Patent Description:
A jack may be attached to an autonomous mobile robot so that the mobile robot can be programmed and tasked to perform payload lifting via the jack and payload transportation automatically. However, the jack has wheels for linear motions, which are not designed for moving together with the mobile robot. Some efforts to resolve this include replacing such wheels with unidirectional wheels but there are practical issues such as the unidirectional wheels are not designed for the jack, and those available in the market may not be able to take the weight of a loaded jack. A document reflecting the prior art and disclosing the preamble of claim <NUM> is known from <CIT>.

According to an example of the present disclosure, there are provided an apparatus for moving a payload, as claimed in the independent claims. Some optional features are defined in the dependent claims.

Examples in the present disclosure will be better understood and readily apparent to one skilled in the art from the following written description, by way of example only and in conjunction with the drawings, in which:.

Examples of the present disclosure relate to apparatuses such as an autonomous mobile robot (hereinafter "mobile robot"). A lifting device, for example, a jack, is mounted to or fixed to the mobile robot. The mobile robot can be configured to control the lifting device (e.g. to move the lifting device) to carry a payload. The payload may be a pallet containing one or more objects. After lifting the payload, the mobile robot may transport the payload to an intended location according to instructions (software code) as programmed for the mobile robot. For example, the payload may be a payload of a production line, a medical facility, an office environment, a food and beverage premise, a warehouse, a retail location, a hospitality premise, and the like.

The mobile robot can transport a payload by having the payload rest on one or more load bearing surfaces of the mobile robot and the payload's entire weight is carried by the mobile robot.

In an example of the present disclosure, with reference to <FIG>, there is provided an apparatus for moving a payload to an intended location. The apparatus of the present example is a mobile robot <NUM> comprising a lifting device <NUM>. <FIG> shows a front perspective view of the mobile robot <NUM>.

The mobile robot <NUM> has a power supply (e.g. a battery) residing within a housing of the mobile robot <NUM>, one or more parts for mobility (hidden in <FIG>; located at the bottom of the mobile robot <NUM>), such as one or more wheels (or alternatively, tracks), and a driving mechanism (residing within the housing) such as a motor for driving the one or more parts for mobility to move the mobile robot <NUM>. With regard to the driving mechanism and the one or more parts for mobility, they can be configured to have a differential drive type of steering and/or be implemented using other suitable driving/steering methods like <NUM>-wheel drive. The driving mechanism can be powered by the power supply. The power supply can be rechargeable and the mobile robot <NUM> is configured to move to and connect with a docking station connected to a power source to charge the power supply. The mobile robot <NUM> can also have a braking system for stopping and/or to apply brakes when the mobile robot <NUM> is controlled to push (or extend) or pull (retract) the lifting device <NUM> (carrying or not carrying payload).

The lifting device <NUM> in this example is a jack, or specifically, a pallet jack. This jack can be a hydraulic and/or pneumatic pallet jack. The payload can be a suitable object to be transported. In the present example, the payload is a pallet containing one or more objects. The lifting device <NUM> has a rear portion <NUM> mounted to the mobile robot <NUM>. The hydraulic and/or pneumatic components of the lifting device <NUM> reside in the rear portion <NUM>. The lifting device <NUM> is in a stowed configuration when it is not in operation and can be moved into an extended configuration when it is in operation. The lifting device <NUM> comprises a pair of forks <NUM>. When the lifting device <NUM> is in the extended configuration, the pair of forks can be inserted into gaps at a bottom of the pallet prior to lifting the pallet. In the present example, the lifting device <NUM> is a pallet jack with wheels (not visible in <FIG>), and the wheels are above ground level when the lifting device is in the stowed configuration.

The mobile robot <NUM> comprises a controller, processor or processing unit, which is located in the central wall <NUM> in the present example. The controller, processor, or processing unit executes instructions in a memory to operate the mobile robot <NUM> to autonomously navigate to a payload (not shown in <FIG>), and take the following actions:.

The mobile robot <NUM> is also controllable by the controller, processor, or processing unit to take the following actions:.

The mobile robot <NUM> has a body comprising a central wall <NUM>, a first side wall <NUM> and a second side wall <NUM>. The body resembles a U or C shape. The first side wall <NUM> and the second side wall <NUM> extend away from the central wall <NUM>. The central wall <NUM>, the first side wall <NUM> and the second side wall <NUM> are arranged such that they form a boundary defining a space <NUM> for residing the lifting device <NUM>. Specifically, a surface <NUM> of the central wall <NUM>, a surface <NUM> of the first side wall <NUM> and a surface <NUM> (not visible in <FIG>) of the second side wall <NUM> form such boundary. The first side wall <NUM> and second side wall <NUM> are parallel to each other and orthogonal to the central wall <NUM>. In the present example, a top portion <NUM> of the first side wall <NUM> comprises a first load bearing surface and a top portion <NUM> of the second side wall <NUM> comprises a second load bearing surface. The boundary created by the central wall <NUM>, the first side wall <NUM> and the second side wall <NUM> of the mobile robot <NUM> is opened at one side for the lifting device <NUM> to move and extend out of the space <NUM> when it is required to lift one or more objects outside the space <NUM>.

