routenmarkierungen und ermöglicht so eine Positionsbestimmung sowie eine Routennavigation. Damit kann sich das Fahrzeug autonom navigieren. Als Navigationssysteme kommen beispielweise Laser-, Spiegel- oder Sternennavigation, Navigation mittels Referenzfahrt wie mit Kamerasystemen oder Magnetpunktnavigation in Frage. Ein Leitrechner des Fahrzeugs hat eine oder mehrere Schnittstellen für das Navigationssystem, so dass dieses modular nach Anforderung ausgewählt und eingesetzt werden kann.In a further preferred embodiment of the invention, it is provided that a navigation system is provided with at least one sensor. The navigation system recognizes objects and / or route or route markings and thus enables a position determination and a route navigation. This allows the vehicle to navigate autonomously. As navigation systems come, for example, laser, mirror or star navigation, navigation by reference, such as camera systems or magnetic point navigation in question. A master computer of the vehicle has one or more interfaces for the navigation system, so that it can be selected and used modularly as required.

Es kann vorgesehen sein, dass mindestens ein Sensor in einem hinter der Hubgabel angeordneten und die Hubgabel in der Höhe überragenden Turm angeordnet ist. Der Turm ermöglicht eine bessere Übersicht, was insbesondere für Lasernavigation wichtig ist.It can be provided that at least one sensor is arranged in a tower arranged behind the lifting fork and the lifting fork protruding in height. The tower provides a better overview, which is especially important for laser navigation.

Vorzugsweise ist ein Leitrechner vorgesehen. Der Leitrechner unterstützt eine vollständig autonome Bewegung des Fahrzeugs. Der Leitrechner kann Programme ausführen, Sensordaten verarbeiten und daraus Wegrouten berechnen sowie auf Benutzereingaben reagieren. Zudem kann der Leitrechner den Antrieb und die Hubgabel steuern sowie den Energiespeicher überwachen und regeln.Preferably, a host computer is provided. The host computer supports a completely autonomous movement of the vehicle. The master computer can execute programs, process sensor data and calculate routes and respond to user input. In addition, the master computer can control the drive and the lifting fork as well as monitor and regulate the energy storage.

Besonders vorteilhaft ist, dass ein Hubsystem der Hubgabel mechanisch ausgeführt ist. Damit kann auch bei sehr geringer Bauhöhe und mit wenig benötigter Energie eine große Masse angehoben werden. Denkbar ist zum Beispiel ein Spindelantrieb mit Kniehebel. Vorzugsweise ist für jede Gabelzinke ein identischer Antrieb vorgesehen. Alternativ können hydraulische oder pneumatische Hubsysteme eingesetzt werden.It is particularly advantageous that a lifting system of the lifting fork is designed mechanically. This can be raised even at very low height and with little energy required a large mass. It is conceivable, for example, a spindle drive with toggle. Preferably, an identical drive is provided for each fork tine. Alternatively, hydraulic or pneumatic lifting systems can be used.

In bevorzugter Ausgestaltung der Erfindung ist vorgesehen, dass das Antriebssystem vier, an Eckbereichen des Transportfahrzeugs angeordnete Radelemente aufweist, von denen mindestens eins ein angetriebenes Antriebselement ist. Dieses modulare Antriebssystem kann je nach Anwendungsfall angepasst werden. So kann das Transportfahrzeug ab zwei Antriebselementen auf der Stelle drehen, was zu einem sehr kleinen Wenderadius führt. Ein Radelement, das nicht angetrieben ist, hat zum Beispiel eine drehbare Rolle.In a preferred embodiment of the invention, it is provided that the drive system has four, arranged at the corner regions of the transport vehicle wheel elements, of which at least one is a driven drive element. This modular drive system can be adapted depending on the application. Thus, the transport vehicle can turn from two drive elements on the spot, resulting in a very small turning radius. A wheel element which is not driven, for example, has a rotatable roller.

