Patent Description:
In prior art, an example of which is shown in <CIT>, multiple design philosophies have already been established in context with provision of systems which shall be able to ensure a predefined position or motion also in rough terrain or in context with unpredictable reaction forces or at high inclination or in an overhead arrangement. The present invention focuses on those philosophies departing from the idea that a unit or vehicle or any means of transportation should engage / interact in predefined manner with a predefined structure at a wall or at the ceiling (e.g. overhead cranes, wall crawling robots) e.g. in a storehouse or in a machinery hall. Some ideas of provision of reliable contact between the structure and the unit have already been published in context with diagnosis and parameter measurement in nearly inaccessible areas or systems (e.g. ductwork, canal systems), including magnetic adhesion / interference. Nonetheless, there is a need for systems being capable of providing, by interacting with a predefined structure, both a predefined traveling motion and a high accuracy in positioning (positional accuracy) in very reliable manner, preferably irrespective of the kind of underground or wall constitution, wherein the predefined structure should preferably be provided in very flexible and varied manner to many kinds of areas or different kinds of wall or ceiling contour / geometry.

The skilled person may differentiate between those units or vehicles which are provided for moving on the underground and those vehicles which are provided for moving along a ceiling structure, especially since the latter have to be suspended in secure manner also, in order to avoid going down. Therefore, there might be different approaches as to the kinematics ensuring interaction/engagement at the structure's interface. The present invention focuses on interaction/engagement at/with ceiling structures.

It is an object of the present invention to provide for a system which allows for reliable and accurate suspension/positioning/traveling of at least one unit at a ceiling structure, especially for realizing variable two-dimensional tracks of motion of the unit. In particular, the object also includes providing for a suspension mechanism resp. suspension means allowing for securely suspending the ceiling unit e.g. also in context with load-carrying issues. In particular, the object may also include provision of an appropriate system or concept for reliably coupling one or a plurality of ceiling units with the ceiling structure and also ensuring reliable positioning or even predefined paths of motion. Also, the object of the present invention may further include actively driving methods for movably suspending such a ceiling units at the ceiling structure, e.g. in context with logistic tasks.

The object of the present invention is solved by the features of the independent main claims. Advantageous features are indicated in the subclaims. If not explicitly excluded, the teachings of the subclaims can be combined arbitrarily with the teachings of the main claims and the subclaims.

According to a first aspect, the present invention provides for a ceiling suspension arrangement exhibiting at least one crawler type ceiling unit and a ceiling structure extending in at least two spatial directions, wherein the ceiling structure comprises a plurality of profile units (especially rails) extending (preferably continuously, especially without any structural discontinuity) in a first spatial direction, wherein the ceiling structure defines at least one structural regularity in a second spatial direction (thereby providing a one-dimensional raster with discrete coupling points distributed in at least one equidistant regularity in said second spatial direction); and wherein the crawler type ceiling unit exhibits a plurality of suspension elements configured for suspending the ceiling unit and configured for coupling the crawler type ceiling unit to the ceiling structure by means of de-/coupling kinematics depending on a relative motion of the ceiling unit with respect to the ceiling structure in at least said second spatial direction, wherein the ceiling unit exhibits at least two circumferential tracks (especially tracks based on or defined by traction means, preferably chain-based tracks), wherein the suspension elements are attached to the circumferential tracks at predefined longitudinal positions corresponding to the structural regularity, wherein the circumferential tracks respectively define a specific path of circumferential motion of the respective suspension elements (resp. of coupling means of the suspension elements, especially of a free end of the respective suspension element), thereby providing for de-/coupling kinematics during a motion of the crawler type ceiling unit in said second spatial direction, especially with the crawler type ceiling unit being configured to be moved in said first spatial direction along the profile units irrespective of momentary motion in said second spatial direction. Such configuration not only facilitates implementation in context with complex structures or in context with a plurality of ceiling units to be used at the same time, but also considerably increases variability as to positioning. Thereby, the present invention also provides for practical scalability (both with respect to the structure and with respect to the number of ceiling units), even in three-dimensional extension, if desired.

According to one embodiment, the crawler type ceiling unit is a crawler type ceiling vehicle, optionally exhibiting at least one drive unit (motor, actuator) for actively driving the crawler type ceiling unit along the structure.

Accordingly, the present invention also concerns kinematics of suspension elements being (autonomously) de-/coupled by a motion along circumferential tracks, based on geometrically predefined kinematics. Optionally, the de-/coupling kinematics can be actively driven by the ceiling unit itself. In particular, the object can also be solved by a crawler type ceiling unit configured for actively traveling in a suspended manner especially headlong at a structure, wherein the ceiling unit exhibits: a plurality of suspension elements configured for suspending the ceiling unit and configured for coupling the ceiling unit to the structure, and at least one drive configured for circumferential driving/guiding motion (resp. drive motion of the suspension elements along the circumferential tracks), wherein the suspension elements are attached to the first circumferential track at predefined first longitudinal positions corresponding to a predefined raster (especially a/the raster defined by the structure), wherein the ceiling unit is configured for moving along the structure by decoupling a subset of the plurality of suspension elements from resp. coupling them into the structure when the suspension elements are guided along (the) two circumferential tracks by the circumferential motion (driving/guiding motion). Such a configuration also allows for actively moving the ceiling unit (or, for letting the ceiling unit autonomously) without being limited to a predefined path of motion defined by specific profile units, e.g. rails (or the like) of the structure.

According to the present disclosure, when it is referred to "ceiling structure", a structure which may also extend (at least in parts) on the ground or along a wall or on an inclined plane (or the like) can be designated. The present invention can preferably be applied for ceiling units (resp. ceiling vehicles) being arranged at resp. traveling along a ceiling structure, and in addition, the present invention also allows for any motion along any structure with alternative orientation and/or arrangement. Thus, referring to a "structure" or "ceiling structure" includes reference to any other "structure" exhibiting the features presently described allowing for coupling with/to the inventive ceiling unit and corresponding de-/coupling kinematics.

According to the present disclosure, when it is referred to "vehicle" or "ceiling vehicle", the disclosure also generally refers to crawler type units or vehicles and its relative spatial arrangement or traveling motion (e.g. also on the ground or on an inclined plane or at the wall).

According to the present disclosure, when it is referred to "circumferential track", the disclosure also generally refers to closed loop guidings and lines and predefined contours along which the suspension elements are guided and/or driven, e.g. chains or any such traction means providing for a closed loop.

According to the present disclosure, when it is referred to "profile units" or "profiles" or "T-profiles", the disclosure also generally refers to different kinds of profiles like e.g. I-profiles or L-profiles which may provide for advantageous/favourable arrangements in individual applications.

