Robotic vehicle

Abstract

Autonomous vehicle (100) comprising a fork lift subsystem (108) such that the autonomous vehicle is able to lift a pallet or similar platform. A lifting adaptor may be connected to the fork lift subsystem such that the autonomous vehicle can be adapted to lift one or more storage cages or frames. The autonomous vehicle may be re-purposed to lift a pallet (or other platform) by the removal of the lifting adaptor.

Description

Technical Field

[0001] The present disclosure relates to a robotic vehicle, and in particular to a robotic vehicle which can be adapted to lift different types of loads.Background

[0002] A robotic vehicle (e.g., a robotic truck) can include forks (also referred to as tynes or tines) to enable the vehicle to pick up and move object(s) (e.g., a pallet) in an environment such as a warehouse.

[0003] A platform such as a pallet may be used in a warehouse to support goods and to enable the goods to be carried from one location to another while on the platform. The platform includes opening(s) or slot(s) to facilitate lifting of the platform by a vehicle such as a forklift truck. Platforms can vary in size, shape, weight, form factor, etc.

[0004] According to a first aspect of the present disclosure there is provided a robotic vehicle comprising: a body, the body comprising a platform support area; a drive means configured, in use, to move the robotic vehicle; a lifting shuttle comprising an actuator, a first fork and a second fork, the first fork and the second fork being adapted to removably receive a lifting frame wherein, in use, the lifting shuttle is actuated to cause the lifting frame to engage with a storage cage such that the lifting frame lifts the storage cage.

[0005] The lifting shuttle may be further actuated to move the lifting frame such that at least a portion of the storage cage is received above the platform support area. The drive means may cause the robotic vehicle to move from a first location to a second location. The lifting shuttle may be further actuated to lower the storage cage and to cause the lifting frame to disengage from the storage cage. The lifting frame may engage with and lift a plurality of storage cages.

[0006] Thus, a robotic vehicle is able to autonomously lift, transport and deposit one or more cages within a storage environment, such as a warehouse or fulfilment centre. Such a robotic vehicle enables the operational efficiency of the storage environment to be increased.

[0007] The first fork and the second fork may comprise a respective plurality of apertures to enable the lifting frame to be removably attached to the first and second forks. The lifting frame may be quickly and easily connected to the forks such that a robotic vehicle capable of moving a pallet (or similar platform) can be converted into a robotic vehicle capable of moving a cage (or cages). Furthermore, the lifting frame may also be removed from the forks such that a robotic vehicle capable of moving a cage (or cages) can be converted into a robotic vehicle capable of moving a pallet (or similar platform). Multiple lifting frames may be provided for use with cages of different sizes and / or shapes. Thus, a robotic vehicle may be adapted to lift different types of cage by changing the lifting frame fitted to the robotic vehicle.

[0008] According to a second aspect of the present disclosure there is provided a lifting frame for connection to a robotic vehicle comprising a first fork and a second fork, the lifting frame comprising a first longitudinal member and a second longitudinal member. The first longitudinal member and the second longitudinal member may comprise a respective plurality of apertures to enable the lifting frame to be removably attached to the first fork and the second fork of a robotic vehicle. The lifting frame may comprise one or more transverse members, the one or each transverse members connecting the first longitudinal member to the second longitudinal member. A surface of the lifting frame comprises a friction increasing material so as to reduce the movement of a storage cage received on the lifting frame.

[0009] According to a third aspect of the present disclosure there is provided a method of moving one or more storage cages, the method comprising: connecting a lifting frame to a lifting mechanism of a robotic vehicle; the robotic vehicle navigating to a location adjacent to the one or more storage cages; the robotic vehicle activating the lifting mechanism to insert the lifting frame beneath the one or more storage cages; and the robotic vehicle further activating the lifting mechanism to lift the one or more storage cages with the lifting frame. The robotic vehicle may further activate the lifting mechanism such that a portion of the one or more storage cages are received above the robotic vehicle. The robotic vehicle may also navigate to a further location. The robotic vehicle may further activate the lifting mechanism such that the one or more storage cages are unloaded from the robotic vehicle.Brief Description Of The Drawings

[0010] Figures 1A & 1B shows a schematic depiction of aspects of a robotic vehicle according to the present disclosure; Figure 2 shows a schematic depiction of the forks of the robotic vehicle of Figure 1 extended into the opening(s) of a platform; Figure 3 shows a schematic depiction of a lifting frame; Figure 4 shows a schematic depiction of a robotic vehicle with a lifting frame attached to the first and second forks of the robotic vehicle; Figure 5 shows a schematic depiction of the robotic vehicle of Figure 4 in which the lifting frame has been advanced; Figure 6 shows a schematic depiction of two cages; Figure 7 shows a schematic depiction of a robotic vehicle in which the lifting frame has been inserted beneath the base of two cages; Figure 8 shows a schematic depiction of the robotic vehicle of Figure 7 in which the lifting frame has lifted the cages; Figure 9 shows a schematic depiction of the robotic vehicle of Figure 8 in which the cages are located above the body of the robotic vehicle; Figure 10 shows a schematic depiction of a method of operating a robotic vehicle according to the present disclosure; and Figure 11 shows a schematic depiction of a computer device.