Das Antriebselement kann einen Vortriebsmotor und einen Drehmotor aufweisen. Dies erlaubt auch in Zusammenarbeit mit einem oder zwei Getrieben ein kompaktes Antriebselement, welches ein oder mehrere Antriebsräder antreibt und zum Lenken die Winkelstellung verändern kann.The drive element may have a propulsion motor and a rotary motor. This also allows in cooperation with one or two transmissions a compact drive element which drives one or more drive wheels and can change the angular position for steering.

Das erfindungsgemäße autonome fahrerlose Transportsystem umfasst mindestens ein Transportfahrzeug wie zuvor beschrieben. Es gelten die gleichen Vorteile und Modifikationen wie zuvor beschrieben.The autonomous driverless transport system according to the invention comprises at least one transport vehicle as described above. The same advantages and modifications apply as described above.

In bevorzugter Ausgestaltung der Erfindung ist vorgesehen, dass ein induktives Ladesystem für den Energiespeicher des Transportfahrzeugs vorgesehen ist. Das induktive Ladesystem arbeitet berührungslos und kann in den Fahrweg oder in bestimmte Bereiche des Fahrwegs wie Entlade-, Belade- und/oder Wartepositionen integriert sein. So kann ein kontinuierlicher Betrieb des Fahrzeugs erfolgen, da der Energiespeicher im normalen Fahrbetrieb geladen wird.In a preferred embodiment of the invention, it is provided that an inductive charging system is provided for the energy storage of the transport vehicle. The inductive charging system operates without contact and can be integrated in the infrastructure or in certain areas of the infrastructure such as unloading, loading and / or waiting positions. Thus, a continuous operation of the vehicle can be done because the energy storage is charged in normal driving.

Die verschiedenen in dieser Anmeldung genannten Ausführungsformen der Erfindung sind, sofern im Einzelfall nicht anders ausgeführt, mit Vorteil miteinander kombinierbar.The various embodiments of the invention mentioned in this application are, unless otherwise stated in the individual case, advantageously combinable with each other.

Die Erfindung wird nachfolgend in Ausführungsbeispielen anhand der zugehörigen Zeichnungen erläutert. Es zeigen:

Figur 1
eine schematische Darstellung eines autonomen fahrerlosen Transportfahrzeugs;
Figur 2
eine Hubgabel des Transportfahrzeugs;
Figur 3
eine untere Ansicht eines Antriebssystems des Transportfahrzeugs;
Figur 4
eine obere Ansicht eines Antriebssystems des Transportfahrzeugs;
Figur 5
eine schematische Darstellung eines Transportfahrzeugs mit Navigationsturm;
Figur 6
eine schematische Darstellung eines Transportfahrzeugs mit zu transportierendem Behälter; und
Figur 7
eine Seitenansicht des Transportfahrzeugs mit zu transportierendem Behälter.
The invention will be explained below in embodiments with reference to the accompanying drawings. Show it:
FIG. 1
a schematic representation of an autonomous driverless transport vehicle;
FIG. 2
a lifting fork of the transport vehicle;
FIG. 3
a bottom view of a drive system of the transport vehicle;
FIG. 4
an upper view of a drive system of the transport vehicle;
FIG. 5
a schematic representation of a transport vehicle with navigation tower;
FIG. 6
a schematic representation of a transport vehicle with container to be transported; and
FIG. 7
a side view of the transport vehicle with container to be transported.

Figur 1 zeigt ein autonomes fahrerloses Transportfahrzeug 10 wie es für den innerbetrieblichen Waren- oder Materialtransport eingesetzt wird. Das Transportfahrzeug 10 ist flurgebunden, das heißt, dass es sich in der Ebene des Bodens frei bewegen kann, also insbesondere unabhängig von einem Schienensystem ist. FIG. 1 shows an autonomous driverless transport vehicle 10 as it is used for in-house goods or material transport. The transport vehicle 10 is floor bound, that is, that it can move freely in the plane of the ground, that is, in particular, is independent of a rail system.

