Trolley

Abstract

A trolley 101, suitable for manoeuvring and positioning modules 102 that can perform physical handling operations in a logistics or production environment, such as lifters, rollers, or conveyors. The

Description

Technical Field The present invention relates to trolleys for manoeuvring and positioning operational modules within logistics and production environments, the operational modules configured to perform physical handling operations. Background In logistics, manufacturing, and distribution environments, automated systems play an important role in improving efficiency and reducing reliance on manual labour. Automated mobile robots (AMRs) and automated guided vehicles (AGVs) are commonly used to transport, pick, and sort items. By connecting to suitable operational modules (sometimes referred to as “top modules”), such as lifters, rollers, or conveyors, AMRs and AGVs can be equipped to perform various physical handling operations. Conventional AMRs and AGVs are often designed to be detachably or interchangeably connected to these operational modules such that when a specific module is connected to an AMR or AGV, the vehicle becomes capable of performing the corresponding physical handling operations. Often, these operational modules derive power and control from the AMR or AGV. Due to this arrangement, the AMR or AGV must remain stationary and connected to the operational module while the physical handling operation is being performed. For example, an AMR equipped with a roller module will typically need to stay in place while articles are transferred onto or off the module. Similarly, an AGV with a lifting mechanism must hold its position while lifting or lowering a load. This requirement for the AMR or AGV to remain in situ as the operational module to which it is attached performs the relevant physical handling operation reduces the availability of the AMR or AGV for other operations. As a result, fewer tasks can be completed in the same amount of time, and the utilisation of expensive mobile robots is less efficient than it could be. There is a growing need for systems and methods that can enhance the flexibility and efficiency of AMRs and AGVs. In particular, there is a need for improved approaches that allow physical handling operations to be performed without the mobile robot to be required to remain in place for extended periods. Summary of the Invention In accordance with a first aspect of the invention, there is provided a module-bearing trolley for manoeuvring and positioning operational modules in a logistics or production environment. The modulebearing trolley comprises: an attachment interface configured to detachably connect to an operational module, wherein the operational module is configured to perform a physical handling operation; a power unit configured to provide power to the connected operational module; a control unit configured to communicate control signals to the connected operational module to control its operation; and mobility means configured to allow the module-bearing trolley to be manoeuvred by a mobile robot to an operating position, disengage from the mobile robot, then perform the physical handling operation at the operating position. Optionally, the attachment interface comprises: a mechanical fixing interface configured to releasably secure the operational module to the module-bearing trolley; a power transfer interface configured to electrically connect the power unit to the operational module; and a control line interface configured to communicatively connect the control unit to the operational module. Optionally, the mechanical fixing interface comprises one or more of latching mechanisms, magnetic couplings, or locking pins for securing the operational module. Optionally, the mobility means comprises a frame with a set of unpowered trolley wheels incorporated into it. Optionally, the frame comprises a docking mechanism configured to engage with a mobile robot, the docking mechanism being adapted to: couple the module-bearing trolley to the mobile robot such that the module-bearing trolley can be manoeuvred by the mobile robot to the operating position; and decouple from the mobile robot to leave the module-bearing trolley at the operating position to perform the physical handling operation. Optionally, the control unit is configured to receive control instructions from an external computer control system via a wireless data transceiver connected to the control unit. Optionally, the control unit is configured to process the control instructions to determine specific actions required to perform the physical handling operation and to generate corresponding control signals for the operational module. Optionally, the operational module is one of a lifter, conveyor, roller unit, robotic arm, or sorting mechanism. Optionally, the control unit is further configured to communicate with control units of other modulebearing trolleys to coordinate operations via a wireless data transceiver connected to the control unit. Optionally, the control unit is configured to synchronise the operation of the operational module with the operational modules of the other module-bearing trolleys to collectively perform a physical handling operation. Optionally, the module-bearing trolley is configured to be positioned relative to other module-bearing trolleys to form a collective arrangement for performing a physical handling operation. Optionally, the collective arrangement comprises an extended handling surface. Optionally, the control unit uses inter-module-bearing trolley communication protocols to exchange operational data with other module-bearing trolleys via a wireless data transceiver connected to the control unit. Optionally, the control unit is configured to receive control instructions via a wireless data transceiver connected to the control unit from an external computer control system to operate in conjunction with other module-bearing trolleys. Optionally, the attachment interface is configured in accordance with a predefined interface standard established by a mobile robot manufacturer or a standards-setting organisation, thereby enabling compatibility with operational modules designed for use with existing mobile robots. Optionally, the module-bearing trolley further comprises an inductive charging unit configured to wirelessly receive electrical energy to recharge the power unit. Optionally, the module-bearing trolley further comprises one or more locking actuators arranged to selectively engage at least one trolley wheel to prevent rotation when the module-bearing trolley is positioned at the operating position. Optionally, the module-bearing trolley further comprises a lifting mechanism configured to raise and lower the operational module to adjust the operational module’s operating height. Optionally, the module-bearing trolley further comprises an access arrangement to providing access to the power unit and control unit. Optionally, the access arrangement comprises a slide-out drawer. In accordance with a second aspect of the invention, there is provided a method of manoeuvring and positioning an operational module using a module-bearing trolley according to the first aspect of the invention. The method comprises: coupling the module-bearing trolley to a mobile robot; manoeuvring the module-bearing trolley, while coupled to the mobile robot, to an operating position; decoupling the module-bearing trolley from the mobile robot at the operating position; and operating the operational module of the module-bearing trolley at the operating position to perform the physical handling operation. In accordance with certain embodiments of the invention, a module-bearing trolley is provided for use with conventional or adapted mobile robots, such as automated mobile robots (AMRs) or automated guided