According to the present disclosure, when it is referred to "package", especially in context with logistics, a package is understood to be any physical objects that can be transported and preferably does not exceed certain dimensions and/or a certain weight (e.g. items of daily use such as consumables or food as well as technical items and equipment or mail items, advertising material, brochures). For example, the packages are unpackaged items, packaged items and repackaged items, whereby in the case of packaged and repackaged items the "package" may comprise the packaging or repackaging as well as the item packaged therein. Likewise, it can be expedient to process unpackaged objects, in particular commodity objects. Each package may include an individual identification feature, e.g. an identification code (especially a physical code which is applied, for example, to the package, to an outer packaging of the package or to a storage unit for the package and/or a transport unit for the package, and/or a digital code which is assigned to the package and/or to a digital twin of the package). Each package can be reproduced/mirrored in digital manner in a digital twin (or a digital twin mirrors several packages), wherein (also) the digital twin preferably comprises at least one identification mark. , a package/packet is associated with a packet identification code, and the digital twin of the packet contains the packet identification code.

It should be noted that according to the invention, the crawler type ceiling unit can also be guided by a user, pulling/pushing the ceiling crawler into a specific direction. , active drives are not necessarily provided. In particular, in conjunction with appropriate sensor-actor-arrangements, the crawler type ceiling unit may follow an intended direction resp. an intended path of motion (especially as a kind of semi passive guide mode; guidance via physical and/or visual interaction with an individual).

According to one embodiment the ceiling suspension arrangement is configured for at least passive motion (externally driven) of the (respective) crawler type ceiling unit in said at least two spatial directions, and/or wherein the crawler type ceiling unit is configured for at least two-dimensional arbitrary motion in arbitrary directions defined by said at least two spatial directions (resp. lying within a plane defined by said two spatial directions).

According to one embodiment the profile units respectively exhibit at least one tread, wherein each suspension element exhibits at least one element of motion (for gliding or rolling, especially at least one wheel) arranged and configured for at least passively moving (especially gliding or rolling) the crawler type ceiling unit in said first spatial direction.

According to one embodiment the crawler type ceiling unit is configured for enabling at least one closed loop trajectory of respective suspension elements along corresponding circumferential tracks, especially configured for enabling at least two closed loop trajectories of at least two subsets of respective suspension elements.

According to one embodiment the circumferential tracks are shaped in such a manner that the respective suspension elements are de-/coupled from/into the ceiling structure when passing a curved section of the tracks.

According to one embodiment a subset of the suspension elements are attached to one of the circumferential tracks (resp. a subset of the first subset, momentary) and at least one further subset of the suspension elements are attached to a further one of the circumferential tracks (resp. a subset of the second subset, momentary) respectively at predefined first and second (further) longitudinal positions respectively corresponding to the structural regularity, in particular with each suspension element being guided by a pair of circumferential tracks.

According to one embodiment the suspension elements are fixedly attached/coupled by means of a first pulley to/with a/the first circumferential track and are guided within a/the second circumferential track by means of a second pulley respectively, wherein the first and second pulley preferably are arranged at a lever arm of the respective suspension element.

According to one embodiment each suspension element exhibits a first pulley and a second pulley arranged in longitudinal distance with respect to the first pulley at a lever arm of the respective suspension element, wherein the suspension element is coupled to a/the first and a/the second circumferential tracks via the first and second pulleys.

According to one embodiment a respective subset of said suspension elements are connected to each other by means of longitudinal connecting elements, especially by chain elements, thereby forming a closed loop of interrelated suspension elements distanced to each other in a/the predefined structural regularity.

According to one embodiment the respective circumferential track exhibits a chain or is provided/defined by a chain forming a closed loop of interrelated chain elements.

According to one embodiment the crawler type ceiling unit is configured for lifting a/the respective suspension elements out of the structure in an unloaded state, especially such that both de-/coupling kinematics for a subset of momentarily unloaded suspension elements and suspension of the crawler type ceiling unit by a subset of momentarily loaded suspension elements is ensured.

According to one embodiment the crawler type ceiling unit exhibits at least two kinds/types of suspension elements, wherein the different types of suspension elements are de-/coupled according to individual kinematics (especially in opposite directions/sides at the profile units, especially both in and opposite to the second spatial direction resp. travel direction of the crawler type ceiling unit), wherein a first subset of the suspension elements are attached to a first pair of circumferential tracks (resp. a subset of the first subset, momentary) and at least one further subset of the suspension elements are attached to a second pair of circumferential tracks (resp. a subset of the second subset, momentary) respectively at predefined first and second (further) longitudinal positions respectively corresponding to the structural regularity (resp. to the distance of the profile units defined by said structural regularity), wherein the first and second pairs of circumferential tracks provide for individual kinematics for the first and second subsets of suspension elements, especially such that the crawler type ceiling unit is secured with respect to opposite sides/directions (of the second spatial direction) at the structure resp. at the profile units.

According to one embodiment each suspension element is guided by a pair of circumferential tracks, wherein the crawler type ceiling unit exhibits at least three pairs of circumferential tracks each guiding a subset of the suspension elements, wherein said de-/coupling kinematics are predefined by said three pairs of circumferential tracks in such a manner that that respective suspension elements (resp. a subset of the respective subset, momentary) simultaneously de-/couple both at a first side (resp. first longitudinal position) of a respective profile unit and at a second side (resp. second longitudinal position) of a respective profile unit, especially such that the crawler type ceiling unit is secured with respect to opposite sides/directions (of the second spatial direction) at the ceiling structure, especially with all suspension elements being guided in same circumferential direction, especially with all circumferential tracks being arranged in parallel to each other.

According to one embodiment the crawler type ceiling unit exhibits at least one load attachment point configured for transferring loads of an external load (e.g. an object or a subject/individual to be carried/transported/moved along the ceiling in one- or two-dimensional manner) attached to the crawler type ceiling unit.

According to one embodiment the crawler type ceiling unit exhibits at least one hoist unit, or the ceiling suspension arrangement exhibits at least two crawler type ceiling units each exhibiting at least one hoist unit, wherein the hoist unit is configured for transferring loads of an external load (e.g. an object or a subject/individual) to the ceiling structure.

According to one embodiment the crawler type ceiling unit exhibits at least one drive interacting with (resp. driving) at least one of the circumferential tracks, wherein the ceiling suspension arrangement is configured for a predefinable driven motion of the crawler type ceiling unit at least in said second spatial direction (especially back and forth).

According to one embodiment the crawler type ceiling unit exhibits an energy storage unit providing energy to a/the at least one drive of the crawler type ceiling unit, especially to a/the at least one drive interacting with (resp. driving) at least one of the circumferential tracks.