Outermost edges of the central wall <NUM>, the first side wall <NUM> and the second side wall <NUM> form the edges of the body of the mobile robot <NUM>. These outermost edges determine the dimensions (i.e. length and width) of a footprint of the mobile robot <NUM>. The distance between the first side wall <NUM> and the second side wall <NUM> can be configured such that a payload, which is an object or pallet (with or without objects on it), can be placed on the top portion <NUM> and the top portion <NUM>, and the length and width of a base of the payload does not exceed the dimensions of the footprint of the mobile robot <NUM>. In the case of a pallet (with or without objects on it), the base of the payload refers to the pallet. In the case of an object, the base of the payload refers to the bottom of the object to be placed on the top portion <NUM> and the top portion <NUM>. In this manner, provided that the object on top of the pallet do not have dimensions exceeding the dimensions of the footprint, the payload placed on the first side wall <NUM> and/or the second side wall <NUM> would fit compactly within the footprint of the mobile robot <NUM> and fully utilize the volume within the footprint. The heights of the top portions <NUM> and <NUM> are preferably the same height.

The following paragraphs make reference to elements in <FIG>. <FIG> is a rear perspective view of the mobile robot <NUM> revealing some features not visible in <FIG>. <FIG> is a top view of the mobile robot <NUM> of <FIG> illustrates how the rear portion <NUM> of the lifting device <NUM> is mounted to the mobile robot <NUM>. Specifically, left and right sides of the rear portion <NUM> of the lifting device <NUM> are mounted to the mobile robot <NUM> via one or more attachment members i.e. the side members <NUM> and <NUM>. The reference numerals used in <FIG> are used for the same elements in <FIG>.

The mobile robot <NUM> comprises one or more motors (not visible in the Figures) for moving the lifting device <NUM> to extend it out of the space <NUM> to engage the payload and to retract it into the space <NUM>. The one or more motors can include a closed loop motor i.e. a closed loop system is used. Such closed loop system uses feedback where a portion of an output signal is fed back to an input to reduce errors and improve stability. In the present example, there is a motor connected to the side members <NUM> and <NUM>. The motor may be located within the side member <NUM>, the side member <NUM>, the rear portion <NUM>, the central wall <NUM>, the first side wall <NUM> or the second side wall <NUM>. The side members <NUM> and <NUM> are slidable along horizontal tracks located on the first side wall <NUM> and located on the second side wall <NUM> respectively. In <FIG>, two horizontal tracks <NUM> located on the first side wall <NUM> are shown. There are two similar horizontal tracks (not visible in <FIG>; <NUM> in <FIG>) located on the second side wall <NUM>. The motor is controllable by the controller, processor or processing unit to move the side members <NUM> and <NUM> along these horizontal tracks <NUM> and <NUM> to push or extend the lifting device <NUM> into the extended configuration so that the forks <NUM> of the lifting device <NUM> is able to insert the bottom of the pallet or so that the forks <NUM> carrying a payload is able to place the payload on the ground. Although, in the above example, two tracks are provided on each of the first side wall <NUM> and the second side wall <NUM>, it should be appreciated that in another example, only one track, or more than two tracks, may be provided on each side wall, as practically required.

The motor may also be configured to move the side members <NUM> and <NUM> to pull or retract the lifting device <NUM> carrying the payload back into the space <NUM>. However, alternatively, the mobile device <NUM> may be driven, while the extended lifting device <NUM> that is carrying the payload stays stationary, until the lifting device <NUM> resides in the space <NUM>. This alternative may use lesser energy because more energy is required to move the lifting device <NUM> that is carrying a payload.

In one example, the motor and side members <NUM> and <NUM> may serve another purpose. That is, in the case that the lifting device <NUM> is a jack with wheels, the motor is controllable by the controller, processor or processing unit to move the side members <NUM> and <NUM> so as to lift the lifting device <NUM> to change into the stowed configuration, and ensure that wheels of the lifting device <NUM> are above ground level i.e. not contacting the ground. This ensures that the wheels of the lifting device <NUM> do not interfere with the movements of the mobile robot <NUM>. The motor may also be controllable by the controller, processor or processing unit to move the side members <NUM> and <NUM> so as to lower the lifting device <NUM> and allow the wheels of the lifting device <NUM> to rest on the ground. The wheels of the pallet jack are designed for linear movements and the wheels can be used to facilitate movement of the lifting device <NUM> out of the space <NUM> to change into the extended configuration. To enable the motor and the side members <NUM> and <NUM> to lift or lower the lifting device <NUM> to disallow or allow its wheels to rest on the ground, vertical tracks (not visible in <FIG>) that are vertically arranged can be provided for the side members <NUM> and <NUM> to move along during the lifting or lowering motions of the lifting device <NUM>.