Das Transportsystem 10 hat ein rahmenförmiges Chassis 12, welches die einzelnen Komponenten des Transportfahrtzeugs 10 aufnimmt und diese Komponenten zum Schutz umgibt. Zentraler Bestandteil des Transportfahrzeugs 10 ist die Hubgabel 14. Die Hubgabel 14 hat zwei identische Gabelzinken 16. Die Hubgabel 14 entspricht in ihren Abmessungen insbesondere dem Abstand der beiden Gabelzinken 16 von üblichen Hubgabeln, wie sie beispielsweise mit Gabelstaplern verwendet werden. Dies garantiert weitgehende Kompatibilität des Transportfahrzeugs 10 mit bestehenden Transportsystemen. Im Unterschied zu einem Gabelstapler sind die beiden Gabelzinken 16 der Hubgabel 14 jedoch nicht an einem gemeinsamen Gabelschlitten befestigt.The transport system 10 has a frame-shaped chassis 12 which receives the individual components of the transport vehicle 10 and surrounds these components for protection. Central part of the transport vehicle 10 is the lifting fork 14. The lifting fork 14 has two identical forks 16. The lifting fork 14 corresponds in its dimensions, in particular the distance between the two forks 16 of conventional lifting forks, such as those used with forklifts. This guarantees extensive compatibility of the transport vehicle 10 with existing transport systems. In contrast to a forklift, however, the two forks 16 of the lifting fork 14 are not attached to a common fork carriage.

Das Transportfahrzeug 10 ist mit einem modularen Antriebssystem 18 ausgestattet. Das Antriebssystem 18 befindet sich in Eckbereichen des rechteckigen Chassis 12 und damit außerhalb der Hubgabel 14 beziehungsweise außerhalb der Gabelzinken 16. In einem mittleren Bereich des Chassis 12, das heißt zwischen der Hubgabel 14 beziehungsweise zwischen den beiden Gabelzinken 16, ist ein Energiespeicher 20, hier in Form einer Batterie, beispielsweise eine Lithium-Ionenbatterie angeordnet. Der Energiespeicher 20 kann auch beispielsweise aus Superkondensatoren aufgebaut sein. In der Mitte zwischen der Hubgabel 14 ist der teilweise empfindliche Energiespeicher 20 optimal geschützt.The transport vehicle 10 is equipped with a modular drive system 18. The drive system 18 is located in corner regions of the rectangular chassis 12 and thus outside the lifting fork 14 or outside of the fork tines 16. In a central region of the chassis 12, that is between the lifting fork 14 and between the two forks 16, is an energy storage 20, here arranged in the form of a battery, for example a lithium-ion battery. The energy store 20 can also be constructed, for example, from supercapacitors. In the middle between the lifting fork 14 of the partially sensitive energy storage 20 is optimally protected.

Das Transportfahrzeug 10 umfasst Sensoren 22 zur Umfeldüberwachung, mit deren Hilfe Kollisionen vermieden werden und/oder eine Fahrroute des Transportfahrzeuges 10 gefunden wird. Ein Navigationssystem 24 verarbeitet die Sensordaten und übernimmt die Autonome, das heißt selbstständige Navigation des Transportfahrzeugs 10. Ein Leitrechner 26 steuert das Transportfahrzeug 10 und überwacht und steuert die einzelnen Subsysteme des Transportfahrzeugs 10, insbesondere das Antriebssystem 18 und die Hubgabel 14. Auch der Energiespeicher 20, die Sensoren 22 und das Navigationssystem 24 können von dem Leitrechner 26 überwacht und/oder gesteuert werden. Das Navigationssystem 24 kann Bestandteil des Leitrechners 26 sein.The transport vehicle 10 includes environmental monitoring sensors 22, with the aid of which collisions are avoided and / or a travel route of the transport vehicle 10 is found. A master computer 26 controls the transport vehicle 10 and monitors and controls the individual subsystems of the transport vehicle 10, in particular the drive system 18 and the forks 14. The control system 24 also processes the sensor data Energy storage 20, the sensors 22 and the navigation system 24 can be monitored and / or controlled by the host computer 26. The navigation system 24 may be part of the master computer 26.

