Robotic vehicle

Abstract

There is disclosed a robotic vehicle (100) comprising a fork lift subsystem such that the robotic vehicle is able to lift a pallet or similar platform. A storage frame (200) may be removably coupled to the robotic vehicle, the storage frame comprising one or more shelves (202) such that one or more storage container may be received on the or each shelf. The autonomous vehicle may be re-purposed to lift a pallet (or other platform) by the removal of the storage frame.

Description

[0001] 719 - Porter to Chuck adaptor

[0002] . 1 _

[0003] ROBOTIC VEHICLE

[0004] Technical Field

[0005] The present disclosure relates to a robotic vehicle, and in particular to a robotic vehicle which can be adapted so as to carry different types of loads.

[0006] Background

[0007] A robotic vehicle (e.g., a robotic truck) can include forks (also referred to as tynes or tines) to enable the vehicle to pick up and move object(s) (e.g., a pallet) in an environment such as a warehouse.

[0008] A platform such as a pallet may be used in a warehouse to support goods and to enable the goods to be carried from one location to another while on the platform. The platform includes opening(s) or slot(s) to facilitate lifting of the platform by a vehicle such as a forklift truck. Platforms can vary in size, shape, weight, form factor, etc.

[0009] According to a first aspect of the present disclosure there is provided a robotic vehicle comprising: a body, the body comprising a platform support area; a drive means configured to move the robotic vehicle; a lifting mechanism configured to lift a platform such that it can be received on the platform support area; the robotic vehicle being configured, in use, to be removably coupled to a storage frame, the storage frame comprising one or more shelves, wherein the storage frame is coupled to and received above the platform support area. The coupling of a storage frame to the robotic vehicle may deactivate the lifting mechanism.

[0010] The storage frame may be easily and quickly coupled to the platform support area of a robotic vehicle using readily available tools. This allows a pallet-carrying robotic vehicle to be re-purposed as a robotic vehicle comprising one or more shelves which can be used to carry storage containers. Thus, a pallet-carrying robotic vehicle can be adapted to carry product items on shelves in response to demand within a 719 - Porter to Chuck adaptor

[0011] - 2 - warehouse, reducing the need to have multiple fleets of different robotic vehicle types, each of which can only perform one function.

[0012] The robotic vehicle may be connected to the storage frame via a cable. In an alternative, the robotic vehicle is connected to the storage frame via a wireless connection. The robotic vehicle may use a connection to send data to and / or receive data from the storage frame. Data received from the storage frame may be used to control the movement and / or operation of the robotic vehicle, for example confirmation that the appropriate product items have been placed on an appropriate location on the storage frame. Data sent to the storage frame may be used to indicate a location on the storage frame for a product item to be placed, for example by activating one or more light elements received within a shelf.

[0013] According to a second aspect of the present disclosure there is provided a storage frame configured to, in use, be removably coupled to a robotic vehicle as disclosed above, the storage frame comprising: one or more shelves; and coupling means such that the storage frame can be removably coupling to a robotic vehicle.

[0014] One or more of the shelves may comprise a plurality of light elements. One or more of the light elements may be illuminated to indicate a shelf position to which a product item is to be placed, or from which a product item is to be removed. One or more of the shelves may comprise one or more pressure sensors. Data received from a pressure sensor may be used to confirm that a product item has been placed at (or removed from) a predetermined storage location and / or to infer that the correct product item has been placed at (or removed from) a predetermined storage location.

[0015] One or more of the storage frame shelves may comprise a plurality of light elements. The robotic vehicle may be configured to activate one or more light elements to indicate a storage location within the storage frame. The illumination of a light element may indicate a storage container received on a shelf from which a product item is to be picked (or a container in which a product item is to be placed. 719 - Porter to Chuck adaptor

[0016] - 3 -

[0017] One of the shelves may be configured, in use, to receive power from a power source of a robotic vehicle to which the storage frame is coupled. One of the shelves may be configured, in use, to receive data from a robotic vehicle to which the storage frame is coupled. One of the shelves may be connected to the robotic vehicle via a cable. The cable may be used to transfer power and / or data to the shelf. The transferred power may be used to power active components received within the shelf. The transferred data may be used to control the operation of active components received within the shelf. Data may also be generated by components received within the shelf and then transferred to the robotic vehicle.