According to one embodiment the ceiling suspension arrangement exhibits or defines at least one energy charging point/position, wherein the ceiling suspension arrangement is configured for charging the at least one crawler type ceiling unit with energy when being arranged in/at said energy charging point/position.

According to one embodiment the ceiling suspension arrangement exhibits a plurality of energy supply lines extending along at least a subset of the profile units, wherein at least a subset of the suspension elements of the respective crawler type ceiling unit are configured for energy extraction via the energy supply lines, e.g. by means of current collectors or power-sliders provided at a free end (resp. at elements of motion) of the respective suspension element coupling with the profile units.

According to one embodiment the ceiling suspension arrangement (especially the at least one crawler type ceiling unit) exhibits a sensing device exhibiting at least one sensor from the following group: speed sensor, distance sensor, position measuring sensor, force sensor, acceleration sensor resp. gyroscope; wherein the ceiling suspension arrangement is configured for controlling the at least one crawler type ceiling unit based on (depending on) momentary measuring data of the at least one sensor.

According to one embodiment the (respective) crawler type ceiling unit exhibits a communicating unit configured for wireless communication at least within the ceiling suspension arrangement, wherein the (respective) crawler type ceiling unit exhibits an energy storage unit providing energy to the communicating unit, especially such that the crawler type ceiling unit is energetically self-sustaining (autarkic) for at least a period of several days or weeks or month.

According to one embodiment the ceiling suspension arrangement is configured for localizing individual crawler type ceiling units based on at least one locating signal transmitted by individual crawler type ceiling units (passively or actively, e.g. passively based on at least one individual transmitter, especially based on individual identification features).

According to one embodiment each suspension element exhibits at least one element of motion (for gliding or rolling, especially at least one wheel) arranged and configured for moving (especially gliding or rolling) the crawler type ceiling unit in said first spatial direction, wherein the crawler type ceiling unit exhibits at least two drives interacting with both at least one of the circumferential tracks and with said elements of motion, wherein the ceiling suspension arrangement is configured for a predefinable two-dimensional driven motion of the crawler type ceiling unit in said spatial directions.

According to one embodiment the profile units of the ceiling suspension arrangement are arranged according to at least two different structural regularities (especially structural densities) respectively with respect to said second spatial direction (i.e., distributed according to at least two equidistant regularities), namely a first structural regularity defining a/the relative distance of the profile units matching with the relative (longitudinal) distance of the suspension elements attached at the tracks (with respect to each other), and a second structural regularity being a whole-number multiple of said first structural regularity (resp. of the relative longitudinal distance of the suspension elements attached at the tracks), wherein the number of momentarily engaging/coupling suspension elements preferably is at least two within a/the overlapping area of the second structural regularity, and wherein a/the area of the first structural regularity preferably has a first load-bearing capacity and the area of the second structural regularity has a second load-bearing capacity (especially smaller than the first load-bearing capacity).

According to one embodiment the profile units of the ceiling suspension arrangement spatially define at least two different allowable loads (according to at least two different/specific load-bearing capacities) in at least two spatial sections of the ceiling suspension arrangement along the ceiling (wherein the cross section remains identical, geometrically).

According to one embodiment at least a subset of the profile units of the ceiling suspension arrangement respectively exhibit at least one delimitating zone or boundary line defining a limit between a traveling area for the at least one crawler type ceiling unit and an inaccessible boundary area of the ceiling structure (in which the at least one crawler type ceiling unit shall not travel or shall not be positioned).

According to one embodiment the ceiling suspension arrangement is coupled with/to a further ceiling suspension arrangement, wherein the profile units of the ceiling suspension arrangement are arranged according to a first structural regularity (especially structural density), wherein the profile units of the further ceiling suspension arrangement are arranged according to a second structural regularity, wherein the second structural regularity is a whole-number multiple of said first structural regularity; wherein the ceiling suspension arrangements may extend for example on at least two different levels of altitude or floors.

According to one embodiment the ceiling suspension arrangement extends on at least two different levels of altitude (thereby providing for three-dimensional travel directions), wherein the ceiling suspension arrangement comprises at least one elevator exhibiting an elevator ceiling structure geometrically corresponding to/with the ceiling structure of the ceiling suspension arrangement, wherein the ceiling structure merges/transitions to the elevator ceiling structure (structural transition), wherein the elevator is configured to travel from at least a first level to a second level, thereby interconnecting said levels of altitude and a plurality of ceiling structures extending at said at least two different levels.

According to one embodiment the ceiling suspension arrangement exhibits a plurality of crawler type ceiling units each exhibiting at least one attachment point or hoist unit each being configured for transferring loads of an external load of at least <NUM> or <NUM> to the ceiling structure, wherein the ceiling suspension arrangement is configured for arranging a plurality of external loads in individual two-dimensional or three-dimensional positions with respect to each other, especially respectively being attached at one crawler type ceiling unit.

According to one embodiment the crawler type ceiling unit exhibits at least one attachment point or hoist unit structurally connected with at least one of the circumferential tracks, wherein the crawler type ceiling unit is configured for transferring loads of an external load (e.g. of an individual) of at least <NUM> or <NUM> to the ceiling structure, wherein the ceiling suspension arrangement is configured for at least two-dimensional transportation/movement of at least one individual suspended via the attachment point or hoist unit along the ceiling structure.

According to one embodiment the crawler type ceiling unit exhibits at least one attachment point or hoist unit structurally connected with at least one of the circumferential tracks, wherein the crawler type ceiling unit is configured for transferring loads of an external load (e.g. of an equipment, a machine or an engine or any such industrial object) of at least <NUM> or <NUM> to the ceiling structure, wherein the ceiling suspension arrangement is configured for at least two-dimensional transportation/movement of the external load being suspended via the attachment point or hoist unit along the ceiling structure.

According to one embodiment the ceiling suspension arrangement exhibits a plurality of crawler type ceiling units each exhibiting at least one attachment point or hoist unit each being configured for transferring loads of an external load to the ceiling structure, wherein the ceiling suspension arrangement is configured for controlling the one- or two-dimensional movement or path of motion of a subset of at least two of the crawler type ceiling units in dependence on each other, especially such that the crawler type ceiling units of the (respective) subset move analogously (especially remaining at the same distance with respect to each other), especially by also controlling at least two hoists of the (respective) subset carrying the same external load.

