Material handling vehicle and system comprising a material handling vehicle

Abstract

Material handling vehicle (1) comprising indication means (8, 9, 10, 11). Wherein the material handling vehicle (1) comprises at least one sensor (7) for detecting an object (12). System comprising a material handling vehicle (1) and an object (12). There is also disclosed a method for operating a material handling vehicle (1).

Description

[0001] The present invention is related to a material handling vehicle according to claim 1. The present invention is related to a method according to claim 12.BACKGROUND

[0002] There is a constant demand for augmenting the productivity in a logistic material handling industries. Thus, three is a constant demand for improving the processes in warehouses.SHORT DESCRIPTION OF THE INVENTION

[0003] One way of solving the above problems with the prior art is to implement automated guided vehicles As a solution to at least one of these problems there is proposed a material handling vehicle comprising a drive motor. The material handling vehicle further comprises a hydraulic system. The material handling vehicle further comprises a load carrier. The material handling vehicle further comprises a control unit. The control unit being arranged to be able to control the drive motor and the hydraulic system. The material handling vehicle is thus controlled to move and handle loads by the control unit. The material handling vehicle further comprises at least one sensor. The sensor detects objects in the surroundings of the vehicle. The control unit is arranged to control the material handling vehicle based on the signals received by said sensor.

[0004] The material handling vehicle comprises at least one indicating means, that is detectable by an object being within visual or sound detecting distance of the vehicle (1).The control unit is arranged to control the at least one indicating means based one or several of the following predetermined mode or modes of operation of the vehicle: the vehicle is involved in a load carrier lifting operation, the vehicle is involved in a load carrier lowering operation, the vehicle is involved in a load carrier side shift operation, the vehicle is involved in a horizontal reach operation, the vehicle is moving and turning, the vehicle is stopped, the vehicle is out of operation, the vehicle has detected an object in the vicinity of the vehicle that will lead to that the vehicle will need to steer by the control unit to avoid the detected object. The material handling vehicle thus, is arranged to operate efficiently by minimising stopping operation and / or used controlled steering to handle a detected object, as both detection of objects may be avoided and also if detection of objects is made, the surroundings may take action to avoid the vehicle to be required to initiate in a steering and / or stopping operation.

[0005] Such that an object in the vicinity of the material handling vehicle may detect and adapt to the indication of the indication device, and thereby the material handling vehicle will be controlled to not actuate the steering and / or stopping functions when detection of an object is made.

[0006] In an alternative aspect there is proposed a material handling vehicle according to claim 2.

[0007] Light is very efficient if the vehicle is operating indoors. Thus, the indoor operation of the vehicle is very much made more efficient and safe.

[0008] In an alternative aspect there is proposed a material handling vehicle according to claim 3.

[0009] Floor projection means is very effective for allowing objects to read and detect the intentions of the vehicle. If the object is a human person, it is particularly effective, as it today is hard not to look down when using screen tools such as a tablet, mobile phone or the like, when working.

[0010] In an alternative aspect there is proposed a material handling vehicle according to claim 4.

[0011] By the innovative projection of an indication of the action, present or future of the vehicle, the whole operation of the material handling is improved. In particular when detection is open downwards by objects close to the vehicle.

[0012] In an alternative aspect there is proposed a material handling vehicle according to claim 5.

[0013] By applying a screen the flexibility is vastly improved of the operation of the vehicle and the indication possibilities is increased considerably. A vertical screen will also improve the visibility of the screen greatly, in particular at distance, where the detection line is more or less horizontal from an object being at distance from the vehicle.

[0014] In an alternative aspect there is proposed a material handling vehicle according to claim 6.

[0015] By indicating a future operation, such as a future object avoidance action, other objects may earlier take a planned action to avoid interfering with the vehicle.

[0016] In an alternative aspect there is proposed a material handling vehicle according to claim 7.

[0017] Colour is a very powerful tool as for example an RGB sensitive sensor of an object may detect and construe different colours as having different meaning.

[0018] In an alternative aspect there is proposed a material handling vehicle according to claim 8.

[0019] By having a sound emitting device, detection of the vehicles intentions or ongoing operation may be detected even at situation where the vehicle is not clearly visible, for example when hid behind a warehouse rack or another vehicle.

[0020] In an alternative aspect there is proposed a material handling vehicle according to claim 9.

[0021] The automatic guided vehicle may operate without an operator on the vehicle. This provides for an essentially human free environment tin the work area. By further adding the functionality of an AMR the execution of the complete material handling operation may be optimized without considering In an alternative aspect there is proposed a material handling vehicle according to claim 10.

[0022] By arranging the vehicle with indicating means that may oscillate in dedicated way related to the particular mode of operation that is at hand for the vehicle, an object such as another vehicle or a person in the warehouse, may detect the indication in a more efficient and reliable way, also if the object or person may for example not detect colours etc.

[0023] There is also proposed a system according to claim 11.

[0024] The system provides for an excellent way of material handling. The efficiency in the material handling operation may be improved. Also the system does not require direct link between each vehicle in the area, instead a passive viewing and / or sound detecting may be used that is fast an efficient and may be processed locally on each vehicle. Thus, the operation of the entire work area will not be stopped if a vehicle has problems in direct communication with other vehicles.