vehicles (AGVs), and conventional or adapted top modules. Unlike conventional techniques, where a top module (operational module) is directly coupled to the mobile robot, in accordance with examples of the present invention, top modules are instead coupled to the module-bearing trolley which is equipped with means to both power and control the top module. The module-bearing trolley includes mobility means configured to allow the module-bearing trolley to be manoeuvred by a mobile robot to an operating position, and then disengage from the mobile robot. Accordingly, the physical handling operation can then be performed at the operating position whilst the mobile robot is free to disengage and perform other tasks rather than being required to wait, in situ, as the physical handling operation is performed, significantly increasing its utilisation efficiency. For example, as mobile robots can disengage from a module-bearing trolley once the latter is positioned, the number of mobile robots required for a given set of physical handling operations is determined by how frequently operations modules need to be positioned / repositioned, rather than the number of physical handling operations being performed at a given time. This can reduce the number of mobile robots required and as module-bearing trolleys arranged in accordance with examples of the invention are likely to be substantially lower in cost compared to mobile robots, potentially substantially reduce cost. Moreover, by employing a module-bearing trolley-based system, the module-bearing trolley can be constructed with a robust frame and wheels specifically designed to handle heavier payloads than those typically supported by conventional autonomous mobile robots (AMRs) or automated guided vehicles (AGVs). This configuration allows the module-bearing trolley to accommodate larger or heavier operational modules and loads, enhancing the system's capability to manage a wider range of materials and goods within the logistics or production environment. The flexibility in the module-bearing trolley's design enables the use of stronger materials and wheel assemblies without being constrained by the structural limitations of the mobile robot itself. As a result, operations that require the transportation of heavy or bulky items—which would otherwise exceed the payload capacities of standard mobile robots—can be efficiently performed using the module-bearing trolley. This not only expands the operational scope but also optimises resource utilisation by leveraging the strengths of both the modulebearing trolley and the mobile robot. Various further features and aspects of the invention are defined in the claims. Brief Description of the Drawings Embodiments of the present invention will now be described by way of example only with reference to the accompanying drawings where like parts are provided with corresponding reference numerals and in which: 5 Figure 1 provides a diagram depicting in simplified schematic form components of a module-bearing trolley arranged in accordance with certain examples of the invention; Figure 2 provides a simplified schematic diagram depicting operation of a module-bearing trolley; 10 Figure 3 provides a flow chart indicative of an example operational workflow of a module-bearing trolley in accordance with certain embodiments of the invention; Figure 4 provides a schematic diagram depicting an example in which a plurality of module-bearing 15 trolleys arranged in accordance with certain embodiments of the invention can be arranged to collectively perform a physical handling operation, and Figures 5a, 5b, and 5c provide simplified schematic diagrams depicting an embodiment of a modulebearing trolley that includes a lifting mechanism and an access arrangement for internal components. Detailed Description Figure 1 provides a simplified schematic diagram depicting a module-bearing trolley 101 arranged in accordance with certain examples of the invention. The module-bearing trolley 101 is configured to detachably connect with an operational module 102. As is described in more detail below, in certain embodiments, the operational module 102 is of the type that would conventionally be directly connected to a mobile robot such as an AMR or AGV. The operational module 102 is configured to perform a physical handling operation. When the operational module 102 is connected to the module-bearing trolley 101, power and control (which would often conventionally be provided to an operational module directly from a mobile robot such as an AMR or AGV) is provided to the operational module 102 by the module-bearing trolley 101, enabling the operational module 102 to perform the physical handling operation. The module-bearing trolley 101 and operational module 102 detachably connect via an interface connection formed by a trolley attachment interface 104 integrated in the module-bearing trolley 101 and a corresponding module attachment interface 105 integrated in the operational module 102. The module-bearing trolley 101 comprises a frame 106 incorporated into which are a set of modulebearing trolley wheels 107 which are typically unpowered. The frame 106 and trolley wheels 107 form mobility means allowing the module-bearing trolley 101 to be manoeuvred to an operating position by a mobile robot 103. The frame 106 and unpowered trolley wheels 107 of the module-bearing trolley 101 are typically constructed with suitable high-strength materials and components to ensure the ability to support heavy loads. This can include the use of materials, such as high-grade steel or aluminium alloys, and suitable welding and fastening methods. Such construction ensures that the module-bearing trolley 101 can reliably accommodate the weight and stress imparted by various operational modules when performing demanding physical handling operations. A main body 108 of the module-bearing trolley 101 has housed within a power unit 109, typically provided by a suitable battery, for example a rechargeable lithium-ion battery; and a trolley control unit 110. The main body 108 of the module-bearing trolley 101 can be formed in any suitable way, for example formed by a housing comprising a suitable frame configured to bear the load of the operational module 102 during use, along with suitable side panels made from a suitable material such as metal or plastic. The trolley control unit 110 is configured to perform control functions for controlling the operational module 102 typically performed by the control system of a mobile robot such as an AMR or AGV. The trolley attachment interface 104 comprises a trolley mechanical fixing interface 111, a trolley power transfer interface 112 and a trolley control line interface 113. Correspondingly, the module attachment interface 105 also has a module mechanical fixing interface 114, a module power transfer interface 115 and a module control line interface 116. The trolley mechanical fixing interface 111 and the module mechanical fixing interface 114 are configured to engage with each other to releasably secure the operational module 102 to the modulebearing trolley 101. The operational module 102 comprises a physical handling unit 117 which is configured and equipped to perform a specific physical handling operation. Examples of such physical handling operations include operations such as item lifting, item conveying, item sorting, item loading and unloading, item precision placement, item weighing, item rotating or tilting, pallet handling, bin / tote handling, and so on. The trolley power transfer interface 112 and the module power transfer interface 115 are configured to electrically connect with each other to transfer power from the power unit 109 of the module-bearing trolley 101 to the physical handling unit 117 of the operational module 102 and any other components of the operational