According to one embodiment the ceiling suspension arrangement exhibits a plurality of crawler type ceiling units each exhibiting at least one accommodating cavity configured for accommodating at least one package, wherein the ceiling suspension arrangement exhibits at least one control unit configured for wireless control resp. wireless data transmission (especially based on at least one communicating unit, e.g. near filed, mobile network, LAN, LP-WAN, SigFox, NBIoT), wherein the ceiling suspension arrangement is configured for controlling the one- or two-dimensional movement or path of motion of a respective crawler type ceiling unit (especially in dependence on a desired/required target position, especially based on at least one identification feature of the respective crawler type ceiling unit or package wirelessly transmitted by the respective crawler type ceiling unit or wirelessly acquired by a/the control unit of the ceiling suspension arrangement) and/or of a subset of at least two of the crawler type ceiling units in dependence on each other, especially such that the plurality of crawler type ceiling unit simultaneously move according to a plurality of individual one- or two-dimensional paths of motion.

According to one embodiment the crawler type ceiling unit exhibits at least one attachment point or hoist unit each being configured for transferring loads of an external load to the ceiling structure, wherein the ceiling suspension arrangement exhibits a sensing device exhibiting at least one sensor from the following group: force sensor, acceleration sensor resp. gyroscope; wherein the ceiling suspension arrangement is configured for gravity offloading based on active force exertion in at least one spatial direction via the attachment point or hoist unit (especially active force vertically upwards), wherein the amount of force is depending on (resp. is adapted to) effective gravity and/or effective load (effective gravitational forces exerted at the attachment point or hoist unit) especially based on momentary data of the at least one force sensor, preferably with the amount of force being adjustable e.g. according to individual user commands.

According to one embodiment the at least one crawler type ceiling unit exhibits at least one drive, wherein the ceiling suspension arrangement unit exhibits a control unit controlling the drive, wherein the ceiling suspension arrangement exhibits a sensing device exhibiting at least one sensor from the following group: speed sensor, distance sensor, position measuring sensor, force sensor, acceleration sensor resp. gyroscope; wherein the ceiling suspension arrangement is configured for controlling the at least one crawler type ceiling unit based on (depending on) momentary measuring data of the at least one sensor, especially for controlling an absolute or a relative position or state of motion of the at least one crawler type ceiling unit.

According to one embodiment the ceiling suspension arrangement exhibits a plurality of crawler type ceiling units respectively exhibiting at least one sensor (position, distance, speed, acceleration) and a communicating unit communicating with a (central) control unit of the ceiling suspension arrangement, wherein the ceiling suspension arrangement is configured for predefining a plurality of individual paths of two-dimensional motion of respective crawler type ceiling units (especially such that each individual path of motion is adjusted resp. adapted to momentary moving conditions and positions of the further crawler type ceiling units, especially by providing individual commands to at least one drive or actuator of each crawler type ceiling unit, especially based on at least one individual identification feature, e.g. a code which is specific for each individual ceiling unit).

According to one embodiment the ceiling suspension arrangement exhibits a central control unit monitoring at least the momentary positions of the (active) crawler type ceiling units of the ceiling suspension arrangement, wherein each crawler type ceiling unit exhibits a communicating unit for wireless transmission of control signals to at least one drive or actuator of the respective crawler type ceiling unit;
or wherein the ceiling suspension arrangement is configured for decentral control, wherein each crawler type ceiling unit exhibits a sensing device providing momentary sensor data (especially speed and/or distance and/or position and/or acceleration data) to at least one drive or actuator of the crawler type ceiling unit.

According to one embodiment the ceiling suspension arrangement is configured to block the respective crawler type ceiling unit with respect to at least one direction of motion, especially by blocking the circumferential motion along the circumferential tracks (fixed position at least with respect to the second spatial direction) and/or by blocking elements of motions (for gliding or rolling along the profile units, especially wheel) of the respective suspension elements (fixed position at least with respect to the first spatial direction), thereby providing for (optional) one-dimensional motion only in said first or second spatial direction.

According to one embodiment the ceiling suspension arrangement comprises a database configured for storing and accessing at least one digital twin of individual crawler type ceiling units and/or individual packages carried by crawler type ceiling units of the ceiling suspension arrangement, wherein the digital twin at least comprises information of momentary status (e.g. relative/absolute position, speed, loading condition, weight, capacity, energy status), wherein the ceiling suspension arrangement is configured to define at least one control parameter for individual crawler type ceiling units based on information of the at least one digital twin, especially for remotely controlling individual crawler type ceiling units.

It should be noted that in context with the present invention, it is considered convenient to integrate at least one, advantageously several, even more advantageously as much as possible information in the digital twin of a package/packet.

The above mentioned object is also solved by a method of suspending/positioning at least one crawler type ceiling unit at a ceiling structure extending in at least two spatial directions for providing at least two degrees of freedom for at least two-dimensional positioning or two-dimensional (traveling) motions of the (respective) crawler type ceiling unit in suspended manner headlong the ceiling structure, especially in conjunction with actively moving/driving the crawler type ceiling unit along the ceiling structure, especially by actively re-orientating the crawler type ceiling unit's traveling direction (which can be carried out via remote control of at least one drive unit or actuator of the respective crawler type ceiling unit), especially in/with a ceiling suspension arrangement as described above, wherein the ceiling structure comprises a plurality of profile units extending in a first spatial direction, wherein the ceiling structure defines at least one structural regularity in a second spatial direction (thereby defining a one-dimensional raster with discrete coupling points only in said second spatial direction); wherein the crawler type ceiling unit is suspended by means of a plurality of suspension elements coupling the crawler type ceiling unit to the ceiling structure by means of de-/coupling kinematics depending on a relative motion of the ceiling unit with respect to the ceiling structure in at least said second spatial direction, wherein the suspension elements are (respectively) attached to and guided by at least two circumferential tracks (especially tracks based on or defined by traction means, preferably chain-based tracks) of the crawler type ceiling unit, wherein the circumferential tracks respectively define a specific path of circumferential motion of the respective suspension elements, thereby providing for de-/coupling kinematics which suspend and relatively move the respective suspension element with respect to the ceiling structure during a relative motion of the crawler type ceiling unit (with respect to the ceiling structure) in said second spatial direction, especially with the crawler type ceiling unit remaining movable (at least passively) in said first spatial direction along the profile units irrespective of momentary motion in said second spatial direction.

The above mentioned object is also solved by a computer program comprising instructions which, when the program is executed by a computer, cause the computer to execute steps of the method as described above in context with provision and control of the motion or relative/absolute positions of at least one crawler type ceiling unit, especially by controlling the at least one drive of at least one crawler type ceiling unit interacting with at least one of the circumferential tracks, especially based on momentary absolute and/or relative position data of the at least one crawler type ceiling unit.

