Autonomous transport vehicle with environment-aware sensor

Abstract

An autonomous transport vehicle (1) for transporting objects (7), having: a platform (2); a first environment-aware sensor (14) mounted on the platform (2) for detecting objects (7, 15) located in the vicinity of the autonomous transport vehicle (1); and a lifting device (3) movable in a vertical direction relative to the platform (2) for lifting the object (7) from the ground (6). The platform (2) comprises a first gap (16). The first environment-aware sensor (14) has a first sensing range (17) which extends at least partially through the first gap (16) for covering a first intersection (18a) in front of a body portion (30) of the platform (2) located on the longitudinal axis (4) of the autonomous transport vehicle (1). A related method is also disclosed.

Description

Technical Field

[0001] The present disclosure generally relates to autonomous guided vehicles (AGVs) or autonomous mobile robots (AMRs) for transporting objects, hereinafter described as autonomous transport vehicles or AGVs. Autonomous transport vehicles may have a lift to pick up and carry objects and deploy the objects at a specific location. Background Art

[0002] US patent application US 2022 / 0063979A1, entitled "Automatic guided vehicle (AGV)", published on March 3, 2022, discloses a lifting autonomous guided vehicle (AGV) with a chassis, a housing, a front lifting system, and left and right safety laser scanners. The laser scanner is mounted on an inclined frame on the rear side of the AGV opposite the front lifting system. The laser scanner can scan the area behind the AGV, but because the sensing range of the laser scanner is limited by the solid housing, it may not be able to scan the area directly in front of the front lifting system.

[0003] There are also autonomous forklifts that have safety sensors on their forks. Such forklifts are able to detect obstacles in front of the forks. But since the forks are used to transport objects, there is always a risk that the safety sensors will be damaged when the objects are picked up by the forks. Summary of the invention

[0004] An object of the present invention is to increase the sensing range of an environment perception sensor located at the rear side of an autonomous delivery vehicle so that the environment perception sensor can detect objects in front of the autonomous delivery vehicle.

[0005] According to one aspect of the present invention, an autonomous transport vehicle for transporting objects is provided, comprising: a platform; a first environmental perception sensor mounted on the platform for detecting objects located near the autonomous transport vehicle; and a lifting device extending in front of the platform along the longitudinal axis of the autonomous transport vehicle and movable in a vertical direction relative to the platform for lifting the object from the ground. The platform comprises a first gap. The first environmental perception sensor has a limited first sensing range, which at least partially extends through the first gap to cover a first intersection in front of a main body of the platform located on the longitudinal axis of the autonomous transport vehicle.

[0006] The environment perception sensor of the autonomous transport vehicle can be mounted on the platform to detect one or more objects located around the platform. The autonomous transport vehicle can be configured to move autonomously on the ground of an industrial building such as a warehouse or a factory. The platform of the autonomous transport vehicle may include a main body and a base. The platform may be equipped with an electric drive system and a navigation system to guide the autonomous transport vehicle along the corridor of the industrial building. The electric drive system can be integrated in the base portion of the platform. The main body can be extended along the longitudinal axis to stabilize the autonomous transport vehicle and prevent the autonomous transport vehicle from rolling. The lifting device can include a fork to pick up an object (such as a pallet) and transport the object to a predetermined destination. The lifting device extends along the longitudinal axis so that the extension portion (such as a fork) can be positioned under the object to lift it. The lifting device can be movably attached to the main body of the platform and can be moved along a vertical axis perpendicular to the longitudinal axis.

[0007] The first environmental perception sensor can be configured to detect objects, such as objects to be transported by the autonomous transport vehicle or obstacles (including people) that may collide with the autonomous transport vehicle. The first environmental perception sensor can be a camera, a lidar, a radar sensor, an ultrasonic sensor, or any other suitable sensor. The first environmental perception sensor can emit electromagnetic waves or ultrasonic waves and receive reflections of electromagnetic waves or ultrasonic waves to detect the presence or absence of objects within the sensing range of the first environmental perception sensor. The first sensing range of the first environmental perception sensor can be limited, for example, within a radius of 4 meters around the first environmental perception sensor. That is, objects within the first sensing range can be detected by the first environmental perception sensor, while objects outside the first sensing range cannot be detected.

[0008] The first environment perception sensor may be attached at the inclined portion of the platform. The inclined portion may be located at the rear side of the platform, so that the first environment perception sensor may be oriented at least partially towards the rear side of the platform and thus towards the rear side of the lifting device.

[0009] The first gap may be integrated into the platform at a height similar to the height at which the first environmental perception sensor is attached to the platform. The first gap of the platform avoids the first sensing range being limited by a portion of the platform (e.g., a portion of the platform housing). Therefore, the electromagnetic wave or ultrasonic wave emitted by the first environmental perception sensor may pass through the platform through the first gap and may intersect the longitudinal axis at an intersection, such as the first intersection, within the first sensing range. The first sensing range may be a horizontal plane parallel to the longitudinal axis. The edge of the first sensing range may intersect the longitudinal axis in front of the lifting device at at least one intersection. Therefore, the first sensing range extends to the front side of the autonomous transport vehicle, so that objects in front of the lifting device can be detected by the first environmental perception sensor. That is, although the first environmental perception sensor may be toward the rear side of the lifting device, the first environmental perception sensor can detect objects located in front of the lifting device.