[0011] In general, the same reference numbers will be used throughout the drawing(s) and accompanying written description to refer to the same or like parts. The figures are not necessarily to scale.Detailed Description

[0012] Figure 1 shows a schematic depiction of a robotic vehicle 100, with Figure 1A showing a schematic representation of the robotic vehicle and Figure 1B showing a depiction of some aspects of the robotic vehicle that are not shown in Figure 1A. The robotic vehicle 100 comprises a body 102 and a drive means 121 which may comprise one or more motors (e.g., electric motor(s) and / or other drive mechanism(s)) to cause movement of the body 102 via the wheel(s) 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, a speed of the robotic vehicle 100. One or more components of the motor control circuitry 103 can be implemented by processor circuitry 105 of the vehicle 100.

[0013] The robotic vehicle 100 may be an autonomous vehicle. The robotic vehicle 100 comprises vehicle control circuitry 107 to control movement of the autonomous or self-driving robotic vehicle 100. One or more components of vehicle control circuitry 107 can be implemented by the processor circuitry 105 of the robotic vehicle 100, processor circuitry of another user device, and / or cloud-based device(s). The robotic vehicle 100 moves to a location in an environment (e.g., a warehouse) without or with limited user input control during movement of the vehicle 100.

[0014] The robotic vehicle 100 may further comprise a display screen 109 to present data to user(s) of the robotic vehicle 100. In some examples, the robotic vehicle 100 comprises speaker(s) to provide audio output(s) to user(s) interacting with the robotic vehicle 102. The example robotic vehicle 100 of Figure 1 comprises a power source 111 such as a battery to provide power to the components of the robotic vehicle 100.

[0015] In the example of Figure 1, the body 102 of the robotic vehicle 100 defines a housing 104 and a platform support area 106. The example robotic vehicle 100 includes a lifting shuttle 108 that is moveable relative to the platform support area 106 from a first or stored position to a second or protruded position. The lifting shuttle 108 includes an actuator support 110, a first fork 112, and a second fork 114. The platform support area 106 can define openings defined by sidewalls of the body 102 that include tracks or rails to receive the forks 112, 114 and facilitate movement of the lifting shuttle 108. The platform support area 106 can include, for example, a rack and pinion or chains to drive movement of the lifting shuttle 108 (e.g., the push or pull the forks 112, 114 relative to the platform support area 106). The robotic vehicle further comprises one or more actuators which can be actuated to cause the first fork and the second fork to be lifted. An exemplary lifting mechanism for such a robotic vehicle can be found in the Applicant's co-pending international patent application PCT / EP2024 / 064402, the contents of which are hereby incorporated by reference.

[0016] In the example of Figure 1, the platform support area 106 includes sensor(s) 118 to detect when the vehicle 100 is proximate to the platform 116. In some examples, the robotic vehicle body and or the lifting shuttle 108 additionally or alternatively comprises sensor(s) 118 (e.g., located on the actuator support 110, on the fork(s) 112, 114). The sensor(s) 118 can include, for example, image sensor(s), proximity sensor(s), infrared sensor(s), LIDAR sensor(s), etc. In the example of Figure 1, the outputs of the sensor(s) 118 are analyzed by lifting control circuitry 120. One or more components of lifting control circuitry 120 can be implemented by the processor circuitry 105 of the robotic vehicle 100, processor circuitry of another user device, and / or cloud- based device(s). Based on the outputs of the sensor(s) 118, the lifting control circuitry 120 detects when the vehicle 100 is proximate to the platform 116. In particular, the lifting control circuitry 120 detects when the body 102 of the vehicle 100 is aligned with the platform 116 such that when the forks 112, 114 extend relative to the body 102, the forks 112, 114 enter slot(s) or opening(s) 122 of the platform 116.

[0017] Figure 2 illustrates the forks 112, 114 of the lifting shuttle 108 extended into the opening(s) 122 of the platform 116. In the example of Figure 1, when the lifting control circuitry 120 detects that the body 102 of the vehicle 100 is aligned with the platform 116 to dock with the platform 116, the lifting control circuitry 120 generates instructions to cause the lifting shuttle 108 to move toward the platform 116. The lifting shuttle can move toward the platform such that the forks protrude from the body and enter the opening(s) 122. When the forks are received in the opening(s) of the platform, a first end of each of the forks is supported by the actuator support 110 and a remaining portion of the forks is suspended within the opening(s) of the platform.

[0018] The lifting actuators may then be actuated, causing the platform to be lifted from the floor. Once the platform has been moved above the level of the platform support area then the first and second forks may be retracted until the platform is located above the platform support area. The actuators may then be actuated such that the platform is lowered, until the platform is received on the platform support area.

[0019] Figure 3 shows a schematic depiction of a lifting frame 300. The lifting frame 300 comprises first and second longitudinal members 310A , 310B. The first longitudinal member may be connected to the second longitudinal member by one or more transverse members 320. One or more of the transverse members may be substantially perpendicular to the axis of the longitudinal members. Additionally, or in the alternative, one or more of the transverse members may be diagonally connected to the first and second longitudinal members. The first and second longitudinal members may further comprise one or more apertures 330. The apertures may be provided as one or more sets of one or more apertures.

[0020] In use, the first and second forks of the robotic vehicle described above with reference to Figures 1 and 2 may be adapted such the first and second forks comprise one or more apertures such that the aperture(s) in the first and second forks can be aligned with the aperture(s) in the first and second longitudinal members. When the apertures are in alignment then fasteners may be used to secure the lifting frame to the first and second frames. In one example, the apertures may comprise threaded holes and the fasteners may comprise bolts with a screw thread. Thus, it is a relatively easy process to secure the lifting frame to the forks of such a robotic vehicle (or to remove the lifting frame from the forks of the vehicle).