Das modulare Antriebssystem 18 erlaubt eine Anpassung des Transportfahrzeugs 10 an unterschiedliche Einsatzzwecke, wie beispielsweise Manövrierfähigkeit, Geschwindigkeit oder Beschleunigung. Dazu umfasst das Antriebssystem 18 ein oder mehrere Antriebselemente 28 und nicht ein oder mehrere Radelemente 30. Die Antriebselemente 28 sind angetrieben und ermöglichen sowohl den Vortrieb des Transportfahrzeugs 10 als auch eine Drehung des Transportfahrzeugs 10. Das Radelement 30 weist eine freibewegliche Rolle auf, welche der durch das oder die Antriebselemente 28 vorgegebenen Bewegung folgt. Im in Figur 1 dargestellten Beispiel sind zwei Antriebselemente 28 und entsprechend zwei Radelemente 30 vorgesehen. Beispielsweise ist es auch möglich, vier Antriebselemente 28 vorzusehen.The modular drive system 18 allows adaptation of the transport vehicle 10 to different purposes, such as maneuverability, speed or acceleration. For this purpose, the drive system 18 comprises one or more drive elements 28 and not one or more wheel elements 30. The drive elements 28 are driven and allow both the propulsion of the transport vehicle 10 and a rotation of the transport vehicle 10. The wheel member 30 has a freely movable roller, which followed by the or the drive elements 28 predetermined movement. Im in FIG. 1 example shown, two drive elements 28 and correspondingly two wheel members 30 are provided. For example, it is also possible to provide four drive elements 28.

Das Transportfahrzeug 10 ist modular aufgebaut, das heißt, dass alle in dem Chassis 12 befindlichen Komponenten des Transportfahrzeugs 10 entsprechend dem jeweiligen Einsatzzweck ausgewählt und eingebaut werden können. Dies gilt insbesondere für das Antriebssystem 18, den Energiespeicher 20, die Sensoren 22 und das Navigationssystem 24. Aber auch der Leitrechner 26 oder die Hubgabel 14 können entsprechend den Einsatzzwecken verändert werden.The transport vehicle 10 has a modular structure, that is to say that all components of the transport vehicle 10 located in the chassis 12 can be selected and installed according to the respective application. This applies in particular to the drive system 18, the energy store 20, the sensors 22 and the navigation system 24. But also the master computer 26 or the lifting fork 14 can be changed according to the purposes.

Das Transportfahrzeug 10 zeichnet sich durch seine niedrige Bauweise aus. Es ist so konzipiert, dass die Höhe in vertikaler Richtung der Hubgabel 14, insbesondere der Oberflächen der Gabelzinken 16, höher ist als die sonstigen Komponenten des Transportfahrzeugs 10, die sich im Bereich der Hubgabel 14 befinden. Diese Komponenten umfassen insbesondere das Antriebssystem 18, den Energiespeicher 20 und auch die Sensoren 22. Dadurch ist gewährleistet, dass das Transportfahrzeug 10 nahezu vollständig unter ein zu beförderndes Gut, wie beispielsweise einen Sequenzwagen umfahren kann. Lediglich ein relativ kleiner Bereich des Transportfahrzeugs 10, der hinter der Hubgabel 14 angeordnet ist, verbleibt dann außerhalb des Sequenzwagens.The transport vehicle 10 is characterized by its low construction. It is designed so that the height in the vertical direction of the lifting fork 14, in particular the surfaces of the forks 16, is higher than the other components of the transport vehicle 10, which are located in the region of the lifting fork 14. These components include, in particular, the drive system 18, the energy store 20 and also the sensors 22. This ensures that the transport vehicle 10 can almost completely bypass a good to be conveyed, such as a sequence car. Only a relatively small area of the transport vehicle 10, which is arranged behind the lifting fork 14, then remains outside the sequence carriage.