[0025] The AMR is in a way an intelligent vehicle that may take action and move more freely in a warehouse situation. The AMR may for example circumvent by steering outside a predetermined path, not using indicators etc. for following the possible paths available. This, improves the safety and the operation of the system considerably.

[0026] The system is improved if more than one vehicle may indicate their intentions. By also improving the second vehicle with indication means, it is possible to create a very safe and efficient system for a material handling operation.

[0027] There is also proposed a method according to claim 12.

[0028] The advantage of the method is apparent from the advantaged of the material handling vehicle above.

[0029] There is also proposed a method according to claim 13.

[0030] The advantage being found in the advantages of the vehicle discussed above.

[0031] There is also proposed a computer program according to claim 14.

[0032] There is also proposed a computer program product according to claim 15.LIST OF DRAWINGS

[0033] Fig. 1Material handling vehicle from the right side according to one aspect. Fig. 2Material handling vehicle from a first side according to one aspect. Fig. 3Material handling vehicle from above according to one aspect. Fig. 4Material handling vehicle from above with a person close to the vehicle. Fig. 5System according to one aspect. Fig. 6Indications on the floor according to one aspect. Fig. 7Indications on the floor according to one aspect. Fig. 8A method flowchart according to the disclosure. DETAILED DESCRIPTION

[0034] Fig. 1 discloses a material handling vehicle 1 according to one aspect of the disclosure. The disclosed vehicle 1 comprises a drive motor 2. The drive motor 2 is in general electric. The power to the vehicle 1 and also the drive motor 2, comes in general from a battery. The battery may be a lead acid battery, but preferably the battery is a modern battery with for example lithium ion technology, or even lithium iron phosphate technology.

[0035] The vehicle 1 comprises a hydraulic system 3. The hydraulic system 3, comprises at least one hydraulic piston 4 for lifting and lowering a comprised load carrier 5. The hydraulic system 3 is controlled by a control unit 6, that also controls the remaining functions of the vehicle 1. The hydraulic system 3 comprises a pump for giving pressure to the hydraulic system 3. The pump is in general powered by a pump motor. The pump motor may be arranged to be the same motor as the drive motor 2.

[0036] The hydraulic system 3 is adapted to the configuration of the vehicle 1. That is, if the vehicle 1 is a low lifting order picker truck, there may only be a single hydraulic cylinder 4, but if the vehicle is a high lifting truck, a mast 17 and several hydraulic cylinders and valves may be added for the functionality.

[0037] The mentioned control unit 6 is arranged to control all functions in the vehicle 1. The control unit 6 is in general a main control unit that may store computer executable software that is arranged to control the vehicle 1. The control unit 6 in particular may control the drive motor 2 and the steering of the vehicle 1. The control unit 6 comprises at least one processor and memory circuits and other electronic components known to the skilled person. The control unit 6 may also be a distributed control unit system where there are several processors and memory circuits of various functions and positions on the vehicle 1 that is in cooperation. In general there is a bus system on the vehicle 1. The bus system may for example be a CAN bus system, but it is thinkable to have any suitable bus system. The bus system may be a cable bus system. The bus system may be a wireless bus system. The bus system may be a cable and a wireless bus system in cooperation.

[0038] The material handling vehicle comprises at least one sensor 7 for detecting objects 12, Fig. 4, in the surroundings of the vehicle 1, Fig. 1, 2, 3. The sensor 7 may be any type of sensor that is arranged to detect objects in the surroundings. The surroundings being in most cases a warehouse. The sensor may for example be a laser sensor, that may both detect the objects that may be obstacles, persons or fixed objects etc. The sensor 7 may detect the distance to an object and / or obstacle. The sensor 7 is connected to the control unit 6 and the sensor 7 sends signals to the control unit 6 that are may be read and understood by the control unit 6 and the software of the control unit 6. The sensor 7 is optionally configured such that it may determine the difference between different objects 12. The objects 12 may thus be a human being, and / or a pallet and / or a pallet with a load, and / or a fixed object such as a rack, and / or another material handling vehicle 32, see Fig,. 5.

[0039] The load carrier 5 is arranged on one side of the vehicle 1. The load carrier 5 is preferred to be a pair of forks. But, it should be understood that the load carrier 5 may also be of other forms and shapes. For example the load carrier 5 may be a gripping device for gripping loads with a certain, for example cylindrical, shape.

[0040] The material handling vehicle 1 comprises at least one indicating means 8, 9, 10, 11, Fig. 1, Fig, 2. The indicating means is arranged such that the control unit 6 coordinates a certain indication in relation to the operating mode of the vehicle 1. The operating mode may be a load carrier 7 lifting operation. The operating mode may be a load carrier 7 lowering operation. The operating mode may be a load carrier 7 side shift operation. The operating mode may be a mast horizontal movement in a reach configured vehicle 1. The indicating means may be disclosing that the vehicle is stopped, and / or out of operation. The indicating means may be disclosing that the vehicle is moving, forward and / or backwards. The indicating means may be disclosing that the vehicle is moving and turning, to the right and / or the left.