Abstract: The present invention refers to ceiling suspension arrangements exhibiting at least one crawler type ceiling unit and a ceiling structure extending in at least two spatial directions and defining at least one structural regularity, wherein the crawler type ceiling unit exhibits a plurality of suspension elements for suspending the ceiling unit and for coupling the crawler type ceiling unit to the ceiling structure, wherein the crawler type ceiling unit exhibits at least two circumferential tracks, wherein the suspension elements are attached to the circumferential tracks at predefined longitudinal positions corresponding to the structural regularity, wherein the circumferential tracks respectively define a specific path of circumferential motion of the respective suspension elements. Further, the present invention refers to a method of suspending the ceiling unit at a ceiling structure, especially in context with two-dimensional positioning of the ceiling unit.

These and other aspects of the present invention will also be apparent from and elucidated with reference to the embodiments described hereinafter. Individual features disclosed in the embodiments can constitute, alone or in combination, an aspect of the present invention. Features of different embodiments can be carried over from one embodiment to another embodiment. In the drawings:.

First, the reference signs are described in general terms; individual reference is made in connection with respective figures.

The present invention provides for a crawler type ceiling unit <NUM> having at least one chassis <NUM> resp. The ceiling unit <NUM> is configured for moving / traveling along a ceiling structure <NUM> exhibiting a predefined structural regularity or raster 1a which is, e.g., defined by T-profiles resp. T-rails <NUM> or any such profile unit. The profile units <NUM> exhibit at least one wheel tread <NUM>, and optionally, a power rail <NUM> providing for energy supply can be arranged at the profile units also. The ceiling unit <NUM> is coupled to the structure <NUM> and suspended via a plurality of suspension elements <NUM>, 13a, 13b (e.g. each including at least one element of a closed loop or chain). A ceiling suspension arrangement <NUM> is composed of at least one ceiling unit <NUM> and at least one ceiling structure <NUM> (at least one type of ceiling structure).

The at least one chassis or housing <NUM> may provide for accommodation of a crawling or driving mechanism <NUM> (with or without motor(s) or actuator(s)) which allows for circumferential motion of the suspension elements <NUM> along circumferential tracks <NUM>, namely simultaneously along a first and a second circumferential track 12a, 12b, which tracks exhibit individual shapes/contours XZa, XZb. Preferably, the tracks only extend two-dimensionally (2D), i.e. in a plane, and the shape is different at least in curved sections 12r of the tracks. Each track 12a, 12b exhibits a parallel/linear section 12p (resp. two parallel sections) and at least one redirection/curved section 12r (resp. two curved sections). A lateral area resp. surface shell of the at one chassis or housing is preferably flat, plane, even, respectively on each lateral side. Such a configuration is also favourable in view of interconnection of several chassis (side by side).

According to one embodiment, the ceiling unit <NUM> exhibits at least one further (second) chassis/housing exhibiting first and second circumferential tracks 12a, 12b and accommodating a plurality of further suspension elements 13b which are arranged mirror-inverted, with respect to the suspension elements <NUM> of the first housing. As an alternative, both types of suspension elements are arranged within the same housing (are part of the same chassis), and optionally, both types of suspension elements can be guided by the same pair of circumferential tracks. The chassis may (actively) provide for a traveling motion (e.g. by a synchronous guiding/driving motion of/to the suspension elements). Several chassis can be interconnected, e.g. via cross-beams or the like. Also, a first and a second chassis may provide for different driving motions, e.g. in order to force a non-linear, but curved/curvilinear traveling motion. The desired/required traveling motion can be controlled via a control unit <NUM> which can be coupled to at least one motor or actuator <NUM> (which is optional). In particular, the ceiling unit can be provided as a kind of passive vehicle which traveling motion is induced by external forces; in such a configuration, the inventive kinematics provide for suspending the ceiling unit (especially in predefinable positions), but not for actively driving the ceiling unit for any traveling motion. A drive section may also comprise at least one gear unit <NUM> configured for interacting with the track(s) and at least one energy storage unit <NUM>. A sensor arrangement <NUM> exhibiting at least one sensing device <NUM>, e.g. comprising position sensors <NUM> and velocity sensors <NUM> and/or weight sensors <NUM> and/or gyroscopes <NUM>, may provide sensor data to the control unit.

Preferably, each suspension element <NUM>, 13a, 13b exhibits a first pulley <NUM> and a second pulley <NUM>, and optionally, a wheel <NUM> is provided at the free end of the suspension element <NUM> (bearing point P13). The first and second pulleys are arranged on a lever arm <NUM> in distance from/to each other (y-offset, longitudinal extension y13 of lever arm); the bearing point P13 resp. the wheel <NUM> is arranged at a protruding section resp. suspension arm <NUM> (z-offset). At the free end of the suspension arm, optionally, a current collector resp. power-slider <NUM> (conductive slider for energy transfer) is provided in an arrangement geometrically corresponding to a/the power rail <NUM> of the respective profile unit <NUM>. The plurality of suspension elements <NUM> of a/the respective chassis <NUM> can be interconnected via longitudinal connecting elements <NUM> which can ensure a closed loop 15a of interrelated suspension elements. The suspension elements <NUM> are coupled to the respective circumferential tracks.

In other words: The suspension elements preferably exhibit a wheel <NUM> performing a rolling motion on the profile units of the ceiling structure, allowing for a motion which is orthogonal to the motion predefined and evoked by the tracks, wherein the wheel is positioned and aligned orthogonally with respect to the first and second pulleys. Optionally, the wheel can be motorised e.g. by means of further actuators or motors. The first pulley <NUM> is engaged with the first or second circumferential track, thereby following the contour defined by said track; also, the second pulley <NUM> is engaged with the first or second circumferential track, thereby following said track (which is different from the track engaged by the first pulley, i.e. vice versa). Lever arm <NUM> is preferably L-shaped, especially provided as integral element in one piece (massive, solid).

Preferably, the ceiling structure <NUM> and its raster 1a is defined by profile units <NUM> being arranged in parallel and with similar distance (pitch) to adjacent profile units. Each profile unit is preferably configured to support geometries/surface(s) which are adequate for interaction with the wheel(s) of the suspension elements (e.g. T-profile, C-profile, L-profile, I-profile), and a series of such profile units preferably provides for a planar surface at least in sections.

By means of the circumferential tracks and the suspension elements, the (respective) chassis and the kinematics defined by the shape of the tracks provide for decoupling kinematics <NUM> which ensure both vertical motion kinematics and non-circular pivot motion kinematics. Thereby, de-/coupling of each suspension element can be effected via circumferential motion along the tracks without the need of any axial telescopic motion within each suspension element. , the respective suspension element can be designed as purely mechanic unit.

In particular, in context with logistic tasks, the ceiling unit <NUM> may exhibit at least one hoist unit <NUM> providing for a traction mechanism <NUM> (especially with rope winch) and having at least one transmission means <NUM> (especially a rope).