In Figur 2 ist die Hubgabel 14 mit einem Gabelzinken 16 und einem Hubsystem 32 zum Anheben des Gabelzinkens 16 dargestellt. Das in Figur 2 dargestellte System ist in dem Transportfahrzeug 10, wie in Figur 1 dargestellt, in zweimaliger Ausführung vorhanden. Damit die beiden Gabelzinken 16 synchron bewegt werden, sind die beiden Hubsysteme 32 der beiden Gabelzinken 16 entweder mittels einer elektronischen Steuerung oder mechanisch synchronisiert. Das Hubsystem 32 umfasst eine rotierende Spindel 34, an der zwei Kniehebel 36 in bekannter Weise angeordnet sind. Ein auf die Spindel wirkender Motor 38 versetzt die Spindel 32 in Bewegung, wodurch die Kniehebel 36 aufgestellt oder abgesenkt werden. Über den Kontakt mit den Kniehebeln 36 wird der Gabelzinken 16 nach oben bewegt. Nach unten bewegt sich der Gabelzinken 16 aufgrund seiner Gewichtskraft. Es kann vorgesehen sein, dass sich die Kniehebel 36 in einer unteren Stellung frei vom Gabelzinken 16 befinden, der dann an einem hinteren Ende auf einem Anschlag aufliegt. Dies ermöglicht, dass der Gabelzinken 16 und damit die Hubgabel 14 auch in Transportbehältern mit Transportlaschen, welche den Gabelzinken 16 von allen Seiten umgeben, möglich ist. Das hier gezeigte Hubsystem 32 hat eine hohe Energieeffizienz und erlaubt das Anheben von großen Lasten.In FIG. 2 the lifting fork 14 is shown with a fork 16 and a lifting system 32 for lifting the fork 16. This in FIG. 2 shown system is in the transport vehicle 10, as in FIG. 1 shown, available in two versions. So that the two forks 16 are moved synchronously, the two lifting systems 32 of the two forks 16 are either synchronized by means of an electronic control or mechanically. The lifting system 32 comprises a rotating spindle 34, at the two toggle lever 36 are arranged in a known manner. A motor 38 acting on the spindle causes the spindle 32 to move, thereby raising or lowering the toggles 36. About the contact with the toggle levers 36 of the forks 16 is moved upward. Downwardly, the forks 16 moves due to its weight. It may be provided that the toggle lever 36 are in a lower position free from the forks 16, which then rests on a stop at a rear end. This allows the forks 16 and thus the lifting fork 14 in transport containers with transport straps, which surround the forks 16 from all sides, is possible. The lifting system 32 shown here has a high energy efficiency and allows the lifting of large loads.

In den Figuren 3 und 4 ist das Antriebselement 28 des Antriebssystems 18 dargestellt. Das Antriebselement 28 hat einen Vortriebsmotor 40 und einen Drehmotor 42. Der Vortriebsmotor 40 ist an eine Vortriebsübersetzung 44 angeschlossen. Die Vortriebsübersetzung 44 kann Zahnräder und/oder Reibräder aufweisen. Analog ist der Drehmotor 42 mit einer Drehübersetzung 46 verbunden. Auch die Drehübersetzung 46 kann Zahnräder und/oder Reibräder aufweisen. Um die Bauhöhe gering zu halten, sind die Vortriebsübersetzung 44 und die Drehübersetzung 46 zumindest teilweise auf gemeinsamen Drehachsen gelagert, wobei sich die Vortriebsübersetzung 44 unabhängig von der Drehübersetzung 46 bewegen kann. In dem hier vorgestellten Beispiel ist die Drehübersetzung 46 oberhalb der Vortriebsübersetzung 44 angeordnet.In the Figures 3 and 4 the drive element 28 of the drive system 18 is shown. The drive element 28 has a propulsion motor 40 and a rotary motor 42. The propulsion motor 40 is connected to a propulsion transmission 44. The propulsion ratio 44 may include gears and / or friction wheels. Similarly, the rotary motor 42 is connected to a rotation ratio 46. The rotary ratio 46 may have gears and / or friction wheels. In order to keep the overall height low, the propulsion transmission 44 and the rotation ratio 46 are at least partially supported on common axes of rotation, wherein the propulsion transmission 44 can move independently of the rotational ratio 46. In the example presented here, the rotational ratio 46 is arranged above the propulsion transmission 44.