[0018] In an alternative, a wireless connection may be established between the robotic vehicle and one or more of the shelves. One of the shelves may comprise an inductive coupler such that power can be received from a power source of the robotic vehicle to which the storage frame is coupled. Additionally, or alternatively, one of the shelves may comprise a wireless interface such that data can be received from the robotic vehicle to which the storage frame is coupled. Thus, it is possible to transfer power from the robotic vehicle to the storage frame and / or to transfer data between the robotic vehicle and the storage frame without having a cable to enable such transfers.

[0019] One or more of the shelves comprise a shelf power source. The shelf power source may be configured to receive power from the power source of the robotic vehicle. One or more of the shelves may comprise a processor. The processor may selectively illuminates one or more of the plurality of light elements received within a shelf. The processor may process data received from one or more pressure sensors received within a shelf. A first shelf of the storage frame may comprise the processor and the processor may be communicably coupled to a component received in a further shelf. The coupling means may comprise a plurality of apertures. The lowest shelf of the storage frame may comprises a plurality of threaded apertures.

[0020] Brief Description Of The Drawings

[0021] Figures 1 A & 1 B shows a schematic depiction of aspects of a robotic vehicle according to the present disclosure; 719 - Porter to Chuck adaptor

[0022] - 4 -

[0023] Figure 2 shows a schematic depiction of the forks of the robotic vehicle of Figure 1 extended into the opening(s) of a platform;

[0024] Figure 3 shows a schematic depiction of a further example of a robotic vehicle according to the present disclosure;

[0025] Figure 4 shows a schematic depiction of the robotic vehicle of Figure 3 with a storage frame 200 coupled to the robotic vehicle;

[0026] Figure 5 shows a schematic depiction of a shelf for use in a storage frame;

[0027] Figure 6 shows a schematic depiction of a further example of a shelf for use in a storage frame; and

[0028] Figure 7 shows a schematic depiction of a computer device.

[0029] In general, the same reference numbers will be used throughout the drawing(s) and accompanying written description to refer to the same or like parts. The figures are not necessarily to scale.

[0030] Detailed Description

[0031] Figure 1 shows a schematic depiction of a robotic vehicle 100, with Figure 1 A showing a schematic representation of the robotic vehicle and Figure 1 B showing a depiction of some aspects of the robotic vehicle that are not shown in Figure 1A. The robotic vehicle 100 comprises a body 102 and a drive means 121 which may comprise one or more motors (e.g., electric motor(s) and / or other drive mechanism(s)) to cause movement of the body 102 via the wheel(s) of the robotic vehicle 100. The robotic vehicle 100 includes motor control circuitry 103 (e.g., hardware and / or software components) to control, for example, a speed of the robotic vehicle 100. One or more components of the motor control circuitry 103 can be implemented by processor circuitry 105 of the vehicle 100.

[0032] The robotic vehicle 100 may be an autonomous vehicle. The robotic vehicle 100 comprises vehicle control circuitry 107 to control movement of the autonomous or selfdriving robotic vehicle 100. One or more components of vehicle control circuitry 107 can be implemented by the processor circuitry 105 of the robotic vehicle 100, processor circuitry of another user device, and / or cloud-based device(s). The robotic 719 - Porter to Chuck adaptor

[0033] - 5 - vehicle 100 moves to a location in an environment (e.g., a warehouse) without or with limited user input control during movement of the vehicle 100.

[0034] The robotic vehicle 100 may further comprise a display screen 109 to present data to user(s) of the robotic vehicle 100. In some examples, the robotic vehicle 100 comprises speaker(s) to provide audio output(s) to user(s) interacting with the robotic vehicle 102. The example robotic vehicle 100 of Figure 1 comprises a power source 111 such as a battery to provide power to the components of the robotic vehicle 100.