module 102. The physical handling unit 117 is shown in a simple schematic form in Figure 1. However, a person skilled in the art will understand that the specific form and structure of the physical handling unit 117 will depend on the nature of the physical handling operation that the operational module 102 is configured to perform. Typically, the physical handling unit 117 is some form of lifter, conveyor, roller unit, robotic arm, or sorting mechanism of types that are well known in the art. For example, the physical handling unit 117 could take the form of a robotic arm with grippers or suction cups for lifting items or handling delicate materials, scissor lift mechanisms or forklift-style prongs for vertical lifting or pallet handling, or conveyor systems such as rollers or belts fortransporting items. It could also include diverter arms, tilting trays, or robotic sorters for sorting items based on predefined criteria, telescopic arms, vacuum loaders, or load-transfer plates for loading or unloading operations, or articulated robotic arms or magnetic grippers for precision placement of items. In addition, the physical handling unit 117 may incorporate integrated weighing systems, such as load cells or dynamic scales, for weighing items during handling, rotary tables or tilt platforms for rotating or tilting items to a desired orientation, or clamp-style grippers or bin-tipping mechanisms for handling bins or totes. The physical handling unit 117 may further include sensors, such as vision systems or force sensors, to enhance precision and adaptability in performing its operations. The operational module 102 further comprises a module control unit 118 which typically includes processing hardware such as a microcontroller or microprocessor, along with associated memory and communication interfaces and which is communicatively connected to the control line interface 116 and to the physical handling unit 117. The module control unit 118 is configured to receive control signals from the module control line interface 116, and based on the received control signals, the module control unit 118 is configured to generate and communicate corresponding control signals to the physical handling unit 117 to execute the required physical handling operations. As mentioned above, in conventional arrangements, the module control unit 118 receives control signals from the control system of a mobile robot such as an AMR or AGV. However, in accordance with embodiments of the invention, these control signals are instead received from the trolley control unit 110. To convey control signals from the trolley control unit 110 to the module control unit 118, as can be seen from Figure 1, the trolley control unit 110 is communicatively connected to the trolley control line interface 113 which, when the operational module 102 is attached to the module-bearing trolley 101, is communicatively connected to the module control line interface 116. In this way, in use, control signals can be communicated from the trolley control unit 110 to the module control unit 118 to control operation of the physical handling unit 117. The trolley control unit 110 can be implemented using any suitable processing hardware, such as a microcontroller, microprocessor, or programmable logic controller (PLC). It typically includes memory for storing control algorithms, operational instructions, and configuration data. In typical embodiments, the module-bearing trolley 101 is configured to interchangeably connect with a variety of different operational modules, different operational modules being configured, for example, to perform different types of physical handling operations. In certain embodiments, some or all of the aspects of the trolley attachment interface 104 (e.g. one or more of the mechanical fixing interface 111, trolley power transfer interface 112 and trolley control line interface 113) are arranged in accordance with a predefined interface standard. In this way, the trolley attachment interface 104 can be configured to match a specific type of interface used in conventional mobile robots for connecting the mobile robot with different operational modules. These interfaces may correspond to predefined interface standards established, for example, by a mobile robot manufacturer or by a standards-setting organisation. This compatibility enables the module-bearing trolley 101 to connect with operational modules that are conventionally designed for use with mobile robots associated with a specific manufacturer or standard. As a result, operational modules designed for conventional mobile robots can be used with the modulebearing trolley 101 with little or no modification. As will be understood, the mechanical fixing interfaces 111 and 114 can be provided by any suitable physical fixing means, for example latching mechanisms, magnetic couplings, locking pins and so on. In typical embodiments, such physical fixing means can be selected on the basis of quick engagement and release, facilitating rapid swapping of operational modules with minimal downtime. The trolley power transfer interface 112 and the module power transfer interface 115 are configured to handle required voltage and current levels to operate various physical handling units 117. They may include safety features such as overload protection and interlocks to prevent electrical hazards during connection and disconnection. As will be understood, the trolley power transfer interface 112 and module power transfer interface 115 can be provided by any suitable electrical connectors configured to accommodate the voltage and current requirements of various physical handling units. Examples may include heavy-duty multi-pin plug-and-socket arrangements, industrial-grade power couplings, or modular quick-connect systems that facilitate rapid and secure attachment and detachment. For instance, the connectors can employ spring-loaded contact pins within a guided housing that aligns precisely with corresponding receptacles on the operational module 102. Suitable sealing features such as gaskets or O-rings may be incorporated to protect the connectors from dust, moisture, and other contaminants. The trolley power transfer interface 112 and module power transfer interface 115 may be selected to comply with relevant industry standards and certifications relating, for example, to ingress protection and electrical safety. The trolley control line interface 113 and module control line interface 116 are typically configured to support data transfer rates sufficient for real-time communication between the trolley control unit 110 and module control unit 118. Standardised connectors and communication protocols may be employed to ensure compatibility and interoperability with different operational modules. For example, in typical embodiments, the trolley control line interface 113 and module control line interface 116 may use standardised connectors such as RJ45 Ethernet ports, USB interfaces, or industrial-grade M12 connectors. Further components located within the main body 108 of the module-bearing trolley 101 include a wireless data transceiver 119 an inductive charging unit 120 connected to the power unit 109. The trolley control unit 110 is communicatively connected to the wireless data transceiver 119. In this way, the wireless data transceiver 119 enables control information to be received from an external computer system allowing aspects of the operation of the module-bearing trolley 101 and operational module 102 to be controlled remotely. More specifically, the trolley control unit 110 is configured to processes incoming control information received via the wireless data transceiver 119 and, where required, translate this information into control signals that are communicated to the module control unit 118 to control the operation of the