Robot carrier with lifting forks and lifting method

Abstract

A robotic vehicle, the robotic vehicle comprising: a body defining a platform support area; the lifting reciprocating part can move relative to the body and comprises a first fork part and a second fork part; a machine readable instruction; and a processor circuit that executes machine-readable instructions to: move the lift shuttle relative to the body from a first position to a second position, thereby causing the first and second forks to protrude relative to the body; lifting the platform by the first fork part and the second fork part; and moving the body of the carrier toward the platform when the first and second forks are extended to position the platform support area below the platform.

Description

Technical Field

[0001] This disclosure relates generally to robotic vehicles, and more specifically to platform lifting systems and related methods for robotic vehicles. Background Technology

[0002] Robotic vehicles (such as robotic trucks) may include forks (also known as forks or fork teeth) to enable the vehicle to pick up and move objects (one or more) (such as pallets) in environments such as warehouses.

[0003] Platforms such as pallets can be used in warehouses to support goods and enable them to be moved from one location to another. Platforms include openings (one or more) or slots (one or more) to facilitate lifting by a vehicle such as a forklift truck. Platforms can vary in size, shape, weight, and dimensional specifications.

[0004] To lift heavy-duty pallets, some vehicles (such as forklift trucks) employ a cantilever design, where the vehicle includes a large mass block to act as a counterweight as the forks extend and lift the platform. However, such a design may not be efficient for robotic vehicles operating in warehouses, as the increased vehicle mass can create safety hazards, increase costs, and reduce the vehicle's operational energy efficiency.

[0005] Some platform lifting vehicles include spaced-apart forks so that when the forks engage with the platform to lift it, the vehicle's outriggers or wheels are positioned beside the platform. The wide stance of the outriggers helps stabilize the vehicle during platform lifting (e.g., by moving the lifting point forward across the platform). However, this design increases the width of the vehicle's frame, which in turn affects its movement within warehouses where narrow and / or congested aisles may exist. Such a design can also hinder the lifting or placement of platforms that are close to each other (e.g., closely spaced) within the warehouse. Furthermore, the wide stance design may impede docking with certain pallet designs.

[0006] Some manually operated vehicles (such as pallet trucks) include wheeled forks to lift the platform. However, when entering an opening in the platform, the fork wheels can roll over any support beams that form the bottom of the platform. Wheels rolling over support beams can damage the platform and require the user to exert additional force to push the vehicle.

[0007] According to a first aspect of this disclosure, a robot carrier is provided, comprising: a body including a platform support region; a drive component configured to move the robot carrier on a surface in use, the drive component including one or more rotatable components to support the robot carrier on the surface; and a lifting and reciprocating section including an actuator, a first fork, and a second fork; the first fork including a first lifting leg received near a first end of the first fork and a second lifting leg received near a second end of the first fork; the second fork including a first lifting leg received near a first end of the second fork and a second lifting leg received near a second end of the second fork. The first and second forks are received within the body, such that the first and second forks are held above a surface; an actuator is coupled to a lifting leg; wherein, in use, the robot carrier is configured to: extend the second ends of the first and second forks to protrude from the body of the robot carrier; insert at least a portion of the first and second forks into the interior of the platform; activate the actuator to extend the first and second lifting legs of the first and second forks to the contact surface and lift the platform; move relative to the platform such that the platform is received above the platform support area; and retract the first and second lifting legs of the first and second forks such that the platform is received on the platform support area.

[0008] The robotic vehicle disclosed herein can lift a platform (e.g., a pallet) with significantly reduced risk of damage, especially when the platform includes support beams. Inserting the forks above the horizontal level of the surface avoids contact with any support beams. Furthermore, the forks can be inserted in a manner that allows the lifting legs to extend to the contact surface, thereby avoiding contact with any support beams.

[0009] Using two lifting legs in each of the two forks, spaced apart along the length of each fork, provides a stable and efficient lifting platform. The connection of the two lifting legs ensures that the lift force on each lifting leg remains balanced.

[0010] The actuator can be directly connected to the first lifting leg of the first fork and the second fork. In an alternative embodiment, the robot carrier may include a first actuator and a second actuator, the first actuator being directly connected to the first lifting leg of the first fork and the second actuator being directly connected to the first lifting leg of the second fork. Each first lifting leg can be connected to its respective second lifting leg via a connector received within its respective fork.

[0011] The first and second lifting legs can be received in their retracted positions within their respective forks. Activation of the actuators causes the first and second lifting legs to rotate from their retracted positions, bringing them into contact with the surface and lifting the platform.

[0012] The lifting and reciprocating mechanism may further include an actuator support. The first end of the first fork and the first end of the second fork may be supported by the actuator support. Movement of the lifting and reciprocating mechanism may cause the second ends of the first and second forks to extend out of the robot carrier body. The lifting and reciprocating mechanism may move from a first position within the robot carrier body to a second position partially or entirely outside the robot carrier body.

[0013] According to a second aspect of this disclosure, a method for lifting a platform from a surface using a robotic vehicle is provided. The method includes: moving a first fork and a second fork forward from the robotic vehicle into the interior of the platform, the first fork including a first lifting leg and a second lifting leg, the second fork including a first lifting leg and a second lifting leg, wherein the robotic vehicle supports the first fork and the second fork above the surface; applying forces to the first lifting leg and the second lifting leg of the first fork and the second fork such that the first lifting leg and the second lifting leg of the first fork and the second fork contact the surface; applying forces to the first lifting leg and the second lifting leg of the first fork and the second fork to lift the platform from the surface; moving the platform so that it is received above a support region of the robotic vehicle; and moving the platform so that it is received on the support region of the robotic vehicle.