[0035] In the example of Figure 1 , the body 102 of the robotic vehicle 100 defines a housing 104 and a platform support area 106. The example robotic vehicle 100 includes a lifting shuttle 108 that is moveable relative to the platform support area 106 from a first or stored position to a second or protruded position. The lifting shuttle 108 includes an actuator support 110, a first fork 112, and a second fork 114. The platform support area 106 can define openings defined by sidewalls of the body 102 that include tracks or rails to receive the forks 112, 114 and facilitate movement of the lifting shuttle 108. The platform support area 106 can include, for example, a rack and pinion or chains to drive movement of the lifting shuttle 108 (e.g., the push or pull the forks 112, 114 relative to the platform support area 106). The robotic vehicle further comprises one or more actuators which can be actuated to cause the first fork and the second fork to be lifted. An exemplary lifting mechanism for such a robotic vehicle can be found in the Applicant’s co-pending international patent application W02024 / 240940, the contents of which are hereby incorporated by reference.

[0036] In the example of Figure 1 , the platform support area 106 includes sensor(s) 118 to detect when the vehicle 100 is proximate to the platform 116. In some examples, the robotic vehicle body and or the lifting shuttle 108 additionally or alternatively comprises sensor(s) 118 (e.g., located on the actuator support 110, on the fork(s) 112, 114). The sensor(s) 118 can include, for example, image sensor(s), proximity sensor(s), infrared sensor(s), LIDAR sensor(s), etc.

[0037] In the example of Figure 1 , the outputs of the sensor(s) 118 are analyzed by lifting control circuitry 120. One or more components of lifting control circuitry 120 can be 719 - Porter to Chuck adaptor

[0038] - 6 - implemented by the processor circuitry 105 of the robotic vehicle 100, processor circuitry of another user device, and / or cloud- based device(s). Based on the outputs of the sensor(s) 118, the lifting control circuitry 120 detects when the vehicle 100 is proximate to the platform 116. In particular, the lifting control circuitry 120 detects when the body 102 of the vehicle 100 is aligned with the platform 116 such that when the forks 112, 114 extend relative to the body 102, the forks 112, 114 enter slot(s) or opening(s) 122 of the platform 116.

[0039] Figure 1A illustrates the forks 112, 114 of the lifting shuttle 108 extended into the opening(s) 122 of the platform 116. In the example of Figure 1A, when the lifting control circuitry 120 detects that the body 102 of the vehicle 100 is aligned with the platform 116 to dock with the platform 116, the lifting control circuitry 120 generates instructions to cause the lifting shuttle 108 to move toward the platform 116. The lifting shuttle can move toward the platform such that the forks protrude from the body and enter the opening(s) 122. When the forks are received in the opening(s) of the platform, a first end of each of the forks is supported by the actuator support 110 and a remaining portion of the forks is suspended within the opening(s) of the platform.

[0040] The lifting actuators may then be actuated, causing the platform to be lifted from the floor. Once the platform has been moved above the level of the platform support area then the first and second forks may be retracted until the platform is located above the platform support area. In an alternative, the platform may be held in position on the forks and the robotic vehicle may advance until the platform is located above the platform support area. The actuators may then be actuated such that the platform is lowered, until the platform is received on the platform support area. Figure 2 shows a schematic depiction of the robotic vehicle of Figure 1 A when a platform, in this case a pallet, is received on the platform support area of the robotic vehicle.

[0041] Figure 3 shows a schematic depiction of a further example of a robotic vehicle according to the present disclosure. The body 102’ of the robotic vehicle 100’ of Figure 3 has a different appearance to the robotic vehicle 100 described above with respect to Figures 1 and 2 but otherwise comprises substantially the same 719 - Porter to Chuck adaptor

[0042] - 7 - components and is configured to operate and function in substantially the same manner as the robotic vehicle 100 described above with respect to Figures 1 and 2.

[0043] Figure 4 shows a schematic depiction of the robotic vehicle 100’ of Figure 3 in which a storage frame 200 has been coupled to the platform support area 106’ of the robotic vehicle 100’. The storage frame 200 is received above the platform support area 106’. The storage frame comprises one or more shelves 202. If the storage frame comprises a plurality of shelves 202 then the storage frame further comprises a plurality of support members 204 to support the shelves and to separate the shelves vertically. If the storage frame comprises a single shelf then a plurality of support members may be provided such that the shelf is received above the platform support area of the robotic vehicle. One or more of the shelves 202 of the storage frame 202 may comprise light elements 206. The one or more shelves of the storage frame may be used to provide storage locations to receive a tote or container, such that product items may be picked into, or removed from, one of the containers. This enables the robotic vehicle to be used in a similar manner to the enhanced cart disclosed in US 9834380, the contents of which are herein disclosed by reference.