The following paragraphs make reference to elements in <FIG>. <FIG> and <FIG> show the mobile robot <NUM>, whereas <FIG> show one or more actuators (<NUM> in <FIG>, <NUM> in <FIG>, <NUM> and <NUM> in <FIG>, <NUM> in <FIG>, and <NUM> and <NUM> in <FIG>) which will be described below. The same reference numerals are given for the same elements present in these Figures.

Specifically, the first side wall <NUM> and/or the second side wall <NUM> comprise the one or more actuators (e.g. <NUM>, <NUM>, <NUM>, <NUM> and <NUM>). Each of the one or more actuators is configured to be retractable into one or more openings (e.g. 112a in <FIG> and 113a in <FIG>) of the first side wall <NUM> and/or the second side wall <NUM> and extendable into the space <NUM> to engage and support the lifting device <NUM> at above ground level in its stowed configuration.

<FIG> shows a bottom perspective view of the mobile robot <NUM>. All the parts for mobility of the mobile robot <NUM> and the lifting device <NUM>, which are wheels in the present example, are shown in <FIG>. Specifically, <FIG> shows the mobile robot <NUM> comprising front side wheels <NUM> located near the left and right sides of the mobile robot <NUM>, rear side wheels <NUM> located near the left and right sides of the mobile robot <NUM>, and central side wheels <NUM> located near the left and right sides of the mobile robot <NUM>. The central side wheels <NUM> are driving wheels controllable by the driving mechanism of the mobile robot, whereas the front side wheels <NUM> and the rear side wheels <NUM> are idler wheels. Furthermore, <FIG> shows the lifting device <NUM> comprising two rear wheels <NUM> at the rear portion <NUM> of the lifting device <NUM> and each of the pair of forks <NUM> of the lifting device <NUM> comprises a front wheel <NUM> near the front end of each fork <NUM>. Specifically, a left side fork 103a of the pair of forks <NUM> comprises the front wheel <NUM>, and a right side fork 103b of the pair of forks <NUM> comprises the front wheel <NUM>.

In the present example, with reference to <FIG>, the number of the one or more actuators is four, wherein a first actuator <NUM> is located at a bottom of the first side wall <NUM> closer to the central wall <NUM>, a second actuator <NUM> is located at a bottom of the first side wall <NUM> further away from the central wall <NUM> and closer to an end of the first side wall <NUM>, a third actuator <NUM> is located at a bottom of the second side wall <NUM> closer to the central wall <NUM>, and a fourth actuator <NUM> is located at a bottom of the second side wall <NUM> further away from the central wall <NUM> and closer to an end of the second side wall <NUM>.

<FIG> show an actuator <NUM> that can be used as the actuator <NUM> and <NUM>. Reference will be made to the mobile device <NUM>, the lifting device <NUM>, the space <NUM>, and the forks <NUM> described earlier. An actuator that is a mirror image of the actuator <NUM> can be used as the actuator <NUM> and <NUM>. The actuator <NUM> comprises a top plate <NUM> for mounting to the body of the mobile robot <NUM>, a track line <NUM>, an actuator motor <NUM> and a lifting member <NUM>. The track line <NUM> is mounted to the bottom of the top plate <NUM>. The lifting member <NUM> is for lifting the lifting device <NUM>. The lifting member <NUM> is configured to be movable linearly along the track line <NUM> under the control of the actuator motor <NUM> in the directions shown by a double-sided arrow in <FIG>. The lifting member <NUM> comprises an engagement member <NUM> for engaging the lifting device <NUM>, or specifically, to engage one of the forks <NUM> of the lifting device <NUM>. The engagement member <NUM> has a sloped edge <NUM> for engaging the fork <NUM>. The sloped edge <NUM> moves when the actuator motor <NUM> moves the lifting member <NUM>. The sloped edge <NUM> is movable in this manner to contact a bottom portion of the fork <NUM> and push against the bottom portion of the fork <NUM> to lift the lifting device <NUM> according to a gradient of the sloped edge. Specifically, the sloped edge <NUM> is extendable into the space <NUM> to lift the lifting device <NUM> until its wheels (<NUM> and <NUM> in <FIG>) are above ground level. After the lifting device <NUM> are above ground by a predetermined height, the lifting device <NUM> is in the stowed configuration. The sloped edge <NUM> will stay in position to support the lifting device <NUM> in the stowed configuration. The sloped edge <NUM> is also retractable out of the space <NUM> to lower the lifting device <NUM> until its wheels (<NUM> and <NUM> in <FIG>) rest on the ground. When the wheels (<NUM> and <NUM> in <FIG>) of the lifting device <NUM> are on the ground, the lifting device <NUM> is ready to be moved out of the space <NUM> and change into the extended configuration. The actuator motor <NUM> is controllable by the controller, the processor or the processing unit of the mobile robot <NUM>.