physical handling unit 117. In certain embodiments, the wireless data transceiver 119 also facilitates the communication of information, for example status data from the module-bearing trolley 101 to external computer systems. The wireless data transceiver 119 can be provided by any suitable wireless communication module, such as Wi-Fi transceivers compliant with IEEE 802.11 standards, Bluetooth modules adhering to Bluetooth specifications, ZigBee devices operating under IEEE 802.15.4, or cellular communication units compatible with GSM, LTE, or 5G networks. As described in more detail below, in some embodiments, the trolley control unit 110 may further include sensor inputs to receive feedback from the operational module 102. For example, it may process data from sensors associated with the physical handling unit 117, such as force sensors, position sensors, or proximity sensors, to dynamically adjust control outputs. In addition to controlling the operational module 102, the trolley control unit 110 may manage other functions of the module-bearing trolley 101, such as monitoring the power unit 109 or coordinating with the inductive charging unit 120 to optimise charging cycles. The skilled person will appreciate that the implementation details of the trolley control unit 110 can vary depending on the specific requirements of the system and the nature of the handling operations to be performed. The inductive charging unit 120 is configured to wirelessly receive electrical energy to recharge the power unit 109. This arrangement allows the module-bearing trolley 101 to replenish its power supply simplifying the charging process by eliminating the need for physical charging connections and typically reducing any need for manual intervention. As will be understood, the module-bearing trolley 101 can be charged in any suitable way. For example, the module-bearing trolley 101 may be manoeuvred by the mobile robot 103 into a designated charging dock station equipped with an inductive power transmitter. In such an arrangement, the inductive charging unit 120 is aligned with the transmitter in the charging dock, allowing the power unit 109 to be recharged wirelessly while the module-bearing trolley remains stationary. Alternatively, the mobile robot 103 itself may be equipped with an inductive power transmitter such that, when docked with the modulebearing trolley 101, the inductive charging unit 120 receives power from the mobile robot during transit or while docked, thereby recharging the power unit 109 without the need for separate charging stations. In another embodiment, a mobile charging apparatus can be brought directly to the module-bearing trolley 101, for example at an operating position. This apparatus aligns with the inductive charging unit 120, enabling the power unit 109 to be recharged on-site without relocating the module-bearing trolley 101. Alternatively, inductive charging pads may be installed at various operating positions where the module-bearing trolley performs tasks. When the module-bearing trolley 101 is positioned for operation, the inductive charging unit 120 aligns with the charging pad embedded, for example, in the floor or surface, allowing the power unit 109 to be recharged wirelessly during the performance of physical handling operations by the physical handling unit 117. Furthermore, automated guided charging robots equipped with inductive power transmitters may be used. These robots navigate to the module-bearing trolley 101 and align their inductive chargers with the inductive charging unit 120 to recharge the power unit 109 on-site. In yet another example, the module-bearing trolley 101 may receive power via wireless power transmission methods, such as resonant inductive coupling or radio frequency energy transfer. This allows the inductive charging unit 120 to receive electrical energy over a distance, recharging the power unit 109 without the need for precise alignment or physical contact with a charging apparatus. In the example shown in Figure 1, the frame 106 of the module-bearing trolley 101 includes a docking mechanism. The docking mechanism is configured to enable the module-bearing trolley 101 to be coupled to the mobile robot 103, such that the module-bearing trolley 101 can be manoeuvred by the mobile robot 103 to the operating position. The docking mechanism is further configured to enable the module-bearing trolley 101 to be subsequently decoupled from the mobile robot 103, such that the mobile robot 103 can then depart from the module-bearing trolley 101, to leave the module-bearing trolley 101 at the operating position to perform the physical handling operation. In certain embodiments, the docking mechanism comprises recesses 121 located within the frame 106 configured to receive actuated retractable pins 122 positioned at a top facing surface of the mobile robot 103. By raising and lowering the actuated retractable pins 122, the mobile robot 103 can be respectively docked and undocked with the module-bearing trolley 101. In other embodiments, the docking mechanism includes alternative or additional mechanical couplings or latching mechanisms, such as automated latches, magnetic couplings, or locking pins, integrated into the frame 106. These mechanisms engage with corresponding structures on the mobile robot 103 when the module-bearing trolley 101 is positioned over the mobile robot 103. The engagement can be automatic or controlled by the trolley control unit 110, ensuring a secure connection during manoeuvring. The docking mechanism may be designed to use standard interfaces compatible with conventional (existing) mobile robots. For example, the module-bearing trolley 101 can include a universal mounting interface that aligns with the mobile robots existing top module connectors. This allows the modulebearing trolley 101 to be readily integrated with a variety of mobile robots without the need for specialised adapters or modifications. In certain examples, in operation, the mobile robot 103 positions itself beneath the module-bearing trolley 101. The docking mechanism is then engaged by raising the actuated retractable pins 122 so they enter the recesses 121 securing the mobile robot 103 to the module-bearing trolley 101. Once docked, the mobile robot 103 can manoeuvre the module-bearing trolley 101 to the desired operating position. Upon arrival, the docking mechanism is disengaged by retracting the actuated retractable pins 122 allowing the mobile robot 103 to depart and perform other tasks while the modulebearing trolley 101 carries out the physical handling operation. In simpler embodiments, the docking mechanisms can be more straightforward, enabling the mobile robot 103 to push or tow the module-bearing trolley 101 to the operating position. These simpler docking mechanisms might rely on basic physical connections such as hooks, bars, or push-pull interfaces that do not require more sophisticated alignment or locking systems. In certain embodiments, as shown in Figure 1, the module-bearing trolley 101 may be provided with locking actuators 123 arranged to engage the trolley wheels 107. These locking actuators 123 can be controlled by the trolley control unit 110 and are configured to extend and contact the wheels 107 to prevent rotation. By doing so, the module-bearing trolley 101 can be held securely in place once it has reached its designated operating position. The locking actuators 123 may be activated automatically, for example, when the module-bearing trolley 101 has been manoeuvred into the operating position. Typically, the locking actuators 123 are electromechanical actuators. However, any suitable mechanism, such as pneumatic or hydraulic actuators, may be used. As will be understood, the locking actuators 123 help ensure stable and reliable operation during handling tasks and reduces the risk