[0021] Thus, a robotic vehicle that is capable of moving product items loaded on pallets may be quickly adapted to become a robotic vehicle that is capable of moving product items loaded in cages by the connection of a lifting frame to the forks of the robotic vehicle.. Furthermore, such a robotic vehicle can be easily re-configured to become capable of moving product items loaded on pallets by the removal of the lifting frame. The reconfiguration of a part of a fleet of robotic vehicles in this manner allows for more efficient utilisation of the vehicle fleet.

[0022] The upper surface of the lifting frame 312 may have a layer of material applied so as to increase the coefficient friction of the upper surface lifting frame. The material may be a plastics material, a polymeric material, a rubber-based material, etc. The layer may be applied in a continuous manner across all of the upper surface or across some regions of the upper surface. In an alternative, the layer may be applied in a pattern, across all of the upper surface or across some regions of the upper surface. The application of the material to the upper surface of the lifting frame will reduce the movement of a cage received on the lifting frame when the robotic vehicle is lifting or carrying a cage.

[0023] Figure 4 shows a schematic depiction of a robotic vehicle 100 with a lifting frame 300 attached to the first and second forks 112 114 of the robotic vehicle. It can be seen from Figure 4 (and subsequent Figures 5-9) that the housing 104 of the robotic vehicle and the outer surfaces of the platform support area 106 have been omitted for the sake of clarity. In this example, threaded bolts 330 are used to secure the lifting frame to the first and second forks of the robotic vehicle. Figure 5 shows a schematic depiction of the robotic vehicle of Figure 4 in which the lifting shuttle has been advanced from the body of the robotic vehicle and the lifting frame has been advanced by the movement of the forks.

[0024] Figure 6 shows a schematic depiction of two adjacent cages 400. Each of the cages comprises a base 410, vertical rails 420 and a plurality of wheels 430, each of the plurality of wheels being connected to the base of the respective cage. The plurality of wheels may comprise one or more castor wheels and or one or more fixed wheels.

[0025] In this example, the base of each cage comprises a first member 412 and a second member 414, the first member and the second member comprising opposed sides of the base such that the first member is substantially parallel to the second member. The first member 412 and the second member 414 are connected by a diagonal element 416. At least one bracing member may be provided to connect the first member to the second member such that the bracing member is substantially perpendicular to the first member and the second member. The base may be substantially rectangular, with one wheel received at, or near to, each corner of the base. It should be understood that the structure of the base is not relevant to the present disclosure and may, for example, comprise a solid surface which extends across the entirety of the base. One of the vertical rails may be connected to a further vertical rail with a horizontal rail 425. Alternatively, a quadrilateral rail may be provided such that each of the vertical rails are connected together at the distal end of the vertical rails. It should be understood that some form of grid or panel may be connected to the vertical rails 420 such that items placed within the cage can be retained therein. The grid or panel may be connected to the vertical rails via a hinge (or similar arrangement) such that the grid or panel can be opened and closed to allow items to be inserted or removed. The cage may further comprise one or more shelves such that items can be placed on the shelf (or shelves). It should be understood that cages are available having a range of different sizes and shapes. Consequently, it may be necessary to provide a set of lifting frames, with the separation of the lifting frames being configured so as to enable a robotic vehicle to lift a cage of a different size.

[0026] Figure 7 shows a schematic depiction of the robotic vehicle described above with reference to Figures 4 & 5 in which the lifting frame has been extended and inserted beneath the base of two adjacent cages 400 (as described above with reference to Figure 6). It can be seen that the first and second longitudinal members 310A , 310B are inserted such that the bases of both cages are supported by the lifting frame. Figure 8 shows a schematic depiction of the robotic vehicle of Figure 7 in which the lifting shuttle has been actuated to lift the lifting frame and thus the cages received on the lifting frame. Figure 9 shows a schematic depiction of the robotic vehicle of Figure 8 in which the lifting shuttle has been retracted such that it is retrieved within the body of the robotic vehicle. The forks are also lowered such that the load is received on the platform support area of the robotic vehicle. It can be seen that cages are mostly received above the platform support area of the robotic vehicle although, due to the size of the cages relative to that of the robotic vehicle, a part of one of the cages is supported beyond the platform support area.

[0027] The operation of a robotic vehicle according to the present disclosure will now be described with reference to Figure 10. In operation, a robotic vehicle may be instructed to move to a pick-up point, from where the robotic vehicle will pick up one or more cages. The robotic vehicle will move autonomously through a storage environment to the specified pick up point (S1010). One or more storage cages will be present at the pick-up point. The sensors located within the robotic vehicle can be used such that the robotic vehicle can detect the cage and the structures that comprise the cage (S1020). The robotic vehicle can then manoeuvre itself (S1030) to an appropriate position and orientation with respect to the cages. For example, the robotic vehicle may be in a position proximate to the cage(s) and oriented such that the longitudinal axis of the lifting frame is substantially perpendicular to the front face of the front cage. The lifting control circuitry may then be used to control the movement of the first and second forks such that the lifting frame is inserted under the cage(s) to be lifted (S1040). Once the lifting frame has been inserted under the cages an appropriate distance then the lifting control circuitry may cause the cage(s) to be lifted (S1050). If a single cage is to be lifted then it may not be necessary to insert the lifting frame to the full extent of the movement of the forks in order to support the cage.