[0010] The first environment perception sensor may have a limited first sensing range that at least partially extends through the first gap to cover a first intersection point in front of the lifting device on the longitudinal axis of the autonomous transport vehicle.

[0011] The platform can extend in the vertical direction at the rear side of the lifting device. The more the platform extends in the vertical direction, the higher the lifting device rises in the vertical direction.

[0012] The lifting device is movable between a lower position and a higher position. When the lifting device is in the lower position, the first intersection point may be covered by the first sensing range. Therefore, even if the height level of the lifting device is similar to the height level of the first sensing range, the first sensing range is not restricted by a portion of the lifting device. When the lifting device is in the higher position, the first intersection point may be covered by the first sensing range; when the lifting device is in the lower position, the first intersection point may be covered by the first sensing range.

[0013] The first gap may at least partially have a U-shaped or V-shaped profile. The size of the U-shaped or V-shaped profile may be large enough so that the first intersection can be covered by the first sensing range. The two legs of the U-shaped or V-shaped profile may be parallel to the first sensing range extending in the horizontal plane.

[0014] The first sensing range may be limited by an outer edge and an inner edge. The outer edge of the first sensing range is limited by the maximum physical sensing capability of the first sensing range and anything else that prevents the sensing range from being extended, such as obstacles near the autonomous transport vehicle. Conversely, the inner edge may be limited by parts or components of the autonomous transport vehicle itself.

[0015] The angle between the longitudinal axis and the inner edge of the first sensing range may be greater than 10 degrees. For example, the angle may be any value between 12 degrees and 25 degrees.

[0016] Since the inner edge of the first sensing range may be limited by parts or components of the autonomous transport vehicle itself, the angle between the longitudinal axis and the inner edge of the first sensing range may be limited by (the same) parts or components of the autonomous transport vehicle. The fewer parts or components that limit the first sensing range, the larger the angle between the longitudinal axis and the inner edge of the first sensing range can be. Moreover, the larger the angle between the longitudinal axis and the inner edge of the first sensing range, the closer the first intersection is to the autonomous transport vehicle. That is, the larger the angle between the longitudinal axis and the inner edge of the first sensing range, the better the sensing range can detect objects located in front of the autonomous transport vehicle.

[0017] The first gap may have an inclination angle relative to the longitudinal axis. The inclination may be consistent with the angle between the longitudinal axis and the inner edge of the first sensing range, so that the first gap ensures that the first sensing range is not limited by any other parts or components of the autonomous transport vehicle.

[0018] The inclination of the first gap may be oriented towards the first intersection. Thus, it may be ensured that the first sensing range is not limited beyond the range required to cover the first intersection. If the inclination of the first gap increases, the limitation of the first sensing range may be reduced. Thus, the angle between the longitudinal axis and the inner edge of the first sensing range may be increased.

[0019] The distance between the first intersection and the far end of the lifting device in the lower position can be any value less than 30 centimeters. As an alternative, the distance can be any value shorter than 25 centimeters, such as 20 centimeters. The distance between the first intersection and the far end of the lifting device can depend on the geometric characteristics of the autonomous transport vehicle, such as the angle between the longitudinal axis and the inner edge of the first sensing range as described above, the inclination of the first gap, etc. The shorter the distance between the first intersection and the far end of the lifting device, the better the environment of the autonomous transport vehicle can be monitored, and the better the sensing range can detect objects located in front of the lifting device. If the first sensing range is limited by the lifting device in the lower position, the first intersection can change its position to a position below the lifting device when the lifting device is raised or lowered. Then, the intersection may overlap with the autonomous transport vehicle, so the distance between the intersection and the far end of the lifting device is considered to be zero.

[0020] The first sensing range may cover a second intersection on the longitudinal axis of the autonomous transport vehicle behind the platform. For example, the electromagnetic wave or ultrasonic wave emitted by the first environmental perception sensor may intersect the longitudinal axis at another intersection (e.g., the second intersection) within the first sensing range. Therefore, the edge of the first sensing range may intersect the longitudinal axis behind the platform at at least one intersection. This means that the second intersection is also behind the lifting device. Therefore, the first sensing range extends from the front side of the autonomous transport vehicle to the rear side of the autonomous transport vehicle. Since the first environmental perception sensor can be attached to the rear side of the platform, the distance between the second intersection and the rear side of the platform may be shorter than the distance between the first intersection and the far end of the lifting device.

[0021] The platform may include at least one wheel for moving the autonomous transport vehicle on the ground. At least one wheel may be located below and adjacent to the first gap. The wheel may be driven by an electric drive system. If the wheel is located below the first gap, the wheel may not limit the first sensing range. The autonomous transport vehicle may include additional drive wheels as a second drive wheel and a third wheel. At least one of the first wheel and the other wheels of the autonomous transport vehicle may be steerable.

[0022] The platform may include a base portion extending along the longitudinal axis below the lifting device. The base portion may be excluded from the first sensing range. That is, the base portion may not limit the first sensing range.

[0023] The lifting device may also be excluded from the first sensing range. That is, the inner edge of the first sensing range may be adjacent to the lifting device but may not cover a portion of the lifting device. Therefore, the lifting device may not limit the first sensing range. The far end of the lifting device may also not interfere with the first sensing range, thereby avoiding false collision warnings.