[0014] The platform can be moved so that it is received on the support area of ​​the robot carrier by moving the robot carrier forward and lowering the platform onto the support area of ​​the robot carrier. The platform can be lowered onto the support area of ​​the robot carrier by reducing the force applied to the first and second lifting legs of the first and second forks.

[0015] According to a further aspect of this disclosure, a non-transitory computer-readable medium is provided, comprising instructions executable by processing circuitry of a robotic vehicle, wherein the processing circuitry is configured to perform the methods described above. Attached Figure Description

[0016] Figure 1- Figure 10 An exemplary robotic vehicle according to the teachings of this disclosure is shown, which includes a lifting reciprocating section for raising the platform and a lifting control circuit for controlling the lifting reciprocating section; Figures 11-13 Figure 1 is shown. Figure 10 An exemplary lifting system for the lifting and reciprocating section; Figure 14 This is a block diagram of an exemplary embodiment of the lifting control circuit in Figure 1; Figure 15This is a flowchart representing exemplary machine-readable instructions and / or exemplary operations, wherein the exemplary machine-readable instructions and / or exemplary operations can be executed, instantiated, and / or implemented by exemplary programmable circuitry to carry out... Figure 14 The lifting control circuit in the middle; and Figure 16 This is a block diagram of an exemplary processing platform including programmable circuitry, wherein the structure of the exemplary processing platform is designed to execute, instantiate, and / or implement exemplary machine-readable instructions and / or implement... Figure 15 Exemplary operations in, to implement Figure 14 The lifting control circuit in the middle.

[0017] Generally, the same reference numerals are used to denote the same or similar parts in the accompanying drawings (one or more) and the accompanying text descriptions. The drawings are not necessarily drawn to scale. Detailed Implementation

[0018] This application discloses embodiments of robotic vehicles (e.g., automated guided vehicles, robotic trucks, robotic pallet trucks, etc.) having forks for supporting and / or carrying objects (one or more), such as platforms containing goods (e.g., pallets on which goods are placed). The exemplary robotic vehicles disclosed in this application include a retractable fork system for lifting the platform and a support region on which the lifted platform can be placed so that the vehicle can carry the platform. The exemplary retractable fork system disclosed in this application includes forks extending from the body of the vehicle and suspended when entering an opening (one or more) or slot (one or more) of the platform. The forks include lifting legs that move from a retracted position to an extended position when the forks are in the lifted platform position. In the extended position, the lifting legs contact the ground (e.g., the floor) and subsequently lift, push, or move the platform upward via the forks. Once lifted, the vehicle moves toward the platform such that the support region is positioned below the lifted platform and the forks are within the support region (e.g., no longer extending from the vehicle body). When the support area is below the platform, the lifting outriggers retract and the tray is lowered onto the support area.

[0019] The forks are suspended when docked with the platform, allowing them to be used with different types of platforms (e.g., pallets with or without support beams at the bottom). Additionally, compared to driving the lifting legs on the platform's bottom surface, selectively deploying the legs after positioning the forks relative to the platform reduces the risk of damage to the legs and / or the platform.

[0020] The exemplary robotic vehicle disclosed in this application includes sensors that generate outputs, wherein the outputs indicate, for example, the position of the vehicle body relative to a platform, the position of the forks relative to the platform when inserted into one or more openings in the platform, the weight of the platform, etc. The sensors may include image sensors (one or more), proximity sensors (one or more), weight sensors (one or more), etc. Embodiments disclosed in this application include a lifting control circuit to analyze the outputs of the sensors (one or more) and control the movement of the vehicle body, forks, and lifting legs based on the sensor outputs (one or more) to lift the platform and place the platform on the vehicle.

[0021] Figure 1 illustrates an exemplary robotic vehicle 100 according to the teachings of this disclosure, wherein Figure 1A A schematic diagram of the robotic vehicle is shown. Figure 1B It was shown that it was not in Figure 1A The diagram illustrates some aspects of a robotic vehicle. An exemplary robotic vehicle 100 includes a body 102 and a drive unit 121, which may include one or more motors (e.g., one or more electric motors and / or other drive mechanisms) to move the body 102 via one or more wheels of the robotic vehicle 100. The robotic vehicle 100 includes motor control circuitry 103 (e.g., hardware and / or software components) to control, for example, the speed of the robotic vehicle 100. One or more components of the motor control circuitry 103 may be implemented via processor circuitry 105 of the vehicle 100.

[0022] Robotic vehicle 100 may include an autonomous vehicle. Robotic vehicle 100 includes vehicle control circuitry 107 to control the movement of the autonomous robotic vehicle 100 or the self-propelled robotic vehicle 100. One or more components of the vehicle control circuitry 107 may be implemented via processor circuitry 105 of the robotic vehicle 100, processor circuitry of other user equipment, and / or processor circuitry of cloud-based devices (one or more). The robotic vehicle 100 moves to a location within an environment (e.g., a warehouse) in the absence of user input control or with limited user input control during vehicle movement.

[0023] In some embodiments, the robot vehicle 100 includes a display screen 109 to present data to one or more users of the robot vehicle 100. In some embodiments, the robot vehicle 100 includes speakers to provide audio output to one or more users interacting with the robot vehicle 102. The exemplary robot vehicle 100 in FIG1 includes a power supply 111 (e.g., a battery) to power the components of the robot vehicle 100.

