Freely movable floor-bound vehicle with sensor band

Abstract

The present invention relates to a freely movable floor-bound vehicle (1), preferably a robotic vehicle (1'), comprising a chassis (10), which is supported on at least two wheels (20) used to move the freely movable floor-bound vehicle (1) on a floor, and a transport equipment (30) for the transportation of a transport item. In order to improve such a freely movable floor-bound vehicle (1) it is suggested that the freely movable floor-bound vehicle (1) comprises a sensor band (50) arranged at the chassis (10) and / or the transport equipment (30), wherein the sensor band (50) comprises an array of a plurality of contactless sensors (51). In addition, the invention relates to a method for controlling the freely movable floor-bound vehicle (1).

Description

[0001] Freely movable floor-bound vehicle with sensor band

[0002] The invention relates to a freely movable floor-bound vehicle with a sensor band and a method for controlling such vehicle.

[0003] The detection of objects, which may be obstacles, can be necessary for the operation of a freely movable floor-bound vehicle. For instance, such object detection can be necessary for the navigation of the vehicle itself and for the coordination with other vehicles and personnel. Furthermore, safety norms for robotic vehicles, such as those with AGV (Automated Guided Vehicle) or AMR (Autonomous Mobile Robot) properties, require the ability to detect objects to allow safe operation of the vehicle.

[0004] The detection of objects is enabled by sensing of surroundings of the freely movable floor-bound vehicle, wherein the sensing is preferably carried out by means of contactless sensors.

[0005] It is known from the prior art to equip a freely movable floor-bound vehicle with two laser scanners, which are mounted at diagonal corners of the vehicle. Such laser scanners, also referred to as lidar scanners, use a pulsed laser beam and a rotating mirror and allow contactless sensing of the surroundings and the detection of objects. The laser scanners can be used to determine a distance to an object via measuring a distance vector at fixed angular steps. In order to cover the full 360° surrounding of the vehicle, each of the two laser scanners covers a 270° scan area.

[0006] However, using such laser scanners has the disadvantage that an object located in the 'shadow' of another object cannot be detected. Also, as the distance between the laser scanner and an object increases, the fixed angular steps result in larger absolute distance resolution. Hence, a measurement accuracy is inconsistent over the length and width of the vehicle. In case the information provided by the laser scanners is used to determine the position of the vehicle, such inconsistency may lead to unstable driving behavior. Moreover, such laser scanners with rotating mirrors are high- precision devices causing high manufacturing and maintenance costs. Another disadvantage is that such laser scanners require a relatively large amount of space at the chassis of the vehicle. In view of the above, the object of the invention is to provide a freely movable floorbound vehicle, which allows an improved detection of obstacles at comparatively low manufacturing and maintenance costs.

[0007] This object is achieved by the freely movable floor-bound vehicle according to claim 1 and the method according to claim 15. The dependent claims as well as the following specification describe advantageous embodiments of the invention.

[0008] The invention relates to a freely movable floor-bound vehicle, preferably a robotic vehicle, comprising a chassis, which is supported on at least two wheels used to move the freely movable floor-bound vehicle on a floor, and a transport equipment for the transportation of a transport item.

[0009] In accordance with the invention, it has been recognized that it is advantageous that the freely movable floor-bound vehicle comprises a sensor band arranged at the chassis and / or the transport equipment, wherein the sensor band comprises an array of a plurality of contactless sensors.

[0010] In other words, instead of using two separate contactless sensors, such as laser scanners, mounted at diagonal corners of the vehicle, the freely movable floor-bound vehicle according to the invention has multiple contactless sensors consolidated to a sensor band. The sensor band may be a virtual sensor band, where the contactless sensors are arranged in a band-like manner, or a physical sensor band, where the contactless sensors are actually mechanically connected.

[0011] The sensor band or the contactless sensors belonging to the sensor band are mounted to the chassis or transport equipment preferably by means of a force-fitting connection, such as a bolt or clip connection, or adhesive bonding.