[0041] The light indicating means may have a oscillating mode. For example the oscillating mode may indicate that there is a particularly dangerous mode incoming for an object that is in the vicinity of the material handling vehicle. This means that not only for steering operations, also for lifting operations, movement backwards or forward etc. there may be a dedicated predetermined flashing from one or more of indication means comprised on the vehicle 1.

[0042] The indicating means may be arranged such that the control unit 6 may control the colour indicated. This may for example be done by controlling the three colour channels RGB, that is Red Yellow and Magenta. In general red may be used for stop and exceptional operation, green may be used for normal operation. Orange may be used for operation where there is movement involved, such as lifting, lowering, turning, etc.

[0043] By combining colour indication with flashing there may be a particular effect, in that also a colour blind object, such as an operator, may also take in the information that the vehicle 1 is seeking to communicate. The flashing may be according to a particular pattern, for example one flash a second, in a particular colour.

[0044] The indicating means may be a LED list, as exemplified by ref 10. In this case the indicating means 10 has a right and left indicating means, as seen in Fig. 2.

[0045] The indication means optionally is in the form of projection means 9. The projection means projects in particular a line 14 on the floor, as seen in Fig. 6 and Fig 7. In Fig. 6 a line 14 is shown as a circle, this is only an example. In another variant there is instead projected individual lines, exemplified in fig. 6, by lines 14a, 14b, 14c. The particular projection means 9 is actually two projection means as shown in Fig. 2, which help to project a line on opposing sides of the vehicle 1. Thus, a projection of a line on a first side 14a and a second side 14b is easily achievable as compared to a circle 14. The lines discloses a safe distance in view of an operator 12 moving around in the vicinity of the area of operation. The sensor 7 may be arranged to detect a distance that correspond to the projection of the lines. However, the sensor 12 may detect an area inside the projection of the floor, but the projection then gives good indication of when the vehicle's 1 operation may not be interfered with.

[0046] Optionally there may be also indicating means 11, low on sides not having the load carrier 5. This allows for projecting broader area wedges 15 of light on the floor which gives a really good view for example for a person 12, service man or the like which is in the close zone of the vehicle 1. In particular important today, when so many operations is made by looking down on a mobile screen also in professional situations. This is disclosed in Fig. 7. In this particular example the vehicle 1 is turning in a direction 19, and the area 15 indicated on the floor may be an orange area. The area 15 may be a flashing area. The indication on the floor may also be a straight forward wedge for indicating a stop, for example in red, or green if the vehicle is moving in the other direction, by way of example.

[0047] Optionally there may be also indication means in the form of a screen 10. The screen may be any suitable screen, such as a computer screen a TV-screen or the like. The screen 10 should be mounted vertically or essentially vertically, in order to be easily detectable. It is also essential that the screen 10 is large enough such that an object, such as an worker or service personnel, may detect the information from at least a predetermined distance. This distance should be such that the person is in safe distance for any male function in operation, preferably in outside the floor projection means 14 projection. The screen 10 is optionally able to disclose by the control of the control unit 6 that the vehicle 1 has detected an object 12 in the operation area of the vehicle. This object detection may be correlated by an stored map in the control unit 6 memory, such that the control unit 6 determines that it is an object that is not a fixed object. Then screen 10 may then disclose a future path of the vehicle 1, necessary to navigate past this object 12. Any further object 12 in the vicinity may then take action and avoid moving into the future path of the vehicle 1. The screen 10 may by the control unit to precisely disclose the operation the vehicle is going to do in the future. This may in particular be useful if it is an lifting, lowering, reach, side shift operation of the load carrier 7. Any object 12 in the area of the vehicle 1 may then adjust its path of movement such that the vehicle 1 may operate freely and safely.

[0048] A further sensor 18 may be associated with the load carrier 5. This sensor may determine if a load I s present on the load carrier 5. The sensor may optionally determine if the load carrier is in position for engaging a load. The indication means may be configured to disclose if the vehicle 1 has determined that a load is present on the load carrier or not.. It may optionally be so that the further sensor 18 is included in the first sensor 7.

[0049] A further sensor 19 may optionally be associated with the vehicle 1, in order to determine if a load may be positioned in a rack of a warehouse. The indicating means may be configured to indicate that the vehicle 1 has determined that there is a load or that there is not a load present on the rack of a warehouse. It may optionally be so that the further sensor 19 is included in the first sensor 7.

[0050] The first vehicle 1 may be an automatic guided vehicle; AGV. The AGV may move around in for example a warehouse independently. For example by following a predefined path indicated by markers or external guidance commands.

[0051] The first vehicle 1 may be an autonomous mobile robot; AMR. This is a mobile platform that can navigate using obstacle avoidance and trajectory planning rather than a predefined path.

[0052] The vehicle 1 may thus have an inbuilt navigation system, comprising any sort of suitable navigation. The vehicle 1 may thus navigate without an operator in a warehouse environment. The vehicle 1 may optionally thus determine its position in relation to fixed objects in the warehouse environment. The vehicle may optionally also determine its position in the warehouse in relation to other vehicles in the warehouse. The vehicle 1 may optionally navigate using an internal map. The vehicle may optionally navigate using an external position device, with a determined position.

