Vehicle systems for handling products

Abstract

The present invention relates to a vehicle system for processing and transporting products, comprising a first autonomous unmanned vehicle having an autonomous driving means including wheels and navigation means, further comprising a power source means, a storage means for storing the product, and a first coupling means, a processing means for processing the product, the processing means including a robot for performing processing operations, and a processing device having a second coupling means, and a control device, wherein in a first state, the first coupling means and the second coupling means are separated and decoupled from each other, and at least the first autonomous unmanned vehicle moves separately, and in a second state, the coupling means of the first autonomous unmanned device and the coupling means of the second autonomous unmanned device are engaged and coupled to each other, and the first autonomous unmanned vehicle and the processing device together form an autonomous unmanned vehicle unit and move together.

Description

[Technical field]

[0001] The present invention relates to a vehicle system for handling products, in particular for gripping consumer goods in a warehouse or for picking fruit in a greenhouse or orchard. [Background technology]

[0002] In various industrial and agricultural sectors, repetitive tasks such as collecting goods for shipping or transport and picking fruit are becoming increasingly automated, for example through the use of robots and unmanned vehicles.

[0003] To automate such tasks in an optimal way, good logistics management is required. The time it takes to charge or provide energy to unmanned vehicles and robots cannot be used to perform tasks. Furthermore, robots and unmanned vehicles must transport goods or fruits from a pick-up or picking location in a warehouse or greenhouse to a processing or packing location. The robot or unmanned vehicle cannot process the products further during the transport to such location.

[0004] It would therefore be desirable to provide a system that alleviates at least some of the perceived shortcomings of the prior art. Summary of the Invention [Means for solving the problem]

[0005] To this end, the present invention relates to a vehicle system for processing and transporting products, comprising: - a first autonomous unmanned vehicle comprising autonomous driving means including wheels and navigation means, and further comprising a power supply means, a storage means for storing the product, and a first coupling means; a processing device comprising processing means for processing the products, the processing means including a robot for carrying out the processing operations, the processing device comprising a second coupling means; - a control device; Including, in a first state, the first coupling means and the second coupling means are separated and decoupled from each other, and at least the first autonomous unmanned vehicle moves separately; and in a second state, the coupling means of the first autonomous unmanned device and the coupling means of the second autonomous unmanned device are coupled and engaged with each other, and the first autonomous unmanned vehicle and the processing device together form an autonomous unmanned vehicle unit and therefore move together; Includes vehicle systems.

[0006] The vehicle system according to the invention includes a first autonomous unmanned vehicle having autonomous driving means including wheels and navigation means. The vehicle system further includes a processing device having processing means for performing processing tasks such as repetitive tasks in a warehouse or horticultural greenhouse. The first autonomous unmanned vehicle includes additional equipment such as power supply means, e.g. a battery, and storage means for storing products processed by the processing device. The first autonomous unmanned vehicle may therefore be referred to as an equipment vehicle.

[0007] In the second state, the first autonomous unmanned vehicle and the processing device are coupled to each other, in which case the first coupling means and the second coupling means are engaged with each other. Thus, the first autonomous unmanned vehicle and the processing device move together as an autonomous unmanned vehicle unit. In the second state, the first autonomous unmanned vehicle may provide power to the processing device. Preferably, the power supply means of the first autonomous unmanned vehicle provides power to the processing device in the coupled state, and / or the storage means picks up the product after processing by the processing means. The second battery of the processing device may then be charged by the first battery of the first autonomous unmanned vehicle. The second battery may be charged while the robot of the processing device performs the processing task. This allows the processing device to be charged locally and in situ, without the need to be moved to a remote charging station. This improves the efficiency and effectiveness of the processing device.

[0008] The vehicle system may further include an automatic energy charging device for the first autonomous unmanned vehicle, which enables charging a first battery of the first autonomous unmanned vehicle.

[0009] In one embodiment, in a first state, the processing device may be stationary, and in a second state, the first autonomous unmanned vehicle may move the processing device. A stationary processing device may be the result of a power supply being cut off due to an isolated first state. Preferably, a stationary processing device may be the result of a lack of autonomous driving means. In the stationary state, the processing device is preferably capable of autonomously performing processing tasks.

[0010] In one embodiment, the processing device includes a second autonomous unmanned vehicle, and in a first state, the first autonomous unmanned vehicle and the second autonomous unmanned vehicle move separately from one another. Preferably, in the separated first state, the second autonomous unmanned device is capable of performing at least processing tasks for a certain period of time without the power means of the first autonomous unmanned device.