[0024] The distal end of the lifting device may have an inclined shape related to the angle between the longitudinal axis and the inner edge of the first sensing range.Therefore, the lifting device may be designed so that the lifting device may be excluded from the first sensing range.

[0025] The autonomous transport vehicle may include a second environmental perception sensor mounted on the platform for detecting objects in the vicinity of the autonomous transport vehicle. The platform may include a second gap. The second environmental perception sensor may have a limited second sensing range that at least partially extends through the second gap to cover a first intersection point in front of the platform on the longitudinal axis of the autonomous transport vehicle. The combination of the first sensing range and the second sensing range may produce an ambient sensing range around the autonomous transport vehicle.

[0026] The second environmental perception sensor can be of the same type as the first environmental perception sensor and can operate according to the same working principle as described above. The second environmental perception sensor can be attached to the inclined portion of the platform. The second environmental perception sensor can be opposite to the first environmental perception sensor. The inclined portion to which the first and second environmental perception sensors are attached to the platform can be axisymmetric about the longitudinal axis. Therefore, the first and second sensing ranges can be axisymmetric about the longitudinal axis. The inner edges of the first sensing range and the second sensing range can intersect with both the first intersection and the second intersection. Therefore, the first sensing range and the second sensing range can be gapless sensing ranges to detect every object near the autonomous transport vehicle.

[0027] The number of environment perception sensors may be limited to only the first and second environment perception sensors. The more environment perception sensors are installed, the more complex and expensive the sensor system may be. Since the surrounding sensing range around the autonomous delivery vehicle can only be provided by the above-mentioned two environment perception sensors, the number of environment perception sensors may be limited to two.

[0028] The autonomous transport vehicle may include a sensor device to detect whether the lifting device carries an object. The sensor device may be, for example, a contact sensor, a weight sensor or an optical sensor. The sensor device may be integrated in the lifting device.

[0029] The control unit may be configured to detect whether the lifting device is carrying an object based on the current demand required to lift the object. Thus, it is possible to detect whether the lifting device is carrying an object without using a separate sensor.

[0030] The autonomous transport vehicle may include a control unit configured to adjust the vertical position of the lifting device. The control unit may be integrated in the platform. The control unit may be connected to the first and second environmental perception sensors, the sensor device, and the electric drive system to control the speed and steering of the wheels. The control unit may generate a control signal in response to the sensor input provided by the first and second environmental perception sensors. The lifting device is adjustable between a lower position and an upper position. An object may be picked up by the lifting device at the lower position and transported to a position higher than the lower position.

[0031] The control unit may be configured to reduce the speed of the autonomous transport vehicle from a higher speed value to a lower speed value if the object not in contact with the lifting device protrudes within the first sensing range. If the object is not in contact with the lifting device, the object may be an obstacle near the autonomous transport vehicle and may cause a collision compared to the object carried by the lifting device. If the speed of the autonomous transport vehicle is reduced in time when necessary and stopped before a collision occurs, a collision can be prevented. The speed value may be a current speed value of the autonomous transport vehicle. Alternatively, the speed value may be a maximum speed value to which the autonomous transport vehicle can accelerate.

[0032] The control unit can be configured to prevent the autonomous transport vehicle from moving on the ground if the object carried by the lifting device protrudes into the first sensing range. When the object is picked up by the lifting device, the autonomous transport vehicle is in a stopped state. If the object has been lifted and carried by the lifting device, the autonomous transport vehicle can start moving again. Whether the lifting device carries an object can be detected by a sensor device as described above. However, the lifted object may protrude into the first sensing range, so that the sensing range is reduced, for example, the first intersection may no longer be covered by the first sensing range. In this case, the control unit can prevent the movement of the autonomous transport vehicle to improve safety and restore the full range of the first sensing range before the autonomous transport vehicle starts moving. The same applies when the object carried by the lifting device protrudes into the second sensing range.

[0033] The control unit can be configured to adjust the vertical position of the lifting device to move the object carried by the lifting device out of the first sensing range. The control unit can also be configured to stop the adjustment of the lifting device when the object moves out of the first sensing range. That is, when the control unit detects that the object carried by the lifting device protrudes from the first sensing range, the lifting device can be triggered to lift the object above the plane sensing range of the environmental perception sensor. If the full range of the first sensing range has been restored, the control unit can trigger the lifting device to stop lifting the object. Then, the first intersection will be covered by the first sensing range. Finally, the control unit can re-enable the movement of the autonomous transport vehicle. The same applies when the object carried by the lifting device protrudes from the second sensing range.

[0034] Another aspect includes a method for transporting an object by an autonomous transport vehicle, the autonomous transport vehicle comprising a platform and a lifting device, the lifting device being movable in a vertical direction relative to the platform for lifting the object from the ground, wherein the method comprises the following steps: detecting an object protruding from a first sensing range of a first environmental perception sensor; determining whether the lifting device is carrying the object; if the object is not in contact with the lifting device, reducing the speed of the autonomous transport vehicle from a higher speed value to a lower speed value, and if the lifting device is carrying the object, preventing the autonomous transport vehicle from moving on the ground.

