VEHICLE FOR AUTONOMOUS TRANSPORTATION OF AN OBJECT

Description

Technical field

[0001] The invention relates to a vehicle for autonomously transporting an object to a destination, comprising a loading platform for receiving the object, a side wall extending longitudinally around the loading platform and defining a base area of ​​the loading platform, and a control system. Background of the invention

[0002] Vehicles for the autonomous transport of an object to a destination are known from the prior art and are designed, for example, as small trucks or order picking carts. The latter variant is often an automated robotic trolley that automatically follows a warehouse worker at a predetermined distance through the racking system of a warehouse or logistics center during the so-called "picking" process, the targeted retrieval of objects based on a customer order. This allows the warehouse worker to place the selected objects into the picking cart. Once all items have been picked or the picking cart is full, the warehouse worker sends the loaded picking cart to an unloading point, which the picking cart navigates to autonomously without any further manual intervention.Another, empty picking cart also travels autonomously and automatically to the warehouse employee so that they can load the second picking cart with additional items. To move autonomously within the logistics center, the picking carts are equipped with various sensors that initially create a map of the logistics center. During operation, the map is updated and exchanged between different picking carts so that changing conditions within the logistics center can be detected and independently navigated around by each cart.

[0003] Although the described automation significantly simplifies order picking, as warehouse employees, for example, have both hands free and no longer need to manually pull or push heavy handcarts, the application range of currently available order picking trolleys is limited. This is because the increase in online retail and the associated rise in order picking processes in logistics centers designed as "warehouses" necessitates more flexible storage and order picking solutions. These solutions are designed to handle both small and large customer orders using the described order picking trolleys, which have limited usable space. Furthermore, these "warehouses" are characterized by racking systems with varying aisle widths between the shelves.Due to the continuous handling of objects of varying dimensions, the aisle widths in logistics centers change regularly, posing almost insurmountable problems for order picking carts to move autonomously within the center. Aisles that were recently passable can suddenly become too narrow for the carts to navigate.

[0004] DE 20 2016 100 238 U1 describes a vehicle comprising a main loading platform, which includes a floor and a first pair of opposing side walls extending from each side of the floor; and an extension arrangement with a base that slides relative to the main loading platform, a second pair of opposing side walls that rotate from the base, and a tailgate that pivotably couples to the base, the base defining a position stowed substantially flat on the floor.

[0005] JP 2016 080 362 A describes a navigation device which takes into account the size - length, width, height - of the vehicle when searching for a route.

[0006] DE 100 43 578 A1 describes a method for calculating a route from a starting point to a destination for a means of transport using traffic route information.

[0007] DE 103 25 424 A1 describes a method for guiding a vehicle to a destination, comprising a positioning device for determining the vehicle's current position and a processing device for determining a route to a predetermined destination, as well as a device for route guidance that includes a positioning device for determining the vehicle's current position, an input device for entering at least one destination point of a desired route, and a processing device that is designed to access digital data from at least part of a road network and that determines at least one route depending on the vehicle's current position and the entered destination point. Description of the invention

[0008] Starting from this situation, it is an object of the present invention to provide a vehicle for autonomously transporting an object to a destination, which is significantly more flexible with regard to the objects to be transported compared to vehicles known from the prior art and takes into account changing passage widths when navigating to the destination.

[0009] The problem is solved by the features of the independent claim. Advantageous embodiments are specified in the dependent claims.

[0010] Accordingly, the task is solved by a vehicle for autonomously transporting an object to a destination, with a loading platform for receiving the object, a side wall extending lengthwise around the loading platform and defining a usable area of ​​the loading platform, and a control system in which the loading platform is designed to change the usable area and the control system is designed to navigate the vehicle to the destination along a route that takes into account the change in the usable area.