[0053] The disclosure is also related to a system 30 as disclosed in Fig. 5. The system 30 being composed of two vehicles, the first vehicle being the vehicle 1 as discussed above. The second vehicle 32 being a vehicle that may detect the indication means that the first vehicle 1 is indicating. Thus the second vehicle 32 has a control unit 6a and a sensor 16 coupled to the control unit 6a. Further there is a propulsion system, motor, brakes, steering etc. that the control unit 6a is arranged to control. The sensor 16 may detect the indication means of the first vehicle 1. The sensor 16 may then send signals to the control unit 6a such that the second vehicle may move or adjust its path of movement in relation to the detected information of the indication means of the first vehicle 1. Thus the operation in the whole warehouse or the like may be improved and made more efficient.

[0054] The disclosure is also related to a method, Fig. 8, to indicate an operation mode by at least one indication device of a material handling vehicle 1. The operation mode is comprised in the list of: a turning movement, and / or a stopping action, and / or a load handling, and / or an object avoiding action.

[0055] The method may also comprise the steps of detecting an object 12; 32 in the vicinity of the vehicle 1. An also the step of set an indicating means 9; 10; 11 in a predetermined operation mode indicating responsiveness to the detected object. And further a step of ending the predetermined operation mode if the object no longer is detected, and / or a predetermined time has elapsed.

[0056] The indicating mode may comprise, indication by a predetermined colour, and / or indication by a predetermined flashing, and / or disclosing a particular graphics.

Examples

Embodiment Construction

[0034]Fig. 1 discloses a material handling vehicle 1 according to one aspect of the disclosure. The disclosed vehicle 1 comprises a drive motor 2. The drive motor 2 is in general electric. The power to the vehicle 1 and also the drive motor 2, comes in general from a battery. The battery may be a lead acid battery, but preferably the battery is a modern battery with for example lithium ion technology, or even lithium iron phosphate technology.

[0035]The vehicle 1 comprises a hydraulic system 3. The hydraulic system 3, comprises at least one hydraulic piston 4 for lifting and lowering a comprised load carrier 5. The hydraulic system 3 is controlled by a control unit 6, that also controls the remaining functions of the vehicle 1. The hydraulic system 3 comprises a pump for giving pressure to the hydraulic system 3. The pump is in general powered by a pump motor. The pump motor may be arranged to be the same motor as the drive motor 2.

[0036]The hydraulic system 3 is adapted to the confi...

[0001] The present invention is related to a material handling vehicle according to claim 1. The present invention is related to a method according to claim 12.BACKGROUND

[0002] There is a constant demand for augmenting the productivity in a logistic material handling industries. Thus, three is a constant demand for improving the processes in warehouses.SHORT DESCRIPTION OF THE INVENTION

[0003] One way of solving the above problems with the prior art is to implement automated guided vehicles As a solution to at least one of these problems there is proposed a material handling vehicle comprising a drive motor. The material handling vehicle further comprises a hydraulic system. The material handling vehicle further comprises a load carrier. The material handling vehicle further comprises a control unit. The control unit being arranged to be able to control the drive motor and the hydraulic system. The material handling vehicle is thus controlled to move and handle loads by the control unit. The material handling vehicle further comprises at least one sensor. The sensor detects objects in the surroundings of the vehicle. The control unit is arranged to control the material handling vehicle based on the signals received by said sensor.

[0004] The material handling vehicle comprises at least one indicating means, that is detectable by an object being within visual or sound detecting distance of the vehicle (1).The control unit is arranged to control the at least one indicating means based one or several of the following predetermined mode or modes of operation of the vehicle: the vehicle is involved in a load carrier lifting operation, the vehicle is involved in a load carrier lowering operation, the vehicle is involved in a load carrier side shift operation, the vehicle is involved in a horizontal reach operation, the vehicle is moving and turning, the vehicle is stopped, the vehicle is out of operation, the vehicle has detected an object in the vicinity of the vehicle that will lead to that the vehicle will need to steer by the control unit to avoid the detected object. The material handling vehicle thus, is arranged to operate efficiently by minimising stopping operation and / or used controlled steering to handle a detected object, as both detection of objects may be avoided and also if detection of objects is made, the surroundings may take action to avoid the vehicle to be required to initiate in a steering and / or stopping operation.

[0005] Such that an object in the vicinity of the material handling vehicle may detect and adapt to the indication of the indication device, and thereby the material handling vehicle will be controlled to not actuate the steering and / or stopping functions when detection of an object is made.

[0006] In an alternative aspect there is proposed a material handling vehicle according to claim 2.

[0007] Light is very efficient if the vehicle is operating indoors. Thus, the indoor operation of the vehicle is very much made more efficient and safe.

[0008] In an alternative aspect there is proposed a material handling vehicle according to claim 3.

[0009] Floor projection means is very effective for allowing objects to read and detect the intentions of the vehicle. If the object is a human person, it is particularly effective, as it today is hard not to look down when using screen tools such as a tablet, mobile phone or the like, when working.