[0035] The speed of the autonomous transport vehicle may be a current speed or a maximum speed value. The speed may be reduced to reduce the risk of a collision between the object and the autonomous transport vehicle. A lifting device of the autonomous transport vehicle may be located under the object to lift it. When the lifting device lifts the object, the control unit may check whether the first sensing range is reduced due to the lifted object. If so, the movement of the autonomous transport vehicle may be blocked to improve safety until the object is lifted high enough to move out of the first sensing range. The same applies when the object carried by the lifting device protrudes into the second sensing range.

[0036] The method may further include the steps of adjusting a vertical position of the lifting device to move the object out of a first sensing range; and enabling the autonomous transport vehicle to move on the ground if the object carried by the lifting device is moved out of the first sensing range.

[0037] If the object has been lifted to a sufficiently high height by the lifting device, the object will no longer reduce the first sensing range. Then, the full range of the first sensing range can be restored. That is, any object near the autonomous transport vehicle can be reliably detected by the first environmental perception sensor. The same applies when the object carried by the lifting device protrudes into the second sensing range.

[0038] It should be understood that within the scope of the present application, the various aspects, embodiments, examples and alternatives set forth herein and their individual features may be used independently and in any possible and compatible combination. It should be understood that when features are described with reference to a single aspect or embodiment, unless otherwise specified or these features are incompatible, these features apply to all aspects and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Several aspects of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0040] Figure 1 A top view of an autonomous delivery vehicle is shown.

[0041] Figure 2 A rear view of the autonomous delivery vehicle is shown.

[0042] Figure 3A A side view of the autonomous transport vehicle is shown with the lifting device in a lowered position.

[0043] Figure 3B A side view of the autonomous transport vehicle is shown with the lifting device in a raised position.

[0044] Figure 4 A perspective view of an autonomous delivery vehicle is shown.

[0045] Figure 5 A simplified illustration of a control unit of an autonomous transport vehicle 1 is shown.

[0046] Figure 6 It shows that Figure 5 Flow chart of a method performed by a control unit. DETAILED DESCRIPTION

[0047] Figures 1 to 4 An autonomous transport vehicle 1 having a platform 2 and a lifting device 3 is shown. The autonomous transport vehicle 1 has a longitudinal axis 4 and a vertical axis 5 perpendicular to the longitudinal axis 4. A main body 30 of the platform 2 located at the rear side 11 of the autonomous transport vehicle 1 extends in the vertical direction, wherein a base portion 31 of the platform 2 extends along the longitudinal axis 4. The lifting device 3 extends along the longitudinal axis 4 from the main body 30 of the platform 2 to a distal end 24 of the front side 10 of the autonomous transport vehicle 1. The main body 30 includes a light 33 for illuminating the vicinity of the autonomous transport vehicle 1. The lifting device 3 includes a fork with a single fork. Alternatively, the lifting device 3 may have two or more forks. The lifting device 3 may be in a lower position close to the ground 6 in the vertical direction along the vertical axis 5 relative to the platform 2 (see Figure 3A ) and a higher position (see Figure 3B The lifting device 3 can pick up an object, such as an object 7, from the ground 6 and lift the object 7 up and down by adjusting the vertical position, i.e., the height, of the fork of the lifting device 3.

[0048] The electric drive system is integrated in the base part 31 of the platform 2 to provide a movable platform 2. The mobile platform 2 has at least one wheel 8 for moving the autonomous transport vehicle 1 on the ground 6. The platform 2 can be equipped with additional wheels, such as wheel 9 and a third wheel 32 arranged under the lifting device 3. All wheels are driven by the electric drive system. At least one wheel (such as wheel 32) is a steerable wheel, so that the autonomous transport vehicle 1 can turn to change the direction of travel.

[0049] The movable platform 2 includes an electrical storage unit (e.g., a battery) for supplying power to the electric drive system and the control unit 29. The control unit 29 is integrated in the main body 30 of the platform 2 and controls the electric drive system to accelerate, brake, and steer the autonomous transport vehicle 1. Alternatively, the control unit 29 is configured to adjust the vertical position of the lifting device 3. For example, the control unit 29 can control a motor or an electrically controlled hydraulic piston connected to the fork to move the lifting device 3 between a lower position and an upper position.

[0050] The platform 2 includes a first inclined portion 12 and a second inclined portion 13 located at the rear side 11 of the autonomous transport vehicle 1. Figure 1 As shown, the directions of the inclined portions 12 and 13 are different, but they are axially symmetrical with respect to the longitudinal axis 4. The first environment perception sensor 14 of the autonomous transport vehicle 1 is mounted on the first inclined portion 12. The second environment perception sensor 25 of the autonomous transport vehicle 1 is mounted on the second inclined portion 13. Therefore, the first environment perception sensor 14 is at least partially oriented toward the rear side 11 of the platform 2 according to the orientation of the first inclined portion 12, and the second environment perception sensor 25 is at least partially oriented toward the rear side 11 of the platform 2 according to the orientation of the second inclined portion 13.

[0051] The first environment perception sensor 14 and the second environment perception sensor 25 are used to detect objects located near the autonomous transport vehicle 1. The first environment perception sensor 14 has a first sensing range 17 limited by an edge 20, which includes an outer edge 20a and an inner edge 20b or an inner edge 20c. The outer edge 20a is limited by the maximum physical perception capability of the first environment perception sensor 14. That is, the first environment perception sensor 14 can emit electromagnetic waves or ultrasonic waves to detect objects according to the type of the first environment perception sensor 14, wherein the emitted waves can reach the outer edge 20a. In addition, the first sensing range 17 is limited by the inner edge 20b or the inner edge 20c depending on whether the lifting device 3 is in a lower position or a higher position. Figure 1 As shown, if the lifting device 3 is in a higher position, the inner edge 20c will be limited by the design of the platform 2, while if the lifting device 3 is in a lower position, the inner edge 20b will be limited by the design of the platform 2 and the distal end of the lifting device 3.