[0011] To improve the operational possibilities of a vehicle for the autonomous transport of an object, the invention proposes making the usable area of ​​the loading platform, limited by the side wall, variable and selecting the vehicle's route to the destination based on the changed usable area. Previously known vehicles for the autonomous transport of an object to a destination, such as so-called order picking carts, are characterized by a rigidly defined usable area that cannot be enlarged. Furthermore, for the autonomous navigation of such order picking carts known from the prior art, it is a prerequisite that the dimensions of the order picking cart, in particular the width and length of the loading platform or the order picking cart itself, are precisely known in order to autonomously navigate a route to the destination.The growth of online retail and the associated increase in order picking processes, however, demands more flexible solutions, which the proposed vehicle addresses. On the one hand, the vehicle's usable area can be adapted to the number and size of the items to be transported by changing its dimensions, for example, by increasing its volume. On the other hand, the vehicle takes into account the altered usable area and any resulting changes in passage width during the autonomous transport of items, for example, from a picking location to a destination where the picked items are further loaded. Instead of using different vehicles with varying loading areas, the proposed vehicle allows diverse transport requirements to be met with just a single vehicle type.Furthermore, it is not necessary to select the vehicle type before transporting the object; instead, the usable area can be adjusted to the actual number and size of the objects to be transported during a picking process.

[0012] In principle, the proposed vehicle can be any type of vehicle, in particular a small truck, a motor vehicle, a two-wheeler, or a trolley. Within the scope of the invention, the term "autonomous" means that the vehicle is capable of independently transporting the object from a starting point to a destination without manual interaction, covering a predetermined route to the destination, and / or determining the route independently. The vehicle may have devices for manually navigating the route, but it can also be designed as an automated robot trolley without a driver's cab, steering wheel, or the like. In the case of a picking trolley, preferably no driver's cab is provided, so that instead, similar to a trailer, the loading platform or usable area can represent the vehicle's external dimensions in a top view.Changing the usable area means, in particular, increasing and / or decreasing the area of ​​the loading platform. Accordingly, if the usable area remains unchanged, the area of ​​the usable area corresponds to that of the loading platform. The control system is preferably designed and implemented as a microprocessor and / or computer-based system to detect and / or control changes in the usable area.

[0013] The object can be any transportable item, in particular goods, general cargo, and / or a shipment. The object can include everyday consumer goods, such as consumables or food, as well as technical items or equipment. Shipments such as letters, parcels, and / or printed products like brochures, leaflets, or magazines can also be included. Preferably, the vehicle is designed so that the loading platform can accommodate multiple objects placed side-by-side and / or stacked on top of each other. Most preferably, the vehicle is usable as a picking cart in a logistics center, warehouse, or distribution center by a picker to first pick up objects removed from a racking system and then transport them to their destination.The loading platform preferably has a rectangular and / or flat usable area on which the objects can be picked up, in particular stacked. In addition to use within a logistics center, applications are also conceivable in which the vehicle transports, delivers, and / or picks up objects in public spaces, for example on a road, along a predetermined or self-defined route to one or more destinations.

[0014] In principle, changing the usable area can include changing the area of ​​the usable area and changing the geometric shape of the usable area, for example, from a rectangular to a square usable area with the same area. The usable area and / or the area of ​​the loading platform can be changed in the longitudinal and transverse directions. In any case, the loading platform, and thus the usable area, can be changed in this way, in particular by increasing and / or decreasing it.

[0015] The usable area remains limited by the side wall during and / or after modification. Therefore, simply folding down the side wall, as is possible, for example, with a trailer known from the prior art, is not considered a modification of the usable area within the scope of the invention. Preferably, the loading platform is designed so that the usable area can be modified during transport. The proposed vehicle thus allows, for example, the dynamic adjustment of the usable area to the size and number of objects to be transported during an ongoing order picking process. Preferably, the loading platform is telescopically extendable in two independent, orthogonally arranged directions. In this way, with a rectangular base, the size of the loading platform can be changed both longitudinally and transversely.

[0016] In principle, the loading platform and the side wall can extend at any angle to each other with respect to their surface normals. However, in a preferred embodiment, the loading platform and the side wall are arranged at a fixed angle to each other. Preferably, this fixed angle is 90° and refers to the respective surface normals. The loading platform and the side wall can be made of sheet metal, wood, or a composite material. Likewise, the side wall can be designed as a grid or made of a flexible material. Furthermore, the term "side wall" also includes edges or borders and thus does not necessarily refer to a wall. The side wall preferably extends completely and continuously around the entire usable area.