[0010] In an alternative aspect there is proposed a material handling vehicle according to claim 4.

[0011] By the innovative projection of an indication of the action, present or future of the vehicle, the whole operation of the material handling is improved. In particular when detection is open downwards by objects close to the vehicle.

[0012] In an alternative aspect there is proposed a material handling vehicle according to claim 5.

[0013] By applying a screen the flexibility is vastly improved of the operation of the vehicle and the indication possibilities is increased considerably. A vertical screen will also improve the visibility of the screen greatly, in particular at distance, where the detection line is more or less horizontal from an object being at distance from the vehicle.

[0014] In an alternative aspect there is proposed a material handling vehicle according to claim 6.

[0015] By indicating a future operation, such as a future object avoidance action, other objects may earlier take a planned action to avoid interfering with the vehicle.

[0016] In an alternative aspect there is proposed a material handling vehicle according to claim 7.

[0017] Colour is a very powerful tool as for example an RGB sensitive sensor of an object may detect and construe different colours as having different meaning.

[0018] In an alternative aspect there is proposed a material handling vehicle according to claim 8.

[0019] By having a sound emitting device, detection of the vehicles intentions or ongoing operation may be detected even at situation where the vehicle is not clearly visible, for example when hid behind a warehouse rack or another vehicle.

[0020] In an alternative aspect there is proposed a material handling vehicle according to claim 9.

[0021] The automatic guided vehicle may operate without an operator on the vehicle. This provides for an essentially human free environment tin the work area. By further adding the functionality of an AMR the execution of the complete material handling operation may be optimized without considering In an alternative aspect there is proposed a material handling vehicle according to claim 10.

[0022] By arranging the vehicle with indicating means that may oscillate in dedicated way related to the particular mode of operation that is at hand for the vehicle, an object such as another vehicle or a person in the warehouse, may detect the indication in a more efficient and reliable way, also if the object or person may for example not detect colours etc.

[0023] There is also proposed a system according to claim 11.

[0024] The system provides for an excellent way of material handling. The efficiency in the material handling operation may be improved. Also the system does not require direct link between each vehicle in the area, instead a passive viewing and / or sound detecting may be used that is fast an efficient and may be processed locally on each vehicle. Thus, the operation of the entire work area will not be stopped if a vehicle has problems in direct communication with other vehicles.

[0025] The AMR is in a way an intelligent vehicle that may take action and move more freely in a warehouse situation. The AMR may for example circumvent by steering outside a predetermined path, not using indicators etc. for following the possible paths available. This, improves the safety and the operation of the system considerably.

[0026] The system is improved if more than one vehicle may indicate their intentions. By also improving the second vehicle with indication means, it is possible to create a very safe and efficient system for a material handling operation.

[0027] There is also proposed a method according to claim 12.

[0028] The advantage of the method is apparent from the advantaged of the material handling vehicle above.

[0029] There is also proposed a method according to claim 13.

[0030] The advantage being found in the advantages of the vehicle discussed above.

[0031] There is also proposed a computer program according to claim 14.

[0032] There is also proposed a computer program product according to claim 15.LIST OF DRAWINGS

[0033] Fig. 1Material handling vehicle from the right side according to one aspect. Fig. 2Material handling vehicle from a first side according to one aspect. Fig. 3Material handling vehicle from above according to one aspect. Fig. 4Material handling vehicle from above with a person close to the vehicle. Fig. 5System according to one aspect. Fig. 6Indications on the floor according to one aspect. Fig. 7Indications on the floor according to one aspect. Fig. 8A method flowchart according to the disclosure. DETAILED DESCRIPTION

[0034] Fig. 1 discloses a material handling vehicle 1 according to one aspect of the disclosure. The disclosed vehicle 1 comprises a drive motor 2. The drive motor 2 is in general electric. The power to the vehicle 1 and also the drive motor 2, comes in general from a battery. The battery may be a lead acid battery, but preferably the battery is a modern battery with for example lithium ion technology, or even lithium iron phosphate technology.

[0035] The vehicle 1 comprises a hydraulic system 3. The hydraulic system 3, comprises at least one hydraulic piston 4 for lifting and lowering a comprised load carrier 5. The hydraulic system 3 is controlled by a control unit 6, that also controls the remaining functions of the vehicle 1. The hydraulic system 3 comprises a pump for giving pressure to the hydraulic system 3. The pump is in general powered by a pump motor. The pump motor may be arranged to be the same motor as the drive motor 2.

[0036] The hydraulic system 3 is adapted to the configuration of the vehicle 1. That is, if the vehicle 1 is a low lifting order picker truck, there may only be a single hydraulic cylinder 4, but if the vehicle is a high lifting truck, a mast 17 and several hydraulic cylinders and valves may be added for the functionality.

[0037] The mentioned control unit 6 is arranged to control all functions in the vehicle 1. The control unit 6 is in general a main control unit that may store computer executable software that is arranged to control the vehicle 1. The control unit 6 in particular may control the drive motor 2 and the steering of the vehicle 1. The control unit 6 comprises at least one processor and memory circuits and other electronic components known to the skilled person. The control unit 6 may also be a distributed control unit system where there are several processors and memory circuits of various functions and positions on the vehicle 1 that is in cooperation. In general there is a bus system on the vehicle 1. The bus system may for example be a CAN bus system, but it is thinkable to have any suitable bus system. The bus system may be a cable bus system. The bus system may be a wireless bus system. The bus system may be a cable and a wireless bus system in cooperation.