[0044] The storage frame may be coupled to the robotic vehicle using removable couplers, such as, for example, threaded bolts. The bottom shelf of the storage frame may comprise a plurality of apertures, which are aligned with corresponding holes in the robotic vehicle, for example in the platform support area of the robotic vehicle. In another example, the lower end of each of the lowermost set of support members 204 may comprise a portion which comprises one or more apertures which enable a respective coupler to be used to couple the storage frame to the robotic vehicle, for example to the platform support area 106’ of the robotic vehicle.

[0045] Thus, it is possible for the robotic vehicle to be easily adapted from using the forks to lift and move pallets to having one or more shelves which can be used to carry one or more containers. The robotic vehicle may be further adapted using the lifting frame disclosed in the Applicant’s co-pending international patent application PCT / EP2025 / 084711 (the contents of which are hereby incorporated by reference) to be able to lift storage cages. 719 - Porter to Chuck adaptor

[0046] - 8 -

[0047] Thus, a robotic vehicle may be quickly & easily re-purposed to perform different tasks, such that there is a reduced need to have a mixed fleet comprising multiple types of robotic vehicle, each type of which is only capable of performing a single function.

[0048] In one example, the coupling of a storage frame to a robotic vehicle may deactivate the lift mechanism such that the forks cannot be moved whilst the storage frame is coupled to the robotic vehicle. The presence of the storage frame may be detected directly, for example by the insertion of the threaded bolts (or similar connectors) securing the storage frame to the platform support area 106’ of the robotic vehicle causing electrical circuits to be made. Thus, whilst the bolts and the storage frame are present then the lift mechanism is deactivated.

[0049] Alternatively, an operator may send a command to the robotic vehicle to indicate that a storage frame is present such that the robotic vehicle acts as a conventional robotic vehicle (that is, one that carries products on shelves, not one that can lift & carry pallets). The command may be sent via a mobile terminal carried by the operator or directly entered into the robotic vehicle, for example via the display screen which may comprise a touchscreen. In such a case, when it is time for the robotic vehicle to be re-purposed as a pallet-carrying robotic vehicle then the warehouse management system may send an instruction to an operator to remove the storage frame. The confirmation that the storage frame has been removed may cause the warehouse management system to send an instruction to the robotic vehicle to reactivate the lift mechanism. Alternatively, the operator may send a command to the robotic vehicle to reactivate the lift mechanism once the storage frame has been removed from the robotic vehicle.

[0050] Figure 5 shows a schematic depiction of a shelf 202 for use in a storage frame according to the present disclosure, the shelf comprising light elements 206. The light elements 206 may be provided along the two long edges (that is the two lateral edges of the shelf as shown in the uppermost shelf of the storage frame shown in Figure 4). The light elements may extend along the complete length of each side of the shelf, or along a substantial portion thereof. Light elements may also be provided on the distal 719 - Porter to Chuck adaptor

[0051] - 9 - edge of the shelf, that is the edge that is remote from the body 102’ of the robotic vehicle. The light elements may comprise a plurality of segments, such that one or more of the segments may be selectively illuminated. The colour of the segments may be configurable such that, for example, different colours can be associated with different containers, or different tasks to be performed with respect to product items held within the containers, etc. The lighting elements may comprise a plurality of LEDs or similar devices.

[0052] The shelf may further comprise an interface 208 such that a cable can be used to connect the storage frame to the robotic vehicle. The cable may be used to selectively power one or more of the lighting elements on the storage frame, with power being provided from the power source of the robotic vehicle. The processor circuitry of the robotic vehicle may control which of the lighting elements are activated. In one example, a storage frame may comprise multiple shelves comprising lighting elements. In such an example, only one of the shelves may comprise an interface such that it can be connected to the robotic vehicle. The power source of the robotic vehicle may then be connected to the lighting elements of the further shelf (or shelves) of the storage frame via cabling routed in the support members 204 of the storage frame.