of unintended movement. In order for the mobile robot 103 to position itself accurately beneath the module-bearing trolley 101, the mobile robot 103 can use any suitable localisation and alignment technique. For example, the mobile robot 103 may be equipped with optical sensors that are configured to detect and track alignment markings provided on the module-bearing trolley 101. Such markings may be located on the underside of the frame 106, ensuring that when the mobile robot 103 moves into position, it can use the detected alignment markings as reference points. By processing the sensor data, the mobile robot 103 can adjust its position and orientation until it is precisely located underneath the module-bearing trolley 101. This approach helps ensure secure docking and efficient manoeuvring, reducing the likelihood of misalignment or unstable connections during operation. Figure 2 provides a simplified schematic diagram depicting typical operation of a module-bearing trolley arranged in accordance with certain embodiments of the invention. Corresponding reference numerals used in Figure 1 are shown where appropriate in Figure 2. In the example shown in Figure 2, the physical handling unit 117 of the operational module 102 is provided by a roller unit. At a starting position 201, the mobile robot 103 positions itself under the module-bearing trolley 101 and the module-bearing trolley 101 docks with the mobile robot 103. As described above, in certain embodiments, this docking involves actuated retractable pins 122 of the mobile robot 103 being inserted into the recesses 121 of the frame 106 of the module-bearing trolley 101. During a manoeuvring phase 202, the mobile robot 103 manoeuvres the module-bearing trolley 101 towards an operating position 203. Once the mobile robot 103 and module-bearing trolley 101 reach the operating position 203, the module-bearing trolley 101 then undocks from the mobile robot 103. As described above, in certain embodiments, this undocking involves the actuated retractable pins 122 of the mobile robot 103 being retracted from the recesses 121 of the frame 106 of the module-bearing trolley 101. After undocking, the module-bearing trolley 101 is left at the operating position 203 where the physical handling unit 117 can begin performing a required physical handling operation, and the mobile robot 103 can move away. Figure 2 further depicts an external computer control system 204 connected to a wireless transceiver 205. The computer control system 204 is configured to communicate control information to the modulebearing trolley 101 (received via the wireless data transceiver 119) to control operation of the physical handling unit 117. The computer control system 204 may be implemented in any suitable way, for example using one or more servers or computing devices, which can be located on-site or accessed via cloud-based services. The computer control system 204 is typically configured to run control software, such as warehouse management systems (WMS) or automation control software, responsible fortask scheduling, resource allocation, and overall coordination within a logistics or production environment. This software enables the computer control system 204 to manage and optimise the operations of multiple module-bearing trolleys 101 and their associated operational modules 102. Figure 3 provides a flow diagram indicative of example operational workflow of a module-bearing trolley 101 arranged in accordance with examples of the invention. At a first task assignment step 301, the computer control system 204 assigns a handling task to the module-bearing trolley 101, transmitting control information wirelessly via the transceiver 205 to the wireless data transceiver 119 connected to the trolley control unit 110. At a second docking and manoeuvring step 302, the mobile robot 103 docks with the module-bearing trolley 101 at the starting position 201, as depicted in Figure 2. The mobile robot 103 manoeuvres the module-bearing trolley to the designated operating position 203 during the manoeuvring phase 202. At a third undocking step 303, upon reaching the operating position, the mobile robot 103 undocks from the module-bearing trolley 101. The trolley control unit 110 may signal the module control unit 118 of the operational module 102 to prepare for the handling operation. At a fourth physical handling operation step 304, the operational module 102, under the control of module control unit 118, executes the physical handling task using the physical handling unit 117. In this example, the operation typically involves rolling items along rollers of the physical handling unit 117. At a fifth completion and communication step 305, upon completion of the handling operation, the module control unit 118 communicates status updates back to the trolley control unit 110, which in turn communicates status data to the computer control system 204 via wireless data transceiver 119. The module-bearing trolley 101 can then await further instructions, be manoeuvred to another operating position by the mobile robot 103, or undertake further physical handling operations as assigned. As described with reference to the first task assignment step 301, typically, communication between the computer control system 204 and the module-bearing trolley 101 is facilitated through the wireless transceiver 205 and the wireless data transceiver 119 connected to the trolley control unit 110 of the module-bearing trolley 101. For example, via the wireless transceiver 205 and the wireless data transceiver 119, the computer control system 204 transmits control information to the trolley control unit 110, including task assignments, routing information, operational parameters, and commands to initiate specific physical handling operations. These instructions enable the module-bearing trolley 101 and operational module 102 to perform their functions once they reach the operating position. As described with reference to the fifth completion and communication step 305, in certain examples, in addition to sending control data, the computer control system 204 receives information from the module-bearing trolley 101 via the wireless data transceiver 119. This information can include status update data indicative of, for example, the current location of the module-bearing trolley 101, progress of the assigned tasks, battery level of the power unit 109, diagnostic information from the trolley control unit 110 and the module control unit 118 of the operational module 102, and any error or fault conditions detected during operation. In such examples, the software running on the computer control system 204 can process this received information to monitor the performance and status of the module-bearing trolley 101 and the operational module 102. Based on the data collected, the computer control system 204 can update task schedules, reassign tasks, or adjust operational parameters to optimise efficiency. For example, if the battery level of the power unit 109 is low, the computer control system 204 may schedule the module-bearing trolley 101 to proceed to a charging station after completing its current task. If a fault condition is detected, it can trigger maintenance protocols or alert human operators for intervention. Furthermore, in certain examples, the computer control system 204 uses the information received from multiple module-bearing trolleys 101 to coordinate their operations, prevent conflicts, and enhance overall workflow efficiency within the environment. By analysing data such as module-bearing trolley locations and task statuses, the system can optimise routes, balance workloads, and ensure timely completion of tasks. As the skilled person will understand, the control of the physical handling unit 117 can be distributed between the trolley control unit 110 of the