[0011] In a further embodiment, the processing device comprises a storage device for temporarily storing the product during the first state. A storage device may be provided for temporarily storing the product when the second autonomous unmanned device is separated from the first autonomous unmanned device but still performing processing operations. This temporary storage may continue for as long as the first state persists.

[0012] In the combined second state, the power supply means of the first autonomous unmanned vehicle can supply power to the processing device. Furthermore, the storage means can pick up the product after processing by the processing device. As soon as the first autonomous unmanned vehicle and the processing device enter the second state, storage of the product can be transferred to the storage means of the first autonomous unmanned vehicle. In the second state, a transport means is preferably provided between the storage means of the first autonomous unmanned vehicle and the storage device of the processing device, the transport means transporting the product from the storage device to the storage means. The transport means can be provided on the first autonomous unmanned vehicle or on the processing device.

[0013] The vehicle system can be used in different fields: in one embodiment, the vehicle system is located in a goods warehouse, therefore the products to be processed include goods, preferably the products are consumer goods.

[0014] Thus, the robot of the handling means may include a gripping arm for gripping the product.

[0015] In another embodiment, the vehicle system is arranged in a greenhouse, e.g. for greenhouse cultivation, such as a greenhouse for plants or flowers, or in an orchard. In that case, the products to be treated are fruits or flowers. Thus, the robot of the treatment means may be a picking robot for picking fruits or may include a cutting robot for cutting flowers.

[0016] In a further embodiment, the vehicle system further includes a guide system for guiding the first autonomous unmanned vehicle and / or the processing device along a predetermined route while traveling in the first state and / or the second state. In both the goods warehouse and the greenhouse, features may be provided that can be used as a guide system for the first autonomous unmanned vehicle, the processing device, and / or the autonomous unmanned vehicle unit. For example, the heating system in the greenhouse includes a pipe system, where the pipes act as guides for the wheels of the autonomous unmanned vehicles.

[0017] In the vehicle system, a first autonomous unmanned vehicle and a processing device are decoupled in a first state and coupled in a second state.

[0018] The first autonomous unmanned vehicle may include a lift device, and the second state may be achieved by lifting the processing device by the lift device, thereby forming an autonomous unmanned vehicle unit, and in the second state, the first autonomous unmanned vehicle moves the autonomous unmanned vehicle unit.

[0019] In one embodiment, the first coupling means includes a first engagement surface on at least a portion of an upper surface of the first autonomous unmanned vehicle and the second coupling means includes a second engagement surface on at least a portion of an opposing surface of the processing device, and in the second state, the first autonomous unmanned vehicle and the processing device are engaged with one another over the entirety of the first engagement surface and the second engagement surface. The opposing surface of the processing device may include a lower surface of the processing device.

[0020] In another embodiment, the first coupling means includes a first engagement means on a side of the first autonomous unmanned vehicle and the second coupling means includes a second engagement means on an opposite side of the processing device, and in the second state the first engagement means and the second engagement means are engaged with each other.

[0021] Examples of suitable coupling means are traction coupling, magnetic coupling by ball coupling, but also electrical coupling by induction (wireless charging) is encompassed by the coupling means.

[0022] Thus, the autonomous unmanned devices are coupled back to back, and the first autonomous unmanned vehicle may pull or push the processing device depending on the direction of movement of the autonomous unmanned devices and their positions relative to each other.

[0023] Preferably, the control device can send a signal to the first autonomous unmanned vehicle, and the first autonomous unmanned vehicle moves toward the processing device after receiving the signal. In this embodiment, the control device controls the time when the first autonomous unmanned vehicle moves toward the processing device. Furthermore, the processing device may have previously sent a signal to the control device to call the autonomous unmanned vehicle. As a result, the processing device can control the autonomous unmanned vehicle via the control device.

[0024] In one embodiment, the vehicle system includes one or more processing devices and one or more first autonomous unmanned vehicles, where the number of first autonomous unmanned vehicles is equal to or greater than the number of processing devices. To efficiently use the processing devices, it may be advantageous to couple more than one autonomous unmanned vehicle to a processing device at one time. [Brief description of the drawings]

[0025] [Figure 1] 1 illustrates one embodiment of a vehicle system according to the present invention. [Diagram 2] 3 shows a further embodiment of a vehicle system according to the invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Fig. 1 shows a vehicle system 100 including a first autonomous unmanned vehicle 101, a processing device 102 and a guide system 103. Fig. 1A shows the first autonomous unmanned vehicle 101 and the processing device 102 in a first separated state. The processing device 102 comprises a robot 106 for processing a product 200, in this embodiment a picking robot for picking fruit. The processing device 102 comprises a frame 107 resting on the ground 300 of a greenhouse (not shown). Within the frame 107 the picking robot 106 comprises two robot arms 108, in this case picking arms. Within the frame 107 a second coupling means 115 is provided for coupling to the first autonomous unmanned vehicle.

