Autonomous mobile robotic system for transporting a payload

Abstract

The invention provides a transport system comprising an autonomous mobile robot (AMR) (1) and a device to be moved (2), which transport system can be operated safely and efficiently within an industrial / commercial environment, while the AMR (1) and the device to be moved (2) can be produced in a cost-efficient manner. It is a particular object of the invention to provide a support member (4) of the device to be moved which has no or only a negligible influence on the safety system, to provide a device to be moved (2) which can carry heavy loads, preferably in the range of hundreds to thousands of kilograms, to provide a safety sensor system for the AMR which can provide a protection zone (5) around the AMR and the device to be moved, and wherein the support member (4) of the device to be moved (2) has no or only a negligible influence on the transport safety. It is a further object of the invention to ensure the correct attachment of the cart / shelf (2) to the AMR (1) before and during driving.

Description

TECHNICAL FIELD

[0001] The present invention relates to mobile robot systems for transporting goods and payloads by Autonomous Mobile Robots (AMRs) that can be configured for moving trolleys, wheeled shelves and other equipment holding items or manipulators, including payloads placed on such equipment. More specifically, the present invention relates to an AMR in which the equipment to be moved is designed to allow the AMR to move underneath the equipment, to interconnect with it, possibly (slightly) lift the equipment, and thereafter move or roll the equipment, including its payload, to the intended destination. BACKGROUND

[0002] Autonomous Mobile Robots (AMRs) are used for moving trolleys, wheeled shelves and other equipment holding items or manipulators, including payloads placed on such equipment.

[0003] Typically, the equipment to be moved has a frame or is placed on a frame with support members (legs, wheels, etc.) allowing the AMR to move underneath it, to interconnect with it, possibly (slightly) lift the equipment, and thereafter reposition the equipment.

[0004] AMRs for industrial use are specifically designed for safe autonomous driving. An AMR safety system includes means for detecting obstacles in a predefined protection zone around the AMR, and means for safely stopping the AMR before colliding with any obstacle detected within the defined protection zone. Known solutions for detecting obstacles around the AMR mount two laser scanners opposite to each other at the corners of the AMR, which is typically rectangular. Each scanner typically covers a 270° field of view, i.e. from one side of the AMR to the other side of the corresponding corner. Thereby, the two scanners can cover the protection zone around the AMR.

[0005] An example of a known scanner solution is the safety scanner by Sick [1].

[0006] While AMRs are so designed for safe autonomous driving without obstructing the field of view of their laser scanners, moving attached equipment or payload frames with support members in the vicinity of the laser scanners poses a challenge to the safety system and increases the risk of not detecting obstacles in time. The support members located in the vicinity of the laser scanners create blind spot areas where obstacles cannot be detected. This is particularly relevant in relation to AMRs where the propulsion means (e.g. drive wheels) are located near the center of the bottom of the AMR, allowing the AMR to turn angles on the spot.

[0007] US Patent No. 10168711 by Omron discloses a mobile platform and a trolley for moving a payload.

[0008] The Omron Adept mobile platform has a scanner in front. The trolley is used as follows, where the front support members are designed such that they are outside the field of view of the front scanner, which is placed in the middle of the front of the mobile robot. In addition, the Omron mobile robot is equipped with 3 additional scanners to cover the safety zones on each side and the back of the trolley, respectively. This is an expensive and complex solution, as each mobile robot must be equipped with 4 scanners. In addition, the scanners on the sides of the robot are placed on poles protruding from the mobile robot. Thereby, the footprint is enlarged, no matter if the mobile robot drives with or without the trolley.

[0009] Another patent application by ROEQ Aps, WO2019 / 063816 [3], discloses a system for connecting an autonomous mobile robot. The illustrated robot has a top module for connecting with a trolley or shelf and lifting the trolley or shelf. The challenge is that an AMR typically has a protection zone on all 4 sides. When moving the AMR under a trolley / shelf, the support means of the trolley / shelf will place within the normal protection zone on each side of the AMR. At the same time, the protection zone in the driving direction is still valid. When the mobile robot can turn around its center point, there is a risk that obstacles on the sides of the robot can be hit by the trolley / shelf, especially its support means, possibly wheels, during a turning operation. A possible solution to overcome this is to mute the protection zones on the sides of the robot whenever the mobile robot is under a trolley / shelf. Alternatively, the protection zones on the sides of the AMR can be made narrow enough so that they cannot cover the support members of the trolley or shelf. Such a solution is acceptable for AMRs with small / light loads, providing a low safety risk, but can be dangerous for AMRs with large / heavy loads.