[0012] In course of the invention, in connection with the number of contactless sensors, the definitions “plurality of” and “multiple” mean three or more. Preferably, the sensor band comprises an array of six, more preferably an array of eight, contactless sensors. However, the number of contactless sensors is by no means limited, so the sensor band may comprise a hundred or more contactless sensors. It may be foreseen that the sensor band is arranged at the chassis and also at the transport equipment, so that the same sensor band may extend from the chassis to the transport equipment or vice versa. Alternatively, more than one sensor band can be foreseen, wherein one of the sensor bands is arranged at the chassis and one of the sensor bands is arranged at the transport equipment. It goes without saying that each of the foreseen sensor bands can be arranged at the chassis or each of the foreseen sensor bands at the transport equipment.

[0013] The contactless sensors offer a non-contact object detection substantially perpendicular to a surface of the chassis and / or the transport equipment, to which the sensor band is attached to. For instance, in case the sensor band is mounted to a front of the vehicle, it is possible to detect objects in front of the vehicle.

[0014] The contactless sensors are used for sensing surroundings of the vehicle, i.e. areas around the vehicle, and for detecting objects present in these areas. The sensor band may be used in such a way that only selected contactless sensors are used, in order to only sense areas that are of interest. Therefore, the sensor band provides flexibility in data use. The contactless sensors may further be used for measuring of dimensions of an object and / or measuring a distance to an object. Such distance measurements can be used as feedback for precise relative positioning of the vehicle and for avoiding collisions.

[0015] Preferably, the contactless sensors are positioned along the longitudinal extend of the sensor band. The sensor band may have one or more rows of contactless sensors.

[0016] The freely movable floor-bound vehicle may be used in a warehouse or a production site. The vehicle may have more than two wheels. The transport equipment in its simplest form can be a transport area, on which the transport item can be positioned. Alternatively, the transport equipment can comprise one or more components or elements, also configured to handle the transport item, such as loading or unloading it from the transport area. The transport item can be a box, tray, pallet, carton or article.

[0017] In case the freely movable floor-bound vehicle is a robotic vehicle, it preferably has AGV (Automated Guided Vehicle) or AMR (Autonomous Mobile Robot) properties. A major benefit of the vehicle according to the invention is that - compared to the known laser scanners - no mechanical moving parts are needed. This results in lower manufacturing and maintenance costs. Further, the sensor band allows a flexible integration into the vehicle and a very compact setup. Moreover, the sensor band allows a consistent measurement accuracy over a length and width of the vehicle. The sensor band allows for individual acquisition of each contactless sensor. Also, a more precise and / or faster readout of specific regions of interest, i.e. only for some of the contactless sensors, are possible. Moreover, an object in the shadow of another object is detectable.

[0018] In a preferred embodiment, the sensor band is arranged at a circumferential face of the chassis.

[0019] The circumferential face is an outer surface of the chassis structure. The chassis comprises an inside structure, e.g. for the support of the wheels, to which the circumferential face is attached to.

[0020] The circumferential face can be of any shape and can contain multiple section with differing shapes. Also, the circumferential face can be segmented, such that gaps are present between the segments. The circumferential face or at least a section or segment of it, where the sensor band is arranged at, is preferably oriented substantially perpendicular to the floor the vehicle is supported on, so that an extension of a sensing beam of each of the contactless sensors is oriented substantially parallel to the floor.

[0021] The sensor band is preferably positioned horizontally, i.e. in parallel to the floor, and at a distance to the floor of less than 1 ,000 mm, more preferably of less than 500 mm. Alternatively, the sensor band may have another orientation, such as vertical to the floor or an orientation between horizontal and vertical.

[0022] In case the transport equipment, e.g. being a transport area, is positioned atop the chassis, the sensor band is preferably oriented parallel to the transport equipment.

[0023] It may be advantageously provided that the sensor band is positioned around the whole perimeter of the chassis. Such positioning of the sensor band allows a 360° sensing area around the vehicle. In other words, a virtual sensing ribbon or virtual sensing matrix is created around the vehicle to provide full monitoring around the circumference. Therefore, such an embodiment allows improved and consistent sensing accuracy around the vehicle. The shadow effect known from the usage of two laser scanners is not present here.