[0052] Similar to the first environment perception sensor 14, the second environment perception sensor 25 has a second sensing range 27 limited by the outer edge 21a and the inner edge 21b or the inner edge 21b. The first sensing range 17 and the second sensing range 27 can be horizontal planes parallel to the longitudinal axis 4. The horizontal planes of the first sensing range 17 and the second sensing range 27 can be coplanar. Figure 1As shown, the first sensing range 17 and the second sensing range 27 complement the sensing range around the autonomous transport vehicle 1, forming a closed sensing range defined by the outer edges 20a and 21a of the first sensing range 17 and the second sensing range 27. No matter from which direction the object 15 approaches the autonomous transport vehicle 1, the object 15 will be detected by the first or second environment perception sensor 14 or 25. Therefore, only two environment perception sensors 14 and 25 are required to be provided for the autonomous transport vehicle 1 to realize the complete environment perception function. Nevertheless, more than two environment perception sensors can still be implemented, for example, by designing a redundant sensor system by installing a safety sensor 34 on the top of the main body 30 to enhance the safety function (see Figure 3A or Figure 3B ).

[0053] The object may be an object 7 to be picked up and transported by the autonomous transport vehicle 1, such as a pallet or an obstacle 15 that may collide with the autonomous transport vehicle 1. Any object that enters the first sensing range 17 will be detected by the first environment perception sensor 14 (e.g., Figure 1 If an object is detected, the control unit 29 receives a signal from the first or second environmental perception sensor 14 or 25, and may trigger a safety function in response to the signal, such as slowing down or stopping the autonomous transport vehicle 1.

[0054] like Figure 2 and Figure 4 As shown, the platform 2 includes a first gap 16 extending from the rear side 11 where the first environmental perception sensor 14 is located to the front side 10 of the autonomous transport vehicle 1. The first gap 16 is at the same height as the first environmental perception sensor 14, so that the first sensing range 17 at least partially extends through the first gap 16. Similarly, the platform 2 includes a second gap 26 extending from the rear side 11 where the second environmental perception sensor 25 is located to the front side 10 of the autonomous transport vehicle 1. The second gap 26 is at the same height as the second environmental perception sensor 25, so that the second sensing range 27 at least partially extends through the second gap 26. That is, the waves emitted by the first or second environmental perception sensor can pass through the platform 2 through the first or second gap 16 or 26.

[0055] from Figure 1 and Figure 2As can be seen from the figure, the first gap 16 and the second gap 26 are axially symmetrical about the longitudinal axis 4. The first gap 16 is inclined relative to the longitudinal axis 4, and when the lifting device 3 is in a lower position, the first gap 16 is oriented toward the first intersection 18a located in front of the lifting device 3, and when the lifting device 3 is in a higher position, the first gap 16 is oriented toward the first intersection 18b located below the lifting device 3. Therefore, on the one hand, if the lifting device 3 is in a lower position, the inner edge 20b of the first sensing range 17 may intersect with the longitudinal axis 4 at the first intersection 18a, and on the other hand, if the lifting device 3 is in a higher position, the inner edge 20b of the first sensing range 17 may intersect with the longitudinal axis 4 at the first intersection 18b.

[0056] Similarly, the second gap 26 is inclined relative to the longitudinal axis 4 and is oriented toward the first intersection 18a or the first intersection 18b depending on the position of the lifting device 3, so that on the one hand, the inner edge 21b of the second sensing range 27 can also intersect the longitudinal axis 4 at the same first intersection 18a, and on the other hand, the inner edge 21c of the second sensing range 27 can also intersect the longitudinal axis 4 at the same first intersection 18b. Therefore, the first intersection 18a or the first intersection 18b is covered by the first sensing range 17 and the second sensing range 27 depending on the position of the lifting device 3.

[0057] from Figure 1 It can also be seen in FIG. 1 that the more the first gap 16 is inclined, the greater the angle 19a between the longitudinal axis 4 and the edge 20b of the first sensing range 17. Therefore, the more the angle 19a increases, the closer the first intersection point 18a is to the distal end 24 of the lifting device 3, and the shorter the distance 22 between the first intersection point 18a and the distal end 24. Since the shorter distance 22 reduces the unobservable area in front of the distal end 24, the environmental monitoring of the autonomous transport vehicle 1 can be improved. For example, the angle 19a between the longitudinal axis 4 and the inner edge 20b of the first sensing range 17 can be greater than 10 degrees or the distance 22 between the first intersection point 18a and the distal end 24 of the lifting device 3 can be shorter than 25 centimeters.

[0058] If the lifting device 3 is in a higher position, the first sensing range 17 and the second sensing range 27 are not limited by the lifting device 3. Therefore, the first intersection point 18b changes its position below the lifting device 3, which causes the angle 19b between the longitudinal axis 4 and the inner edge 20c of the first sensing range 17 to be greater than the angle 19a.