In the following, the kinematics provided by the guiding/driving motion along the circumferential tracks is described in general, first:
The first pulley <NUM> of each suspension element <NUM> rotates about a first pulley axis and defines a first guiding point G13. <NUM> (coupling the first track and the respective suspension element), and vice versa, the corresponding point of the corresponding circumferential track defines that first guiding point G13. <NUM> for each suspension element. Likewise, the second pulley <NUM> of each suspension element <NUM> rotates about a second pulley axis (which is preferably aligned in parallel) and defines a second guiding point G13. <NUM> (coupling the second track and the respective suspension element). When referring to the kinematics of each suspension element, an instantaneous centre of rotation of each suspension element is defined by the axis of the first pulley <NUM> being coupled to the first track 12a, wherein coupling/attachment/fixation can be ensured e.g. at the axial section between a/the suspension arm <NUM> and the first pulley <NUM> (cf. The two tracks 12a, 12b are arranged with respect to another in such a manner that the contacting/bearing point/area P13 (coupling point) of the respective suspension element <NUM> can be hooked or hitched on the ceiling structure. According to a preferred arrangement, the wheel <NUM> of each suspension element rotates about a wheel axis which is preferably aligned orthogonally to the first and second pulley axis. Since each suspension element <NUM> is coupled to the tracks 12a, 12b in predefined positions, namely in a predefined first longitudinal position y12a via the first pulley <NUM> and in a predefined second longitudinal position y12b via the second pulley <NUM>, when driving the tracks resp. when guiding the suspension elements along the tracks, the bearing point P13 at the free end of the suspension element <NUM> is guided according to the relative position/contour and distance of the corresponding tracks (of a pair of tracks guiding the respective suspension element).

The ceiling unit <NUM> may exhibit a control unit which can be a decentral (individual) control unit <NUM> (e.g. in an arrangement comprising a plurality of ceiling units each exhibiting an individual control unit). The ceiling suspension arrangement <NUM> may also comprise a central control unit <NUM>.

Further, a respective ceiling unit <NUM> may exhibit a communicating unit <NUM> (e.g. near filed, mobile network, LAN, LP-WAN, SigFox, NBIoT) and/or a transmitter <NUM> (active or passive), especially for transmitting locating signals. These components are configured to interact in/with a positioning system <NUM>.

The ceiling unit <NUM> can be configured to carry at least one external load <NUM> (especially object or individual) which can be attached to the ceiling unit <NUM> in an attachment point P60. Optionally, the attachment point P60 is provided by a hoist unit <NUM> resp. by transmission means <NUM> (rope) of the hoist unit <NUM>. The external load <NUM> may comprise or consist of a package <NUM> (e.g. including consumables, food, postal items). The external load <NUM> may further comprise an identification feature <NUM>, especially a code (e.g. including a number). Likewise, each ceiling unit <NUM> may comprise an identification feature <NUM>, especially a code (e.g. including a number).

A digital twin <NUM> referring to a respective ceiling unit <NUM> and/or a digital twin <NUM> referring to a respective package <NUM> (or external load <NUM>) can be stored in a database <NUM>. The database is configured for storing and accessing the at least one digital twin at least comprising information of momentary status, wherein the ceiling suspension arrangement is configured to define at least one control parameter for individual crawler type ceiling units based on information of the at least one digital twin.

In the figures, (x) designates a/the first spatial direction (especially cross direction, especially direction of longitudinal extension of profile units), and (y) designates a/the second spatial direction (especially longitudinal direction or momentary driving direction of the ceiling unit), and (z) designates a/the third spatial direction (especially vertical direction).

<FIG> shows a ceiling unit <NUM> exhibiting at least one chassis <NUM> and suspension elements <NUM>, wherein a subset of the suspension elements <NUM> is momentarily coupled to a/the ceiling structure <NUM>, namely to T-profiles (profile units <NUM>). The suspension elements <NUM> are guided (and optionally also actively driven) along two circumferential tracks (not shown, cf. <FIG>), and de-/coupling is carried out in curved sections of circumferential tracks.

The ceiling unit <NUM> shown in <FIG> is suspended (hanging) at a ceiling structure. Nonetheless, the unit or vehicle <NUM> may also be suspended in a similar structure being arranged on the ground or at the wall. The unit is not necessarily provided in the form of a ceiling vehicle but is configure for being used/implemented as a ceiling crawler; thus, <FIG> illustrates an application/use at a structure which extends at a ceiling.

<FIG>, <FIG> show separate components of respective chassis units <NUM>. At least one drive unit <NUM> or drive 11a, 11b, 11c (which is optional, i.e., which can be provided if active driving motion to the suspension elements is desired) provides for circumferential motion of the tracks 12a, 12b (or of the suspension elements interconnected to form a closed loop which is driven along the tracks), especially by means of at least one gear unit <NUM> engaging the tracks or any chain or traction means providing said closed loop. It is shown that the de-/coupling kinematics are provided within the curved sections 12r of the first and second circumferential tracks 12a, 12b. In contrast, within the parallel section(s) 12p, the suspension elements <NUM> remain in predefined relative positions at/with respect to the ceiling structure. In that section, the axis of the wheel <NUM> of the respective suspension element <NUM> is aligned parallel to the parallel section(s) 12p of the tracks. For example, the ceiling unit <NUM> comprises three chassis <NUM> each exhibiting at least one drive, wherein these drives can be controlled by one single drive unit. Alternatively, the ceiling unit <NUM> comprises two or three chassis <NUM> and exhibits only one single drive or drive unit, wherein a circumferential motion can be coupled to involve several chassis.

In case the ceiling unit exhibits several chassis, some of these components may also be arranged in a mirror-inverted manner, especially the suspension elements (cf. Thus, any detailed description of the figures relating to any separate/single component of the respective drive unit may also describe a similar configuration of any further drive units or any further redundant components.

<FIG> illustrate the curved sections 12r in more detail; it can be seen that both the radius of curvature and the distance of the tracks with respect to each other deviates/changes in value and direction, thereby effecting a pivot motion of the suspension arm <NUM> (protruding section) and the wheel <NUM> resp. bearing point P13 of the respective suspension element <NUM> (especially pivoting within the plane yz as shown in <FIG> and pivoting about an x-axis and around the instantaneous centre of rotation Cr). Thus, both vertical motion kinematics and non-circular pivot motion kinematics can be provided by means of rigid/stiff components being guided/driven along two circumferential tracks with different shape/contour.