[0028] The vehicle control circuitry may then be used to move the robotic vehicle such that the storage cages are received over the platform support area (S1060). If the robotic vehicle has lifted a single cage then the lifting frame may be moved such that the entirety of the cage is received above the platform support area. Dependent on the size of the cage and the platform support area then the entirety of the cage may be received above the platform support area without the lifting shuttle being fully received within the body of the robotic vehicle. If the robotic vehicle has lifted multiple cages then when the forks are fully retracted (i.e. when the lifting shuttle is fully received within the body of the robotic vehicle) then some part of the lifted cages may extend beyond the length of the platform support area. The retraction of the lifting frame, whether in part or in full, moves the centre of gravity of the lifted cages nearer to the centre of gravity of the robotic vehicle, making the vehicle more stable. Once the lifting frame has been retracted then the forks may be lowered, bringing the cages closer to the platform support area of the robotic vehicle.

[0029] The robotic vehicle may receive a further location within the storage environment, for example from a central computing system. The robotic vehicle may then move autonomously to that further location (S1070), where the cage(s) may be deposited (S1080). The robotic vehicle will then raise the forks in order to lift the load from the platform storage area. The robotic vehicle will then move away from the load, such that the forks can be lowered. As the forks are lowered the wheels of the cage(s) will make contact with the ground and the forks will lose touch with the cages. At this point, the forks can be retracted back into the robotic vehicle. The process then ends at step S1090 and the robotic vehicle may be assigned to a further task, for example picking up further cage(s) from a further pick-up point.

[0030] The pick-up point may comprise some form of barrier or restraint such that a cage that is inserted within the barrier remains in the same general position. If a second cage is inserted behind the first cage within the barrier then the two cages will be substantially aligned, assisting the simultaneous lifting of the two cages by a robotic vehicle.

[0031] It will be understood that a robotic vehicle according to the present disclosure may comprise one or more computing devices, for example for instantiating the processor circuitry 105. Figure 11 shows a schematic depiction of a computer device 700 that may include a central processing unit ("CPU") 702 connected to a storage unit 714 and to a random access memory 706. The CPU 702 may process an operating system 701, application program 703, and data 723. The operating system 701, application program 703, and data 723 may be stored in storage unit 714 and loaded into memory 706, as may be required. Computer device 700 may further include a graphics processing unit (GPU) 722 which is operatively connected to CPU 702 and to memory 706 to offload intensive image processing calculations from CPU 702 and run these calculations in parallel with CPU 702. The computing device may further comprise a network interface 711, for example a WiFi interface or a cellular interface (for example, an interface using LTE technology), to communicate with a warehouse management system and / or other systems operating in the storage environment in which the robotic vehicle operates. The computer device 700 may receive data from one or more sensors 735. These sensors may comprise the various sensors 118 discussed above with reference to Figures 1 and 2. Data generated by one or more further sensors may also be received by the computer device and used to control the movement and operation of the robotic vehicle. Computer executable code for controlling the operation of a robotic vehicle may be downloaded over a network connection or may be provided on some form of physical media (for example USB flash drive, hard disc drive, C, DVD, etc.)

[0032] In one respect there is provided an autonomous vehicle comprising a fork lift subsystem such that the autonomous vehicle is able to lift a pallet or similar platform. A lifting adaptor may be connected to the fork lift subsystem such that the autonomous vehicle can be adapted to lift one or more storage cages or frames. The autonomous vehicle may be re-purposed to lift a pallet (or other platform) by the removal of the lifting adaptor.

Examples

Embodiment Construction

[0012]Figure 1 shows a schematic depiction of a robotic vehicle 100, with Figure 1A showing a schematic representation of the robotic vehicle and Figure 1B showing a depiction of some aspects of the robotic vehicle that are not shown in Figure 1A. The robotic vehicle 100 comprises a body 102 and a drive means 121 which may comprise one or more motors (e.g., electric motor(s) and / or other drive mechanism(s)) to cause movement of the body 102 via the wheel(s) 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, a speed of the robotic vehicle 100. One or more components of the motor control circuitry 103 can be implemented by processor circuitry 105 of the vehicle 100.

[0013]The robotic vehicle 100 may be an autonomous vehicle. The robotic vehicle 100 comprises vehicle control circuitry 107 to control movement of the autonomous or self-driving robotic vehicle 100. One or more compone...

Technical Field

[0001] The present disclosure relates to a robotic vehicle, and in particular to a robotic vehicle which can be adapted to lift different types of loads.Background

[0002] A robotic vehicle (e.g., a robotic truck) can include forks (also referred to as tynes or tines) to enable the vehicle to pick up and move object(s) (e.g., a pallet) in an environment such as a warehouse.

[0003] A platform such as a pallet may be used in a warehouse to support goods and to enable the goods to be carried from one location to another while on the platform. The platform includes opening(s) or slot(s) to facilitate lifting of the platform by a vehicle such as a forklift truck. Platforms can vary in size, shape, weight, form factor, etc.

[0004] According to a first aspect of the present disclosure there is provided a robotic vehicle comprising: a body, the body comprising a platform support area; a drive means configured, in use, to move the robotic vehicle; a lifting shuttle comprising an actuator, a first fork and a second fork, the first fork and the second fork being adapted to removably receive a lifting frame wherein, in use, the lifting shuttle is actuated to cause the lifting frame to engage with a storage cage such that the lifting frame lifts the storage cage.