[0024] In the embodiment of FIG1, the body 102 of the robot carrier 100 defines a housing 104 and a platform support region 106. The exemplary robot carrier 100 includes a lifting reciprocating section 108 movable relative to the platform support region 106 from a first or stored position to a second or extended position. The lifting reciprocating section 108 includes an actuator support 110, a first fork 112, and a second fork 114. The platform support region 106 may define an opening defined by a sidewall of the body 102, including a track or rail, to receive the forks 112, 114 and facilitate movement of the lifting reciprocating section 108. The platform support region 106 may include, for example, a rack and pinion or a chain to drive the movement of the lifting reciprocating section 108 (e.g., pushing or pulling the forks 112, 114 relative to the platform support region 106). As disclosed in this application, the actuator support 110 supports actuators (one or more) Figure 8 ), which makes the lifting outriggers of fork sections 112 and 114 ( Figure 3 The actuator support 110 can be deployed to lift the platform 116 (e.g., a pallet). The actuator support 110 also acts as a counterweight to improve the stability of the vehicle 100 when the forks 112, 114 extend relative to the vehicle body 102. When not in use and / or when the platform 116 is being carried by the platform support area 106, the actuator support 110 can be housed within the housing 104 of the vehicle 100.

[0025] In the embodiment of FIG1, the platform support region 106 includes sensors (one or more) 118 to detect when the vehicle 100 approaches the platform 116. In some embodiments, the lifting reciprocating section 108 additionally or alternatively includes sensors (one or more) 118 (e.g., located on the actuator support 110, or on the forks (one or more) 112, 114). The sensors (one or more) 118 may include, for example, image sensors (one or more), proximity sensors (one or more), infrared sensors (one or more), lidar sensors (one or more), etc.

[0026] In the embodiment of Figure 1, the output of sensors (one or more) 118 is analyzed by a lift control circuit 120. One or more components of the lift control circuit 120 may be implemented via processor circuitry of the robot vehicle 100, processor circuitry of other user devices, and / or processor circuitry of cloud-based devices (one or more). Based on the output of sensors (one or more) 118, the lift control circuit 120 detects when the vehicle 100 approaches the platform 116. Specifically, the lift control circuit 120 detects when the body 102 of the vehicle 100 is aligned with the platform 116 so that, as the forks 112, 114 extend relative to the body 102, the forks 112, 114 enter slots (one or more) or openings (one or more) 122 of the platform 116.

[0027] Figure 2 The forks 112, 114 of the lifting reciprocating unit 108 are shown extending into openings (one or more) 122 of the platform 116. In the embodiment of FIG1, when the lifting control circuit 120 detects that the body 102 of the carrier 100 is aligned with the platform 116 for docking, the lifting control circuit 120 generates a command to move the lifting reciprocating unit 108 toward the platform 116. The lifting reciprocating unit 108 (e.g., forks 112, 114, actuator support 110) can be moved toward the platform 116 by actuators (one or more) (not shown) associated with the platform support region, wherein the actuators drive the lifting reciprocating unit 108 along tracks or rails (e.g., racks and pinions, chains) defined in the platform support region 106. The movement of the lifting reciprocating unit 108 causes the forks 112, 114 to extend from the body 102 and enter the openings (one or more) 122. When the forks 112, 114 are as Figure 2 When positioned within one or more openings 122 of platform 116, the first ends of each fork 112, 114 are supported by actuator supports 110. The remainders of each fork 112, 114 are suspended within the openings 122 of platform 116. In other words, forks 112, 114 are suspended above the surface on which platform 116 rests (e.g., a floor) and between the upper surface 200 of platform 116 and the support beams 202 defining the bottom portion of platform 116.

[0028] Figure 3 and Figure 4This is a side view of an exemplary robot carrier 100 when the forks 112, 114 of the lifting reciprocating unit 108 are positioned in the openings (one or more) 122 of the platform 116. The forks 112, 114 include lifting legs 300. Each fork 112, 114 may include two lifting legs 300 (e.g., a first lifting leg is positioned near a first end of each fork 112, 114, and a second leg is positioned near a second end of each fork 112, 114).

[0029] like Figure 3 As shown, the exemplary robot carrier is configured such that the forks are received at a horizontal height above the surface 400 (e.g., the floor) of the platform 116. Therefore, the forks can be inserted into the platform without colliding with or damaging the platform's support beams 202. It can be seen that one or a portion of the fork 114 is received inside the platform. At this stage (i.e., before actuating the actuator), the lifting legs 300 are in a retracted position, so that they are received inside the first or second fork, respectively.

[0030] The lifting control circuit 120 analyzes the outputs of one or more sensors 118 to detect the positioning of the forks 112, 114 relative to the platform 116, so that the lifting leg 300 can extend and engage with the surface 400. In other words, the lifting control circuit 120 determines that when the lifting leg 300 is extended, it will contact the surface 400 and not the support beams 202 of the platform 116 (which would damage the platform 116). When the lifting control circuit 120 determines that the forks 112, 114 are in position relative to the platform 116, the lifting control circuit 120 generates a command to cause the actuators of the lifting reciprocating section 108 to drive the lifting leg 300 to extend and engage (e.g., contact, rest on, abut) the surface, such as... Figure 4 As shown.