[0038] The material handling vehicle comprises at least one sensor 7 for detecting objects 12, Fig. 4, in the surroundings of the vehicle 1, Fig. 1, 2, 3. The sensor 7 may be any type of sensor that is arranged to detect objects in the surroundings. The surroundings being in most cases a warehouse. The sensor may for example be a laser sensor, that may both detect the objects that may be obstacles, persons or fixed objects etc. The sensor 7 may detect the distance to an object and / or obstacle. The sensor 7 is connected to the control unit 6 and the sensor 7 sends signals to the control unit 6 that are may be read and understood by the control unit 6 and the software of the control unit 6. The sensor 7 is optionally configured such that it may determine the difference between different objects 12. The objects 12 may thus be a human being, and / or a pallet and / or a pallet with a load, and / or a fixed object such as a rack, and / or another material handling vehicle 32, see Fig,. 5.

[0039] The load carrier 5 is arranged on one side of the vehicle 1. The load carrier 5 is preferred to be a pair of forks. But, it should be understood that the load carrier 5 may also be of other forms and shapes. For example the load carrier 5 may be a gripping device for gripping loads with a certain, for example cylindrical, shape.

[0040] The material handling vehicle 1 comprises at least one indicating means 8, 9, 10, 11, Fig. 1, Fig, 2. The indicating means is arranged such that the control unit 6 coordinates a certain indication in relation to the operating mode of the vehicle 1. The operating mode may be a load carrier 7 lifting operation. The operating mode may be a load carrier 7 lowering operation. The operating mode may be a load carrier 7 side shift operation. The operating mode may be a mast horizontal movement in a reach configured vehicle 1. The indicating means may be disclosing that the vehicle is stopped, and / or out of operation. The indicating means may be disclosing that the vehicle is moving, forward and / or backwards. The indicating means may be disclosing that the vehicle is moving and turning, to the right and / or the left.

[0041] The light indicating means may have a oscillating mode. For example the oscillating mode may indicate that there is a particularly dangerous mode incoming for an object that is in the vicinity of the material handling vehicle. This means that not only for steering operations, also for lifting operations, movement backwards or forward etc. there may be a dedicated predetermined flashing from one or more of indication means comprised on the vehicle 1.

[0042] The indicating means may be arranged such that the control unit 6 may control the colour indicated. This may for example be done by controlling the three colour channels RGB, that is Red Yellow and Magenta. In general red may be used for stop and exceptional operation, green may be used for normal operation. Orange may be used for operation where there is movement involved, such as lifting, lowering, turning, etc.

[0043] By combining colour indication with flashing there may be a particular effect, in that also a colour blind object, such as an operator, may also take in the information that the vehicle 1 is seeking to communicate. The flashing may be according to a particular pattern, for example one flash a second, in a particular colour.

[0044] The indicating means may be a LED list, as exemplified by ref 10. In this case the indicating means 10 has a right and left indicating means, as seen in Fig. 2.

[0045] The indication means optionally is in the form of projection means 9. The projection means projects in particular a line 14 on the floor, as seen in Fig. 6 and Fig 7. In Fig. 6 a line 14 is shown as a circle, this is only an example. In another variant there is instead projected individual lines, exemplified in fig. 6, by lines 14a, 14b, 14c. The particular projection means 9 is actually two projection means as shown in Fig. 2, which help to project a line on opposing sides of the vehicle 1. Thus, a projection of a line on a first side 14a and a second side 14b is easily achievable as compared to a circle 14. The lines discloses a safe distance in view of an operator 12 moving around in the vicinity of the area of operation. The sensor 7 may be arranged to detect a distance that correspond to the projection of the lines. However, the sensor 12 may detect an area inside the projection of the floor, but the projection then gives good indication of when the vehicle's 1 operation may not be interfered with.

[0046] Optionally there may be also indicating means 11, low on sides not having the load carrier 5. This allows for projecting broader area wedges 15 of light on the floor which gives a really good view for example for a person 12, service man or the like which is in the close zone of the vehicle 1. In particular important today, when so many operations is made by looking down on a mobile screen also in professional situations. This is disclosed in Fig. 7. In this particular example the vehicle 1 is turning in a direction 19, and the area 15 indicated on the floor may be an orange area. The area 15 may be a flashing area. The indication on the floor may also be a straight forward wedge for indicating a stop, for example in red, or green if the vehicle is moving in the other direction, by way of example.