[0005] The lifting shuttle may be further actuated to move the lifting frame such that at least a portion of the storage cage is received above the platform support area. The drive means may cause the robotic vehicle to move from a first location to a second location. The lifting shuttle may be further actuated to lower the storage cage and to cause the lifting frame to disengage from the storage cage. The lifting frame may engage with and lift a plurality of storage cages.

[0006] Thus, a robotic vehicle is able to autonomously lift, transport and deposit one or more cages within a storage environment, such as a warehouse or fulfilment centre. Such a robotic vehicle enables the operational efficiency of the storage environment to be increased.

[0007] The first fork and the second fork may comprise a respective plurality of apertures to enable the lifting frame to be removably attached to the first and second forks. The lifting frame may be quickly and easily connected to the forks such that a robotic vehicle capable of moving a pallet (or similar platform) can be converted into a robotic vehicle capable of moving a cage (or cages). Furthermore, the lifting frame may also be removed from the forks such that a robotic vehicle capable of moving a cage (or cages) can be converted into a robotic vehicle capable of moving a pallet (or similar platform). Multiple lifting frames may be provided for use with cages of different sizes and / or shapes. Thus, a robotic vehicle may be adapted to lift different types of cage by changing the lifting frame fitted to the robotic vehicle.

[0008] According to a second aspect of the present disclosure there is provided a lifting frame for connection to a robotic vehicle comprising a first fork and a second fork, the lifting frame comprising a first longitudinal member and a second longitudinal member. The first longitudinal member and the second longitudinal member may comprise a respective plurality of apertures to enable the lifting frame to be removably attached to the first fork and the second fork of a robotic vehicle. The lifting frame may comprise one or more transverse members, the one or each transverse members connecting the first longitudinal member to the second longitudinal member. A surface of the lifting frame comprises a friction increasing material so as to reduce the movement of a storage cage received on the lifting frame.

[0009] According to a third aspect of the present disclosure there is provided a method of moving one or more storage cages, the method comprising: connecting a lifting frame to a lifting mechanism of a robotic vehicle; the robotic vehicle navigating to a location adjacent to the one or more storage cages; the robotic vehicle activating the lifting mechanism to insert the lifting frame beneath the one or more storage cages; and the robotic vehicle further activating the lifting mechanism to lift the one or more storage cages with the lifting frame. The robotic vehicle may further activate the lifting mechanism such that a portion of the one or more storage cages are received above the robotic vehicle. The robotic vehicle may also navigate to a further location. The robotic vehicle may further activate the lifting mechanism such that the one or more storage cages are unloaded from the robotic vehicle.Brief Description Of The Drawings

[0010] Figures 1A & 1B shows a schematic depiction of aspects of a robotic vehicle according to the present disclosure; Figure 2 shows a schematic depiction of the forks of the robotic vehicle of Figure 1 extended into the opening(s) of a platform; Figure 3 shows a schematic depiction of a lifting frame; Figure 4 shows a schematic depiction of a robotic vehicle with a lifting frame attached to the first and second forks of the robotic vehicle; Figure 5 shows a schematic depiction of the robotic vehicle of Figure 4 in which the lifting frame has been advanced; Figure 6 shows a schematic depiction of two cages; Figure 7 shows a schematic depiction of a robotic vehicle in which the lifting frame has been inserted beneath the base of two cages; Figure 8 shows a schematic depiction of the robotic vehicle of Figure 7 in which the lifting frame has lifted the cages; Figure 9 shows a schematic depiction of the robotic vehicle of Figure 8 in which the cages are located above the body of the robotic vehicle; Figure 10 shows a schematic depiction of a method of operating a robotic vehicle according to the present disclosure; and Figure 11 shows a schematic depiction of a computer device.

[0011] In general, the same reference numbers will be used throughout the drawing(s) and accompanying written description to refer to the same or like parts. The figures are not necessarily to scale.Detailed Description

[0012] Figure 1 shows a schematic depiction of a robotic vehicle 100, with Figure 1A showing a schematic representation of the robotic vehicle and Figure 1B showing a depiction of some aspects of the robotic vehicle that are not shown in Figure 1A. The robotic vehicle 100 comprises a body 102 and a drive means 121 which may comprise one or more motors (e.g., electric motor(s) and / or other drive mechanism(s)) to cause movement of the body 102 via the wheel(s) 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, a speed of the robotic vehicle 100. One or more components of the motor control circuitry 103 can be implemented by processor circuitry 105 of the vehicle 100.

[0013] The robotic vehicle 100 may be an autonomous vehicle. The robotic vehicle 100 comprises vehicle control circuitry 107 to control movement of the autonomous or self-driving robotic vehicle 100. One or more components of vehicle control circuitry 107 can be implemented by the processor circuitry 105 of the robotic vehicle 100, processor circuitry of another user device, and / or cloud-based device(s). The robotic vehicle 100 moves to a location in an environment (e.g., a warehouse) without or with limited user input control during movement of the vehicle 100.

[0014] The robotic vehicle 100 may further comprise a display screen 109 to present data to user(s) of the robotic vehicle 100. In some examples, the robotic vehicle 100 comprises speaker(s) to provide audio output(s) to user(s) interacting with the robotic vehicle 102. The example robotic vehicle 100 of Figure 1 comprises a power source 111 such as a battery to provide power to the components of the robotic vehicle 100.