[0024] Alternatively, the sensor band may be positioned only at a section or segment of the chassis, which is less than the whole perimeter. This includes embodiments, where the sensor band is positioned only at one side of the vehicle. It may also be foreseen that more than one sensor band is positioned at different sections or segments of the chassis. In such embodiment, the arrangement of the sensor bands may appear as a gapped sensor band positioned around the whole perimeter.

[0025] Also with this embodiment, the surface of the vehicle, at which the sensor band is arranged at, is preferably oriented substantially perpendicular to the floor the vehicle is supported on, so that the extension of the sensing beam of each of the contactless sensors is oriented substantially parallel to the floor.

[0026] Further, also with this embodiment, the sensor band is preferably positioned horizontally, i.e. in parallel to the floor, and at a distance to the floor of less than 1 ,000 mm, more preferably of less than 500 mm. Alternatively, the sensor band may have another orientation, such as vertical to the floor or an orientation between horizontal and vertical.

[0027] In case the transport equipment is positioned atop the chassis, the sensor band is preferably oriented parallel to the transport equipment.

[0028] It may be advantageously provided that the sensor band is arranged at a lifting mast and / or a lifting fork of the transport equipment, preferably at an inside facing side or a tip of one of the tines of the lifting fork.

[0029] The freely movable floor-bound vehicle may then be a manual forklift truck or an AGV with such transport equipment.

[0030] By applying the sensor band to the lifting mast, the contactless sensors can be used to detect a beam of a rack, when handling a transport item at high elevation. Such an object detection prevents collisions with the beam and increases the safety of handling operations.

[0031] Additionally, or as an alternative, the sensor band or its contactless sensors may be used for the detection of a position and / or movement of a transport item on the lifting fork. By applying the sensor band on the inside facing side of one of the tines, e.g. a position of a center block of a pallet can be detected. Based on this information both the static longitudinal and the lateral position of the transport item, e.g. the pallet, can be determined. Also, a movement of the transport item relative to the lifting fork can be detected, e.g. a hooking of the transport item to the lifting fork during dropping. The detection of a side movement can be used, when performing compact packing of transport items as in block stacking or automated trailer loading.

[0032] Additionally, or as an alternative, an application of the sensor band at the tip of one of the tines can be used to detect lifting fork openings of a transport item, e.g. a pallet, before picking the transport item as well as to monitor the free volume, e.g. under the pallet, during insertion of the tines into the openings. Moreover, a broken transport item, such as with pieces protruding from the transport item, can be detected, so that further damage or unsafe handling situations can be prevented. It goes without saying that the tip of more than one tine, e.g. each tine, can be provided with a sensor band.

[0033] In a preferred embodiment, the contactless sensors are arranged in an equal distance to each other.

[0034] Such embodiment has the advantage that the data received from the contactless sensors can be computed without the need to take variations in distances between contactless sensors into account.

[0035] In a further preferred embodiment, the distance between the contactless sensors amounts to between 10 % and 25 %, preferably to between 15 % and 20 % of a maximum detection distance of the contactless sensors.

[0036] Such a distances allows sensing the surroundings of the vehicle with minimum shadow areas, since the detection field of adjacent contactless sensors overlap as much as necessary. On the other hand, such distance allows to limit the number of contactless sensors to a minimum.

[0037] It may be advantageously provided that at least one of the contactless sensors is a time-of-flight sensor.

[0038] The time-of-flight technology as such is known in the prior art. It works with light pulses, which are sent and reflected by an object, and measurements of the time needed for the light pulse to get to the object and to return to the sensor. Based on the measured time the distance between the sensor and the object can be calculated. By repeating the steps of sending light pulses and measuring the time needed 3D pictures and 3D maps of the space around the vehicle can be produced.

[0039] It may further be advantageously provided that the at least one of the contactless sensors is a solid-state sensor.

[0040] The solid-state sensor, which is also referred to as semiconductive sensor, preferably is a time-of-flight sensor.