[0053] Figure 6 shows a schematic depiction of a further example of a shelf 202’ for use in a storage frame according to the present disclosure. As in the shelf discussed above with reference to Figure 5, the shelf 202’ comprises light elements 206 which may be provided along the two long edges and / or the distal edge of the shelf. Shelf 202’ further comprises processor circuitry 210, power source 212 and wireless interface 218. In use, the robotic vehicle may send a signal to the processor indicating which of the light elements are to be activated (and possibly further information relating to the colour of the lighting elements, etc) via the wireless interface. The wireless interface may be, for example, a Bluetooth interface. It can be seen that the robotic vehicle will be sending relatively small quantities of data over a short distance and it will be understood that other wireless technologies may be used to implement the link between the robotic vehicle and the shelf. 719 - Porter to Chuck adaptor

[0054] - 10 -

[0055] In operation, the processor circuitry of the robotic vehicle can send a signal to the shelf processor circuitry 210 such that the shelf processor circuitry can selectively illuminate one or more of the light elements in the shelf, such that information can be provided to a user who is placing items into (or removing items from) a container received on one of the shelves of the storage frame. The shelf power source may be used to power the selected light elements. The power source may comprise a battery or a high capacity capacitor. In one example, the power source may further comprise an inductive charging element such that power can be transferred from the robotic vehicle power source to charge the shelf power source when the shelf power source is not being used to illuminate one of the light elements.

[0056] A storage frame may comprise one shelf as described above with reference to Figure 6 and may additionally comprise one or more further shelves which comprise light elements as shown in Figure 6 but which do not have the shelf processor circuitry, shelf power source or the wireless interface. The light elements of the further shelf (or shelves) may be connected to the shelf processor circuitry and the shelf power source, for example via cabling routed in the support members of the storage frame. Thus it is possible for only one shelf to be used to control the light elements of other shelves, simplifying the design of the storage frame. It should be understood that further variants are possible. For example, more than one shelf in a storage frame may be as shown in Figure 6; one or more further shelves may comprise a power source (but not the shelf processor circuitry or the wireless interface), etc.

[0057] Additionally, a shelf as described above with reference to either Figure 5 or Figure 6 may comprise a plurality of pressure sensors 214. The pressure sensors may be distributed across the area of the shelf such that the weight of product item(s) inserted into a container or directly onto a shelf can be determined. The data obtained from the sensor can be processed such that the determined weight of the deposited product(s) can be compared with the expected weight of the product item(s). If the determined weight is not substantially the same as the expected weight then the robotic vehicle may generate an audible alert and / or display a warning on the display screen such that an operator can check that the correct products have been deposited. 719 - Porter to Chuck adaptor

[0058] - 11 -

[0059] The data generated by the pressure sensor(s) may be processed by a processor received in a shelf or by the robotic vehicle processor circuitry.

[0060] A storage frame may comprise one shelf as described above with reference to Figure 6 and may additionally comprise one or more further shelves which comprise light elements and pressure sensors but which do not have the shelf processor circuitry, shelf power source or the wireless interface. The light elements and pressure sensors of the further shelf (or shelves) may be connected to the shelf processor circuitry and the shelf power source, for example via cabling routed in the support members of the storage frame.

[0061] It should be understood that one or all of the shelves in a storage frame may be provided as passive frames, i.e. without any light elements or other components. In such a case, the display screen may be used to communicate to a user the location of a container which is to be used when placing a product item into it or removing a product item from it.