[0031] The extension of the lifting leg 300 causes the platform 116 to be raised from the surface 400 (e.g., as the lifting leg 300 extends and contacts the surface 400, the lifting leg 300 pushes the platform 116 and the forks 112, 114 upward). Specifically, the extension of the lifting leg 300 causes the platform 116 to be raised and supported by the forks 112, 114 (e.g., compared to...). Figure 3 The position of the middle fork, forks 112 and 114 are... Figure 4(The middle outrigger 300 extends further from the floor 400). In some embodiments, sensors (one or more) 118 include weight sensors (one or more), and the lifting control circuit 120 determines the mass or weight of the platform 116 (including any load on it). In some embodiments, if the lifting control circuit 120 determines that the weight of the platform 116 exceeds a threshold, for safety reasons, the lifting control circuit 120 instructs the lifting outrigger 300 to retract to lower the platform 116 and disengage the forks 112, 114 from the platform 116.

[0032] Based on the outputs of one or more sensors 118, the lifting control circuit 120 determines when the platform 116 is raised sufficiently such that the bottom surface of the platform 116 (e.g., the support beams 202) is above or above the platform support region 106. When the lifting control circuit 120 determines that the platform 116 meets a clearance threshold relative to the platform support region 106, the lifting control circuit 120 instructs the robot vehicle 100 to move toward the platform 116 such that the platform support region 106 is positioned below the platform 116. In this embodiment, the lifting reciprocating section 108 remains stationary due to the engagement of the outriggers 300 with the surface 400, and the vehicle 100 moves the vehicle body 102 (e.g., the platform support region 106) toward the extended lifting reciprocating section 108 and the platform 116.

[0033] Figures 5 to 10 A schematic diagram illustrates the movement of the vehicle as it is lifted by forks 112 and 114 onto the platform support area 106 of the robotic vehicle. (See diagram for reference.) Figure 5 As shown, the robot vehicle positions itself close to the platform, aligning the forks of the robot vehicle with the opening of the platform. Figure 6 The lifting and reciprocating unit 108 has been moved forward from the body of the robot carrier, so that the first fork 112 and the second fork 114 are inserted into the interior of the platform 116. Figure 7 The image shows a robotic vehicle raising platform 116. Lifting legs 300 have deployed and are pressed against the floor, allowing the platform to be lifted off the floor. Figure 8 The diagram shows that the robot vehicle has raised the platform to a horizontal height above the platform support area 106, so that the body of the robot vehicle can move forward, and the movement of the vehicle 100 positions the area of ​​the platform support area 106 below the platform 116. Figure 9 This movement is shown as a continuation, wherein as the vehicle 100 moves to position the platform support area 106 below the platform 116, the lifting reciprocating part is received within the body of the robot vehicle (e.g., via an opening into the housing 104 to reach the cavity of the housing).

[0034] Figure 10 The diagram illustrates platform 116 being loaded onto platform support region 106. Based on the output of sensors (one or more) 118, lifting control circuitry 120 determines when platform support region 106 is in the loading position relative to platform 116, such that platform 116 can be placed on and supported by platform support region 106. When lifting control circuitry 120 determines that platform support region 106 is in the loading position, it instructs lifting legs 300 to retract, thereby lowering forks 112, 114 and allowing platform 116 to be supported by platform support region 106 (e.g., at least partially resting on it), as shown. Figure 7 As shown. In some embodiments (e.g., when platform 116 includes a support beam 202 extending across the bottom of platform 116), when platform 116 is in a loading position on platform support region 106, forks 112, 114 remain engaged or mated with platform 116 (e.g., placed in platform openings (one or more) 122).

[0035] Although Figure 1- Figure 10 The illustration shows platform 116 being loaded onto robot carrier 100, but the lifting and reciprocating unit 108 can also be used to unload platform 116 from carrier 100. In such an embodiment, while platform 116 is supported by platform support region 106, lifting control circuit 120 extends lifting legs 300. The extension of lifting legs 300 causes forks 112, 114 to lift platform 116 away from platform support region 106. As forks 112, 114 and platform 116 are lifted, lifting control circuit 120 moves carrier 100 away from platform 116 to pull platform support region 106 out from under platform 116. Once platform support region 106 has moved away from platform 116, lifting control circuit 120 retracts lifting legs 300, thereby lowering forks 112, 114 and placing platform 116 on surface 400 (e.g., floor). The lifting control circuit 120 retracts the forks 112, 114 from the openings (one or more) 122 of the platform 116 (e.g., by moving the lifting reciprocating section 108 toward the housing 104 of the vehicle 100).

[0036] Figures 11-13 An exemplary lifting system 800 is shown, comprising the lifting and reciprocating section 108 of an exemplary robotic vehicle 100. The fork 802 (e.g., Figure 1-) Figure 10The forks 112 and 114 in the fork assembly include a first channel 803 and a second channel 804. A first end 806 of a first lifting leg 808 (one of the lifting legs 300 of each fork 112 and 114) is placed in the first channel 803, and a second lifting leg 812 (the other lifting leg 300 of each fork 112 and 114) is placed in the second channel 804. The first end 806 of the first lifting leg 808 is coupled to the first end 810 of the second lifting leg 812 via a connector 814 carried by the fork 802. The second end 816 of the first lifting leg 808 is coupled to an actuator 818. The actuator 818 may include, for example, an electric cylinder (e.g., a linear actuator). In some embodiments, the actuator 818 is a hydraulically based actuator or a pneumatic actuator. The actuator 818 may be as shown in FIG1- Figure 10 The actuator support 110 is supported. Although in Figure 11 In one embodiment, each lifting system 800 associated with its respective fork 802 (e.g., forks 112, 114) includes an actuator 818; however, in other embodiments, the robotic vehicle may include two actuators. In such an embodiment, a first actuator may be used to control the movement of the two lifting legs 300 of the first fork 112, and a second actuator may be used to control the two lifting legs 300 of the second fork 114.