[0041] The advantage of solid-state sensors is relatively low manufacturing costs, since mass production is possible. Further, this type of contactless sensor offers more flexibility for the physical integration on the vehicle due to its small physical size.

[0042] In a preferred embodiment, at least one of the contactless sensors has a detection range of between 10 mm and 5,000 mm, preferably of between 10 mm and 500 mm.

[0043] Such a detection range is used for detection of objects in the vicinity or close area of the freely movable floor-bound vehicle and allows safe navigation of the vehicle itself and safe coordination with other vehicles and personnel.

[0044] It may be advantageously provided that at least one of the contactless sensors has a rectangular field of view, preferably with an opening angle of 45 degrees both in horizontal and vertical orientation.

[0045] Other opening angles are possible and may differ between the horizontal and vertical orientation. Alternatively, the field of view may be circular.

[0046] It may further be advantageously provided that at least one of the contactless sensors is a multi-zone sensor with separate zones, preferably eight-by-eight separate zones, allowing a data output for each of the separate zones.

[0047] In other words, the contactless sensor is segmented into multiple separate zones. A contactless sensor with eight-by-eight separate zones allows a data output for a total of 64 zones. The contactless sensor with separate zones allows a scalable resolution and / or a dynamic acquisition rate, adapted to the situation. Alternatively, the contactless sensor may comprise three-by-three, four-by-four, five-by-five, and so on separate zones.

[0048] In a preferred embodiment, the sensor band comprises a printed circuit board strip, to which the contactless sensors are mounted.

[0049] The contactless sensors being mounted to the printed circuit board strip allows an even more compact setup of the sensor band. The printed circuit board strip not only provides a mechanical connection between the contactless sensors, but also serves as a signal connection between the contactless sensors. The signal connection can also lead to a computing unit, such as a computer chip, used to compute the data collected from the contactless sensors. The printed circuit board strip preferably allows the mounting of the computing unit to it.

[0050] It may be advantageously provided that the sensor band includes at least one LED, preferably multi-color LED.

[0051] Such an LED is preferably used to communicate with the environment of the vehicle. The LED can, for instance, be used to indicate a status of the vehicle or an intention to turn. In this case the LED may also be referred to as indicator LED.

[0052] It may further be advantageously provided that the freely movable floor-bound vehicle comprises a further contactless sensor separate from the sensor band.

[0053] In other words, the sensor band is combined with another sensor, which preferably is an ultrasonic sensor or a capacitive sensor or a radar sensor. More than one such separate contactless sensor may be foreseen, wherein the contactless sensors may be of different type, preferably each being one of the before-listed type. The additional contactless sensor can increase the reliability of maneuvering the vehicle and thus be a possible use for safety applications.

[0054] The invention is also directed to a method for controlling a freely movable floor-bound vehicle according to the invention, wherein at least one of the contactless sensors is used as a motion control sensor, the method comprising: detecting of a motion and / or gesture of a human operator by means of the at least one of the contactless sensors, comparing of the detected motion and / or gesture with motions and / or gestures stored in a storage unit of the freely movable floor-bound vehicle, wherein each of the stored motions and / or gestures is connected to an operation executable by the freely movable floor-bound vehicle, execution of the operation that is connected to the detected motion and / or gesture.

[0055] In other words, data from at least one of the contactless sensors, which can be one of the plurality of contactless sensors of the sensor band and / or the contactless sensor separate from the sensor band, is used in course of a basic man-machine interaction. In case more than one contactless sensor is used for detecting motions and / or gestures, the used contactless sensors are then preferably located at different sides of the vehicle.

[0056] The motion and / or gesture preferably is a movement of a foot or a leg of the human operator. After being detected by the contactless sensor, the information on the motion and / or gesture is sent to a computing unit of the vehicle via a signal connection. The detected motion and / or gesture is then processed to carry out an operation with the freely movable floor-bound vehicle. The computing unit, which may be the control unit of the vehicle, compares the detected motion and / or gesture with those in the data base and then decides, if the detected motion and / or gesture fits to one stored in the data base. If this is the case, the computing unit itself or the control unit of the vehicle or a superior control unit of the system, in which the vehicle operates, commands the vehicle to perform the operation, which is connected to the detected motion and / or gesture.