[0062] It will be understood that a robotic vehicle according to the present disclosure may comprise one or more computing devices, for example for instantiating the processor circuitry 105. Figure 11 shows a schematic depiction of a computer device 700 that may include a central processing unit (“CPU”) 702 connected to a storage unit 714 and to a random access memory 706. The CPU 702 may process an operating system 701 , application program 703, and data 723. The operating system 701 , application program 703, and data 723 may be stored in storage unit 714 and loaded into memory 706, as may be required. Computer device 700 may further include a graphics processing unit (GPU) 722 which is operatively connected to CPU 702 and to memory 706 to offload intensive image processing calculations from CPU 702 and run these calculations in parallel with CPU 702. The computing device may further comprise a network interface 711 , for example a WiFi interface or a cellular interface (for example, an interface using LTE technology), to communicate with a warehouse management system and / or other systems operating in the storage environment in which the robotic vehicle operates. The computer device 700 may receive data from one or more sensors 735. These sensors may comprise the various sensors 118 discussed above 719 - Porter to Chuck adaptor

[0063] - 12 - with reference to Figures 1 and 2. Data generated by one or more further sensors may also be received by the computer device and used to control the movement and operation of the robotic vehicle. Computer executable code for controlling the operation of a robotic vehicle may be downloaded over a network connection or may be provided on some form of physical media (for example USB flash drive, hard disc drive, CD, DVD, etc.)

[0064] In one respect there is provided a robotic vehicle comprising a fork lift subsystem such that the robotic vehicle is able to lift a pallet or similar platform. A storage frame may be removably coupled to a platform support area of the robotic vehicle, the storage frame comprising one or more shelves such that one or more storage container may be received on the or each shelf. The autonomous vehicle may be re-purposed to lift a pallet (or other platform) by the removal of the storage frame.

Claims

719 - Porter to Chuck adaptor- 13 -CLAIMS1 . A robotic vehicle comprising: a body, the body comprising a platform support area; a drive means configured to move the robotic vehicle; a lifting mechanism configured to lift a platform such that it can be received on the platform support area; the robotic vehicle being configured, in use, to be removably coupled to a storage frame, the storage frame comprising one or more shelves, wherein the storage frame is coupled to and received above the platform support area.

2. A robotic vehicle according to claim 1 , wherein the coupling of a storage frame to the robotic vehicle deactivates the lifting mechanism.

3. A robotic vehicle according to claim 1 or claim 2, wherein the robotic vehicle is connected to the storage frame via a cable.

4. A robotic vehicle according to claim 1 or claim 2, wherein the robotic vehicle is connected to the storage frame via a wireless connection.

5. A robotic vehicle according to claim 3 or claim 4, wherein the robotic vehicle is configured to send data to and / or receive data from the storage frame.

6. A storage frame configured to, in use, be removably coupled to a robotic vehicle according to any of claims 1 to 5, the storage frame comprising: one or more shelves; and coupling means such that the storage frame can be removably coupled to a robotic vehicle.

7. A storage frame according to claim 6, wherein one or more of the shelves comprise a plurality of light elements.719 - Porter to Chuck adaptor. 14 -8. A storage frame according to claim 6 or claim 7, wherein one or more of the shelves comprise one or more pressure sensors.

9. A storage frame according to any of claims 6 to 8, wherein one of the shelves is configured, in use, to receive power from a power source of a robotic vehicle to which the storage frame is coupled.

10. A storage frame according to any of claims 6 to 9, wherein one of the shelves is configured, in use, to receive data from a robotic vehicle to which the storage frame is coupled.

11. A storage frame according to claim 9 or claim 10, wherein one of the shelves is connected to the robotic vehicle via a cable.

12. A storage frame according to claim 9, wherein one of the shelves comprises an inductive coupler such that power can be received from a power source of the robotic vehicle to which the storage frame is coupled.

13. A storage frame according to claim 10, wherein one of the shelves comprises a wireless interface such that data can be received from the robotic vehicle to which the storage frame is coupled.

14. A storage frame according to any of claims 6 to 13, wherein one or more of the shelves comprise a shelf power source.

15. A storage frame according to claim 14 when dependent on claim 9, wherein the shelf power source is configured to receive power from the power source of the robotic vehicle.

16. A storage frame according to any of claims 6 to 15, wherein one or more of the shelves comprise a processor.719 - Porter to Chuck adaptor- 15 -17. A storage frame according to claim 16 when dependent on claim 7 wherein the processor selectively actuates one or more of the plurality of light elements.

18. A storage frame according to claim 16 when dependent on claim 8 wherein the processor processes data received from one or more pressure sensors.

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