[0059] The base portion 31 of the platform 2 is excluded from the first sensing range 17 and the second sensing range 27. That is, the first sensing range 17 and the second sensing range 27 are not limited by the base portion 31 because any part of the base portion 31 does not protrude into the first sensing range 17 or the second sensing range 27.

[0060] The distal end 24 of the lifting device 3 has an inclined shape related to the angle 19a between the longitudinal axis 4 and the inner edge 20b of the first sensing range 17. That is, the design of the lifting device 3 is adapted to the inner edge 20b of the first sensing range 17. Similarly, the design also applies to the inner edge 21b of the second sensing range 27. Therefore, the first intersection 18a is covered by the first sensing range 17 and the second sensing range 27 when the lifting device 3 is in the lower position and when the lifting device 3 is in the upper position or a position in between.

[0061] The first gap 16 and the second gap 26 have at least partially a U-shaped profile. But other shapes, such as a V-shaped profile, are also possible. The legs of the U-shaped profile can be integrated in the components of the platform 2. The length of the U-shaped legs may influence the value of the angle 19a or the angle 19b. Thus, for example, a longer leg of the U-shaped profile of the first gap 16 may result in a larger angle 19a between the longitudinal axis 4 and the inner edge 20b of the first sensing range 17, or in a larger angle 19b between the longitudinal axis 4 and the inner edge 20c of the first sensing range 17. Therefore, the design of the first gap 16 affects the distance 22, which in turn depends on the angle 19a and the position of the first intersection 18b. The same applies to the second gap 26.

[0062] The U-shaped profile of the first gap 16 is aligned with the first environment perception sensor 14, so that the first environment perception sensor 14 is arranged between the legs 1 of the U-shaped profile of the first gap 16, that is, the upper leg of the upper U-shaped profile is located above the first environment perception sensor 14, and the lower leg is located below the first environment perception sensor 14. The same is true for the second environment perception sensor 25 and the second gap 26.

[0063] like Figure 2 and Figure 4 As shown, wheel 8 is disposed below and adjacent to first gap 16. Similarly, wheel 9 is disposed below and adjacent to second gap 26. Therefore, neither wheel 8 nor wheel 9 restricts first gap 16 or second gap 26.

[0064] Next to the first intersection 18a or 18b, the first and second sensing ranges 17 and 27 also cover a second intersection 23 located behind the platform 2 on the longitudinal axis 4 of the autonomous transport vehicle 1, because the electromagnetic waves or ultrasonic waves emitted by the first environment perception sensor 14 and the second environment perception sensor 25 intersect the longitudinal axis 4 at the second intersection 23. Figure 1As can be seen in FIG. 1 , the distance between the second intersection 23 and the rear side 11 of the autonomous transport vehicle 1 is much smaller than the distance 22 between the front side 10 of the autonomous transport vehicle 1 and the first intersection 18a or 18b. Although the first and second intersections 18a, 18b, and 23 intersect with the inner edges 20b, 20c, and 21b of the first and second sensing ranges 17 and 27, there are additional intersections where the outer edges 20a and 20b of the first and second sensing ranges 17 and 27 intersect with the longitudinal axis 4. However, the first intersections 18a and 18b are the closest intersections at the front side 10 of the autonomous transport vehicle 1, respectively, while the second intersection 23 is the closest intersection at the rear side 11 of the autonomous transport vehicle 1.

[0065] The lifting device 3 comprises a sensor device 28 for detecting whether the lifting device 3 carries an object 7. The sensor device 28 may be a sensor for detecting the presence or absence of the object 7. Alternatively, the sensor device 28 may be a weight sensor for detecting not only the presence of the object 7 but also the weight of the object 7.

[0066] Figure 5 A control unit 29 is shown, which includes an interface 37, a controller 35 and a memory 36. The control unit 29 can receive and send signals or data via the interface 37. The interface 37 can be a wireless interface or a connector. The controller 35 can store data or signals received by the control unit 29 in the memory 36. The memory 36 can contain additional data or an executable computer program product, for example, in the case of a computer-implemented method, which can be accessed, processed or carried by the controller 35. Data or signals resulting from the processing of data or signals or from the execution of the computer program product can be stored in the memory 36 or sent by the controller 35 to the control unit 29.

[0067] Figure 6 A flow chart of a method for transporting an object 7 by an autonomous transport vehicle 1 as described above is shown. The method may be a computer-implemented method stored as a computer program product in a memory 36 of a control unit 29. The control unit 29 is configured to execute a method executable by a controller 35. The method is described by way of example with a few steps, but without any limitation to these steps. That is, the number or order of the steps may be adjusted, for example individual steps may be excluded and / or added, and executed earlier or later than the described order.

[0068] The control unit 29 starts from step S100 Figure 6Now assume that the autonomous transport vehicle 1 has been unloaded and is moving on the ground 6 to approach the object 7 so as to be picked up by the lifting device 3 of the autonomous transport vehicle 1. At a certain point, the object 7 protrudes within the first sensing range 17. Then, the method proceeds to step S101, where the control unit 29 detects that the object 7 protrudes within the first sensing range 17 of the first environment perception sensor 14. The sensor information captured by the first environment perception sensor 14 is received by the control unit 29.

[0069] The method proceeds to step S102, and the control unit 29 determines whether the lifting device 3 carries an object 7. Since the autonomous transport vehicle 1 has been unloaded and the object 7 has not been picked up by the lifting device 3, the control unit 29 receives information from the sensor device 28 that the lifting device 3 does not have any object and therefore does not carry the object 7.