[0017] In a preferred embodiment, the side wall completely encloses the loading area and / or the usable area, abuts the loading area without gaps, is hinged at the loading area and / or is arranged orthogonally to the loading area. Preferably, the surrounding side wall and the loading area form the shape of an upwardly open cuboid in order to secure the objects against falling off the loading area.

[0018] In addition to changing the usable area, particularly the size of the loading area, another essential aspect of the invention lies in the fact that the side wall is designed to be length-adjustable. For this purpose, the side wall can be telescopically extendable, foldable, and / or made of a flexible material. When telescopically extended, one or more sections of the side wall can be recessed within an outer section. Just like the usable area, the side wall can be designed so that changes in size or length are stepless, for example by screws, or in defined increments, for example by locking mechanisms. Likewise, the side surface and / or the loading area can be designed so that a portion of it is retractable and extendable to increase its size.

[0019] In a preferred embodiment, at least two side walls are provided, arranged side by side on adjacent edges of the loading platform, along with a side wall extension made of a flexible material and positioned between the two side walls. The side wall extension is preferably made of a flexible material such as rubber or the like and can be located within the side wall, in particular being retractable within the side wall. When the side wall is extended, the side wall extension is pulled out of the side wall like a flexible rubber band, thus limiting the usable area. An advantage of such a side wall extension lies in the flexibility to create different lengths of the side wall.

[0020] To enable the vehicle to detect changes in side wall length and / or loading area dimensions, and subsequently adjust its route accordingly, it has proven particularly advantageous to have a marking on the side wall to visually indicate the change in length, and / or to have a side wall sensor designed to detect the change in length. Alternatively or additionally, it is preferred that a marking be provided on the loading area to visually indicate the change, and / or that the vehicle has a loading area sensor designed to detect the change in size. The marking allows for visual, and therefore manual, identification of whether the side wall length has changed or the loading area has changed. The marking can advantageously be designed as a printed element and / or a measuring tape. The visually detected change in length or loading area dimensions can then be used to determine the vehicle's position and / or its position.Changes can be entered manually into the control system, for example using a keyboard provided on the control system or via a mobile device app that is in communication connection with the vehicle or the control system.

[0021] The change in length or dimensions can also be automatically detected using the proposed side wall sensor or loading platform sensor. In this context, it is particularly preferred that the side wall sensor and / or loading platform sensor comprises a stepper motor, a lidar sensor, and / or a light barrier, and / or that the side wall sensor and / or loading platform sensor is designed to detect the change in length or dimensions based on a change in the electrical resistance of the side wall and / or loading platform. The side wall sensor or loading platform sensor preferably communicates with the control system. The lidar sensor can be located below the loading platform. Furthermore, the lidar sensor can be configured for autonomous vehicle navigation and, in particular, for detecting obstacles in the vehicle's surroundings.

[0022] In this way, a single lidar sensor can detect changes in the length of the side wall, changes in the loading area, and the surrounding area for vehicle navigation. By applying a voltage to the side wall and / or the loading area and measuring the change in electrical resistance, the change in length of the side wall and / or the size of the usable area can be calculated. The control system can then take these detected changes into account to adjust the navigation route. For example, the adjusted route avoids aisles in a logistics center that are too narrow for the vehicle to pass through.

[0023] The loading platform features a fixed-size base made of one material and a variable-size extendable area made of a second, more flexible material. The base can be made of metal or wood, for example, while the extendable area can be made of plastic and / or a tarpaulin.

[0024] Furthermore, the extendable surface can comprise a rubber-like material that extends between the base and the side wall when the loading area changes size. There are various possibilities for designing the control system. As mentioned previously, the control system preferably includes a microcontroller and / or is computer-based to enable autonomous vehicle navigation. For this purpose, the control system preferably possesses "intelligence" such that it can navigate the vehicle to its destination, optionally using optical, acoustic, olfactory, and / or data-signal-based sensors provided on the vehicle for identifying and interpreting environmental signals, without collisions with other vehicles or objects. According to a particularly preferred embodiment, the control system is designed to allow the vehicle to follow a person at a predetermined distance.