module-bearing trolley 101 and the module control unit 118 of the operational module 102 in various different ways. For example, in certain configurations, the trolley control unit 110 receives instructions to implement a physical handling operation from the computer control system 204 via the wireless data transceiver 119 connected to the trolley control unit 110. The trolley control unit 110 processes these instructions to determine the specific actions required and generates corresponding control signals. These control signals are then transmitted to the module control unit 118 of the operational module 102 through the trolley control line interface 113 of the trolley attachment interface 104 and the corresponding module control line interface 116 of the operational module 102. The module control unit 118, in this configuration, acts primarily as an interface that converts the received control signals into lower-level instructions for the physical handling unit 117 to execute. Thus, the majority of the operational intelligence resides within the trolley control unit 110 of the module-bearing trolley 101. In alternative configurations, the control signals from the trolley control unit 110 are simplified. For instance, the trolley control unit 110 may send a basic signal indicating that the module-bearing trolley 101 has undocked from the mobile robot 103. Upon receiving this signal via the module control line interface 116, the module control unit 118 of the operational module 102 initiates the physical handling operation. In this embodiment, the module control unit 118 determines how to perform the required operation and directly controls the physical handling unit 117 accordingly. This means that the operational intelligence primarily resides within the module control unit 118 of the operational module 102. In other configurations, the division of control between the trolley control unit 110 and the module control unit 118 can be adjusted based on operational requirements. For example, the trolley control unit 110 may provide high-level commands or supervisory control, while the module control unit 118 handles detailed operational tasks. Alternatively, the control units may operate collaboratively, sharing control responsibilities to optimise performance and efficiency of the physical handling unit 117. In certain embodiments, incorporated into or connected to the trolley control unit 110 are one or more sensors configured to gather data and provide feedback to assist in controlling and monitoring the module-bearing trolley 101, the operational module 102, and their interactions with the environment. An example of such sensors is depicted schematically in Figure 1 as the sensor array 124 communicatively coupled to the trolley control unit 110. Such sensors may include, for example, position sensors arranged to determine the trolley’s precise location, proximity sensors configured to detect nearby objects or obstacles, load sensors for measuring the weight and balance of items being handled, and environmental sensors (for instance, temperature or humidity sensors) to ensure that conditions remain suitable for the tasks being performed. The information collected from these sensors can be used by the trolley control unit 110 and, where appropriate, transmitted to the module control unit 118 of the operational module 102 and the computer control system 204, thereby enabling improved accuracy, safety, and efficiency in the module-bearing trolley’s operation. In certain embodiments, the trolley control unit 110 and module control unit 118 are equipped to execute machine learning algorithms that enable the module-bearing trolley 101 and operational module 102 to learn from previous operations, optimise performance, and predict maintenance needs. This intelligence enhances automation and adaptive decision-making, reducing the need for operator intervention and improving overall system efficiency. In the example described with reference to Figure 2, a single module-bearing trolley 101 is manoeuvred to an operating position by a mobile robot 103, where the module-bearing trolley 101 then performs a physical handling operation. However, in certain embodiments, two or more module-bearing trolleys 101 can be positioned relative to each other to collectively perform a physical handling operation. Figure 4 provides a simplified schematic diagram depicting a collective arrangement 401 in which several module-bearing trolleys are positioned relative to each other to collectively perform a coordinated physical handling operation. In this instance, the trolleys align to form a continuous surface for transferring items. Specifically, Figure 4 shows three module-bearing trolleys, labelled as 101a, 101b, and 101c, each configured generally as described with reference to Figure 1 and with a physical handling unit 117 provided by a roller unit. The module-bearing trolleys 101a, 101 b, and 101 c are aligned side by side such that their roller units form an extended handling surface, specifically a continuous, extended roller surface. This collective arrangement 401 allows the module-bearing trolleys to function collectively as a single, longer roller unit, facilitating the handling of larger items or increasing throughput. To achieve this configuration, one or more mobile robots manoeuvre the module-bearing trolleys 101a, 101b, and 101c to precise operating positions. Each mobile robot docks with a module-bearing trolley 101 at its initial location and transports it to the designated position. The mobile robots ensure accurate alignment of the module-bearing trolleys so that the roller units of adjacent module-bearing trolleys are contiguous, forming a seamless conveyor-like pathway. Once the module-bearing trolleys are correctly positioned, the mobile robots undock and depart, leaving the module-bearing trolleys 101a, 101b, and 101 c at the operating position to perform the physical handling operation. Operation of the roller units of each module-bearing trolley 101a, 101b, is coordinated to synchronise the movement of their roller units 117. This coordination enables the module-bearing trolleys to function as a unified system, allowing items to be transferred across the combined roller surface. This coordination can be achieved through various methods. In certain embodiments, the computer control system 204 communicates with each module-bearing trolley 101 via the wireless transceiver 205 and the wireless data transceivers 119 connected to the control units 110 of each of the module-bearing trolleys. The computer control system 204 sends control instructions to each module-bearing trolley's trolley control unit 110 to initiate coordinated operation. These instructions may include commands to start or stop the roller units 117, adjust their speeds, and synchronise their movements. The control units 110 execute these instructions, ensuring that the roller units operate in unison. The module-bearing trolleys provide status updates back to the computer control system 204, allowing for real-time monitoring and adjustments. In alternative embodiments, the module-bearing trolleys 101a, 101b, and 101c, using their respective wireless data transceivers 119, communicate operational data directly with each other to coordinate their operations. In such examples, the trolley control units 110 use inter-module-bearing trolley communication protocols, such as Wi-Fi Direct, Bluetooth, Zigbee, or a suitable cellular protocol such as LTE / 5G, to exchange information about their operational statuses, roller speeds, and positional data. This distributed control approach allows the module-bearing trolleys to self-organise and synchronise their roller units without requiring oversight from the computer control system 204. In other embodiments, a hybrid control approach combines centralised