[0070] The method proceeds to step S103, and if the object 7 is not in contact with the lifting device 3 protruding into the first sensing range 17, the control unit 29 reduces the speed of the autonomous transport vehicle 1 from a higher speed value to a lower speed value. The speed value may be a current speed value or a maximum allowed speed value. Therefore, as long as the object 7 has not been picked up, the autonomous transport vehicle 1 approaches the object 7 at a reduced speed to avoid collision and improve maneuverability to position the lifting device 3 under the object 7.

[0071] The method proceeds to step S104, where the control unit 29 positions the lifting device 3 under the object 7 to lift it.

[0072] When the lifting device 3 is located below the object 7, the method proceeds to step S105, and the control unit 29 controls the lifting device 3 to move upward in the vertical direction to pick up the object 7 and lift the object 7 from the ground 6. Then, the control unit 29 receives information from the sensor device 28 that the lifting device 3 carries the object (here, the object 7).

[0073] The method proceeds to step S106, where the control unit 29 determines whether the object 7 still protrudes within the first sensing range 17. As long as the object 7 picked up by the lifting device 3 protrudes within the first sensing range 17, the first sensing range 17 is restricted and any other object (such as the object 15) in front of the distal end 24 of the lifting device 3 can be prevented from being detected by the control unit 29.

[0074] The method proceeds to step S107 , and if the object 7 carried by the lifting device 3 protrudes beyond the first sensing range 17 , the control unit 29 prevents the autonomous transport vehicle 1 from moving on the ground 6 .

[0075] The method proceeds to step S108, and the control unit 29 adjusts the vertical position of the lifting device 3 to move the object 7 carried by the lifting device 3 out of the first sensing range 17. When the object 7 moves out of the first sensing range 17, the control unit 29 receives a corresponding signal from the first environment perception sensor 14. Then, the control unit 29 stops adjusting the lifting device 3.

[0076] Finally, if the object 7 carried by the lifting device 3 has moved out of the first sensing range 17, the method proceeds to step S109, and the control unit 29 moves the autonomous transport vehicle 1 on the ground 6. The control unit 29 can move the autonomous transport vehicle 1 to the destination point where the object 7 is to be deployed.

[0077] The method proceeds to step S110 and ends. The method can be restarted by the control unit 29 at any time.

[0078] If the object 7 protrudes into the second sensing range 27 in step S101 and is detected by the second environment perception sensor 25 instead of the first environment perception sensor 14 , the subsequent steps of the method are similarly performed based on the sensor information of the second environment perception sensor 25 .

[0079] All references cited herein are incorporated herein in their entirety. If there is a conflict between a definition herein and a referenced definition, the definition herein shall prevail.

[0080] Reference numerals list

[0081] 1 Autonomous delivery vehicles

[0082] 2 Platform

[0083] 3 Lifting device

[0084] 4 Vertical axis

[0085] 5Vertical axis

[0086] 6 Ground

[0087] 7 Objects

[0088] 8 wheels

[0089] 9 wheels

[0090] 10Front side

[0091] 11Rear side

[0092] 12 inclined portion

[0093] 13 inclined part

[0094] 14First Environmental Perception Sensor

[0095] 15 Objects

[0096] 16 First Gap

[0097] 17 First sensing range

[0098] 18a First intersection

[0099] 18b intersection

[0100] 19a Angle

[0101] 19b Angle

[0102] 20a Edge

[0103] 20b Edge

[0104] 20c Edge

[0105] 21a Edge

[0106] 21b Edge

[0107] 21c Edge

[0108] 22Distance

[0109] 23 Second Intersection

[0110] 24 Remote

[0111] 25 Second environmental perception sensor

[0112] 26 Second Gap

[0113] 27 Second sensing range

[0114] 28 sensor devices

[0115] 29Control Unit

[0116] 30 Main part

[0117] 31 base part

[0118] 32 wheels

[0119] 33 lights

[0120] 34 Safety Sensors

[0121] 35 Controller

[0122] 36 Memory

[0123] 37 interfaces

Claims

1. An autonomous transport vehicle (1) for transporting an object (7), comprising: Platform (2); A first environment perception sensor (14) mounted on the platform (2) for detecting objects (7, 15) located near the autonomous transport vehicle (1); a lifting device (3) extending along the longitudinal axis (4) of the autonomous transport vehicle (1) at the front side of the platform (2) and movable in the vertical direction relative to the platform (2) for lifting the object (7) from the ground (6); wherein the platform (2) comprises a first gap (16); and The first environment perception sensor (14) has a limited first sensing range (17) that at least partially extends through the first gap (16) to cover a first intersection point (18a, 18b) in front of a main body (30) of the platform (2) located on the longitudinal axis (4) of the autonomous transport vehicle (1).

2. The autonomous transport vehicle (1) according to claim 1, wherein the first environment perception sensor (14) has a limited first sensing range (17), which at least partially extends through the first gap (16) to cover a first intersection point (18a) in front of the lifting device (3) located on the longitudinal axis (4) of the autonomous transport vehicle (1).

3. The autonomous transport vehicle (1) according to claim 1 or 2, wherein the platform (2) extends in a vertical direction behind the lifting device (3).