[0025] The vehicle, for example configured as a picking cart for retrieving items from a warehouse, can follow a warehouse employee and / or order picker through the logistics center's racking system at a distance of 1 to 2 meters. The warehouse employee removes predetermined items from the racking system and places them on the loading platform. Once the picking cart is fully loaded or all items from the racking system have been placed on the loading platform, the control system allows the picking cart to autonomously drive to its destination. Furthermore, scenarios are also conceivable in which the vehicle autonomously follows a route through the warehouse based on a previously received list of items, enabling the warehouse employee to retrieve items from the racking system at defined stopping points and place them on the vehicle.

[0026] According to a further preferred embodiment, the control system is designed to manage changes and / or modify the usable area depending on the object being transported, particularly based on a received object list. The control system handles all control tasks related to navigation, route modification, and route adjustments based on the changed loading area. To receive the object list, the vehicle and / or the control system expediently has a communication device to exchange data, for example, regarding the objects being transported, wirelessly and / or via a wired connection with a logistics center, distribution station, or similar facility.

[0027] In principle, the vehicle can have a combustion engine to autonomously travel to various locations along a route, even over longer distances. However, it has proven particularly advantageous if the vehicle has a battery for control and a corresponding electromechanical drive powered by the battery. Ideally, the control system automatically detects when the battery needs recharging and then autonomously drives to a charging station and connects to it electrically for recharging. Brief description of the drawings

[0028] The invention is explained in more detail below with reference to the accompanying drawings and by way of preferred embodiments.

[0029] The drawings show Fig. 1 a schematic perspective view of a vehicle for autonomously transporting an object according to a preferred embodiment of the invention, Fig. 2 a schematic perspective top view of the vehicle according to Fig. 1 According to the preferred embodiment of the invention, Fig. 3 is a schematic top view of a side wall of the vehicle. Fig. 1 according to the preferred embodiment of the invention, and Fig. 4 a schematic top view of two side walls of the vehicle according to Fig. 1 according to the preferred embodiment of the invention. Detailed description of the implementation examples

[0030] Fig. 1 Figure 1 shows a vehicle for autonomously transporting an object 1 to a destination according to a preferred embodiment of the invention in a schematic perspective view. The vehicle is designed in the manner of a picking cart, also called a trolley, and has a box-shaped base 2. A drive 3 for four wheels 4, which are arranged laterally on the base 2, is provided in the base 2. A battery 5 is also arranged in the base 2 to supply electrical energy to the drive 3 and a control unit 6 of the vehicle.

[0031] The computer-based control system 6 is designed to allow the vehicle to follow a picker at a predefined distance of a few meters. For this purpose, the vehicle has various sensors, not described in detail here, which enable autonomous navigation between shelves (not shown) in a warehouse. The picker removes objects 1, such as individual items, packages, or the like, from the shelves and places them on a box-like loading platform 7 mounted on the base 2. The rectangular loading platform, with a usable area 8 of 2 m², is enclosed on all sides by 30 cm high side walls that fit flush against the loading platform 7. As in Fig. 1 As shown, objects 1 can be picked up on the loading platform 7 and are secured against falling off the vehicle during transport by the side walls 9.

[0032] In the Fig. 1 In the initial position shown, the loading platform 7, viewed from above, is essentially flush with the wheels 7 in its transverse extent and does not project beyond them. In its longitudinal extent, apart from the steering mechanism 6, the loading platform 7 does not project beyond the longitudinal extent of the undercarriage 2. However, the loading platform 7 is, as shown in Fig. 2 The usable area of ​​the loading platform 7, as shown by the side walls 9, can be changed. Specifically, the area of ​​the loading platform 7 can be changed in the longitudinal direction, indicated by arrow 10, as well as in the transverse direction, indicated by arrow 11.

[0033] When the usable area 8 changes in size in the longitudinal direction 10, the resized loading area 7 projects accordingly beyond the substructure 2 (not shown). The same applies to a change in size of the usable area in the transverse direction 11 of the loading area 7. While in the Fig. 1 In the initial position shown, where the side walls 9 of the longitudinal sides of the loading platform are arranged essentially vertically above the wheels 4, the side walls of the longitudinal sides of the loading platform 7 can, after a change in the size of the usable area in the transverse direction of the loading platform 7, be arranged next to the wheels 4 and project beyond them in the transverse direction 11 accordingly.