Die Vortriebsübersetzung 44 führt zu einem Kegelrad 48, das um eine senkrechte Achse dreht und mit einem Reibrad 50 in Eingriff ist. Das Reibrad 50 ist drehfest auf einer Achse 52 angeordnet. Die Achse 52 ist die Achse zweier Laufräder 54. Somit wird über die Vortriebsübersetzung 44, das Kegelrad 48, das Reibrad 50 und die Achse 52 eine Vorwärts- oder Rückwärtsbewegung des Vortriebsmotors 40 entsprechend an die Laufräder 54 übertragen.The propulsion ratio 44 leads to a bevel gear 48, which rotates about a vertical axis and with a friction wheel 50 is engaged. The friction wheel 50 is rotatably mounted on an axle 52. The axis 52 is the axis of two wheels 54. Thus, via the propulsion ratio 44, the bevel gear 48, the friction wheel 50 and the axis 52 a forward or backward movement of the propulsion motor 40 is transmitted to the wheels 54 accordingly.

Die Drehübersetzung 46 ist mit einem um eine senkrechte Achse rotierenden Drehflansch 56 verbunden. An dem Drehflansch 56 ist drehfest ein Gehäuse 58 befestigt, in dem das Kegelrad 48, das Reibrad 50 sowie die Achse 52 angeordnet sind. Über den Drehmotor 42 und die Drehübersetzung 46 kann die Winkelposition des Gehäuses 58 und damit der Laufräder 54 eingestellt werden. Entsprechend ist ein Bewegungsbereich 60 für die Laufräder 54 ermöglicht. Die Rotationsachsen des Kegelrades 48 und des Drehflansches 56 fallen zusammen, wobei die beiden Komponenten jedoch unabhängig voneinander gedreht werden können.The rotary ratio 46 is connected to a rotating about a vertical axis rotary flange 56. On the rotary flange 56, a housing 58 is rotatably mounted, in which the bevel gear 48, the friction wheel 50 and the axis 52 are arranged. About the rotary motor 42 and the rotation ratio 46, the angular position of the housing 58 and thus the wheels 54 can be adjusted. Accordingly, a movement range 60 for the wheels 54 is enabled. The axes of rotation of the bevel gear 48 and the rotary flange 56 coincide, but the two components can be rotated independently.

In Figur 5 ist ein weiteres Beispiel eines Transportfahrzeugs 10 dargestellt. Das Chassis 12 mit den darin angeordneten Komponenten entspricht der Darstellung in Figur 1. Hier sind das Antriebssystem 18 und der Energiespeicher 20 zum Schutz mit Abdeckungen abgedeckt. Hinter der Hubgabel 14 ist ein Turm 62 angeordnet. Der Turm 62 dient als Erhöhung für einen Sensor 22, beispielsweise einen Lasernavigationssensor, um diesem einen besseren Überblick zu verschaffen. Weiter ist in dem Turm 62 ein Bedienfeld 64 für einen Benutzer angeordnet. Der Leitrechner 26 und das Navigationssystem 24 sind ebenfalls in dem Turm 62 angeordnet. Schließlich sind an gut erreichbaren Punkten des Turms 62 Notaus-Taster 66 angeordnet, um in einem Notfall das Transportfahrzeug 10 sofort anhalten zu können.In FIG. 5 another example of a transport vehicle 10 is shown. The chassis 12 with the components arranged therein corresponds to the illustration in FIG FIG. 1 , Here, the drive system 18 and the energy storage 20 are covered for protection with covers. Behind the lifting fork 14, a tower 62 is arranged. The tower 62 serves as an elevation for a sensor 22, such as a laser navigation sensor, to provide a better overview. Further, in the tower 62, a control panel 64 is arranged for a user. The master computer 26 and the navigation system 24 are also arranged in the tower 62. Finally 62 emergency stop buttons 66 are arranged at easily reachable points of the tower to be able to stop the transport vehicle 10 in an emergency immediately.