[0015] In the example of Figure 1, the body 102 of the robotic vehicle 100 defines a housing 104 and a platform support area 106. The example robotic vehicle 100 includes a lifting shuttle 108 that is moveable relative to the platform support area 106 from a first or stored position to a second or protruded position. The lifting shuttle 108 includes an actuator support 110, a first fork 112, and a second fork 114. The platform support area 106 can define openings defined by sidewalls of the body 102 that include tracks or rails to receive the forks 112, 114 and facilitate movement of the lifting shuttle 108. The platform support area 106 can include, for example, a rack and pinion or chains to drive movement of the lifting shuttle 108 (e.g., the push or pull the forks 112, 114 relative to the platform support area 106). The robotic vehicle further comprises one or more actuators which can be actuated to cause the first fork and the second fork to be lifted. An exemplary lifting mechanism for such a robotic vehicle can be found in the Applicant's co-pending international patent application PCT / EP2024 / 064402, the contents of which are hereby incorporated by reference.

[0016] In the example of Figure 1, the platform support area 106 includes sensor(s) 118 to detect when the vehicle 100 is proximate to the platform 116. In some examples, the robotic vehicle body and or the lifting shuttle 108 additionally or alternatively comprises sensor(s) 118 (e.g., located on the actuator support 110, on the fork(s) 112, 114). The sensor(s) 118 can include, for example, image sensor(s), proximity sensor(s), infrared sensor(s), LIDAR sensor(s), etc. In the example of Figure 1, the outputs of the sensor(s) 118 are analyzed by lifting control circuitry 120. One or more components of lifting control circuitry 120 can be implemented by the processor circuitry 105 of the robotic vehicle 100, processor circuitry of another user device, and / or cloud- based device(s). Based on the outputs of the sensor(s) 118, the lifting control circuitry 120 detects when the vehicle 100 is proximate to the platform 116. In particular, the lifting control circuitry 120 detects when the body 102 of the vehicle 100 is aligned with the platform 116 such that when the forks 112, 114 extend relative to the body 102, the forks 112, 114 enter slot(s) or opening(s) 122 of the platform 116.

[0017] Figure 2 illustrates the forks 112, 114 of the lifting shuttle 108 extended into the opening(s) 122 of the platform 116. In the example of Figure 1, when the lifting control circuitry 120 detects that the body 102 of the vehicle 100 is aligned with the platform 116 to dock with the platform 116, the lifting control circuitry 120 generates instructions to cause the lifting shuttle 108 to move toward the platform 116. The lifting shuttle can move toward the platform such that the forks protrude from the body and enter the opening(s) 122. When the forks are received in the opening(s) of the platform, a first end of each of the forks is supported by the actuator support 110 and a remaining portion of the forks is suspended within the opening(s) of the platform.

[0018] The lifting actuators may then be actuated, causing the platform to be lifted from the floor. Once the platform has been moved above the level of the platform support area then the first and second forks may be retracted until the platform is located above the platform support area. The actuators may then be actuated such that the platform is lowered, until the platform is received on the platform support area.

[0019] Figure 3 shows a schematic depiction of a lifting frame 300. The lifting frame 300 comprises first and second longitudinal members 310A , 310B. The first longitudinal member may be connected to the second longitudinal member by one or more transverse members 320. One or more of the transverse members may be substantially perpendicular to the axis of the longitudinal members. Additionally, or in the alternative, one or more of the transverse members may be diagonally connected to the first and second longitudinal members. The first and second longitudinal members may further comprise one or more apertures 330. The apertures may be provided as one or more sets of one or more apertures.

[0020] In use, the first and second forks of the robotic vehicle described above with reference to Figures 1 and 2 may be adapted such the first and second forks comprise one or more apertures such that the aperture(s) in the first and second forks can be aligned with the aperture(s) in the first and second longitudinal members. When the apertures are in alignment then fasteners may be used to secure the lifting frame to the first and second frames. In one example, the apertures may comprise threaded holes and the fasteners may comprise bolts with a screw thread. Thus, it is a relatively easy process to secure the lifting frame to the forks of such a robotic vehicle (or to remove the lifting frame from the forks of the vehicle).

[0021] Thus, a robotic vehicle that is capable of moving product items loaded on pallets may be quickly adapted to become a robotic vehicle that is capable of moving product items loaded in cages by the connection of a lifting frame to the forks of the robotic vehicle.. Furthermore, such a robotic vehicle can be easily re-configured to become capable of moving product items loaded on pallets by the removal of the lifting frame. The reconfiguration of a part of a fleet of robotic vehicles in this manner allows for more efficient utilisation of the vehicle fleet.

[0022] The upper surface of the lifting frame 312 may have a layer of material applied so as to increase the coefficient friction of the upper surface lifting frame. The material may be a plastics material, a polymeric material, a rubber-based material, etc. The layer may be applied in a continuous manner across all of the upper surface or across some regions of the upper surface. In an alternative, the layer may be applied in a pattern, across all of the upper surface or across some regions of the upper surface. The application of the material to the upper surface of the lifting frame will reduce the movement of a cage received on the lifting frame when the robotic vehicle is lifting or carrying a cage.

[0023] Figure 4 shows a schematic depiction of a robotic vehicle 100 with a lifting frame 300 attached to the first and second forks 112 114 of the robotic vehicle. It can be seen from Figure 4 (and subsequent Figures 5-9) that the housing 104 of the robotic vehicle and the outer surfaces of the platform support area 106 have been omitted for the sake of clarity. In this example, threaded bolts 330 are used to secure the lifting frame to the first and second forks of the robotic vehicle. Figure 5 shows a schematic depiction of the robotic vehicle of Figure 4 in which the lifting shuttle has been advanced from the body of the robotic vehicle and the lifting frame has been advanced by the movement of the forks.