and distributed control methods. The computer control system 204 provides high-level directives, such as instructing the module-bearing trolleys to form the extended roller unit and begin coordinated operation, while the module-bearing trolleys manage the finer details of synchronisation through inter-module-bearing trolley communication. By coordinating their operations, the module-bearing trolleys 101a, 101b, and 101c can collectively perform physical handling operations that would not be possible with a single module-bearing trolley. This “swarming” behaviour enhances operational flexibility, scalability, and efficiency within the logistics or production environment. In certain embodiments, further adaptations can be made to aspects of the module-bearing trolley, in particular to the main body of the module-bearing trolley 101. Figures 5a, 5b, and 5c provide depictions of such an embodiment in which the main body 501 of a module bearing trolley 502 arranged in accordance with an embodiment of the invention. In this embodiment, the module bearing trolley 502 comprises a lifting mechanism incorporated into the main body 501 which has a lowered configuration (as shown in Figure 5a) and a raised configuration (as shown in Figure 5b). Advantageously, this means that the vertical position of the operational module 503 (the operational module's operating height) can be adjusted as required, for example, when the module bearing trolley 502 arrives at its designated operating position, the height of the operational module 503 can be adjusted to the optimal level needed for the tasks at hand. Conversely, the operational module 503 can be lowered while the module bearing trolley 502 is being manoeuvred. The lifting mechanism can be implemented in any suitable way. In the example shown in Figures 5a and 5b, the lifting mechanism includes an inner section 504 that can move vertically within an outer housing. A self-powered actuator, such as an electric motor or a fluid-driven system (for example, hydraulic or pneumatic), drives the inner section up or down. A locking ratchet mechanism may be provided to hold the lifting mechanism in a chosen position. When the desired height is reached, the ratchet teeth engage to prevent the operational module 503 from slipping down. To lower the operational module 503, the ratchet lock can be released, allowing the innersection to move downwards under controlled conditions. This ensures stable and secure lifting and lowering of the operational module 503, while also permitting easy adjustments as needed. As the skilled person will understand, alternative lifting mechanisms could be used. For example, the lifting mechanism could take the form of a screw-driven system, where a threaded rod and nut are turned by a motor or hand crank to raise and lower the operational module 503. Another option could be a scissor-lift arrangement, using linked arms that fold and unfold, driven by an electric motor, hydraulic cylinder, or pneumatic actuator. In some embodiments, a rack and pinion setup could be employed, with a gear driving a toothed rack to move the operational module 503 up and down. Alternatively, the lifting could rely on a chain or belt looped around pulleys, or on gas springs or pneumatic cylinders that can extend and retract to change the height. It should be noted that these approaches may incorporate their own locking mechanisms, or separate locking devices, to ensure the operational module 503 remains securely in place once the desired height is achieved. As can be seen from Figure 5c, in certain embodiments, the main body 501 of the module bearing trolley 502 includes an access arrangement that provides quick and easy access to its internal components. In the example shown, this access arrangement takes the form of a slide-out drawer 505. By pulling out the drawer 505, internal units such as the power unit 109, trolley control unit 110, wireless data transceiver 119, and inductive charging unit 120 can be reached without the need to remove the operational module 503 or dismantle the trolley. As will be understood, other access arrangements could be used instead of the slide-out drawer. For example, hinged doors, removable panels, or sliding trays could serve a similar purpose. Such options allow for fast and convenient servicing, maintenance, or inspection of the internal components housed within the main body 501. As used herein, the term 'mobile robot' refers to any automated or semi-automated vehicle capable of autonomous or guided movement, including but not limited to automated guided vehicles (AGVs), autonomous mobile robots (AMRs), or similar devices. Such mobile robots are typically equipped with systems for navigation, positioning, and load handling, enabling them to manoeuvre module-bearing trolleys into position or to perform other related tasks. As will be understood, module-bearing trolleys in accordance with examples of the invention are particularly suited for use in logistics or production environments, such as warehouses for automating material handling, manufacturing facilities for transporting components between workstations, distribution centres for sorting and loading goods, or retail environments for stock replenishment. As the skilled person will understand, mobile robots of the type described above are commonly employed in such environments. As the skilled person will understand, module-bearing trolleys in accordance with examples of the invention can be configured to operate with conventional mobile robots and operational modules, or mobile robots and operational modules that have been specifically adapted to work in conjunction with module-bearing trolleys in accordance with examples of the invention. For example, as described with reference to the example described in Figure 1, an adapted mobile robot mobile robot 103 may include actuated retractable pins specifically configured for engaging with recesses of a module-bearing trolley. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and / or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and / or steps are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features. The invention is not restricted to the details of the foregoing embodiment(s). The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed. With respect to the use of substantially any plural and / or singular terms herein, those having skill in the art can translate from the plural to the singular and / or from the singular to the plural as is appropriate to the context and / or application. The various singular / plural permutations may be expressly set forth herein for sake of clarity. It will be understood by those within the art that, in general, terms used herein, and especially in the appended claims are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases "at least one" and "one or more" to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles "a" or "an" limits any particular claim containing such introduced claim recitation to embodiments containing only one such recitation, even when the same claim includes the introductory phrases "one or more" or "at least one" and indefinite articles such as "a" or "an" (e.g., “a” and / or “an” should be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should be interpreted to mean at least the recited number (e.g., the bare recitation of "two recitations," without other modifiers, means at least two recitations, or two or more recitations). It will be appreciated that various embodiments of the present disclosure have been described herein for purposes of illustration, and that various modifications may be made without departing from the scope of the present disclosure. Accordingly, the various embodiments disclosed herein are not intended to be limiting, with the true scope being indicated by the following claims.