In Figur 6 ist ein weiteres Beispiel eines Transportfahrzeugs 10 mit einem zu transportierenden Transportwagen 68 dargestellt. An einer Unterseite des Transportwagens 68 sind Laschen 70 angeordnet, die zur Aufnahme der Gabelzinken 16 dienen. Die Sensoren 22 des Transportfahrzeugs 10 sind an seitlich ausliegenden und im hinteren Bereich befestigten Trägern 72 befestigt. In dem hinteren Bereich sind das Bedienfeld 64 und die Notaus-Taster 66 angeordnet. Dort ist zwischen den Hubgabeln 16 ein Gehäuse 74 zur Aufnahme des Navigationssystems und des Steuerrechners angeordnet.In FIG. 6 another example of a transport vehicle 10 is shown with a transport carriage 68 to be transported. At a bottom of the trolley 68 tabs 70 are arranged, which serve to receive the forks 16. The sensors 22 of the transport vehicle 10 are attached to laterally outboard and rear-mounted carriers 72. In the rear area, the control panel 64 and the emergency stop buttons 66 are arranged. There is a housing 74 for receiving the navigation system and the control computer disposed between the lift forks 16.

In Figur 7 ist das Transportfahrzeug 10 dargestellt, das sich nun unter dem Transportwagen 68 befindet. Es ist deutlich zu erkennen, dass das Transportfahrzeug 10 aufgrund seiner sehr geringen Bauhöhe direkt unter den Transportwagen 68 fahren und ihn anschließend anheben kann. Ebenfalls gut zu erkennen ist, dass das Antriebssystem 18 und der Energiespeicher 20 niedriger sind oder anders ausgedrückt eine geringere Höhe haben als die Hubgabel 14.In FIG. 7 the transport vehicle 10 is shown, which is now under the trolley 68. It can be clearly seen that the transport vehicle 10 drive due to its very low height directly under the trolley 68 and then lift it. It can also be clearly seen that the drive system 18 and the energy store 20 are lower or in other words have a lower height than the lifting fork 14.

Ein oder vorzugsweise mehrere Transportfahrzeuge 10 können ein autonomes fahrerloses Transportsystem bilden, wobei jedes Transportfahrzeug 10 einen Transportwagen 68 oder eine ähnliche Last befördert. Die Transportfahrzeuge 10 bringen dabei Material oder Halbzeuge zu einer Verarbeitungseinheit und können gegebenenfalls Halbzeug oder Zwischenprodukte von einer Bearbeitungseinheit zu einer weiteren Bearbeitungseinheit oder zu einer Lagerposition bringen. Die Transportfahrzeuge 10 navigieren dabei autonom und können sich entlang freier oder fester Ruten bewegen. Über ein induktives berührungsloses Ladesystem wird der Energiespeicher 20 des Transportfahrzeugs 10 aufgeladen. Um die Betriebszeiten des Transportfahrzeugs 10 zu maximieren, befindet sich das induktive Ladesystem in einem Fahrweg des Transportfahrzeugs 10. Vorzugsweise ist das Ladesystem in Bereichen angeordnet, in denen das Transportfahrzeug 10 steht. Dies können Beladepositionen, Entladepositionen oder Wartepositionen sein.One or preferably several transport vehicles 10 may form an autonomous driverless transport system, with each transport vehicle 10 carrying a trolley 68 or similar load. The transport vehicles 10 bring material or semi-finished products to a processing unit and can optionally bring semi-finished or intermediate products from one processing unit to another processing unit or to a storage position. The transport vehicles 10 navigate autonomously and can move along free or fixed rods. About an inductive contactless charging system, the energy storage 20 of the transport vehicle 10 is charged. In order to maximize the operating times of the transport vehicle 10, the inductive charging system is located in a travel path of the transport vehicle 10. Preferably, the charging system is arranged in areas in which the transport vehicle 10 is. These can be loading positions, unloading positions or waiting positions.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

1010
Transportfahrzeugtransport vehicle
1212
Chassischassis
1414
Hubgabellifting fork
1616
Gabelzinkenforks
1818
Antriebssystemdrive system
2020
Energiespeicherenergy storage
2222
Sensorsensor
2424
Navigationssystemnavigation system
2626
Leitrechnermaster computer
2828
Antriebselementdriving element
3030
Radelementwheel element
3232
HubsystemLifting system
3434
Spindelspindle
3636
Kniehebeltoggle
3838
Motorengine
4040
Vortriebsmotorpropulsion engine
4242
Drehmotorrotary engine
4444
Vortriebsübersetzungtunneling translation
4646
Drehübersetzungrotation translation
4848
Kegelradbevel gear
5050
Reibradfriction wheel
5252
Achseaxis
5454
LaufradWheel
5656
Drehflanschrotary flange
5858
Gehäusecasing
6060
Bewegungsbereichrange of motion
6262
Turmtower
6464
BedienfeldControl panel
6666
Notaus-TasterEmergency stop button
6868
TransportwagenDolly
7070
Lascheflap
7272
Trägercarrier
7474
Gehäusecasing