[0010] It is an object of the present invention to overcome these drawbacks and to provide a safe system for transporting heavy loads by using an AMR. The present application proposes a system for safe transportation of goods and loads by means of an AMR equipped with some, preferably two, safety scanners and by using a load shelf or trolley with support members, wherein the resulting protection fields at all four sides around the AMR provide sufficient safety for personnel and / or obstacles in the vicinity of the moving / turning AMR. SUMMARY

[0011] The present invention provides a transportation system comprising a combination of an AMR and a device to be moved, which can be operated safely and efficiently within an industrial / commercial environment, while the AMR and the device to be moved can be produced in a cost-efficient manner.

[0012] Because the footprint of the equipment to be moved is typically larger than the footprint of the AMR, the safety system of the AMR must be adapted to provide an enlarged protection zone around the entire equipment during transport of the equipment. Another challenge is that the equipment to be moved will typically have some support members (legs, wheels, etc.) that remain under the equipment or frame when moving. In order to prevent these support means from being identified as obstacles within the protection zone, the combination of the protection zone and the support means must be designed such that there is no conflict with safety and / or intended operation.

[0013] It is a particular object of the present invention to:

[0014] • provide for repositioning of support members of the equipment to be moved to a position where the support members have no or only negligible impact on the safety system;

[0015] • provide for an equipment to be moved that can carry a payload of up to 250 kg, preferably up to 500 kg, more preferably up to 1000 kg, most preferably up to 2000 kg, and is not limited to heavy duty payloads;

[0016] • provide for a safety sensor system for an AMR that can provide a protection zone around the AMR and the equipment to be moved, and wherein the support members of the equipment to be moved have no or only negligible impact on safety.

[0017] It is a further object of the present invention to ensure correct attachment of the cart / shelf to the AMR before and during driving. BRIEF DESCRIPTION OF DRAWINGS

[0018] For a better understanding of the present invention and to show how it can be put into effect, there is provided and referenced below a number of drawings, which are given by way of example only and should in no way limit the scope of the present invention.

[0019] Figure 1 depicts blind spots in the field of view of the AMR safety scanner when the AMR is mated with a typical payload frame having four support members (legs, wheels) positioned near the sides of the AMR;

[0020] Figure 2 depicts the most preferred embodiment of the present invention, wherein the support members are distributed asymmetrically with respect to the AMR body and center, still positioned at the sides of the AMR;

[0021] Figure 3 depicts an alternative embodiment of the present invention, wherein the support members are extended from the sides of the AMR to the corners of the AMR, or a frame / cart using support members larger than the AMR is positioned on the corners of the AMR.

[0022] Figure 4Another alternative embodiment of the invention is depicted, where the protection field can be reduced to the perimeter of the cart, taking into account the non-hazardous optical payload, the slow movement of the AMR and the visual and sonar signals that the AMR can emit to humans. In this embodiment, the system is mainly used to identify that the cart is in the correct position during attachment or transportation.

[0023] Figure 5 An embodiment is depicted that precisely positions and secures the AMR to the device to be moved by employing the payload support members as precise positioning landmarks for the AMR.

[0024] Figure 6 Figures a-c depict the configuration of the cart / shelf frame and its support members when positioned, secured or fastened to the AMR during payload transportation: Figure 6 Figure a - side view of the AMR with the frame, Figure 6 Figure b - front / back view of the AMR with the frame, Figure 6 Figure c - perspective view of the AMR with the frame.

[0025] Reference signs

[0026] 1 Autonomous Mobile Robot (AMR);

[0027] 2 Cart / shelf with at least support members (legs, wheels) of the device to be moved by means of the AMR;

[0028] 3 270° safety scanner (e.g. LIDAR) mounted on opposite corners of the AMR;

[0029] 4 Support members (legs, wheels) of the device to be moved by means of the AMR;

[0030] 5 Predefined protection area or zone common to the AMR and the cart / shelf;

[0031] 6 Blind zone / angle created by the protection zone of the safety scanner system, which ignores objects in a specific angular range seen from the scanner.