[0047] Optionally there may be also indication means in the form of a screen 10. The screen may be any suitable screen, such as a computer screen a TV-screen or the like. The screen 10 should be mounted vertically or essentially vertically, in order to be easily detectable. It is also essential that the screen 10 is large enough such that an object, such as an worker or service personnel, may detect the information from at least a predetermined distance. This distance should be such that the person is in safe distance for any male function in operation, preferably in outside the floor projection means 14 projection. The screen 10 is optionally able to disclose by the control of the control unit 6 that the vehicle 1 has detected an object 12 in the operation area of the vehicle. This object detection may be correlated by an stored map in the control unit 6 memory, such that the control unit 6 determines that it is an object that is not a fixed object. Then screen 10 may then disclose a future path of the vehicle 1, necessary to navigate past this object 12. Any further object 12 in the vicinity may then take action and avoid moving into the future path of the vehicle 1. The screen 10 may by the control unit to precisely disclose the operation the vehicle is going to do in the future. This may in particular be useful if it is an lifting, lowering, reach, side shift operation of the load carrier 7. Any object 12 in the area of the vehicle 1 may then adjust its path of movement such that the vehicle 1 may operate freely and safely.

[0048] A further sensor 18 may be associated with the load carrier 5. This sensor may determine if a load I s present on the load carrier 5. The sensor may optionally determine if the load carrier is in position for engaging a load. The indication means may be configured to disclose if the vehicle 1 has determined that a load is present on the load carrier or not.. It may optionally be so that the further sensor 18 is included in the first sensor 7.

[0049] A further sensor 19 may optionally be associated with the vehicle 1, in order to determine if a load may be positioned in a rack of a warehouse. The indicating means may be configured to indicate that the vehicle 1 has determined that there is a load or that there is not a load present on the rack of a warehouse. It may optionally be so that the further sensor 19 is included in the first sensor 7.

[0050] The first vehicle 1 may be an automatic guided vehicle; AGV. The AGV may move around in for example a warehouse independently. For example by following a predefined path indicated by markers or external guidance commands.

[0051] The first vehicle 1 may be an autonomous mobile robot; AMR. This is a mobile platform that can navigate using obstacle avoidance and trajectory planning rather than a predefined path.

[0052] The vehicle 1 may thus have an inbuilt navigation system, comprising any sort of suitable navigation. The vehicle 1 may thus navigate without an operator in a warehouse environment. The vehicle 1 may optionally thus determine its position in relation to fixed objects in the warehouse environment. The vehicle may optionally also determine its position in the warehouse in relation to other vehicles in the warehouse. The vehicle 1 may optionally navigate using an internal map. The vehicle may optionally navigate using an external position device, with a determined position.

[0053] The disclosure is also related to a system 30 as disclosed in Fig. 5. The system 30 being composed of two vehicles, the first vehicle being the vehicle 1 as discussed above. The second vehicle 32 being a vehicle that may detect the indication means that the first vehicle 1 is indicating. Thus the second vehicle 32 has a control unit 6a and a sensor 16 coupled to the control unit 6a. Further there is a propulsion system, motor, brakes, steering etc. that the control unit 6a is arranged to control. The sensor 16 may detect the indication means of the first vehicle 1. The sensor 16 may then send signals to the control unit 6a such that the second vehicle may move or adjust its path of movement in relation to the detected information of the indication means of the first vehicle 1. Thus the operation in the whole warehouse or the like may be improved and made more efficient.

[0054] The disclosure is also related to a method, Fig. 8, to indicate an operation mode by at least one indication device of a material handling vehicle 1. The operation mode is comprised in the list of: a turning movement, and / or a stopping action, and / or a load handling, and / or an object avoiding action.

[0055] The method may also comprise the steps of detecting an object 12; 32 in the vicinity of the vehicle 1. An also the step of set an indicating means 9; 10; 11 in a predetermined operation mode indicating responsiveness to the detected object. And further a step of ending the predetermined operation mode if the object no longer is detected, and / or a predetermined time has elapsed.

[0056] The indicating mode may comprise, indication by a predetermined colour, and / or indication by a predetermined flashing, and / or disclosing a particular graphics.

Examples

Embodiment Construction

[0034]Fig. 1 discloses a material handling vehicle 1 according to one aspect of the disclosure. The disclosed vehicle 1 comprises a drive motor 2. The drive motor 2 is in general electric. The power to the vehicle 1 and also the drive motor 2, comes in general from a battery. The battery may be a lead acid battery, but preferably the battery is a modern battery with for example lithium ion technology, or even lithium iron phosphate technology.

[0035]The vehicle 1 comprises a hydraulic system 3. The hydraulic system 3, comprises at least one hydraulic piston 4 for lifting and lowering a comprised load carrier 5. The hydraulic system 3 is controlled by a control unit 6, that also controls the remaining functions of the vehicle 1. The hydraulic system 3 comprises a pump for giving pressure to the hydraulic system 3. The pump is in general powered by a pump motor. The pump motor may be arranged to be the same motor as the drive motor 2.

[0036]The hydraulic system 3 is adapted to the confi...