[0024] Figure 6 shows a schematic depiction of two adjacent cages 400. Each of the cages comprises a base 410, vertical rails 420 and a plurality of wheels 430, each of the plurality of wheels being connected to the base of the respective cage. The plurality of wheels may comprise one or more castor wheels and or one or more fixed wheels.

[0025] In this example, the base of each cage comprises a first member 412 and a second member 414, the first member and the second member comprising opposed sides of the base such that the first member is substantially parallel to the second member. The first member 412 and the second member 414 are connected by a diagonal element 416. At least one bracing member may be provided to connect the first member to the second member such that the bracing member is substantially perpendicular to the first member and the second member. The base may be substantially rectangular, with one wheel received at, or near to, each corner of the base. It should be understood that the structure of the base is not relevant to the present disclosure and may, for example, comprise a solid surface which extends across the entirety of the base. One of the vertical rails may be connected to a further vertical rail with a horizontal rail 425. Alternatively, a quadrilateral rail may be provided such that each of the vertical rails are connected together at the distal end of the vertical rails. It should be understood that some form of grid or panel may be connected to the vertical rails 420 such that items placed within the cage can be retained therein. The grid or panel may be connected to the vertical rails via a hinge (or similar arrangement) such that the grid or panel can be opened and closed to allow items to be inserted or removed. The cage may further comprise one or more shelves such that items can be placed on the shelf (or shelves). It should be understood that cages are available having a range of different sizes and shapes. Consequently, it may be necessary to provide a set of lifting frames, with the separation of the lifting frames being configured so as to enable a robotic vehicle to lift a cage of a different size.

[0026] Figure 7 shows a schematic depiction of the robotic vehicle described above with reference to Figures 4 & 5 in which the lifting frame has been extended and inserted beneath the base of two adjacent cages 400 (as described above with reference to Figure 6). It can be seen that the first and second longitudinal members 310A , 310B are inserted such that the bases of both cages are supported by the lifting frame. Figure 8 shows a schematic depiction of the robotic vehicle of Figure 7 in which the lifting shuttle has been actuated to lift the lifting frame and thus the cages received on the lifting frame. Figure 9 shows a schematic depiction of the robotic vehicle of Figure 8 in which the lifting shuttle has been retracted such that it is retrieved within the body of the robotic vehicle. The forks are also lowered such that the load is received on the platform support area of the robotic vehicle. It can be seen that cages are mostly received above the platform support area of the robotic vehicle although, due to the size of the cages relative to that of the robotic vehicle, a part of one of the cages is supported beyond the platform support area.

[0027] The operation of a robotic vehicle according to the present disclosure will now be described with reference to Figure 10. In operation, a robotic vehicle may be instructed to move to a pick-up point, from where the robotic vehicle will pick up one or more cages. The robotic vehicle will move autonomously through a storage environment to the specified pick up point (S1010). One or more storage cages will be present at the pick-up point. The sensors located within the robotic vehicle can be used such that the robotic vehicle can detect the cage and the structures that comprise the cage (S1020). The robotic vehicle can then manoeuvre itself (S1030) to an appropriate position and orientation with respect to the cages. For example, the robotic vehicle may be in a position proximate to the cage(s) and oriented such that the longitudinal axis of the lifting frame is substantially perpendicular to the front face of the front cage. The lifting control circuitry may then be used to control the movement of the first and second forks such that the lifting frame is inserted under the cage(s) to be lifted (S1040). Once the lifting frame has been inserted under the cages an appropriate distance then the lifting control circuitry may cause the cage(s) to be lifted (S1050). If a single cage is to be lifted then it may not be necessary to insert the lifting frame to the full extent of the movement of the forks in order to support the cage.

[0028] The vehicle control circuitry may then be used to move the robotic vehicle such that the storage cages are received over the platform support area (S1060). If the robotic vehicle has lifted a single cage then the lifting frame may be moved such that the entirety of the cage is received above the platform support area. Dependent on the size of the cage and the platform support area then the entirety of the cage may be received above the platform support area without the lifting shuttle being fully received within the body of the robotic vehicle. If the robotic vehicle has lifted multiple cages then when the forks are fully retracted (i.e. when the lifting shuttle is fully received within the body of the robotic vehicle) then some part of the lifted cages may extend beyond the length of the platform support area. The retraction of the lifting frame, whether in part or in full, moves the centre of gravity of the lifted cages nearer to the centre of gravity of the robotic vehicle, making the vehicle more stable. Once the lifting frame has been retracted then the forks may be lowered, bringing the cages closer to the platform support area of the robotic vehicle.

[0029] The robotic vehicle may receive a further location within the storage environment, for example from a central computing system. The robotic vehicle may then move autonomously to that further location (S1070), where the cage(s) may be deposited (S1080). The robotic vehicle will then raise the forks in order to lift the load from the platform storage area. The robotic vehicle will then move away from the load, such that the forks can be lowered. As the forks are lowered the wheels of the cage(s) will make contact with the ground and the forks will lose touch with the cages. At this point, the forks can be retracted back into the robotic vehicle. The process then ends at step S1090 and the robotic vehicle may be assigned to a further task, for example picking up further cage(s) from a further pick-up point.