<FIG> shows a front view of the mobile robot <NUM> described above, wherein the wheels <NUM> and <NUM> of the lifting device <NUM> can contact the ground. In this view, although only the actuators <NUM> and <NUM> and their respective sloped edge <NUM> are visible, it is understood that the other actuators <NUM> and <NUM> have the same function as them. The actuator motors <NUM> of the actuators <NUM>, <NUM>, <NUM> and <NUM> are controllable by the controller, processor, or processing unit of the mobile device <NUM> to lift the left side fork 103a and the right side fork 103b respectively, which will lift the lifting device <NUM> into the stowed configuration. In <FIG>, the sloped edge <NUM> has not yet been extended in the directions of the arrows shown in <FIG> to engage, lift, and support the lifting device <NUM>.

<FIG> shows a front view of the mobile robot <NUM>, wherein wheels <NUM> and <NUM> of the lifting device <NUM> are off the ground and will not interfere with the movements of the wheels <NUM>, <NUM> and <NUM> of the mobile device <NUM>. The actuators <NUM>, <NUM>, <NUM> and <NUM> have been activated for lifting the lifting device <NUM>. The sloped edge <NUM> has been extended to engage, lift, and support the lifting device <NUM> in the stowed configuration.

Although it is described above that the one or more actuators (e.g. <NUM>, <NUM>, <NUM> and <NUM>) is able to lift the lifting device <NUM>, in another example, the one or more actuators (e.g. <NUM>, <NUM>, <NUM> and <NUM>) may be used only to engage and support the lifting device <NUM> at above ground level in the stowed configuration. In this case, another device or mechanism would be used to lift and lower the lifting device <NUM>. The one or more actuators (e.g. <NUM>, <NUM>, <NUM> and <NUM>) only engage and support the lifting device <NUM> after it is lifted and only disengage from the lifting device <NUM> after it is lowered. In other words, the one or more actuators are used only as securing or locking mechanisms for securing or locking the lifting device <NUM> in the stowed configuration.

An example of the operation of the one or more actuators (e.g. <NUM>, <NUM>, <NUM> and <NUM>) of the mobile robot <NUM> can be described as follows.

Specifically, the mobile robot <NUM> is controllable by the controller, processor or processing unit to:.

Furthermore, the mobile robot <NUM> is controllable to:.

Referring back to <FIG>, the mobile robot <NUM> may comprise an electrical connector configured to connect to the lifting device <NUM> to provide power to operate the lifting device <NUM>. Other than power, data can also be transmitted through the electrical connector by providing data communication wiring in addition to power lines. The exchanged data may comprise commands to instruct the lifting device <NUM> to lift/lower payload and also report the statuses (e.g. weight) of the payload.

Furthermore, the mobile robot <NUM> is an autonomous mobile robot that has self-navigation and/or self-mapping systems on board. The controller, processor or processing unit controls its movements. Wireless communication devices can be provided in the mobile robot <NUM> to enable wireless communication via WIFI, telecommunication networks such as <NUM>, <NUM>, <NUM>, and the like. Antennas <NUM> can be provided to enable such wireless communication. Instructions to control the tasks of the mobile robot <NUM> can be communicated wirelessly. The controller or processor can be connected to user input devices and/or a display for displaying a graphical user interface to take in user input. User input provided via the user input devices and/or graphical user interface can comprise instructions to control the lifting device <NUM>, tasks of the mobile robot <NUM> and its movements. In the example of <FIG>, the mobile robot has a control panel <NUM> that comprises such display and such user input devices.

The mobile robot <NUM> can have traffic control systems to avoid collision and to optimize movements relative to other mobile robots also operating with the mobile robot <NUM> in the same environment. Through executing instructions by the processor, the mobile robot <NUM> can be operable to activate the driving mechanism to move the mobile robot <NUM> to transport a payload placed on the mobile robot <NUM> to an intended location according to the instructions. For example, the intended location can be a location in a production line for loading and unloading objects (e.g. the load) and/or to undertake a specific task.

Furthermore, the mobile robot <NUM> can have one or more sensors. The controller, processor or processing unit of the mobile robot <NUM> can be configured to receive input from the one or more sensors and operate the mobile robot <NUM> to receive input from the one or more sensors to align the mobile robot <NUM> with the payload prior to controlling the motor connected to the attachment mechanism <NUM> to move the lifting device <NUM> for lifting or lowering payload. For example, with reference to <FIG>, the mobile robot <NUM> has a LiDAR sensor (i.e. a navigation laser device) <NUM> and side lasers <NUM> on board. The self-navigation and/or self-mapping systems on board work with the LiDAR sensor <NUM> and side lasers <NUM> to enable the mobile robot <NUM> to perform self-navigation and/or self-mapping functions for autonomous movement in the surrounding environment. In the example of <FIG>, the side lasers <NUM> are provided on left and right sides of the mobile robot <NUM>. <FIG> shows the right side lasers <NUM>.