[0034] However, within the scope of the invention, changing the usable area 8, in particular changing the area of ​​the loading platform 7, does not mean a possible folding down of the side walls 9, which could also achieve an increase in the usable area 8. This means that changing the usable area 8, for example by increasing the area of ​​the loading platform 7, also entails an extension of the side wall 9. In the case of the Fig. 1 and Fig. 2 In the illustrated configurations, the surface normal of the loading area 7 and the side wall 9 extends at a rigid angle of 90° to each other.

[0035] There are various ways to change the area of ​​the loading platform 9 and the length of the side wall 9. Furthermore, the loading platform 7 has a fixed-size base surface 12 made of a first material, for example, metal, and a variable-size extendable surface 13 made of a second, more flexible material such as rubber. If, for example, the loading platform 7 is to be extended in the transverse direction 11, the rubber band, which can be held between the fixed-size base surface 12 and the side wall 9, stretches.

[0036] Fig. 3 Figure 1 shows a side wall 9 in a schematic sectional view with a first part 14, which can be inserted into a second, outer part 15 of the side wall 9 or is used to change the length of the side wall 9 in the longitudinal direction 10 or transverse direction 11. In the Fig. 3 In the extended state shown, both the first part 14 and the second part 15 are visible. The two parts 14 and 15 can be designed to be continuously movable and connected to each other, for example continuously by means of screws or in defined increments by means of appropriate locking devices, in order to fix the first part relative to the second part 15.

[0037] Fig. 4Figure 1 shows two side walls 9 in a schematic sectional view, each side wall being constructed as described above with a first part 14 that can be inserted into a second part 15. Between the respective first parts 14 of the side walls 9, which are arranged orthogonally to each other with respect to their surface normals, there is a gap 16 at one corner of the loading platform 7. This gap is closed by a side wall extension 17 made of a rubber band, which abuts the two first parts 14 seamlessly. The loading platform 7, although not shown, can be designed analogously, for example, by having a folding mechanism or an extendable floor section to close such a gap 16 in the loading platform 7.

[0038] In any case, the previously described configurations allow the usable area 8 to be changed with regard to its geometric shape and its area limited by the side walls 9, in order, for example, to change the usable area 8 of the vehicle according to the objects 1 to be transported during transport from a first location to a destination location.

[0039] Both the side walls 9 and the loading platform 7 are each equipped with markings 18 in the form of a printed measuring tape to visually detect changes in the length of the side walls 9 and changes in the size of the loading platform 7, respectively. In addition, each side wall 9 is equipped with a side wall sensor 19 to detect changes in its length. Similarly, a loading platform sensor 20 is arranged on the loading platform 7 to detect changes in its surface area.

[0040] Both the side wall sensor 19 and the loading platform sensor 20 can be designed as stepper motors that cause changes in the length of the side wall 9 or the size of the loading platform 7, respectively. Alternatively, the side wall sensor 19 and the loading platform sensor 20 can be designed as lidar sensors, which, in addition to detecting changes in length or size, can also be used to recognize the vehicle's surroundings for autonomous navigation. Furthermore, it is also possible to detect changes in length or size by applying a voltage and measuring a change in the electrical resistance of the side wall 9 or the loading platform 7.

[0041] As previously mentioned, the control system 6 is designed to autonomously navigate the vehicle within a logistics center, through aisles between the shelves, or even outside the logistics center on public roads. Using the lidar sensor, which has also been mentioned, the vehicle independently gathers environmental information and, with the help of the control system 6, calculates a route to be taken, for example, from a charging station where the vehicle's battery 5 is charged, to a destination where the order picker begins their picking process. The route depends on the vehicle's external dimensions to ensure it can navigate the aisles between the shelves in the logistics center.