Claims (10)

Autonomes fahrerloses Transportfahrzeug (10) mit einem elektrischen Antriebssystem (18) und einem Energiespeicher (20) für das Antriebssystem (18), dadurch gekennzeichnet, dass eine Hubgabel (14) für den Transport vorgesehen ist, dass das Antriebssystem (18) außerhalb der Hubgabel (14) angeordnet ist und dass eine vertikale Höhe der Hubgabel (14) größer ist als vertikale Höhen des Energiespeichers (20) und des Antriebssystems (18).Autonomous driverless transport vehicle (10) with an electric drive system (18) and an energy store (20) for the drive system (18), characterized in that a lifting fork (14) is provided for transport, that the drive system (18) outside the lifting fork (14) is arranged and that a vertical height of the lifting fork (14) is greater than vertical heights of the energy storage device (20) and the drive system (18). Transportfahrzeug nach Anspruch 1, dadurch gekennzeichnet, dass der Energiespeicher (20) zwischen Gabelzinken (16) der Hubgabel (14) angeordnet ist.Transport vehicle according to claim 1, characterized in that the energy store (20) is arranged between forks (16) of the lifting fork (14). Transportfahrzeug nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass ein Navigationssystem (24) mit mindestens einem Sensor (22) vorgesehen ist.Transport vehicle according to claim 1 or 2, characterized in that a navigation system (24) with at least one sensor (22) is provided. Transportfahrzeug nach Anspruch 3, dadurch gekennzeichnet, dass mindestens ein Sensor (22) in einem hinter der Hubgabel (14) angeordneten und die Hubgabel (14) in der Höhe überragenden Turm (62) angeordnet ist.Transport vehicle according to claim 3, characterized in that at least one sensor (22) in a behind the lifting fork (14) arranged and the lifting fork (14) projecting in height tower (62) is arranged. Transportfahrzeug nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass ein Leitrechner (26) vorgesehen ist.Transport vehicle according to one of claims 1 to 4, characterized in that a master computer (26) is provided. Transportfahrzeug nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass ein Hubsystem (32) der Hubgabel (14) mechanisch ist.Transport vehicle according to one of claims 1 to 5, characterized in that a lifting system (32) of the lifting fork (14) is mechanical. Transportfahrzeug nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass das Antriebssystem (18) vier, an Eckbereichen des Transportfahrzeugs (10) angeordnete Radelemente (30) aufweist, von denen mindestens eins ein angetriebenes Antriebselement (28) ist.Transport vehicle according to one of claims 1 to 6, characterized in that the drive system (18) has four, at corner regions of the transport vehicle (10) arranged wheel elements (30), of which at least one is a driven drive element (28). Transportfahrzeug nach Anspruch 7, dadurch gekennzeichnet, dass das Antriebselement (28) einen Vortriebsmotor (40) und einen Drehmotor (42) aufweist.Transport vehicle according to claim 7, characterized in that the drive element (28) has a propulsion motor (40) and a rotary motor (42). Autonomes fahrerloses Transportsystem, dadurch gekennzeichnet, dass mindestens ein Transportfahrzeug (10) nach einem der Ansprüche 1 bis 8 vorgesehen ist.Autonomous driverless transport system, characterized in that at least one transport vehicle (10) is provided according to one of claims 1 to 8. Transportsystem nach Anspruch 9, dadurch gekennzeichnet, dass ein induktives Ladesystem für den Energiespeicher (20) des Transportfahrzeugs (10) vorgesehen ist.Transport system according to claim 9, characterized in that an inductive charging system for the energy store (20) of the transport vehicle (10) is provided.
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