The one or more sensors can be part of an existing cell alignment positioning system (CAPS) developed by Omron Corporation. CAPS uses a main safety scanning laser (i.e. the LiDAR sensor) to detect a geometry in an environment and enables the mobile robot <NUM> to drive to a specific location relative to that geometry during alignment conducted by the mobile robot <NUM>. Specifically, CAPS can use point data information from the LiDAR sensor <NUM> arranged in a planar manner that is built into the mobile robot to align with reference targets (e.g. the payload) based on triangulation and other geometrical feature analysis. CAPS is just one method to enable the mobile robot <NUM> to conduct alignment with the payload. Other suitable methods can also be used.

In other examples, the one or more sensors can be or include cameras capturing images and alignment can be established based on image processing of captured images. The one or more sensors may also include laser, infrared and/or ultrasonic sensors. There may also be visual or smart labels or markers provided on the mobile robot <NUM> and/or the payload to facilitate alignment.

Specifically, the one or more sensors may be configured to read a machine-readable optical code (e.g. QR code or barcode) and/or a Radio-Frequency Identification tag provided on the payload to obtain information to facilitate engagement of the payload. For example, the information may include type of the payload, weight of the payload, dimensions of the payload, etc..

The one or more sensors may be configured to read the same machine-readable optical code and/or Radio-Frequency Identification tag as described above or another machine-readable optical code and/or Radio-Frequency Identification tag provided on the payload to obtain location data of the payload relative to the mobile robot <NUM> to facilitate the alignment of the mobile robot <NUM> with the payload. These one or more sensors may be used separately or together with the Lidar sensor <NUM> for CAPS. In the case of the use of machine-readable optical code to obtain location data, vision/image processing techniques (e.g. involving use of computer vision algorithms) may used. The vision/image processing techniques may involve use of a camera to capture an image of the machine-readable optical code and applying image analysis on the captured image to determine coordinates of the payload relative to the mobile robot <NUM>. An example of the vision/image processing technique is discussed in <NPL>.

With reference to <FIG>, the mobile robot <NUM> has a charging port <NUM> for charging up the power supply of the mobile robot <NUM>. The mobile robot <NUM> is configured to autonomously move and dock with a charging station <NUM> to commence the charging. The charging station <NUM> may be connected to Alternating Current (AC) Mains <NUM> supplying AC power, for instance via a wall socket.

Furthermore, with reference to <FIG>, the mobile robot <NUM> has light indicators <NUM> for alerting and/or status notification purposes. For example, to show that error occurred, show fine or okay status, and/or show a warning of certain situation. In the example of <FIG>, the light indicators <NUM> are provided on left and right sides of the mobile robot <NUM>. <FIG> shows the right side light indicators <NUM>.

Specifically, <FIG> shows the same mobile robot <NUM> as that shown in <FIG>. The reference numerals in <FIG> are used for the same elements in <FIG> shows a rear perspective view of the mobile robot <NUM>. Some elements not visible in <FIG> are visible in <FIG>, for instance,.

There is also a slight difference in the design rear portion <NUM> of the lifting device <NUM> in <FIG> and <FIG>. This difference is not substantial and the lifting device <NUM> in both <FIG> and <FIG> are worked the same way.

An example of a complete operation of the mobile robot <NUM> described above to transport a payload to an intended location is described as follows. Reference is made to elements in <FIG>. In particular, <FIG> illustrates the same mobile robot <NUM> during different steps in the operation of the mobile robot <NUM> to transport a payload <NUM>.

In the present example, the lifting device <NUM> is a pallet jack with wheels to facilitate its movement. The one or more actuators <NUM>, <NUM>, <NUM>, and <NUM> are configured to engage and lift the lifting device <NUM> to change into its stowed configuration, wherein the wheels <NUM> and <NUM> of the lifting device <NUM> are above ground, and configured to lower the lifting device <NUM> from its stowed configuration until the wheels <NUM> and <NUM> of the lifting device <NUM> rest on the ground and disengage from the lifting device <NUM> after the wheels <NUM> and <NUM> rest on the ground. In the present example, the payload <NUM> is a pallet <NUM>, which holds a plurality of objects on top of it.

In a step <NUM>, the mobile robot <NUM> mounted with the lifting device <NUM> in the stowed configuration moves towards the payload <NUM> after receiving instructions wirelessly from a central control system to carry the payload <NUM> to transport the payload <NUM> to the intended location according to the instructions. A front side of the mobile robot <NUM> (i.e. the front side is where the Lidar sensor <NUM> is located) would face the payload <NUM> as the mobile robot <NUM> is moving towards the payload <NUM>. <FIG> shows the mobile robot <NUM> with the front side of the mobile robot <NUM> facing the payload <NUM>.

In a step <NUM>, when the mobile robot <NUM> is moved to an area surrounding the payload <NUM>, the mobile robot <NUM> detects the presence of the payload <NUM> through location information (e.g. coordinates in a map) received from the central control system, the Lidar sensor <NUM> mounted at the front of the mobile robot <NUM>, and/or one or more mounted cameras mounted to the mobile robot <NUM> are used to scan the area for one or more visual markers (e.g. machine-readable optical code) of the payload <NUM> such as a QR code.

