Driverless transport vehicle

1 . A driverless transport vehicle ( 10 ) for transporting drive-under objects, comprising:

a base unit ( 12 );

a drive-under/fork unit ( 14 ) connected to the base unit ( 12 );

a lifting table ( 16 ) arranged on the drive-under/fork unit ( 14 ), the lifting table ( 16 ) being movable in a Z direction with respect to an orthogonal coordinate system (X, Y, Z);

two drive and steering roller units ( 18 . 1 , 18 . 2 ) drivable via drive and steering assemblies and a nondriven steering roller unit ( 20 ) whereby the driverless transport vehicle ( 10 ) is movable omnidirectionally in an X, Y plane, wherein either

the two drive and steering roller units ( 18 . 1 , 18 . 2 ) are spaced apart from each other in an X direction and arranged below the base unit ( 12 ) and the nondriven steering roller unit ( 20 ) is arranged spaced apart in a Y direction therefrom in a free end area below the drive-under/fork unit ( 14 ), or

one of the two drive and steering roller units ( 18 . 1 ) and the nondriven steering roller unit ( 20 ) are spaced apart from each other in the X direction arranged below the base unit ( 12 ) and another of the two drive and steering roller units ( 18 . 2 ) is arranged spaced apart in the Y direction therefrom in the free end area below the drive-under/fork unit ( 14 );

sensor means ( 22 ) for determining raw data with respect to a video image, a point cloud, or distance data of an object ( 50 );

object identification means ( 24 ) having a communication connection to the sensor means ( 22 ) for converting the raw data of the sensor means ( 22 ) into current object position data; and

control means ( 26 ) having a communication connection to the object identification means ( 24 ) and the drive and steering assemblies of the drive and steering roller units ( 18 . 1 , 18 . 2 ), the control means ( 26 ) being configured for converting the current object position data into control commands for the drive and steering assemblies of the drive and steering roller units ( 18 . 1 , 18 . 2 ), whereby a movement of the driverless transport vehicle ( 10 ) takes place towards the object ( 50 ) with respect to velocity, direction, and steering angle,

wherein a position change of the driverless transport vehicle ( 10 ) generated by movement in relation to the object is repeatedly acquired and evaluated by the sensor means ( 22 ), whereby a control loop for driving intention of the driverless transport vehicle ( 10 ) is generated until reaching a drive under position for the object ( 50 ),

wherein the lifting table ( 16 ) has a stop unit ( 28 ), which is drivable and movable in the Y direction by a stop drive assembly actuatable by the control means,

wherein the stop unit ( 28 ) forms a stop for the object ( 50 ) to be driven under,

wherein the base unit ( 12 ) has two clamping units ( 30 ) in the Z direction above the lifting table ( 16 ), and

wherein the two clamping units ( 30 )

are spaced apart in the X direction,

are drivable by a drive assembly actuatable by the control means,

are movable in the X and Y direction, and

form a position securing function with respect to the object that has been driven under.

2 . The driverless transport vehicle as claimed in claim 1 ,

wherein the sensor means ( 22 ) have at least one 3D camera or at least one scanning unit.

3 . The driverless transport vehicle as claimed in claim 1 ,

wherein the object identification means ( 24 ) have a storage unit, in which individual parameters with respect to geometry and appearance of the object ( 50 ) are stored and can be evaluated.

4 . The driverless transport vehicle as claimed in claim 1 ,

wherein the nondriven steering roller unit ( 20 ) is designed as a multiple-mounted nondriven steering roller steering unit free of lateral forces.

5 . The driverless transport vehicle as claimed in claim 1 ,

wherein the control means ( 26 ) actuates the stop drive assembly for movement of the stop unit ( 28 ) and the two clamping units ( 30 ) in dependence on geometric data of the object ( 50 ) ascertained by the object identification means ( 24 ).

6 . The driverless transport vehicle as claimed in claim 1 ,

further comprising a battery or capacitor which provides energy for operating the drive and steering assemblies.

7 . The driverless transport vehicle as claimed in claim 6 ,

wherein the battery is contactlessly chargeable by a charging station.

8 . The driverless transport vehicle as claimed in claim 1 ,

further comprising a WLAN unit, by which a communication with respect to data input and/or data request can be established with the sensor means ( 22 ), the object identification means ( 24 ), and the control means ( 26 ).