[0032] 7 Possible obstacle in the blind zone;

[0033] 7.1 Obstacle near the center of the AMR, expected to be safe due to the minimization of the turning speed near the center of the AMR during its rotation.

[0034] 7.2 Obstacle away from the center of the AMR, expected to be safe due to the longer distance from the corners of the AMR during its rotation.

[0035] 7.3 Obstacle in the blind zone, extending from the corners of the AMR, which cannot be reached by the corners of the AMR during its rotation.

[0036] 3' Hypothetical position of safety scanners (e.g. laser radars) when the AMR is precisely positioned and fixed under the device, trolley or shelf to be moved.

[0037] 4' Hypothetical position of the support member as a precise landmark for the AMR to know the precise positioning and fixing of the AMR under the device, trolley or shelf to be moved.

[0038] 8 Narrow tolerance area around the support member, which can be neglected for the blind area.

[0039] 9 Nub / protrusion area on top of the AMR for slightly lifting the device (trolley / shelf) to be moved and fixing the AMR to the device (trolley / shelf) to be moved.

[0040] 10 Means on the frame of the trolley / shelf for fixing the trolley / shelf to the AMR for transportation. DETAILED DESCRIPTION

[0041] It is to be understood that numerous specific details are set forth in order to provide a thorough and complete description of the exemplary embodiments of the present application. Nevertheless, it will be appreciated that the scope of the application is not limited to the specific embodiments described. Well-known methods, procedures and components have not been described in detail in order to ensure that the embodiments are not misleading. Furthermore, the description is not to be interpreted as limiting the application, but as an embodiment.

[0042] While the examples of the application as shown and described include a number of components depicted in a particular common space or location, some components can be remote. It is also to be understood that the examples provided are not limited to the components described, and include other elements necessary for the function and interaction with other components, the existence of which is apparent and therefore not described in detail.

[0043] Figure 1 The basic problem and solution are depicted in Fig. 1. Figure 1 The upper right corner of Fig. 1 illustrates an AMR with a trolley attached. The rectangular AMR 1 is equipped with two safety scanners (preferably laser radars) 3 at two opposite corners of the AMR. Each safety scanner 3 can scan within a 270° field of view, thereby covering the area of all four sides of the AMR 1. The safety scanner system is set up to establish a predefined protection zone (safety zone) 5 at each of the four sides of the AMR 1. Protection zones 5 are needed at the right and left side of the AMR 1 to prevent obstacles 7 from being hit by the turning AMR 1. The problem is that the normal safety system of the AMR 1 recognizes the support element 4 of the trolley / shelf 2 as an obstacle and stops the AMR 1. Prior art solutions compromise the safety, cost and / or efficiency of the transportation system or the maximum payload.

[0044] During driving without equipment, the protection zones 5 at each side of the AMR 1 are set to cover the rectangular protection area 5. During docking under the equipment 2 to be moved, the protection zones 5 at the left and right side of the AMR 1 are inactivated. After correct docking / attachment of the equipment 2, a new, larger protection zone 5 is set to ignore the area where the support member 4 is expected to be. By making the support member 4 as thin as possible, and by configuring the protection zones of the safety scanner 3 system such that the angular intervals covering the support member 4 and the narrow tolerance sectors 8 around it are ignored (when the support element 4 is in its correct position), the blind angle 6 behind the support element 4 remains relatively narrow. The advantage is that, for a relatively short time at the start of a turning operation, only relatively small objects can be covered. Thus:

[0045] • any misalignment between the AMR 1 and the equipment 2 to be moved is detected.

[0046] • unauthorized equipment and partially defective equipment are prevented from being moved.

[0047] The preferred embodiment of the system presents an equipment-cart / shelf 2 with asymmetrically positioned support members 4. Figure 2 The picture in the figure illustrates the preferred embodiment, where the two support members 4 closest to the two (asymmetrically placed) safety scanners 3 move closer to the center of the side of the cart / shelf 2 and can have a reduced diameter. Thereby an asymmetric support structure is provided.

[0048] The protection zones 5 of the safety scanner system are set to ignore the blind area 6 in practically as narrow angular intervals around these support elements 4 as possible.

[0049] The blind angle 6 in the protection area 5 behind the support element 5 thereby starts at the center of the side of the AMR / cart / shelf and extends to near the corner of the protection area 5.