4. The autonomous transport vehicle (1) according to any one of claims 1 to 3, wherein the lifting device (3) is movable between a lower position and a higher position; and when the lifting device (3) is in the lower position, the first intersection point (18a) is covered by the first sensing range.

5. The autonomous transport vehicle (1) according to any one of claims 1 to 4, wherein the first gap (16) at least partially has a U-shaped or V-shaped profile.

6. The autonomous transport vehicle (1) according to any one of claims 1 to 5, wherein an angle (19a) between the longitudinal axis (4) and an edge (20b) of the first sensing range (17) is greater than 12 degrees.

7. The autonomous transport vehicle (1) according to any one of claims 1 to 6, wherein the first gap (16) has an inclination angle which is inclined relative to the longitudinal axis (4).

8. The autonomous transport vehicle (1) according to claim 7, wherein the first gap (16) is inclined towards the first intersection point (18a, 18b).

9. The autonomous transport vehicle (1) according to any one of claims 1 to 8, wherein the distance (22) between the first intersection point (18a) and the distal end (24) of the lifting device (3) in the lowered position is less than 30 centimeters.

10. The autonomous transport vehicle (1) according to any one of claims 1 to 9, wherein the first sensing range (17) covers a second intersection point (23) behind the platform (2) located on the longitudinal axis (4) of the autonomous transport vehicle (1).

11. The autonomous transport vehicle (1) according to any one of claims 1 to 10, wherein the platform (2) comprises at least one wheel (8) for moving the autonomous transport vehicle (1) on the ground (6); The at least one wheel (8) is located below the first gap (16) and adjacent to the first gap (16).

12. The autonomous transport vehicle (1) according to any one of claims 1 to 11, wherein the platform (2) comprises a base portion (31) extending along the longitudinal axis (4) below the lifting device (3); The base portion (31) is excluded from the first sensing range (17).

13. The autonomous transport vehicle (1) according to any one of claims 1 to 12, wherein the lifting device (3) is excluded from the first sensing range (17).

14. The autonomous transport vehicle (1) according to claim 13 when dependent on claim 6, the distal end (24) of the lifting device (3) having an inclined shape which is related to the angle (19a) between the longitudinal axis (4) and the edge (20b) of the first sensing range.

15. The autonomous delivery vehicle (1) according to any one of claims 1 to 14, comprising a second environment perception sensor (25) mounted on the platform (2) for detecting objects (7, 15) in the vicinity of the autonomous delivery vehicle (1); wherein the platform (2) comprises a second gap (26); The second environment perception sensor (25) has a limited second sensing range (27) that at least partially extends through the second gap (26) to cover a first intersection point (18a, 18b) in front of the platform (2) on the longitudinal axis (4) of the autonomous transport vehicle (1); and The combination of the first sensing range (17) and the second sensing range (27) generates a surrounding sensing range around the autonomous transport vehicle (1).

16. The autonomous delivery vehicle (1) of claim 15, wherein the number of the environment perception sensors is limited to only the first and second environment perception sensors (14, 25).

17. The autonomous transport vehicle (1) according to any one of claims 1 to 16, comprising a sensor device (28) for detecting whether the lifting device (3) carries an object (7).

18. The autonomous transport vehicle (1) according to any one of claims 1 to 17, wherein the control unit (29) is configured to detect whether the lifting device (3) is carrying an object (7) based on a current demand required to lift the object (7).

19. The autonomous transport vehicle (1) according to any one of claims 1 to 18, comprising a control unit (29) configured to adjust the vertical position of the lifting device (3).

20. The autonomous transport vehicle (1) according to claim 19, wherein the control unit (29) is configured to reduce the speed of the autonomous transport vehicle (1) from a higher speed value to a lower speed value if the object (7) not in contact with the lifting device (3) protrudes into the first sensing range (17).

21. The autonomous transport vehicle (1) according to claim 19 or 20, wherein the control unit (29) is configured to prevent the autonomous transport vehicle (1) from moving on the ground (6) if the object (7) carried by the lifting device (3) protrudes into the first sensing range (17).

22. The autonomous transport vehicle (1) according to any one of claims 19 to 21, wherein the control unit (29) is configured to adjusting the vertical position of the lifting device (3) to move the object (7) carried by the lifting device (3) out of the first sensing range (17); and If the object (7) is moved out of the first sensing range (17), the adjustment of the lifting device (3) is stopped.

23. A method for transporting an object (7) by means of an autonomous transport vehicle (1), the autonomous transport vehicle comprising a platform (2) and a lifting device (3), the lifting device (3) being movable in a vertical direction relative to the platform (2) for lifting the object (7) from the ground (6), the method comprising the following steps: Detecting an object (7) protruding from a first sensing range (17) of a first environment perception sensor (14); determining whether the lifting device (3) carries the object (7); If the object (7) is not in contact with the lifting device (3), reducing the speed of the autonomous transport vehicle (1) from the higher speed value to the lower speed value; and If the lifting device (3) carries the object (7), the autonomous transport vehicle (1) is prevented from moving on the ground (6).

24. The method according to claim 23, comprising the steps of: adjusting the vertical position of the lifting device (3) to move the object (7) out of the first sensing range (17); and If the object (7) carried by the lifting device (3) is moved out of the first sensing range (17), the autonomous transport vehicle (1) is enabled to move on the ground (6).

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