<FIG> show some more details of the de-/coupling kinematics <NUM>. In particular, it can be seen that the first track 12a has a curvature bent up (upwards), thereby effecting a slight lifting of the wheel <NUM> from the wheel tread <NUM>, namely when the first pulley <NUM> is passing that section. In particular, apart from one single section, the shape/contour XZb of the second circumferential track 12b runs (is arranged) within the shape/contour XZa of the first circumferential track 12a.

<FIG> show a plurality of suspension elements <NUM> being interconnected via longitudinal connecting elements <NUM> which thereby ensure a closed loop 15a of interrelated suspension elements. The suspension elements <NUM> (13a, 13b) are coupled to the respective circumferential tracks 12a, 12b via the first and second pulleys <NUM>, <NUM>.

In the embodiment shown in <FIG>, the first and second pulleys <NUM>, <NUM> are arranged on opposite lateral sides of the respective suspension element <NUM>. Thus, the closed loop 15a of interrelated suspension elements is arranged between the first and second tracks 12a, 12b which extend on both lateral sides of the closed loop 15a.

The tracks 12a, 12b can be made of any kind of rail guide system components, in particular including at least one chain, belt, cable or the like traction or transmission means. The tracks 12a, 12b may comprise different guide/rail sections coupled together, each exhibiting a different radius of curvature or being linear. Also, the tracks 12a, 12b can be formed/made by on single continuous/coherent rail.

<FIG> show some more details of the suspension elements <NUM> and the connecting elements <NUM>. , the connecting elements <NUM> are coupled to the lever arm <NUM> at the axis of the first pulley <NUM>, thereby facilitating pivot motion about that axis (resp. around the respective instantaneous centre of rotation Cr).

<FIG>, <FIG>, <FIG>, <FIG> show an embodiment of a ceiling unit <NUM> exhibiting three chassis <NUM> each exhibiting a drive unit 11a, 11b, 11c providing for circumferential driving motion of the suspension elements along the tracks, wherein the chassis can be interrelated/connected e.g. via cross-beams or the like.

Alternatively, one central drive unit may drive the suspension elements of all three chassis. In contrast to the configuration at the first chassis, the suspension elements 13b of the second chassis are arranged in mirror-inverted manner, but the suspension elements <NUM> of the third chassis are arranged in the same manner as the suspension elements <NUM> of the first chassis. As can be seen in <FIG>, that configuration allows for a really good security and stability level (both types of suspension elements <NUM>, 13b are guided along the T-profiles, but on different lateral sides of the T-profiles). Alternatively, the ceiling unit <NUM> may only comprise two chassis.

<FIG> show different kinds of traveling motions which can be effected by means of the ceiling unit <NUM> described herein. As already described further above, the present invention allows for two-dimensional traveling motion both in a first spatial direction (x) corresponding to the longitudinal direction/extension of the T-profiles <NUM> (dashed line arrow), and in a second spatial direction (y) corresponding to the driving direction resp. to the direction/extension of the tracks (dotted line arrow).

It should be mentioned that the T-profiles (profile units) shown in the figures may also be provided as other kinds of profile rails; i.e., the inventive mechanism/kinematics is/are not limited to use of T-profiles only; rather, the skilled person is aware of the fact that also other profiles offering adequate suspension for the suspension elements and optionally also a guiding track to the wheels can be used.

In the following, further aspects/details of embodiments of the present invention are described in more detail. For any reference signs or elements/components or aspects not explicitly mentioned/described, it is referred to above mentioned embodiments, respectively. The embodiments described in the following passages exhibit two or three chassis and at least one drive unit comprising a chain drive, and the first circumferential track comprises a chain (with a closed loop of interrelated chain elements arranging the corresponding suspension elements and optionally also arranging counter bearing elements), and the longitudinal connecting elements are provided in the form of chain elements.

<FIG> shows a ceiling unit exhibiting means for avoiding any relative motion of the ceiling unit with respect to the structure (full suspension especially also in view of any relative motion orthogonally/normally with respect to the structure), and <FIG> shows a configuration which at least ensures secure the suspension in view of vertical forces of inertia and lateral forces (suspension devoid of counter bearings).

<FIG>, <FIG> illustrate a ceiling suspension arrangement <NUM> comprising a ceiling unit <NUM> exhibiting three chassis. As already described further above, the present invention allows for two-dimensional traveling motion both in a first spatial direction corresponding to the longitudinal direction/extension of the T-profiles <NUM> (dashed line arrow), and in a second spatial direction corresponding to the driving direction resp. to the direction/extension of the tracks (dotted line arrow). Depending on the orientation of the structure resp. of the T-profiles <NUM>, the first and/or second spatial direction may also comprise a vertical (z-)component, as illustrated in <FIG> (inclined plane / level). Therein, coordinates x, y shown in the figures in context with inclined planes refer to the longitudinal extension (x) of the (ceiling) structure.

The ceiling unit <NUM> shown in <FIG> is suspended at a ceiling structure. Nonetheless, the ceiling unit <NUM> may also be suspended in a similar structure being arranged on the ground or at the wall; thus, <FIG> illustrates an application/use at a ceiling structure. Same applies for any further figure of the present disclosure illustrating an application/use at a ceiling structure only as an example.

<FIG> show some more details of a ceiling unit <NUM> exhibiting three chassis <NUM> arranged laterally with respect to each other, wherein the chassis arranged there between (in the middle) does not exhibit any suspension elements but counter bearings <NUM>, and <FIG> show some more details of a ceiling unit <NUM> exhibiting two chassis <NUM> (each without counter bearing). In the embodiment shown in <FIG>, the second chassis provides for counter bearings <NUM> which are coupled to the chain 15a, i.e., the first circumferential track provides for positioning and motion (resp. path of motion) of the counter bearings <NUM>. It should be noted that in the embodiment shown in these figures, theses counter bearings <NUM> are intended for interfering with the structure only at a face side, and therefore, no de-/coupling kinematics are provided in context with these counter bearings <NUM>. Therefore, there is no need for provision of any further second circumferential track at/for the second chassis arranged in the middle. Thus, in this embodiment, the second chassis arranged in the middle and accommodating (only) the counter bearings only exhibits a/the first circumferential track.

<FIG> show some details of a chassis only accommodating counter bearings but no suspension elements.

<FIG> and <FIG> and <FIG> and <FIG> show some kinematic aspects of chassis accommodating/arranging/guiding both suspension elements <NUM> and further suspension elements 13b. <FIG> also illustrates that one (each) chassis <NUM> may comprise the first circumferential track (here: provided/defined by the chain 15a) and two second circumferential tracks 12b, wherein these two second circumferential tracks 12b are arranged asymmetrically, i.e., the shape/contour XZb is asymmetrical. Such an arrangement also allows for providing de-/coupling kinematics for both a plurality of suspension elements 13a of a first type and a plurality of further suspension elements 13b of a second type, especially in such a manner that both types of suspension elements 13a, 13b may interact and engage in the same (but asymmetrical) manner with the structure <NUM>, especially at the same profile rail at opposite lateral sides, respectively. Such an arrangement may also ensure a high security and stability level already by means of one single drive unit <NUM>. Thus, scaling (two, three or even more) of the ceiling unit's components (e.g. of the drives) is realizable in even more flexible manner, and individual arrangements can be optimized for each application.