[0050] If there is an obstacle 7.1 in the blind angle 6 near the center of the side of the AMR 1, this is less critical, since during a turning operation the AMR 1 and the cart / shelf 2 only have a relatively small and relatively slow displacement in this central side area. In addition, the risk of the obstacle 7.1 being hit by the AMR wheels or possibly the wheels of the cart / shelf 2 during a turning operation is low.

[0051] If an obstacle 7.2 appears in the blind angle 6 near the corner of the AMR 1, the active part of the protection zone 5 will move relatively quickly when the AMR 1 starts to turn and thereby detects the obstacle 7.2. When the obstacle 7.2 is detected within the protection zone 5 and outside the blind area 6, the turning operation is then stopped. The turning speed is preferably set low to allow timely stopping.

[0052] Figure 3 An alternative embodiment is presented in Fig. 6, where the support member 4 is allowed to further extend from the side of the AMR 1 to the corner of the AMR, or a larger footprint cart 2 with support member 4 on the corner is used, and the protection zone 5 is enlarged accordingly to at least the size of the cart. This embodiment positions the blind zones 6 outside the corners of the cart / shelf 2. If the AMR 1 turns around its center, these blind zones 6 will not endanger any obstacles 7 around the AMR 1 and cart / shelf 2 from colliding with the AMR. In this particular embodiment, a rare situation with a theoretical lane can occur, where an obstacle 7 can remain hidden from the safety scanner 3 by the support member 4, for example when the AMR turns an extended arc and thereby becomes very close or even in contact with the support member 4. Furthermore, it is possible to prevent this situation by software means by setting some special turning trajectories for the AMR.

[0053] Figure 4 Another alternative embodiment is presented in Fig. 7, where the protection zone 5 is allowed to be reduced to the perimeter of the AMR 1 and the perimeter of the cart / shelf 2. This approach is applicable if the payload is non-hazardous light, the AMR motion is relatively slow, and the AMR 1 also provides clear visual and sonar signals for humans. In this case, the blind zones 6 will not endanger humans or damage surrounding objects even if the AMR can touch slightly during motion.

[0054] In some solutions, the AMR can include additional extra sensors. Then, the blind zones / angles 6 (blind angles 6 (as Figure 2 )) on the sides of the AMR around the center can be avoided completely. Due to the high safety requirements of these sensors, the cost of each robot will increase, but the cart / shelf can remain more traditional and simple in design. The extra sensors can provide additional safety, but also additional cost and space. However, the safety scanner aimed at protecting humans from high risk is relatively expensive. If combined with cart modifications, some smaller, cheaper sensors can be used to reduce the residual risk. Another solution with additional equipment can employ projection of the laser radar beam by means of an extra mirror. Projection is implemented by a mirror, and this can be a low-cost solution for avoiding blind spots. However, in an industrial environment, there is a risk that the mirror will be covered by dirt, and at some times will not provide the expected safety. Also, the mirror setup is very intolerant to misalignment of the mirror / sensor.

[0055] In general, to minimize the risk due to turning, it is necessary to have a direction indicator on the AMR 1. In addition, the AMR 1 can be programmed to make soft turns only at a reduced speed. Furthermore, enlarging the protection zone 5 can generally reduce the risk of humans approaching the driving / turning AMR 1.

[0056] Additionally, if the blind spot 6 is very narrow around the intended support member 4, the safety scanner system can ignore the support member 4 as long as the cart 2 is in the correct position, but identify the blind spot 6 as an obstacle in case the cart 2 is not in the correct position fastened to the AMR 1. This feature can be used as a navigation aid during docking procedure and if the example cart / shelf 2 is at risk of falling when sliding on the AMR, this feature can be used as a warning. Figure 5 The middle depicts an embodiment of docking the AMR 1 precisely to the cart / shelf 2 by employing the payload support member 4 as a precise positioning landmark 4’ for the AMR. In this context, the AMR 1 has a memory of precise landmarks 4’ corresponding to the support members 4 of the cart / shelf 2. When the AMR 1 is docked under the cart / shelf 2, the exact docking position is indicated by matching the landmarks 4’ to the support members 4 of the cart 2.