At a step <NUM>, alignment of the mobile robot <NUM> with the payload <NUM> begins when the presence of the payload <NUM> is detected.

At a step <NUM> after the alignment at step <NUM>, the mobile robot <NUM> rotates <NUM> degrees to have its rear portion (i.e. the rear is where the open side of the space for the lifting device <NUM> to exit is located) face the payload <NUM>. <FIG> shows the mobile robot <NUM> with the rear side of the mobile robot <NUM> facing the payload <NUM>. The forks <NUM> of the lifting device <NUM> are pointing in a direction of the payload <NUM>.

In a step <NUM>, the mobile robot <NUM> then reverses itself closer to the payload <NUM> and proceeds to engage the payload <NUM>. At this point, the lifting device <NUM> is still residing in the space <NUM>, is still in the stowed configuration supported by the one or more actuators <NUM>, <NUM>, <NUM>, and <NUM>, and its forks <NUM> are not elevated.

In one example, when the mobile robot <NUM> detects contact with the payload <NUM> after reversing itself sufficiently, for example via a sensor (e.g. using one or more cameras and vision techniques, a pressure sensor to detect contact with the payload <NUM>, and/or an infrared sensor to detect distance of payload <NUM> to the mobile robot <NUM>), the mobile robot <NUM> controls the one or more actuators <NUM>, <NUM>, <NUM>, and <NUM> to lower the pair of forks <NUM> of the lifting device <NUM> until the wheels <NUM> and <NUM> of the lifting device <NUM> rest on the ground.

In another example, it could be that the mobile robot <NUM> relies on information gathered from one or more visual markers (e.g. machine-readable optical code) of the payload <NUM> such as a QR code to determine how much to reverse and adjust itself before controlling the one or more actuators <NUM>, <NUM>, <NUM>, and <NUM> to lower the pair of forks <NUM> of the lifting device <NUM> until the wheels <NUM> and <NUM> of the lifting device <NUM> rest on the ground.

Specifically, the one or more actuators <NUM>, <NUM>, <NUM> and <NUM> are controlled to lower the lifting device <NUM> so that the front wheels <NUM> mounted close to the front of the forks <NUM> and one or more rear wheels <NUM> at the bottom of the rear portion <NUM> of the lifting device <NUM> are lowered to rest on the ground. These wheels <NUM> and <NUM> facilitate movement of the lifting device <NUM> to move out of the space <NUM> and change into the extended configuration. When the wheels <NUM> and <NUM> are on the ground, the one or more actuators <NUM>, <NUM>, <NUM>, and <NUM> disengages from the lifting device <NUM>. Thereafter, the mobile robot <NUM> either.

In a step <NUM>, after the forks <NUM> are sufficiently extended into the gaps of the pallet <NUM>, and the mobile robot <NUM> controls the lifting device <NUM> to raise the forks <NUM> to lift the pallet <NUM> along with the objects resting on it. The forks <NUM> are in an elevated configuration when they are raised to lift up the payload <NUM>. <FIG> shows a configuration of the mobile device <NUM>, wherein the lifting device <NUM> is in extended configuration and the forks (<NUM>; not visible in <FIG>) carrying the payload are in an elevated configuration. Specifically, the forks are elevated to a height above the top portion <NUM> of the first side wall <NUM> and the top portion <NUM> of the second side wall <NUM> respectively.

In a step <NUM>, once the forks <NUM> are elevated to a predetermined height, while the lifting device <NUM> stays stationary, the mobile robot <NUM> moves its body and reverses itself until the lifting device <NUM> carrying the payload <NUM> are residing within the space <NUM>. The predetermined height of the forks <NUM> can be determined from payload information provided by the central control system, or from payload information detected by the mobile robot <NUM>, for example, from a machine readable optical code provided on the payload <NUM> when the mobile robot <NUM> locates the payload <NUM>. Both the lifting device <NUM> and the payload <NUM> will reside within the space <NUM> after the mobile robot <NUM> is reversed. In another example, the mobile robot <NUM> may move the lifting device <NUM> carrying the payload <NUM> into the space <NUM> using the one or more motors described earlier that are configured to push (or extend) or pull (or retract) the lifting device <NUM> instead of moving itself.

<FIG> shows a configuration of the mobile device <NUM> after step <NUM>, wherein the lifting device <NUM> is retracted from the extended configuration. The forks (<NUM>; not visible in <FIG>) are still in an elevated configuration. The forks <NUM> and the payload <NUM> lifted by them are now located directly above the heights of the top portion <NUM> of the first side wall <NUM> and the top portion <NUM> of the second side wall <NUM>.

At a step <NUM>, the mobile robot <NUM> controls the lifting device <NUM> to lower the forks <NUM> into a non-elevated configuration, and let the pallet <NUM> rests on the load bearing surfaces i.e. the top portions <NUM> and <NUM> of the first side wall <NUM> and the second side wall <NUM> of the mobile robot <NUM>.