[0057] The operation executable by the freely movable floor-bound vehicle may be one of the following, but not limited to: turning left, turning right, moving forward, moving backwards, picking up a transport item, dropping off of a transport item.

[0058] Further features and details of the invention are apparent from the description hereinafter of the drawing, in which

[0059] Figure 1 shows a schematic top view of a freely movable floor-bound vehicle known from the prior art having two laser scanners;

[0060] Figure 2 shows a schematic top view of an embodiment of the freely movable floor-bound vehicle according to the invention with a sensor band at its chassis;

[0061] Figure 3 shows a schematic top view of a further embodiment of the freely movable floor-bound vehicle according to the invention with a sensor band at its chassis;

[0062] Figure 4 shows a schematic perspective view of the freely movable floor-bound vehicle 1 of Figure 3;

[0063] Figure 5 shows a schematic top view of a further embodiment of the freely movable floor-bound vehicle according to the invention with a sensor band at its transport equipment;

[0064] Figure 6 shows a schematic top view of a further embodiment of the freely movable floor-bound vehicle according to the invention with a sensor band at its transport equipment; and

[0065] Figure 7 shows a schematic side view of a further embodiment of the freely movable floor-bound vehicle according to the invention with a sensor band at its transport equipment.

[0066] Figure 1 shows a schematic top view of a freely movable floor-bound vehicle 1 known from the prior art having two laser scanners 5T.

[0067] The shown freely movable floor-bound vehicle 1 is a robotic vehicle T. The two laser scanners 5T are contactless sensors 51 positioned at a top side of the freely movable floor-bound vehicle 1 at diagonal corners. Due to such positioning, the laser scanners 5T limit the space available at a transport equipment 30 of the freely movable floorbound vehicle 1 in form of a transport area 34, on which a transport item can be positioned.

[0068] The laser scanners 5T are used to detect objects 200, which may be obstacles, in the vicinity of the robotic vehicle T. Each of the laser scanners 5T uses a pulsed laser beam and a rotating mirror. As the distance from the laser scanner 5T increases, the fixed angular step results in larger absolute distance resolution.

[0069] As shown, while an object 200 that is located close to the laser scanner 5T has a projected first angle A1 and a first amount of measurement points, an object 200 with the same dimensions that is located further away of the laser scanner 5T has a projected second angle A2, which is smaller than the first angle, and a second amount of measurement points, which is less than the first amount of measurement points.

[0070] Also, in the shadow area S of the object 200 no other object 200 can be detected.

[0071] Figure 2 shows a schematic top view of an embodiment of the freely movable floorbound vehicle 1 according to the invention with a sensor band 50 at its chassis 10.

[0072] The freely movable floor-bound vehicle 1 is a robotic vehicle T, e.g. with AGV or AMR properties. The robotic vehicle T has a chassis 10 (not shown) and two wheels 20 (not shown), on which the chassis 10 is supported and which are used to move the robotic vehicle T on a floor 100 (not shown).

[0073] The robotic vehicle T has a sensor band 50 arranged at one of its sides. The sensor band 50 is a physical sensor band 50, but a virtual embodiment of the sensor band 50 is also possible.

[0074] An array of fifteen contactless sensors 51 is positioned along a longitudinal extend of the sensor band 50. The contactless sensors 51 primarily are solid-state sensors 51” in form of time-of-flight sensors.

[0075] The contactless sensors 51 are arranged with a distance d to each other. In the shown embodiment, the distance d is equal. However, as an alternative, the distance d between two contactless sensors 51 may differ from another distance d of two further contactless sensors 51.

[0076] Due to the compact setup of the sensor band 50 at the side of the freely movable floor-bound vehicle 1 , the whole transport area 34, which is positioned atop the chassis 10, can be used for transporting a transport item.

