Driverless transport device and driverless transport system for transporting objects, and method for operating a driver-less transport device and a driverless transport system for transporting objects

A driverless transport device (10) for transporting objects (38), comprising:

• a support structure (12) having an outer contour (14);
• an undercarriage (16) which is secured to the support structure (12) and has at least one first wheel (18) and a second wheel (20), wherein the first wheel (18) is mounted in the undercarriage (16) so as to rotate about a first axis of rotation (D1) and the second wheel (20) is mounted in the undercarriage (16) so as to rotate about a second axis of rotation (D2);
• a drive unit (22) by means of which the first wheel (18) and the second wheel (20) can be driven independently of each other;
• and
• a force measuring device (56) by means of which a force acting on the support portion (39) can be determined,
• wherein the force measuring device (56) has at least two force sensors (58),
• wherein at least one first force sensor of the at least two force sensors (58) is assigned to a first group (60) and at least one second force sensor of the at least two force sensors (58) is assigned to a second group (62), and
• wherein the at least one first force sensor of the first group (60) is arranged perpendicular to the at least one second force sensor of the second group (62), such that a main surface of the at least one first sensor of the first group (60) lies in a horizontal plane and a main surface of the at least one second force sensor of the second group (62) extends vertically, the horizontal plane being parallel to ground.