[0057] The control of the AMR driving and safety is ensured by a control system. The AMR comprises a safety scanner system having at least two safety scanners 3, preferably lidars, wherein two safety scanners 3 are mounted on two opposite corners of the AMR 1, each scanning a 270° sector around the AMR 1. The safety scanner system further has a scanner control system adapted to be respectively configured with different selectable protection zones 5 around the footprint of the AMR and the cart or shelf, wherein the different selectable protection zones 5 have different shapes and sizes. Furthermore, the AMR comprises a control system for autonomously driving and docking the AMR 1 under the cart or shelf 2, attaching the cart or shelf 2, and transporting the cart or shelf 2 to a predefined destination point. The control system for autonomously driving and docking the AMR 1 is adapted to send control signals to the scanner control system for selecting one or several preconfigured profiles of protection zones 5 suitable for different operating modes of the AMR. The selected preconfigured protection zone profile Figure 5 ) is configured to have a wider dimension than the footprint of the cart 2 and has a substantially rectangular shape with a wedge-shaped cutout (a predefined blind zone 6 in the protection zone 5) such that the correct positioning and fixed support members 4 of the correctly attached cart / shelf 2 are excluded from the protection zone 5 by the selected preconfigured protection zone profile.

[0058] Additionally, during transportation, the positioning of the AMR 1 to the cart / shelf 2 is continuously checked by using the predefined positions 4’ of the cart / shelf support members 4 and the wedge-shaped blind zone 6 in the active protection zone profile in order to identify whether the cart / shelf 2 is in its correctly attached position during transportation.

[0059] While this specification includes many features and advantages of the present application, as well as details of structures and features of the application, it is to be understood that, based on the teachings of the specification, the application can be practiced with less than all of the features and advantages that are described. The specification is to be construed as including all alternatives, equivalents, modifications and variations thereof that fall within the scope of the application, which is defined by the following claims.

[0060] Bibliographic references

[0061] Non-patent literature

[0062] 1. Schick safety scanner:

[0063] https: / / cdn.sick.com / media / docs / 3 / 13 / 613 / Operating_instructions_S300_ Safety_laser_scanner_en_IM0017613.PDF , page 70.

[0064] Patent document

[0065] 2. Patent application US20170072558 / patent US10168711B2 of Omron.

[0066] 3. Patent application WO2019 / 063816 of ROEQ Aps.

Claims

1. A system for transporting a payload, the system comprising at least: ■ an autonomous mobile robot (AMR) (1), ■ a cart with support members (4) or a shelf with support members (4), wherein the support members (4) are below the cart or shelf when moving, wherein the cart or shelf is adapted to allow the AMR (1) to drive below the cart or shelf and to attach to and / or lift the cart or shelf, wherein the AMR (1) has at least • a means of attachment to the cart or shelf such that the AMR is at a fixed position below the cart or shelf during transportation, • controllable drive wheels adapted to move the AMR (1) in a forward direction and a backward direction and to turn the AMR (1) around its vertical center axis, wherein the AMR further comprises a control system for autonomously driving below the cart or shelf and docking the AMR (1), attaching the AMR (1) to the cart or shelf, and transporting the cart or shelf to a predefined destination point with the cart or shelf in the fixed position, characterized in that the AMR (1) further comprises o a safety scanner system comprising • two safety scanners (3), wherein the two safety scanners (3) are mounted on opposite corners of the AMR (1) and each safety scanner (3) is configured to scan a 270° sector around the AMR (1), • a scanner control system adapted to be configured with different selectable preconfigured profiles of a protection zone (5) of the safety scanner system around the footprint of the AMR (1) and the cart or shelf in the fixed position, wherein the protection zone (5) has different shapes and sizes and is adapted for different operating modes of the AMR, wherein obstacles in the protection zone are detected and the AMR is stopped before colliding with the detected obstacles, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5), wherein the preconfigured profile of the protection zone selected is configured to extend around the footprint of the AMR (1) and the cart or shelf and has a substantially rectangular shape with predefined blind areas (6) in the profile of the protection zone (5) such that a correctly positioned and fixed support member (4) is excluded from the protection zone (5) by the selected preconfigured profile of the protection zone, whenever the cart or shelf is attached to the AMR (1).

2. The system of claim 1, wherein, The two safety scanners are lidars.

2. The system according to claim 1, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5) based on the type of the cart or shelf and the type of the support members (4) of the cart or shelf.

3. The system according to claim 1 or 2, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5) based on the type of the payload.

4. The system according to any one of claims 1 to 3, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5) based on the type of the payload and the type of the cart or shelf and the type of the support members (4) of the cart or shelf.