[0037] like Figures 11-13 As shown, activation of actuator 818 causes the first lifting leg 808 to move from a retracted position to an extended position via movement of its second end 816, thereby pulling the first end 806 of the first lifting leg 808 along the first channel 803. As the first lifting leg 808 extends, the first end 806 of the first lifting leg 808 moves and pulls the first end 810 of the second lifting leg 812 along the second channel 804 via connector 814, thereby extending the second lifting leg 812. The exemplary lifting system 800 includes a link 820 to support and / or assist movement of the lifting legs 808, 812 relative to the fork 802. Therefore, the exemplary lifting system 800 transmits force horizontally along the fork 802 via channels 803, 804. In this way, each lifting leg 808, 812 provides equal or substantially equal lift to raise the fork 802 and platform 116. In addition, the dimensions of the outriggers 808, 812 and the link 820 are designed such that when the outriggers 808, 812 are retracted, the fork 802 (including the outriggers 808, 812 and the link 820) can pass through the openings (one or more) 122 of the tray 116 without interference.

[0038] Although the embodiments disclosed in this application are described in connection with the loading and unloading of pallets, the exemplary lifting system disclosed in this application may also be used for other purposes, such as raising the vehicle chassis for maintenance.

[0039] Figure 14 This is a block diagram of an exemplary embodiment of the lifting control circuit 120 in Figure 1, which is used to control the platform 116 relative to Figure 1- Figure 6 Loading or unloading of the platform loading area 106 of the robot vehicle 100. Figure 14 The lifting control circuit 120 can be instantiated (e.g., create an entity, generate, materialize, implement, etc.) by a programmable circuit (e.g., a central processing unit (CPU)) that executes a first instruction. Alternatively or alternatively, Figure 14 The lifting control circuit 120 can be instantiated using an application-specific integrated circuit (ASIC) and / or a field-programmable gate array (FPGA) whose structure is designed and / or configured to perform an operation corresponding to the first instruction in response to the execution of the second instruction. It should be understood that... Figure 14 Some or all of the circuits in the circuit can therefore be instantiated at the same time or at different times. Figure 14 Part or all of the circuitry can be instantiated, for example, in one or more threads that execute sequentially on hardware, and / or in parallel execution on hardware. Furthermore, in some embodiments, Figure 14 Part or all of the circuitry can be implemented by microprocessor circuitry that executes instructions and / or FPGA circuitry that performs operations to implement one or more virtual machines and / or containers.

[0040] Figure 14 The exemplary lifting control circuit 120 includes a vehicle position control circuit 1100, a fork position control circuit 1102, and a lifting outrigger control circuit 1104. In some embodiments, the vehicle position control circuit 1100 executes vehicle position control commands and / or is configured to perform operations (e.g., Figure 15 In some embodiments, the fork position control circuit 1102 is instantiated by executing fork position control commands and / or being configured to perform operations (e.g., the flowchart represents the operation). Figure 15 In some embodiments, the outrigger control circuit 1104 is instantiated by executing outrigger control commands and / or being configured to perform operations (e.g., the flowchart represents the operation). Figure 12 The programmable circuit is instantiated by representing the operation (as shown in the flowchart).

[0041] An exemplary vehicle position control circuit 1100 analyzes the outputs of one or more sensors 118 to determine whether the body 102 of the robot vehicle 100 is positioned relative to the platform 116 such that, when the forks 112, 114, 802 of the lifting reciprocating section 108 extend, the forks 112, 114, 802 will enter the openings 122 of the platform 116. For example, the vehicle position control circuit 1100 may analyze image data or proximity data represented by the outputs of one or more sensors 118 to detect the position of the vehicle 100 relative to the platform 116 based on sensor data analysis rules (one or more) stored in a database 1106. In some embodiments, the lifting control circuit 120 includes the database 1106; in other embodiments, the database 1106 is in a location accessible by the lifting control circuit 120. In some embodiments, the vehicle position control circuit 1100 communicates with the vehicle control circuit 107 to identify the position of the vehicle 100.

[0042] When the vehicle position control circuit 1100 determines that the vehicle 100 is in a docked position with the platform 116, the exemplary fork position control circuit 1102 instructs the lifting reciprocating unit 108 to move from a stored position to an extended position (e.g., via an actuator carried by the vehicle 100) so that the forks 112, 114, 802 extend from the vehicle body 102 and enter the openings (one or more) of the platform 116. In some embodiments, the fork position control circuit 1102 automatically extends the forks 112, 114, 802 based on feedback from the vehicle position control circuit 1100. In some embodiments, the fork position control circuit 1102 additionally or alternatively identifies whether user input instructing the forks 112, 114, 802 to extend has been received at the vehicle 100.