[0030] The pick-up point may comprise some form of barrier or restraint such that a cage that is inserted within the barrier remains in the same general position. If a second cage is inserted behind the first cage within the barrier then the two cages will be substantially aligned, assisting the simultaneous lifting of the two cages by a robotic vehicle.

[0031] It will be understood that a robotic vehicle according to the present disclosure may comprise one or more computing devices, for example for instantiating the processor circuitry 105. Figure 11 shows a schematic depiction of a computer device 700 that may include a central processing unit ("CPU") 702 connected to a storage unit 714 and to a random access memory 706. The CPU 702 may process an operating system 701, application program 703, and data 723. The operating system 701, application program 703, and data 723 may be stored in storage unit 714 and loaded into memory 706, as may be required. Computer device 700 may further include a graphics processing unit (GPU) 722 which is operatively connected to CPU 702 and to memory 706 to offload intensive image processing calculations from CPU 702 and run these calculations in parallel with CPU 702. The computing device may further comprise a network interface 711, for example a WiFi interface or a cellular interface (for example, an interface using LTE technology), to communicate with a warehouse management system and / or other systems operating in the storage environment in which the robotic vehicle operates. The computer device 700 may receive data from one or more sensors 735. These sensors may comprise the various sensors 118 discussed above with reference to Figures 1 and 2. Data generated by one or more further sensors may also be received by the computer device and used to control the movement and operation of the robotic vehicle. Computer executable code for controlling the operation of a robotic vehicle may be downloaded over a network connection or may be provided on some form of physical media (for example USB flash drive, hard disc drive, C, DVD, etc.)

[0032] In one respect there is provided an autonomous vehicle comprising a fork lift subsystem such that the autonomous vehicle is able to lift a pallet or similar platform. A lifting adaptor may be connected to the fork lift subsystem such that the autonomous vehicle can be adapted to lift one or more storage cages or frames. The autonomous vehicle may be re-purposed to lift a pallet (or other platform) by the removal of the lifting adaptor.

Examples

Embodiment Construction

[0012]Figure 1 shows a schematic depiction of a robotic vehicle 100, with Figure 1A showing a schematic representation of the robotic vehicle and Figure 1B showing a depiction of some aspects of the robotic vehicle that are not shown in Figure 1A. The robotic vehicle 100 comprises a body 102 and a drive means 121 which may comprise one or more motors (e.g., electric motor(s) and / or other drive mechanism(s)) to cause movement of the body 102 via the wheel(s) 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, a speed of the robotic vehicle 100. One or more components of the motor control circuitry 103 can be implemented by processor circuitry 105 of the vehicle 100.

[0013]The robotic vehicle 100 may be an autonomous vehicle. The robotic vehicle 100 comprises vehicle control circuitry 107 to control movement of the autonomous or self-driving robotic vehicle 100. One or more compone...

Claims

1. A robotic vehicle comprising: a body, the body comprising a platform support area; a drive means configured, in use, to move the robotic vehicle; a lifting shuttle comprising an actuator, a first fork and a second fork, the first fork and the second fork being adapted to removably receive a lifting frame wherein, in use, the lifting shuttle is actuated to cause the lifting frame to engage with a storage cage such that the lifting frame lifts the storage cage.

2. A robotic vehicle according to claim 1, wherein the lifting shuttle is further actuated to move the lifting frame such that at least a portion of the storage cage is received above the platform support area.

3. A robotic vehicle according to claim 1 or claim 2, wherein the drive means causes the robotic vehicle to move from a first location to a second location.

4. A robotic vehicle according to any of claims 1 to 3, wherein the lifting shuttle is further actuated to lower the storage cage and to cause the lifting frame to disengage from the storage cage.

5. A robotic vehicle according to any of claims 1 to 4, wherein the lifting frame engages with and lifts a plurality of storage cages.

6. A robotic vehicle according to any of claims 1 to 5, wherein the first fork and the second fork comprise a respective plurality of apertures to enable the lifting frame to be removably attached to the first and second forks.

7. A lifting frame for connection to a robotic vehicle comprising a first fork and a second fork, the lifting frame comprising a first longitudinal member and a second longitudinal member.

8. A lifting frame according to claim 7, wherein the first longitudinal member and the second longitudinal member comprise a respective plurality of apertures to enable the lifting frame to be removably attached to the first fork and the second fork of a robotic vehicle.

9. A lifting frame according to claim 7 or claim 8, wherein the lifting frame comprises one or more transverse members, the one or each transverse members connecting the first longitudinal member to the second longitudinal member.

10. A lifting frame according to any of claims 7 to 9, wherein a surface of the lifting frame comprises a friction increasing material so as to reduce the movement of a storage cage received on the lifting frame.

11. A method of moving one or more storage cages the method comprising: connecting a lifting frame to a lifting mechanism of a robotic vehicle; the robotic vehicle navigating to a location adjacent to the one or more storage cages; the robotic vehicle activating the lifting mechanism to insert the lifting frame beneath the one or more storage cages; and the robotic vehicle further activating the lifting mechanism to lift the one or more storage cages with the lifting frame.

12. A method according to claim 11 further comprising the robotic vehicle further activating the lifting mechanism such that a portion of the one or more storage cages are received above the robotic vehicle.

13. A method according to claim 11 or claim 12 further comprising the robotic vehicle navigating to a further location.

14. A method according to any of claims 11 to 13 further comprising the robotic vehicle further activating the lifting mechanism such that the one or more storage cages are unloaded from the robotic vehicle.

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