5. The system according to any one of claims 1 to 4, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5) based on the type of the payload and the type of the cart or shelf and the type of the support members (4) of the cart or shelf and the type of the payload.

6. The system according to any one of claims 1 to 5, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5) based on the type of the payload and the type of the cart or shelf and the type of the support members (4) of the cart or shelf and the type of the payload and the type of the AMR.

7. The system according to any one of claims 1 to 6, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5) based on the type of the payload and the type of the cart or shelf and the type of the support members (4) of the cart or shelf and the type of the payload and the type of the AMR and the type of the payload.

8. The system according to any one of claims 1 to 7, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5) based on the type of the payload and the type of the cart or shelf and the type of the support members (4) of the cart or shelf and the type of the payload and the type of the AMR and the type of the payload and the type of the payload.

9. The system according to any one of claims 1 to 8, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5) based on the type of the payload and the type of the cart or shelf and the type of the support members (4) of the cart or shelf and the type of the payload and the type of the AMR and the type of the payload and the type of the payload and the type of the payload.

10. The system according to any one of claims 1 to 9, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5) based on the type of the payload and the type of the cart or shelf and the type of the support members (4) of the cart or shelf and the type of the payload and the type of the AMR and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload.

11. The system according to any one of claims 1 to 10, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5) based on the type of the payload and the type of the cart or shelf and the type of the support members (4) of the cart or shelf and the type of the payload and the type of the AMR and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload.

12. The system according to any one of claims 1 to 11, wherein the control system for autonomously driving and docking the AMR (1) is adapted to send a control signal to the scanner control system for selecting one preconfigured profile of the protection zone (5) based on the type of the payload and the type of the cart or shelf and the type of the support members (4) of the cart or shelf and the type of the payload and the type of the AMR and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the type of the payload and the 3. The system of claim 1 or 2, wherein The trolley or shelf has a rectangular frame and four support members (4), wherein at the fixed position two of the support members (4) farthest away from the security scanner (3) are placed close to the corners of the frame of the trolley or shelf and the other two of the support members (4) are placed between the corners of the frame of the trolley or shelf and the center of the side of the frame of the trolley or shelf, thus providing an asymmetric support structure and a blind zone (6) close to the center of the side of the trolley or shelf.

4. A method for transporting a payload using the system according to any one of claims 1 to 3, the method comprising at least the following steps: ■providing a system according to any one of claims 1 to 3; ■driving the AMR (1) under the trolley or shelf, ■positioning the AMR (1) under the trolley or shelf for mutual fixation or fastening, ■fixing or fastening the trolley or shelf at the fixed position to the AMR (1) for further transportation, ■transporting the trolley or shelf by the AMR (1) to the predefined destination point, wherein the trolley or shelf is in the fixed position, characterized in that the positioning of the AMR (1) to the trolley or shelf is carried out by using the predefined positions (4') of the support members (4) of the trolley or shelf and the blind zone (6) in the preconfigured outline of the protection zone (5) to identify that the AMR (1) is in the correct position attached to the trolley or shelf.

5. The method of claim 4, wherein The positioning of the AMR (1) to the trolley or shelf is continuously checked by using the predefined positions (4') of the support members (4) of the trolley or shelf and the blind zone (6) in the protection zone (5) in order to identify whether the trolley or shelf is in the correctly attached fixed position during the transportation. ■providing a system according to any one of claims 1 to 3; ■driving the AMR (1) under the trolley or shelf, ■positioning the AMR (1) under the trolley or shelf for mutual fixation or fastening, ■fixing or fastening the trolley or shelf at the fixed position to the AMR (1) for further transportation, ■transporting the trolley or shelf by the AMR (1) to the predefined destination point, wherein the trolley or shelf is in the fixed position, characterized in that the positioning of the AMR (1) to the trolley or shelf is carried out by using the predefined positions (4') of the support members (4) of the trolley or shelf and the blind zone (6) in the preconfigured outline of the protection zone (5) to identify that the AMR (1) is in the correct position attached to the trolley or shelf. The positioning of the AMR (1) to the trolley or shelf is continuously checked by using the predefined positions (4') of the support members (4) of the trolley or shelf and the blind zone (6) in the protection zone (5) in order to identify whether the trolley or shelf is in the correctly attached fixed position during the transportation.

Images