EP-4738040-A1 - LOAD HANDLING DEVICE

EP4738040A1EP 4738040 A1EP4738040 A1EP 4738040A1EP-4738040-A1

Abstract

The present invention provides a load handling device comprising one or more sensors, preferably optical sensors. The sensor(s) may be used to illuminate a platform, such as a pallet. The data received from the sensor(s) may then be processed to form a point cloud. The data in the point cloud can be processed to identify the structures that form the platform such that the position and/or orientation of the platform relative to the load handling device can be determined. The load handling device may then use this platform position and/or orientation information when moving to lift the platform.

Inventors

The designation of the inventor has not yet been filed

Assignees

Ocado Innovation Limited

Dates

Publication Date: 20260506
Application Date: 20241101

Claims (15)

A robotic vehicle comprising: one or more optical sensors and a processor circuit, the processor circuit being configured, in use, to: cause the one or more optical sensors to illuminate a platform; receive data from the one or more optical sensors; create a single point cloud from the data received from the one or more optical sensors; and process the single point cloud to determine the position and orientation of the platform.
A robotic vehicle according to claim 1, wherein the processor circuit is configured to identify a plurality of platform structures in the single point cloud.
A robotic vehicle according to claim 2, wherein the processor circuit is configured to fit a first line to the data points representing the plurality of platform structures in the single point cloud, the line representing a leading edge of the platform.
A robotic vehicle according to claim 3, wherein the processor circuit is configured to divide the leading edge line into a plurality of portions such that one or more of the portions of the leading edge line correspond to platform structures and one or more of the portions of the leading edge line correspond to regions between platform structures.
A robotic vehicle according to claim 4, wherein the processor circuit is configured to further process the single point cloud to identify one or more internal platform structures.
A robotic vehicle according to claim 5, wherein the processor circuit is configured to fit a second line to the data points representing each of the one or more internal platform structures, wherein the one or more second lines are substantially perpendicular to the first line representing the leading edge of the platform.
A robotic vehicle according to claim 1, wherein the robotic vehicle is, in use, re-positioned and/or re-orientated in response to the determination of the position and orientation of the platform.
A method of operating a robotic vehicle, the method comprising: illuminating a platform using one or more optical sensors; receiving data from the one or more optical sensors; creating a single point cloud from the data received from the one or more optical sensors; and processing the single point cloud to determine the position and orientation of the platform.
A method according to claim 8, wherein the method comprises identifying a plurality of platform structures in the single point cloud.
A method according to claim 9, wherein the method comprises fitting a first line to the data points representing the plurality of platform structures in the single point cloud, the line representing a leading edge of the platform.
A method according to claim 10, wherein the method comprises dividing the leading edge line into a plurality of portions such that one or more of the portions of the leading edge line correspond to platform structures and one or more of the portions of the leading edge line correspond to regions between platform structures.
A method according to claim 11, wherein the method comprises further processing the single point cloud to identify one or more internal platform structures.
A method according to claim 12, wherein the method comprises fitting a second line to the data points representing each of the one or more internal platform structures, wherein the one or more fitted second lines are substantially perpendicular to the first line representing the leading edge of the platform.
A method according to claim 12 wherein the method comprises fitting a third line to the data points representing each of the one or more internal platform structures, wherein the one or more fitted third lines are substantially parallel to the line representing the leading edge of the platform.
A non-transitory computer-readable medium having instructions stored thereon that cause at least one processor circuit to at least: cause one or more optical sensors to illuminate a platform; receive data from the one or more optical sensors; create a single point cloud from the data received from the one or more optical sensors; and process the single point cloud to determine the position and orientation of the platform.

Description

The disclosure relates to a load handling device, and in particular to an autonomous vehicle which can lift move pallets, for example within a storage facility. Background 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. 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. The variance in the size and design of a platform can cause problems with the lifting and movement of such platforms. The autonomous operation of such robotic vehicles is made more efficient by the robotic vehicle being able to lift platforms in an effective and repeatable manner. Summary According to a first aspect of the present disclosure, there is provided a robotic vehicle comprising: one or more optical sensors and a processor circuit, the processor circuit being configured, in use, to: cause the one or more optical sensors to illuminate a platform; receive data from the one or more optical sensors; create a single point cloud from the data received from the one or more optical sensors; and process the single point cloud to determine the position and orientation of the platform. Such a determination of the position and orientation of the platform enables a robotic vehicle to insert a lifting mechanism into the platform such that the platform can be lifted and then carried by the robotic vehicle to a further location. The determination of the position and orientation of the platform enables the robotic vehicle to operate more efficiently. The processor circuit may be configured to identify a plurality of platform structures in the single point cloud. The processor circuit may be configured to fit a first line to the data points representing the plurality of platform structures in the single point cloud, the line representing a leading edge of the platform. The processor circuit may be configured to divide the leading edge line into a plurality of portions such that one or more of the portions of the leading edge line correspond to platform structures and one or more of the portions of the leading edge line correspond to regions between platform structures. The processor circuit may be configured to further process the single point cloud to identify one or more internal platform structures. The processor circuit may be configured to fit a second line to the data points representing each of the one or more internal platform structures, wherein the one or more second lines are substantially perpendicular to the first line representing the leading edge of the platform. The processor circuit may be configured to fit a third line to the data points representing each of the one or more internal platform structures, wherein the one or more fitted lines are substantially parallel to the first line representing the leading edge of the platform. The processor circuit may be configured to refine the data such that the fitted lines are re-fitted to the data points in the single point cloud. The robotic vehicle may be re-positioned and/or re-orientated in response to the determination of the position and orientation of the platform. The robotic vehicle may further comprise a lifting mechanism configured to be inserted into the interior of the platform and then actuated to lift the platform. According to a second aspect of the present disclosure, there is provided a method of operating a robotic vehicle, the method comprising: Illuminating a platform using one or more optical sensors; receiving data from the one or more optical sensors; creating a single point cloud from the data received from the one or more optical sensors; and processing the single point cloud to determine the position and orientation of the platform. The method may comprise identifying a plurality of platform structures in the single point cloud. A first line may be fitted to the data points representing the plurality of platform structures in the single point cloud, the line representing a leading edge of the platform. The leading edge line may be divided into a plurality of portions such that one or more of the portions of the leading edge line correspond to platform structures and one or more of the portions of the leading edge line correspond to regions between platform structures. The single point cloud may be processed further to identify one or more internal platform structures. A second line may be fitted to the data points representing each of the one or more internal platform structures, wherein the one or more fitted second lines are substantially perpendicular to the first line representing the leading edge of the platform. A t