Claims

1. Material handling vehicle (1) comprising: - a drive motor (2), - a hydraulic system (3) comprising a pump, and at least one hydraulic cylinder (4) for lifting and lowering a load, - a load carrier (5) powered by the hydraulic system (3), - a control unit (6) arranged to be able to control the drive motor (2) and the hydraulic system (3), such that the material handling vehicle (1) is controlled to move and handle loads, by the control unit (6), - at least one sensor (7) for detecting an object (12) in the surroundings of the vehicle (1), wherein the control unit (6) is arranged to receive object (12) detection signals from the at least on sensor and wherein the control unit (6) is arranged to control the material handling vehicle (1) based on the signals received by said sensor (7), 5 characterized in that the material handling vehicle (1) comprises at least one indicating means (8; 9; 10; 11), that is detectable by an object (12) being within visual or sound detecting distance of the vehicle (1), wherein the control unit (6) is arranged to control the at least one indicating means (8) based one or several of the following predetermined mode or modes of operation of the vehicle (1): -the vehicle (1) is involved in a load carrier (7) lifting operation, -the vehicle (1) is involved in a load carrier (7) lowering operation, -the vehicle (1) is involved in a load carrier (7) side shift operation, -the vehicle (1) is involved in a horizontal reach operation, -the vehicle (1) is moving and turning, -the vehicle (1) is stopped, -the vehicle (1) is out of operation, -the vehicle (1) has detected an object in the vicinity of the vehicle (1) that will lead to that the vehicle will need to steer by the control unit (6) to avoid the detected object (12), wherein the material handling vehicle (1) thus, is arranged to operate efficiently by minimising stopping operation and / or used controlled steering to handle a detected object (12), as both detection of objects (12) may be avoided and also if detection of objects is made (12), the surroundings may take action to avoid the vehicle (1) to be required to initiate in a steering and / or stopping operation.

2. Material handling vehicle (1) according to claim 1, wherein the indicating means (9; 10; 11) comprises a light emitting device.

3. Material handling vehicle (1) according to claim 1 or 2, wherein the indication means (9; 11) comprises a floor projection means, for projecting light (14; 15) on the floor surface.

4. Material handling vehicle (1) according to claim 3, wherein the floor projection means (9; 11) is arranged to be controlled by the control unit (6), such that the floor projecting means (9; 11) indicates an action of the material handling vehicle (1), such as a turning movement, and / or a stopping action, and / or a load handling warning, and / or an object avoiding action.

5. Material handling vehicle (1) according to any of the claims above, wherein the indication means comprises a screen (8), optionally this screen (8) is arranged essentially vertical on the vehicle (1), and also optionally the screen (8) is arranged on the opposite side to where the load carrier (5) is arranged to operate.

6. Material handling vehicle (1) according to claim 5, wherein the control unit (6) is arranged to use the screen (10) to indicate a future operation of the vehicle (1) such that objects (12) in the surroundings of the vehicle (1) may take measures to prevent a stopping and / or a steering operation of the vehicle (1) to avoid interference with the object (12).

7. Material handling vehicle (1) according to any of the claims above, wherein the control unit (6) is arranged to change the colour spectrum of the indication means (8; 9; 10; 11) for giving indication to an object (12) for improving an object (12) reaction in relation to the material handling vehicle (1).

8. Material handling vehicle (1) according to any of the claims above, wherein the vehicle comprises a sound emitting device (15), wherein the sound emitting device is connected to the control unit (6), such that the control unit (6) coordinates sound broadcast when at least one indicating device (8; 9; 10; 11) is controlled to indicate an action by the material handling vehicle (1).

9. Material handling vehicle (1) according to any of the claims above, wherein the vehicle (1) is an automated guided vehicle (AGV) or an autonomous mobile robot (AMR), thus the vehicle (1) is arranged to operate in a material handling situation without any operator that is manually steering the vehicle.

10. Material handling vehicle (1) according to any of the claims above, wherein the indication means is arranged to send out an oscillating detectable indication, preferably the indication is a predetermined flashing pattern related to the operation that is at hand for the vehicle (1).

11. System (30) comprising a material handling vehicle (1) according to any of the claims 1-10, wherein further comprised is an object (32), wherein the object (32) comprises a control unit (6a), a propulsion system controllable by the control unit (6a), a sensor (16) that detects the indications of the material handling vehicle (1), wherein the object is arranged such that the object moves in relation to a predetermined indication made by the indication device of the material handling vehicle (1), optionally the object (32) is an autonomous mobile robot (AMR), and / or optionally the second vehicle (32) is a vehicle comprising the features of any of the claims 1 - 10.

12. Method for operating a material handling vehicle (1), comprising the steps of: - indicate an operation mode by at least one indication device, wherein the operation mode is comprised in the list of: a turning movement, and / or a stopping action, and / or a load handling, and / or an object avoiding action.

13. Method according to claim 12, comprising the steps of: - detecting an object (12; 32) in the vicinity of the vehicle (1), - set an indicating means (9; 10; 11) in a predetermined operation mode indicating responsiveness to the detected object, - end the predetermined operation mode if the object no longer is detected, and / or a predetermined time has elapsed, preferably the indicating mode comprises, indication by a predetermined colour, and / or indication by a predetermined flashing, and / or disclosing a particular graphics.

14. Computer program, that when stored and executed on a control unit (6) performs the method according to claim 12 or 13.

15. Computer program product, that when stored on a hardware memory device may be communicated to a control unit (6) for performing the method according to any of the claims 12 or 13.

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