After the forks <NUM> of the lifting device <NUM> are in the non-elevated configuration, the one or more actuators <NUM>, <NUM>, <NUM> and <NUM> are activated to engage the lifting device <NUM> and lift the lifting device <NUM> so that the wheels <NUM> and <NUM> of the lifting device <NUM> are off the ground and the lifting device <NUM> is changed into the stowed configuration. Thereafter, the one or more actuators <NUM>, <NUM>, <NUM>, <NUM> stay in their position to support the lifting device <NUM> in its stowed configuration, as the mobile robot <NUM> autonomously moves to transport the payload <NUM> to the intended location.

<FIG> shows a configuration of the mobile device <NUM> when the lifting device <NUM> is in the stowed configuration and the payload <NUM> is resting on the load bearing surfaces i.e. the top portions <NUM> and <NUM> of the first side wall <NUM> and the second side wall <NUM> of the mobile robot <NUM>.

At a step <NUM>, the mobile robot <NUM> carrying the payload <NUM> reaches the intended location and activates the one or more actuators <NUM>, <NUM>, <NUM>, and <NUM> to lower the forks <NUM> until the wheels <NUM> and <NUM> of the lifting device <NUM> rest on the ground. The one or more actuators <NUM>, <NUM>, <NUM>, and <NUM> are disengaged from the lifting device <NUM> when the forks <NUM> rest on the ground.

At a step <NUM>, the forks <NUM> are raised or elevated to a predetermined height above the heights of the load bearing surfaces (i.e. <NUM> and <NUM>) to carry the payload <NUM> resting on the load bearing surfaces (i.e. <NUM> and <NUM>).

At a step <NUM>, with the lifting device <NUM> carrying the payload <NUM> staying stationary, the mobile robot <NUM> moves itself until the lifting device <NUM> is changed into the extended configuration. Thereafter, the elevated forks <NUM> carrying the payload <NUM> are lowered to place the payload <NUM> on the ground. Alternatively, the motor mounted to the side members <NUM> and <NUM> is controlled to move the side members <NUM> and <NUM> to push the lifting device <NUM> carrying the payload <NUM> into the extended configuration.

At a step <NUM>, after the payload <NUM> is placed on the ground and the forks <NUM> are free from carrying the payload <NUM>, the mobile robot <NUM> can either.

At a step <NUM>, after the lifting device <NUM> resides in the space <NUM>, the one or more actuators <NUM>, <NUM>, <NUM>, <NUM> are activated to engage the lifting device <NUM> and lift the lifting device <NUM> to change it into the stowed configuration, wherein the wheels <NUM> and <NUM> of the lifting device <NUM> are above ground. The entire process of moving a payload <NUM> by the mobile device <NUM> from one location to another is now complete.

The mobile robot <NUM> in <FIG> and <FIG> above are not limited to the specific configurations and operations as described above. In other examples, mobile robots with similar configurations and operations are also applicable.

An example of the apparatus of the present disclosure (e.g. the mobile robot <NUM> described with reference to the earlier figures) may have the following components in electronic communication via a bus:.

The display generally operates to provide a presentation of graphical content (e.g. graphical user interface) to a user, and may be realized by any of a variety of displays (e.g., CRT, LCD, HDMI, micro-projector and OLED displays). The display may be a touchscreen.

In general, the non-volatile memory functions to store (e.g., persistently store) data and executable code including code that is associated with the functional components of the mobile robot. In some cases, for example, the non-volatile memory includes bootloader code, modem software, operating system code, file system code, as well as other codes well known to those of ordinary skill in the art that are not depicted for simplicity. For example, the mobile robot <NUM> may be programmed with self navigation/mapping code, code to facilitate the docking/undocking processes of the mobile robot <NUM> with a charging station (e.g. <NUM> in <FIG>) for charging up the power supply of the mobile robot <NUM>, code to control alignment process of the mobile robot <NUM> with a payload, code to control retraction and extension of the one or more actuators (e.g. <NUM> in <FIG> and <NUM> in <FIG>) for supporting the lifting device (e.g. <NUM> in <FIG>) in the stowed configuration, code to control the one or more actuators to lift or lower the lifting device, code for movement control to let the lifting device change into the stowed configuration and the extended configuration, and code to control the lifting device to lift or lower payload.

In many implementations, the non-volatile memory is realized by flash memory (e.g., NAND or NOR memory), but it is certainly contemplated that other memory types may be utilized as well. Although it may be possible to execute the code from the non-volatile memory, the executable code in the non-volatile memory is typically loaded into RAM and executed by one or more of the N processing components.

One or more computer programs may be stored on any machine or computer readable medium that may be non-transitory in nature. The computer readable medium may include storage devices such as magnetic or optical disks, memory chips, or other storage devices suitable for interfacing with the mobile robot. The machine or computer readable medium may also include a hard-wired medium such as exemplified in the Internet system, or wireless medium such as exemplified in the Wireless LAN (WLAN) system.