[0077] Figure 3 shows a schematic top view of a further embodiment of the freely movable floor-bound vehicle 1 according to the invention with a sensor band 50 at its chassis 10. Figure 4 shows a schematic perspective view of the freely movable floor-bound vehicle 1 of Figure 3.

[0078] Compared to the embodiment shown in Figure 2, the freely movable floor-bound vehicle 1 according to this embodiment comprises a sensor band 50, which is positioned around the whole perimeter of the chassis 10. With this arrangement of the sensor band 50, a 360° virtual sensing ribbon or virtual sensing matrix is created around the freely movable floor-bound vehicle 1 to provide full monitoring around the circumference.

[0079] As can be seen in Figure 4, the sensor band 50 is arranged at a circumferential face 11 of the chassis 10. A section of the circumferential face 11 , where the sensor band 50 is arranged at, is oriented substantially perpendicular to the floor 100 (not shown) the freely movable floor-bound vehicle 1 is supported on, so that an extension of a sensing beam of each of the contactless sensors 51 is oriented substantially parallel to the floor 100.

[0080] Figure 5 shows a schematic top view of a further embodiment of the freely movable floor-bound vehicle 1 according to the invention with a sensor band 50 at its transport equipment 30. In the shown embodiment, the freely movable floor-bound vehicle 1 is a forklift truck, which can be a manually operated forklift truck or an automatic forklift truck, i.e. a robotic vehicle T.

[0081] The freely movable floor-bound vehicle 1 has a chassis 10 and a transport equipment 30. The chassis 10 is supported on three wheels 20, wherein two wheels 20 are located at a front portion of the chassis 10 and one wheel 20 is located at a rear portion of the chassis 10, wherein latter is used to turn the freely movable floor-bound vehicle 1. The freely movable floor-bound vehicle 1 can move on the floor 100 (see Figure 7) using the three wheels 20.

[0082] The transport equipment 30 includes a lifting mast 31 and a lifting fork 32. The lifting fork 32 comprises two tines 33, which are attached to the lifting mast 31 and extend in parallel therefrom. At an inside facing side one of the tines 33 a sensor band 50 is arranged. The sensor band 50 comprises eight contactless sensors 51. The sensor band 50 is a physical sensor band 50, so that the contactless sensors 51 are actually mechanically connected. The application of a virtual sensor band 50 is possible as well.

[0083] The contactless sensors 51 are be used for the detection of a position and / or movement of a transport item on the lifting fork 32. For instance, a position of a center block of a pallet can be detected. Based on this information both the static longitudinal and the lateral position of the pallet can be determined. Also, a movement of the pallet relative to the lifting fork 32 can be detected, e.g. a hooking of the pallet to the lifting fork 32 during dropping.

[0084] Figure 6 shows a schematic top view of a further embodiment of the freely movable floor-bound vehicle 1 according to the invention with a sensor band 50 at its transport equipment 30.

[0085] The sensor band 50 is arranged at the tip of one of the two tines 33. The three contactless sensors 51 of the physical sensor band 50 can be used to detect lifting fork openings of a pallet before picking the pallet as well as to monitor the free volume under the pallet during insertion of the tines 33 into the openings. Moreover, broken pallets, such as with pieces protruding under the pallet, can be detected, so that further damage or unsafe handling situations can be prevented.

[0086] Figure 7 shows a schematic side view of a further embodiment of the freely movable floor-bound vehicle 1 according to the invention with a sensor band 50 at its transport equipment 30.

[0087] The sensor band 50 is arranged at the lifting mast 31. Although only one contactless sensor 51 can be seen, there is an array of a multiple contactless sensors 51 behind the visible one. The sensor band 50 or its contactless sensors 51 can be used to detect a beam of a rack, when handling a transport item at high elevation.

[0088] The freely movable floor-bound vehicle 1 can move on the floor 100 by using its wheels 20.