[0043] The lifting leg control circuit 1104 analyzes the output of sensors (one or more) 118 to determine whether the forks 112, 114, 802 are positioned relative to the platform 116 so that the lifting legs 300, 808, 812 can extend and contact the surface 400 on which the platform 116 rests (rather than contacting the platform 116). In some embodiments, the fork position control circuit 1102 instructs the forks 112, 114, 802 to retract and re-enter the openings 122 of the platform 116 so that the forks 112, 114, 802 are aligned with the platform 116, thereby allowing the lifting legs 300, 808, 812 to lower to the engagement surface 400, rather than the platform 116.

[0044] If the lifting leg control circuit 1104 determines that the lifting legs 300, 808, 812 should extend (e.g., based on rules (one or more) stored in the database 1106), the lifting leg control circuit 1104 generates instructions to cause the actuators (one or more) 818 of the lifting reciprocating section 108 to move the lifting legs 300, 808, 812 to the extended position. The extension of the lifting legs 300, 808, 812 will push the forks 112, 114, 802 and the platform 116 upward relative to the surface 400.

[0045] Based on the outputs of sensors (one or more) 118 and rules (one or more) stored in database 1106, fork position control circuit 1102 determines when the forks 112, 114—and therefore the platform 116—are positioned by the extensions of the lifting legs 300, 808, 812, such that the platform 116 is raised above the platform support region 106 of the vehicle 100 with sufficient clearance. When the platform 116 is identified as being above the platform support region 106, vehicle position control circuit 1100 instructs the vehicle 100 to move toward the extended lifting reciprocating section 108 and the platform 116 to position the platform support region 106 below the platform 116. In some embodiments, vehicle position control circuit 1100 communicates with vehicle control circuit 107 to move the vehicle 100.

[0046] Based on the outputs of sensors (one or more) 118 and the outputs of rules (one or more) 118 stored in database 1106, vehicle position control circuit 1100 determines that platform support area 106 is in the loading position of receiving platform 116. In response, outrigger control circuit 1104 instructs actuators (one or more) 818 to retract outriggers 300, 808, 812. The retraction of outriggers 300, 808, 812 lowers forks 112, 114, 802 and supports platform 116 on platform support area 106 of vehicle 100.

[0047] Although Figure 14 The figure shows an exemplary manner of implementing the lifting control circuit 120 in Figure 1, however, Figure 14 One or more of the elements, processes, and / or devices shown may be combined, divided, rearranged, omitted, deleted, and / or implemented in any other way. Additionally, the exemplary vehicle position control circuit 1100, the exemplary fork position control circuit 1102, the exemplary lifting outrigger control circuit 1104, and / or more generally— Figure 11The exemplary lifting control circuit 120 can be implemented solely in hardware or in combination with software and / or firmware. Thus, for example, the exemplary vehicle position control circuit 1100, the exemplary fork position control circuit 1102, the exemplary lifting outrigger control circuit 1104, and / or more generally—the exemplary lifting control circuit 120—can be implemented via programmable circuitry combined with machine-readable instructions (e.g., firmware or software) or equivalent methods. Furthermore, Figure 11 The exemplary lifting control circuit 120 in the example may include, in addition to Figure 11 One or more elements, processes and / or devices other than those shown or alternatives, and / or may include more than one of any or all of the elements, processes and devices shown.

[0048] Figure 15 The diagram illustrates exemplary machine-readable instructions and / or flowcharts representing exemplary operations, wherein the exemplary machine-readable instructions can be implemented and / or instantiated by programmable circuitry. Figure 14 The lifting control circuit 120 in the example can be implemented and / or instantiated by a programmable circuit. Figure 14 The lifting control circuit 120 in the middle. Machine-readable instructions can be provided to programmable circuits (e.g., as described below). Figure 16 The exemplary processor platform 1300 described herein (programmable circuit 1312) executes one or more executable programs or portions of one or more executable programs (one or more), and / or may be one or more functions (one or more) or portions of functions executed by exemplary programmable circuitry (e.g., FPGA). In some embodiments, machine-readable instructions cause operations, tasks, etc., to be implemented and / or performed automatically in the real world. As used herein, “automation” means without human intervention.

[0049] The program may be embodied in instructions (e.g., software and / or firmware) stored on one or more non-transitory computer-readable and / or machine-readable storage media, such as cache memory, magnetic storage devices or disks (e.g., floppy disks, hard disk drives (HDDs), etc.), optical storage devices or optical discs, etc. The instructions on the non-transitory computer-readable and / or machine-readable storage media may be programmed and / or executed by programmable circuitry located in one or more hardware devices, but the entire program and / or portions thereof may alternatively be executed and / or instantiated by one or more hardware devices other than programmable circuitry, and / or may be embodied in dedicated hardware. Machine-readable instructions may be distributed across multiple hardware devices, and / or executed by two or more hardware devices (e.g., server and client hardware devices). For example, client hardware devices may be implemented via end-client hardware devices (e.g., hardware devices associated with human users and / or machine users) or intermediate client hardware device gateways. Similarly, non-transitory computer-readable storage media may include one or more media. Additionally, although the exemplary program is referenced... Figure 12 The flowchart illustrates, but many other methods for implementing the exemplary lift control circuit 120 can also be used alternatively. For example, the execution order of blocks can be changed, and / or some of the blocks described can be modified, deleted, or combined. Additionally or alternatively, any or all blocks in the flowchart can be implemented by one or more hardware circuits, the structure of which is designed to perform the corresponding operation. Programmable circuits can be distributed across different network locations and / or local to one or more hardware devices (e.g., single-core processors (e.g., single-core CPUs), multi-core processors (e.g., multi-core CPUs, XPUs, etc.)). As described above, Figure 12 The exemplary operations described herein may be implemented using executable instructions (e.g., computer-readable instructions and / or machine-readable instructions) stored on one or more non-transitory computer-readable and / or machine-readable media.