Claims

1. A module-bearing trolley for manoeuvring and positioning operational modules in a logistics or production environment, the module-bearing trolley comprising:an attachment interface configured to detachably connect to an operational module, wherein the operational module is configured to perform a physical handling operation;a power unit configured to provide power to the connected operational module;a control unit configured to communicate control signals to the connected operational module to control its operation; andmobility means configured to allow the module-bearing trolley to be manoeuvred by a mobile robot to an operating position, disengage from the mobile robot, then perform the physical handling operation at the operating position.

2. A module-bearing trolley according to claim 1, wherein the attachment interface comprises:a mechanical fixing interface configured to releasably secure the operational module to the module-bearing trolley;a power transfer interface configured to electrically connect the power unit to the operational module; anda control line interface configured to communicatively connect the control unit to the operational module.

3. A module-bearing trolley according to claim 2, wherein the mechanical fixing interface comprises one or more of latching mechanisms, magnetic couplings, or locking pins for securing the operational module.

4. A module-bearing trolley according to any one of the preceding claims, wherein the mobility means comprises a frame with a set of unpowered trolley wheels incorporated into it.

5. A module-bearing trolley according to claim 4, wherein the frame comprises a docking mechanism configured to engage with a mobile robot, the docking mechanism being adapted to:couple the module-bearing trolley to the mobile robot such that the module-bearing trolley can be manoeuvred by the mobile robot to the operating position; anddecouple from the mobile robot to leave the module-bearing trolley at the operating position to perform the physical handling operation.

6. A module-bearing trolley according to any one of the preceding claims, wherein the control unit is configured to receive control instructions from an external computer control system via a wireless data transceiver connected to the control unit.

7. A module-bearing trolley according to claim 6, wherein the control unit is configured to process the control instructions to determine specific actions required to perform the physical handling operation and to generate corresponding control signals for the operational module.

8. A module-bearing trolley according to any one of the preceding claims, wherein the operational module is one of a lifter, conveyor, roller unit, robotic arm, or sorting mechanism.

9. A module-bearing trolley according to claim 1, wherein the control unit is further configured to communicate with control units of other module-bearing trolleys to coordinate operations via a wireless data transceiver connected to the control unit.

10. A module-bearing trolley according to claim 9, wherein the control unit is configured to synchronise the operation of the operational module with the operational module of the other modulebearing trolleys to collectively perform a physical handling operation.

11. A module-bearing trolley according to any one of the preceding claims, wherein the modulebearing trolley is configured to be positioned relative to other module-bearing trolleys to form a collective arrangement for performing a physical handling operation.

12. A module-bearing trolley according to claim 11, wherein the collective arrangement comprises an extended handling surface.

13. A module-bearing trolley according to claim 1, wherein the control unit utilises inter-module-bearing trolley communication protocols to exchange operational data with other module-bearing trolleys via a wireless data transceiver connected to the control unit.

14. A module-bearing trolley according to claim 1, wherein the control unit is configured to receive control instructions via a wireless data transceiver connected to the control unit from an external computer control system to operate in conjunction with other module-bearing trolleys.

15. A module-bearing trolley according to any one of the preceding claims, wherein the attachment interface is configured in accordance with a predefined interface standard established by a mobile robot manufacturer or a standards-setting organisation, thereby enabling compatibility with operational modules designed for use with existing mobile robots.

16. A module-bearing trolley according to any one of the preceding claims, further comprising an inductive charging unit configured to wirelessly receive electrical energy to recharge the power unit.

17. A module-bearing trolley according to claim 4, further comprising one or more locking actuators arranged to selectively engage at least one trolley wheel to prevent rotation when the module-bearing trolley is positioned at the operating position.

18. A module-bearing trolley according to any one of the preceding claims, further comprising a lifting mechanism configured to raise and lower the operational module to adjust the operational module’s operating height.

19. A module-bearing trolley according to any one of the preceding claims, further comprising an access arrangement to providing access to the power unit and control unit.

20. A module-bearing trolley according to claim 19, wherein the access arrangement comprises a slide-out drawer.

21. A method of manoeuvring and positioning an operational module using a module-bearing trolley according to any one of claims 1 to 20, the method comprising:coupling the module-bearing trolley to a mobile robot;manoeuvring the module-bearing trolley, while coupled to the mobile robot, to an operating position;decoupling the module-bearing trolley from the mobile robot at the operating position, and operating the operational module of the module-bearing trolley at the operating position to perform the physical handling operation.