[0027] Frame 107 is open at least to a height that allows first autonomous unmanned vehicle 101 to enter and assume a second coupled state (see FIG. 1B) to form autonomous unmanned vehicle unit 117. Processing device 102 is stationary in the first detached state (see FIG. 1A) and cannot move or perform tasks on its own without first autonomous unmanned vehicle 101.

[0028] The first autonomous unmanned vehicle 101 comprises an autonomous driving means including wheels 104. A control device, navigation means and power supply means such as a battery are provided in a collection container 109. Furthermore, the first autonomous unmanned vehicle 101 has storage means 110 for storing the fruit 200 after being picked by the picking robot 106. In the separated first state, the first autonomous unmanned vehicle 101 can move alone.

[0029] The vehicle system 100 further comprises an automatic energy charging device 114 for charging the power supply means of the first autonomous unmanned vehicle 101. Furthermore, the vehicle system 100 comprises a guide system 103 that extends inside the greenhouse and consists of guides that guide the first autonomous unmanned vehicle 101 or the autonomous unmanned vehicle unit 117 as they move inside the greenhouse. This may be, for example, heating pipes inside the greenhouse, or strips inserted in the greenhouse floor.

[0030] FIG. 1B illustrates the first autonomous unmanned vehicle 101 and the processing device 102 in a first coupled state, thereby forming an autonomous unmanned vehicle unit 117. The first autonomous unmanned vehicle 101 includes a lift device 111 in a raised position in the coupled state to couple the first coupling means 105 and the second coupling means 115 to each other. In the embodiment of FIG. 1, the coupling means 105, 115 are configured as contact surfaces that contact each other when the first autonomous unmanned vehicle 101 enters the frame 107 of the processing device 102 and the lift device 111 is in the raised position. The contact surfaces include a first engagement surface 105 provided on an upper surface of the first autonomous unmanned vehicle and a second engagement surface 115 provided on a lower surface of the processing device 102. In the coupled second state, the first autonomous unmanned vehicle 101 and the processing device 102 engage with each other over the entire first engagement surface 105 and the second engagement surface 115.

[0031] In the coupled state, as shown in FIG. 1B, the picking robot 106 picks the fruit 200 using the picking arm 108. After picking, the picking arm 108 holds the fruit 200, and the picking arm 108 moves towards the storage means 110 in the form of a container so that the fruit 200 can be stored in the storage means 110. When the storage means 110 is full, the first autonomous unmanned vehicle 101 is separated from the processing device 102. In other words, the coupling means 105 and the coupling means 115 are decoupled from each other. In the separated state, the processing device 102 is stationary and does not pick the fruit 200. The first autonomous unmanned vehicle 101 with the full storage means 110 moves to a discharge point (not shown), deposits the fruit 200 and empties the storage means 110. The first autonomous unmanned vehicle 101, including the empty storage means 110, may then return to and be coupled to the processing device 102.

[0032] 2 shows a further embodiment of the vehicle system 100 in which the first autonomous unmanned vehicle 101 and the processing device 102 are in a coupled state to form an autonomous unmanned vehicle unit. The coupling means 105, 115 includes a first engagement means 105 on a front side of the first autonomous unmanned vehicle 101 and a second engagement means 115 on an opposite side of the processing device 102 when viewed in the direction of movement indicated by arrow 116. In the coupled state, the first engagement means 105 and the second engagement means 115 are engaged with each other.

[0033] In the coupled state, power supply means in the collection bin 109 of the first autonomous unmanned vehicle 101 supply power to the processing device 102 and storage means 110 receive the products after they have been processed by the processing device. The processing device 102 comprises a storage device 112 for temporarily storing the products 200 after processing by the processing device 106, in this embodiment a robot having a gripping arm 108. The temporary storage is provided in a first separated state, in which the processing device 102 processes the products 200 alone, i.e. without the first autonomous unmanned vehicle 101.

[0034] In this embodiment, the storage means 110 is the top surface of the first autonomous unmanned vehicle 101 on which the product 200 is placed.