[0089] List of reference numerals

[0090] I freely movable floor-bound vehicle

[0091] T robotic vehicle

[0092] 10 chassis

[0093] I I circumferential face (chassis)

[0094] 20 wheel

[0095] 30 transport equipment

[0096] 31 lifting mast

[0097] 32 lifting fork

[0098] 33 tine

[0099] 34 transport area

[0100] 50 sensor band

[0101] 51 contactless sensor

[0102] 5T laser scanner

[0103] 51” solid-state sensor

[0104] 100 floor

[0105] 200 object

[0106] A1 first angle

[0107] A2 second angle d distance

[0108] S shadow area

Claims

Claims1. Freely movable floor-bound vehicle (1), preferably a robotic vehicle (1’), comprising a chassis (10), which is supported on at least two wheels (20) used to move the freely movable floor-bound vehicle (1) on a floor, and a transport equipment (30) for the transportation of a transport item, characterized in that the freely movable floor-bound vehicle (1) comprises a sensor band (50) arranged at the chassis (10) and / or the transport equipment (30), wherein the sensor band (50) comprises an array of a plurality of contactless sensors (51).

2. Freely movable floor-bound vehicle (1) according to claim 1, wherein the sensor band (50) is arranged at a circumferential face (11) of the chassis (10).

3. Freely movable floor-bound vehicle (1) according to claim 1 or 2, wherein the sensor band (50) is positioned around the whole perimeter of the chassis (10).

4. Freely movable floor-bound vehicle (1) according to claim 1 , wherein the sensor band (50) is arranged at a lifting mast (31) and / or a lifting fork (32) of the transport equipment (30), preferably at an inside facing side or a tip of one of the tines (33) of the lifting fork (32).

5. Freely movable floor-bound vehicle (1) according to any one of the preceding claims, wherein the contactless sensors (51) are arranged in an equal distance (d) to each other.

6. Freely movable floor-bound vehicle (1) according to claim 5, wherein the distance between the contactless sensors (51) amounts to between 10 % and 25 %, preferably to between 15 % and 20 % of a maximum detection distance of the contactless sensors (51).

7. Freely movable floor-bound vehicle (1) according to any one of the preceding claims, wherein at least one of the contactless sensors (51) is a time-of-flight sensor.

8. Freely movable floor-bound vehicle (1) according to any one of the preceding claims, wherein at least one of the contactless sensors (51) is a solid-state sensor.

9. Freely movable floor-bound vehicle (1) according to any one of the preceding claims, wherein at least one of the contactless sensors (51) has a detection range of between 10 mm and 5,000 mm, preferably of between 10 mm and 500 mm.

10. Freely movable floor-bound vehicle (1) according to any one of the preceding claims, wherein at least one of the contactless sensors (51) has a rectangular field of view, preferably with an opening angle of 45 degrees both in horizontal and vertical orientation.

11. Freely movable floor-bound vehicle (1) according to any one of the preceding claims, wherein at least one of the contactless sensors (51) is a multi-zone sensor with separate zones, preferably eight-by-eight separate zones, allowing a data output for each of the separate zones.

12. Freely movable floor-bound vehicle (1) according to any one of the preceding claims, wherein the sensor band (50) comprises a printed circuit board strip, to which the contactless sensors (51) are mounted.

13. Freely movable floor-bound vehicle (1) according to any one of the preceding claims, wherein the sensor band (50) includes at least one LED, preferably multi-color LED.

14. Freely movable floor-bound vehicle (1) according to any one of the preceding claims, wherein the freely movable floor-bound vehicle (1) comprises a further contactless sensor (51) separate from the sensor band (50).

15. Method for controlling a freely movable floor-bound vehicle (1) according to any one of the preceding claims, wherein at least one of the contactless sensors is used as a motion control sensor, the method comprising: detecting of a motion and / or gesture of a human operator by means of at the least one of the contactless sensors, comparing of the detected motion and / or gesture with motions and / or gestures stored in a storage unit of the freely movable floor-bound vehicle (1), wherein each of the stored motions and / or gestures is connected to an operationexecutable by the freely movable floor-bound vehicle (1), execution of the operation that is connected to the detected motion and / or gesture.

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