[0050] Figure 15 It is a flowchart representing exemplary machine-readable instructions and / or exemplary operations 1200, wherein the exemplary machine-readable instructions and / or exemplary operations 1200 can be executed, instantiated and / or implemented by programmable circuitry to load or unload a platform relative to a robotic vehicle.

[0051] Figure 16 This is a block diagram of an exemplary programmable circuit platform 1300, the structure of which is designed to perform and / or instantiate... Figure 12 Exemplary machine-readable instructions and / or exemplary operations in the document for implementation Figure 14The lifting control circuit 120 is included. The programmable circuit platform 1300 can be, for example, a server, personal computer, workstation, autonomous learning machine (e.g., neural network), mobile device (e.g., smartphone), or any other type of computing device and / or electronic device.

[0052] The programmable circuit platform 1300 of the illustrated embodiment includes a programmable circuit 1312. The programmable circuit 1312 of the illustrated embodiment may be hardware. In this embodiment, the programmable circuit 1312 implements an exemplary vehicle position control circuit 1100, an exemplary fork position control circuit 1102, and an exemplary lifting outrigger control circuit 1104.

[0053] The programmable circuitry 1312 of the illustrated embodiment includes local memory 1313 (e.g., cache, registers, etc.). The programmable circuitry 1312 of the illustrated embodiment communicates via bus 1318 with main memories 1314, 1316, including volatile memory 1314 and non-volatile memory 1316. The volatile memory 1314 may be implemented using synchronous dynamic random access memory (SDRAM), dynamic random access memory (DRAM), RAMBUS® dynamic random access memory (RDRAM®), and / or any other type of RAM device. The non-volatile memory 1316 may be implemented using flash memory and / or any other desired type of memory device. Access to the main memories 1314, 1316 of the illustrated embodiment is controlled by a memory controller 1317. In some embodiments, the memory controller 1317 may be implemented using one or more integrated circuits, logic circuits, microcontrollers of any desired family or manufacturer, or any other type of circuitry to manage the data flow to and from the main memories 1314, 1316.

[0054] The programmable circuit platform 1300 of the illustrated embodiment also includes interface circuitry 1320. Interface circuitry 1320 can be implemented in hardware according to any type of interface standard, such as an Ethernet interface, a Universal Serial Bus (USB) interface, etc.

[0055] In the illustrated embodiment, one or more input devices 1322 are connected to interface circuitry 1320. The input devices (one or more) 1322 allow users (e.g., human users, machine users, etc.) to input data and / or commands into programmable circuitry 1312. The input devices (one or more) 1322 can be implemented, for example, audio sensors, microphones, cameras (still or video cameras), keyboards, buttons, mice, touchscreens, touchpads, trackballs, isopoint devices, and / or voice recognition systems.

[0056] One or more output devices 1324 are also connected to the interface circuitry 1320 of the illustrated embodiment. The output devices (one or more) 1324 may be implemented, for example, display devices (e.g., LED displays). The interface circuitry 1320 of the illustrated embodiment therefore typically includes a graphics driver card, a graphics driver chip, and / or graphics processor circuitry, such as a GPU.

[0057] The interface circuit 1220 of the illustrated embodiment also includes communication devices, such as a transmitter, receiver, transceiver, modem, home gateway, wireless access point, and / or network interface, for exchanging data with external machines (e.g., any type of computing device) via network 1326. Communication can be performed via, for example, Ethernet connections, digital subscriber line (DSL) connections, telephone line connections, coaxial cable systems, satellite systems, beyond-line-of-sight wireless systems, line-of-sight wireless systems, cellular telephone systems, fiber optic connections, etc.

[0058] The programmable circuit platform 1300 of the illustrated embodiment also includes one or more high-capacity storage disks or storage devices 1328 for storing firmware, software, and / or data. Embodiments of such high-capacity storage disks or storage devices 1328 include magnetic storage devices (e.g., floppy disks, drives, HDDs, etc.), optical storage devices (e.g., Blu-ray discs, CDs, DVDs, etc.), redundant array of independent disks (RAID) systems, and / or solid-state storage disks or devices (e.g., flash memory devices and / or SSDs).

[0059] It can be done Figure 12 The machine-readable instructions 1332 implemented in the machine-readable instructions can be stored in mass storage device 1328, volatile memory 1314, non-volatile memory 1316 and / or on at least one removable non-transitory computer-readable storage medium (e.g., CD or DVD).

[0060] The present invention may also be described with reference to the following numbered clauses: Clause 1. - A robot carrier comprising: a body defining a platform support area; a lifting reciprocating section movable relative to the body, the lifting reciprocating section including a first fork and a second fork; the robot carrier being configured in use to: move the lifting reciprocating section from a first position to a second position relative to the body such that the first fork and the second fork extend relative to the body; move the first fork and the second fork to lift the platform; and move the platform toward the body of the robot carrier, wherein the first fork and the second fork retract to position the platform support area below the platform.

[0061] Clause 2. - A robot vehicle as described in Clause 1, wherein the first fork includes a first leg, a second leg, and an actuator associated with the first fork, the second leg includes the first leg, the second leg, and an actuator associated with the second fork, and the robot vehicle is configured in use to move the first leg and the second leg from their respective retracted positions to their respective extended positions to lift the platform.