[0035] In the second coupled state, a conveying means 113, such as a conveyor belt, is provided between the storage means 110 of the first autonomous unmanned vehicle 101 and the storage device 112 of the processing device 102. The conveying means 113 conveys the products 200 from the temporary storage device 112 to the storage means 110. When the storage means 110 is full, the first autonomous unmanned vehicle 101 separates itself from the processing device 102 and moves to a discharge point (not shown) in order to discharge the products 200 and empty the storage means 110. The first autonomous unmanned vehicle 101, whose storage means 110 is now empty, can then return to the processing device 102 and recouple itself to the processing device 102. Meanwhile, the robot 106 can process some products 200 and temporarily store them in the storage device 112. After the coupling of the first autonomous unmanned vehicle 101 has taken place, the products are transported to the storage means 110 of the first autonomous unmanned vehicle 101. [Explanation of symbols]

[0036] 100 Vehicle Systems 101 First Autonomous Unmanned Vehicle 102 Processing device / second autonomous unmanned vehicle 103 Guide System 104 Wheels 105 first coupling means / first engagement surface 106 Robot 107 Frames 108 Robot Arm 109 Collection Container 110 Storage means 111 Lifting Device 112 Storage Devices 113 Means of transport 114 Charging Devices 115 second coupling means / second engagement surface 116 Direction of movement 117 Autonomous Unmanned Vehicle Unit 200 Products 300 ground

Claims

1. 1. A vehicle system for processing and transporting products, comprising: a first autonomous unmanned vehicle equipped with autonomous driving means including wheels and navigation means, further comprising power supply means, storage means for storing said product, and first coupling means; a processing device comprising processing means for processing said products, said processing means including a robot for carrying out processing operations, and comprising second coupling means; a control device; Including, in a first state, the first coupling means and the second coupling means are separated and decoupled from one another, and at least the first autonomous unmanned vehicle moves separately; and in a second state, the first coupling means and the second coupling means are coupled and engaged with one another, and the first autonomous unmanned vehicle and the processing device together form an autonomous unmanned vehicle unit and move together as the autonomous unmanned vehicle unit. Vehicle systems.

2. The vehicle system of claim 1 , wherein in the first state, the processing device is stationary and in the second state, the first autonomous unmanned vehicle moves the processing device.

3. 2. The vehicle system of claim 1, wherein the processing device includes a second autonomous unmanned vehicle, and in the first state, the first autonomous unmanned vehicle and the second autonomous unmanned vehicle move independently of one another.

4. The vehicle system of any one of claims 1 to 3, wherein the processing device comprises a storage device for temporarily storing the product while in the first state.

5. The vehicle system of claim 1 , further comprising an automatic energy charging device for the first unmanned autonomous vehicle.

6. 4. The vehicle system of claim 1, further comprising a guide system for guiding the first autonomous unmanned vehicle and / or the processing device along a predetermined route while moving in the first state and / or the second state.

7. The vehicle system according to any one of claims 1 to 3, wherein the robot includes a grip arm for gripping the product.

8. The vehicle system according to any one of claims 1 to 3, wherein the product is a consumer item.

9. The vehicle system according to any one of claims 1 to 3, which is provided in a goods warehouse.

10. The vehicle system of any one of claims 1 to 3, wherein the robot comprises a picking robot for picking fruit, and the product is fruit.

11. 11. The vehicle system of claim 10, installed in a greenhouse or orchard for greenhouse cultivation.

12. The vehicle system of any one of claims 1 to 3, wherein the first autonomous unmanned vehicle includes a lift device, and the second state is achieved by forming the autonomous unmanned vehicle unit by lifting the processing device by the lift device, and in the second state, the first autonomous unmanned vehicle moves the autonomous unmanned vehicle unit.

13. 13. The vehicle system of claim 12, wherein the first coupling means includes a first engagement surface provided on at least a portion of an upper surface of the first autonomous unmanned vehicle, and the second coupling means includes a second engagement surface provided on at least a portion of an opposing surface of the processing device, and in the second state, the first autonomous unmanned vehicle and the processing device are engaged with each other over the entirety of the first engagement surface and the second engagement surface.

14. 4. The vehicle system of claim 1, wherein the first coupling means includes a first engagement means on a side of the first autonomous unmanned vehicle and the second coupling means includes a second engagement means on an opposite side of the processing device, and in the second state, the first engagement means and the second engagement means are engaged with each other.

15. 4. The vehicle system of claim 1, wherein in the second state, the power supply means of the first autonomous unmanned vehicle supplies power to the processing device and / or the storage means picks up the product after it has been processed by the processing device.

16. 5. The vehicle system of claim 4, wherein in the second state, a transport means is provided between the storage means of the first autonomous unmanned vehicle and the storage device of the processing device, the transport means transporting the product from the storage device to the storage means.

17. The vehicle system of any one of claims 1 to 3, wherein the control device transmits a signal to the first autonomous unmanned vehicle, and the first autonomous unmanned vehicle moves toward the processing device after receiving the signal.

18. The vehicle system of any one of claims 1 to 3, comprising one or more of the processing devices and one or more of the first autonomous unmanned vehicles, the number of the first autonomous unmanned vehicles being equal to or greater than the number of the processing devices.

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