The N processing components (or "one or more processors") in connection with RAM generally operate to execute the instructions stored in non-volatile memory to effectuate the functional components. As one skilled in the art (including ordinarily skilled) will appreciate, the N processing components may include a video processor, modem processor, DSP, graphics processing unit (GPU), and other processing components.

The transceiver component may include N transceiver chains, which may be used for communicating with external devices via wireless networks. Each of the N transceiver chains may represent a transceiver associated with a particular communication scheme. For example, each transceiver may correspond to protocols that are specific to local area networks, cellular networks (e.g., a WIFI network, a CDMA network, a GPRS network, a UMTS networks), and other types of communication networks. In some implementations, the communication of the transceiver component with communication networks enables a location of connected devices to be determined.

Examples of the present disclosure may have the following features. Reference numerals of elements in the figures of the present disclosure are that are examples of these features are stated.

An apparatus (e.g. <NUM>) for moving a payload, wherein the apparatus comprises:.

The lifting device may have wheels, and the wheels are above ground level when the lifting device is in the stowed configuration.

The number of the one or more actuators may be at least four, wherein a first actuator is located at a bottom of the first side wall closer to the central wall, a second actuator (e.g. <NUM>) is located at a bottom of the first side wall further away from the central wall and closer to an end of the first side wall, a third actuator is located at a bottom of the second side wall closer to the central wall, and a fourth actuator (e.g. <NUM>) is located at a bottom of the second side wall further away from the central wall and closer to an end of the second side wall.

The apparatus may be operable to: when the lifting device is carrying the payload, with the lifting device staying stationary, control the driving mechanism to move the apparatus until the lifting device is out of the space and is changed into the extended configuration, or control the driving mechanism to move the apparatus until the lifting device is not in the extended configuration and is in the space.

The one or more load bearing surfaces may comprise a top portion (e.g. <NUM>) of the first side wall and a top portion (e.g. <NUM>) of the second side wall, wherein the apparatus is operable to:.

In the case that the one or more load bearing surfaces comprise a top portion (e.g. <NUM>) of the first side wall and a top portion (e.g. <NUM>) of the second side wall, the body is configured such that outermost edges of the central wall, the first side wall and the second side wall determine the dimensions of a footprint of the apparatus, and the distance between the first side wall and the second side wall are configured such that the payload is able to be placed on the one or more load bearing surfaces and the length and width of a base of the payload does not exceed the dimensions of the footprint.

The payload comprises a pallet (e.g. <NUM>) and the lifting device comprises a pair of forks (e.g. <NUM>), and when the lifting device is in the extended configuration, the pair of forks are insertable into gaps at a bottom of the pallet.

The one or more actuators may be configured to engage and lift the lifting device to change into the stowed configuration, wherein no portion (e.g. wheels, tracks and/or other parts for mobility) of the lifting device is contacting ground in the stowed configuration.

The one or more actuators may be configured to lower the lifting device in the stowed configuration until one or more portions (e.g. wheels, tracks and/or other parts for mobility) of the lifting device rest on ground.

The extendable member comprises a sloped edge (e.g. <NUM>) movable to contact a bottom portion of the lifting device (e.g. bottom of the fork <NUM> of the lifting device <NUM>) and push against the bottom portion of the lifting device to lift the lifting device according to a gradient of the sloped edge.

In the specification and claims, unless the context clearly indicates otherwise, the term "comprising" has the non-exclusive meaning of the word, in the sense of "including at least" rather than the exclusive meaning in the sense of "consisting only of". The same applies with corresponding grammatical changes to other forms of the word such as "comprise", "comprises" and so on.

Claim 1:
An apparatus (<NUM>) for moving a payload (<NUM>),
wherein the apparatus comprises:
a power supply;
one or more parts for mobility;
a driving mechanism for driving the one or more parts for mobility to move the apparatus;
a lifting device (<NUM>) for lifting a payload;
a body comprising one or more load bearing surfaces (<NUM>, <NUM>), a central wall(<NUM>), a first side wa (<NUM>) and a second side wall (<NUM>), wherein the central wall, the first side wall and the second side wall are arranged to form a boundary defining a space (<NUM>) for residing the lifting device
one or more attachment members (<NUM>, <NUM>) mounted to the lifting device; and
a processor configured to execute instructions in a memory to operate the apparatus to:
control the lifting device to lift the payload;
control the lifting device to place the payload on the one or more load bearing surfaces;
control the driving mechanism to move the apparatus to transport the payload resting on the one or more load bearing surfaces to an intended location,
characterised in that
the lifting device is in a stowed configuration when not in use and is changeable into an extended configuration,
wherein the first side wall and/or the second side wall comprises:
one or more actuators (<NUM>, <NUM>) comprising an extendable member (<NUM>) extendable into the space to engage and support the lifting device at above ground level in the stowed configuration.