It should be noted that the first circumferential track resp. a/the chain may/can provide for guiding and driving both the suspension elements 13a and the further suspension elements 13b; both types of suspension elements 13a, 13b can be coupled, e.g., via a protruding axial section (guiding bolt or shaft) <NUM> to the chain structure (cf. <FIG>) which protrudes vis-à-vis of the first pulley <NUM>, especially along its axis. In particular, the suspension elements 13a and the further suspension elements 13b are arranged with longitudinal offset (y) and mirror-inverted on both sides of the chain 15a. In particular, the longitudinal distance (y) of the respective suspension element 13a and the respective further suspension element 13b of a respective pair of suspension elements <NUM>, 13b corresponds to the extension in cross direction (y) of each element/profile of the (ceiling) structure.

<FIG> also shows a guiding plank or rail allowing for guiding the first circumferential track resp. the chain more precisely.

<FIG> show a further embodiment of suspension elements <NUM>, wherein in comparison with the suspension elements described above in context with <FIG>, these suspension elements exhibit two wheels or pulleys <NUM> arranged and configured for interacting with the structure <NUM>, and these suspension elements may also exhibit a further pulley which is suspended around an axis extending in the z-direction (as shown in <FIG>). That optional further pulley may ensure further/improved support and guiding with respect to the structure.

It should be noted that the reference signs 13a, 13b are introduced in order to differentiate between different orientations and alignments and paths of motion of subsets of suspension elements (in built-in situation); nonetheless, suspension elements 13a and suspension elements 13b can be of similar design.

In <FIG>, <FIG>, <FIG>, a contact point distance provided by different protruding distances of the suspension element's contact point P13 and of the counter bearing's contact point (free end, especially wheel/pulley) is illustrated by referring to the relative arrangement at the (ceiling) structure, respectively.

In <FIG> the ceiling unit <NUM> is encased by a casing <NUM> providing for protection of the ceiling unit's kinematics and of the suspension elements especially in front and at a rear end of the ceiling unit. Such casing can be useful also in case several ceiling units autonomously travel within the same arrangement <NUM> resp. at the same ceiling structure <NUM>.

<FIG>, <FIG> show an arrangement <NUM> in which the profile units <NUM> are arranged only in predefined sections of the ceiling (there remain some areas which are not equipped with profile units, i.e., there is no need to reach these areas by any ceiling unit); alternatively or in addition, the profile units <NUM> can be arranged according to at least two different structural regularities.

An arrangement <NUM> according to <FIG> also comprises a central control unit <NUM> communicating with each ceiling unit <NUM> (which each may comprise a decentral control unit or at least one drive wirelessly communicating with the central control unit), and control commands can also be defined by a positioning system <NUM>, communicating e.g. based on near filed, mobile network, LAN, LP-WAN, SigFox, NBIoT. Data of at least one digital twin <NUM>, <NUM> referring to a respective ceiling unit and/or to a respective package can be stored in a database <NUM> and can be accessed and processed in order to define further control commands. Each ceiling unit <NUM> may (autonomously) reach an energy charging point/position P10 for loading an energy storage unit <NUM>. Alternatively or in addition, energy can be transferred via at least some of the profile units and suspension elements, as described above.

In the embodiment according to <FIG>, the ceiling suspension arrangement extends on different levels of altitude which are connected by means of at least one elevator exhibiting an elevator ceiling structure geometrically corresponding to/with the ceiling structure <NUM> of the ceiling suspension arrangement <NUM>, wherein the ceiling structure merges/transitions to the elevator ceiling structure, thereby providing for interconnection of different levels of altitude. Such a configuration can also be favourable in buildings, e.g. in case the respective ceiling unit should (autonomously) access several areas on different levels of altitude.

In <FIG>, one or several crawler type ceiling units <NUM> carry a load resp. an object <NUM> or package <NUM> which can be identified by means of at least one identification feature <NUM>. The package <NUM> can be stored in an accommodating cavity <NUM> of the object <NUM> (or in an accommodating cavity of the ceiling unit <NUM>). Thus, the positioning system <NUM> can ensure traveling and positioning of each ceiling unit <NUM> according to predefined paths of motion e.g. in order to deliver a package or postal items or the like.

In a configuration shown in <FIG>, several crawler type ceiling units <NUM> conjointly carry and handle a load resp. an object <NUM>, wherein at least one of the ceiling units <NUM> (preferably each ceiling unit) also comprises a hoist unit <NUM> allowing for vertically positioning the object <NUM>. Preferably, a traction mechanism <NUM> (especially rope winch) of the hoist unit is controlled via a/the decentral control unit of the respective ceiling unit and/or via a central control unit of the arrangement <NUM>.

Claim 1:
Ceiling suspension arrangement (<NUM>) exhibiting at least one crawler type ceiling unit (<NUM>) and a ceiling structure (<NUM>) extending in at least two spatial directions (x, y), wherein the ceiling structure (<NUM>) comprises a plurality of profile units (<NUM>) extending in a first spatial direction (x), wherein the ceiling structure (<NUM>) defines at least one structural regularity (1a) in a second spatial direction (y); and wherein the crawler type ceiling unit (<NUM>) exhibits a plurality of suspension elements (<NUM>, 13a, 13b) configured for suspending the ceiling unit and configured for coupling the crawler type ceiling unit (<NUM>) to the ceiling structure (<NUM>) by means of de-/coupling kinematics depending on a relative motion of the crawler type ceiling unit with respect to the ceiling structure (<NUM>) in at least said second spatial direction, wherein the crawler type ceiling unit exhibits at least two circumferential tracks (<NUM>, 12a, 12b), wherein the suspension elements (<NUM>, 13a, 13b) are attached to the circumferential tracks (<NUM>, 12a, 12b) at predefined longitudinal positions corresponding to the structural regularity (1a), wherein the circumferential tracks (<NUM>, 12a, 12b) respectively define a specific path of circumferential motion of the respective suspension elements (<NUM>, 13a, 13b), thereby providing for de-/coupling kinematics during a motion of the crawler type ceiling unit (<NUM>) in said second spatial direction, especially with the crawler type ceiling unit (<NUM>) being configured to be moved in said first spatial direction along the profile units (<NUM>) irrespective of momentary motion in said second spatial direction.