[0042] By changing the usable area 8, particularly by increasing its width 11, the vehicle widens. The control unit 6 detects this widening of the vehicle via the side wall sensor 19 and / or the loading area sensor 20, and takes this into account when selecting the route. Specifically, when the usable area 8 changes, the route to be navigated is adjusted to the destination. This means that the route can remain unchanged if it is still feasible despite the vehicle's increased width. However, if the planned route includes aisles between the shelves of the logistics center that are no longer passable due to the increased width, the control unit 6 automatically adjusts the route to the destination, excluding aisles with insufficient clearance in the revised route.

[0043] In summary, the vehicle allows the autonomous transport of objects 1 in the form of general cargo, packages, goods or other transportable goods in an extremely flexible and autonomous manner to a destination, such that, for example, the usable area 8 can be dynamically resized during transport and the route to be traveled is automatically adapted to changing dimensions of the vehicle in order to, for example, avoid aisles or streets with insufficient passage width.

[0044] The described embodiments are merely examples that can be modified and / or supplemented in various ways within the scope of the claims. Each feature described for a particular embodiment can be used independently or in combination with other features in any other embodiment. Each feature described for an embodiment of a particular category can also be used accordingly in an embodiment of a different category.

Claims

1. Vehicle for autonomously transporting an object (1) to a destination, with a loading surface (7) for receiving the object (1), variable-length side walls (9) which extend longitudinally around the loading surface (7) and delimit a usable area (8) of the loading surface (7) peripherally, wherein the loading surface (7) has a fixed-size base surface (12) made of a first material and a variable-size pull-out surface (13) made of a second material which is more flexible in contrast, which pull-out surface (13) extends between the fixed-size base surface (12) and the side walls (9), whereby the loading surface (7) is designed to change the usable area (8), which is accompanied by a change in the side walls (9), with the result that the usable area (8) and / or a surface area of the loading surface (7) can be changed in the longitudinal direction (10) and in the transverse direction (11) of the loading surface (7), and a controller (6) which is designed to adapt and modify a route taking into account the change in the usable area (8) and / or the loading surface (7), and to navigate the vehicle along the route, which takes into account the change in the usable area (8) and / or the loading surface (7), to the destination.

2. Vehicle according to the preceding claim, wherein the loading surface (7) and the side walls (9) are arranged at a rigid angle with respect to each other.

3. Vehicle according to either of the preceding claims, wherein the side walls (9) adjoin to the loading surface (7) without gaps, and are arranged foldably on the loading surface (7) and / or orthogonally with respect to the loading surface (7).

4. Vehicle according to one of the preceding claims, wherein, in order to change the length, the side walls (9) are designed to be telescopically extendable, foldable and / or made of a flexible material.

5. Vehicle according to one of the preceding claims, wherein the side walls are arranged next to one another on adjacent side edges of the loading surface (7), and with a side wall extension (17) made of a flexible material and arranged between the side walls.

6. Vehicle according to one of the preceding claims, wherein a marking (18) is provided on the side walls (9), in order to visually indicate the change in length, and / or with a side wall sensor (19) designed to detect the change in length.

7. Vehicle according to one of the preceding claims, wherein a marking (18) is provided on the loading surface (7), in order to visually indicate the change, and / or with a loading surface sensor (20) designed to detect the change.

8. Vehicle according to one of the preceding claims with a side wall sensor (19) designed to detect a change in length or with a loading surface sensor (29) designed to detect a change in the loading surface (7), wherein the side wall sensor (19) and / or the loading surface sensor (20) comprise / comprises a stepper motor, a LIDAR sensor and / or a light barrier, and / or the side wall sensor (19) and / or the loading surface sensor (20) are / is designed to detect the change in length and / or the change by means of a change in an electrical resistance of the side wall (9) and / or the loading surface (7).

9. Vehicle according to one of the preceding claims, wherein the controller (6) is designed to allow the vehicle to follow a person at a predetermined distance.

10. Vehicle according to one of the preceding claims, wherein the controller (6) is designed to control the change and / or to change the usable area (8) depending on the object to be transported, in particular by means of a received object list.

11. Vehicle according to one of the preceding claims, with a drive (3) for the vehicle and a battery (5) for the controller (6) and the drive (3).