[0062] Clause 3. - Robotic vehicles as described in Clause 2, wherein each actuator is operatively coupled to its respective first and second legs via a connector.

[0063] Clause 4. - A robot carrier as described in Clause 2 or Clause 3, wherein the robot carrier is configured to move the first and second legs from an extended position to a retracted position when in use, with the platform support area positioned below the platform.

[0064] Clause 5. As with Clause 4, the robot carrier is configured to, in use: when the platform support area is positioned below the platform and the lifting reciprocating part is in the first position, move the first and second legs from the retracted position to the extended position; move the platform support area away from the platform; when the platform support area is moved away from the platform, move the first and second legs from the extended position to the retracted position; and disengage the first and second forks from the platform.

[0065] Clause 6. - The robot carrier as described in any of the preceding clauses further includes an image sensor, and the robot carrier is configured to, in use: determine the position of the body relative to the platform based on the output of the image sensor; and, in response to the determination of the position of the body, move the lifting reciprocating unit from a first position to a second position.

[0066] Clause 7. - As in any of the preceding clauses, the first fork and the second fork are received in an opening defined in the platform support area when the lifting reciprocating part is in the first position.

[0067] Clause 8. - The robot vehicle of any of the preceding clauses, wherein the body defines a housing, and at least a portion of the lifting reciprocating part is received within the housing of the body when the lifting reciprocating part is in the first position.

[0068] The following claims are incorporated herein by reference in the detailed description. While this application discloses specific exemplary systems, apparatuses, articles of manufacture, and methods, the scope of protection of this patent is not limited thereto. Rather, this patent covers all systems, apparatuses, articles of manufacture, and methods that reasonably fall within the scope of the claims of this patent.

Claims

1. A robotic vehicle comprising: a body comprising a platform support area; drive components configured to move the robotic vehicle over a surface in use, the drive components comprising one or more rotatable components to support the robotic vehicle over a surface; a lift shuttle comprising an actuator, a first fork, and a second fork; the first fork comprising a first lift leg received near a first end of the first fork and a second lift leg received near a second end of the first fork; the second fork comprising a first lift leg received near a first end of the second fork and a second lift leg received near a second end of the second fork; the first fork and the second fork received within the body such that the first fork and the second fork are held above the surface; the actuator coupled to the lift legs; wherein, in use, the robotic vehicle is configured to: extend the second ends of the first fork and the second fork to protrude from the body of the robotic vehicle; insert at least a portion of the first fork and the second fork inside a platform; actuate the actuator to extend the first lift leg and the second lift leg of the first fork and the second fork to contact the surface and lift the platform; move relative to the platform such that the platform is received above the platform support area; and retract the first lift leg and the second lift leg of the first fork and the second fork such that the platform is received on the platform support area.

2. The robotic vehicle of claim 1, wherein, the actuator is directly connected to the first lift leg of the first fork and the second fork.

3. The robotic vehicle of claim 1, wherein, the robotic vehicle comprises a first actuator directly connected to the first lift leg of the first fork and a second actuator directly connected to the first lift leg of the second fork.

4. The robotic vehicle of any one of claims 1-3, wherein, each first lift leg is connected to a respective second lift leg by a connector received within the respective fork.

5. The robotic vehicle of any one of claims 1-4, wherein, the first lift leg and the second lift leg are received in a retracted position within the respective fork.

6. The robotic vehicle of claim 6, wherein, actuation of the actuator causes the first lift leg and the second lift leg to rotate from the retracted position such that they contact the surface and lift the platform.

7. The robotic vehicle of any one of claims 1-6, wherein, the lift shuttle further comprises an actuator support.

8. The robotic vehicle of claim 7, wherein, the first end of the first fork and the first end of the second fork are supported by the actuator support.

9. The robotic vehicle of any one of claims 1-8, wherein, movement of the lift shuttle causes the second ends of the first fork and the second fork to protrude from the body of the robotic vehicle.

10. The robotic vehicle of claim 9, wherein, the lift shuttle moves from a first position within the body of the robotic vehicle to a second position, the second position being partially or entirely outside of the body of the robotic vehicle.

11. A method of lifting a platform from a surface using a robotic vehicle, the method comprising: protruding from the first fork and the second fork, the first fork comprising a first lift leg and a second lift leg, the second fork comprising a first lift leg and a second lift leg, wherein the robotic vehicle supports the first fork and the second fork above the surface; applying a force to the first lift leg and the second lift leg of the first fork and the second fork such that the first lift leg and the second lift leg of the first fork and the second fork contact the surface; applying a force to the first lift leg and the second lift leg of the first fork and the second fork in order to lift the platform from the surface; moving the platform such that it is received over a support area of the robotic vehicle; and moving the platform such that it is received on the support area of the robotic vehicle.

12. The method of claim 11, wherein, The platform is moved such that it is received on the support area of the robotic vehicle by causing the robotic vehicle to move forward toward the platform and lowering the platform onto the support area of the robotic vehicle.

13. The method of claim 12, wherein, The platform is lowered onto the support area of the robotic vehicle by reducing the force applied to the first lift leg and the second lift leg of the first fork and the second fork.

14. A non-transitory computer readable medium comprising instructions executable by processing circuitry of a robotic vehicle, wherein the processing circuitry is configured to perform the method of any one of claims 11 to 13.

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