Patent Description:
During recent years, the online commerce has increased. In a typical scenario, a customer may order a product or more generally an object from a supplier. The supplier will then ship the desired object to the customer. To do so, the supplier will typically have a warehouse, storing a plurality of objects, which may be shipped to a plurality of different customers. In particular, warehouses allowing humans to pick up the objects are envisaged by the present invention, e.g., warehouses having shelves with a height in the range of <NUM> to <NUM> such as <NUM> to <NUM>. However, the present invention may also be useful for other warehouses, such as high rack warehouses. When an order is received by the supplier, there is the task of finding the object that has been ordered in the warehouse and bringing it to the location where it may be shipped. Typically, a person may walk to the location in the warehouse where the desired object is stored, pick up the object and bring it to the shipping location. Such a procedure may be disadvantageous and undesired for a plurality of reasons. As an initial matter, having the objects to be shipped picked by a person may be prone to failure, i.e., the person may - unintentionally - pick the wrong object. Furthermore, having such a simple task performed by a person may be frustrating for the person and may be relatively cost intensive. In addition, it may be difficult for a person to reach the highest racks in a warehouse. Moreover, people working in such a warehouse may fall ill, thereby reducing the overall efficiency of the transporting system within the warehouse. People working in such a warehouse may also have preferred times to fulfil their tasks (e.g., performing the tasks during the day may be more preferred than performing the same during the night), potentially leading to a varying degree of capacity utilization of such a system to transport the objects from the racks to the location for shipping.

Some attempts have been made trying to alleviate the shortcomings of an entirely human based picking system.

Firstly, these include the automation of the "picking by humans" systems. In addition to a conventional list used by humans to pick up the correct objects and transport them to a desired location (which list may have items to be "ticked" by a human once the objects are at the desired location), e.g., bar codes may be on the objects, which bar codes may be scanned by the user picking up and transporting the objects (these systems may also be referred to as "pick by paper" and "pick by scan" systems, respectively). Furthermore, the racks where the objects are stored may be provided with lights. When a certain object is to be picked, the system may activate the light where the object is located to indicate the respective location to the user ("pick by light"). Furthermore, the user may be provided, e.g., with a headset and the system may communicate the location of the objects to the user via this headset. The user may then also indicate to the system when a respective object has been picked by a voice message to the system ("pick by voice"). Moreover, data goggles may be used. Such data goggles may serve as augmented reality goggles to provide the wearer with additional information, such as where an object to be picked is stored. Furthermore, such goggles may include a camera to detect the environment surrounding the wearer. Thus, it may detect which step the wearer is performing (e.g., whether he has already picked up a respective object). This may also be referred as "pick by vision". All the technologies described in this paragraph relate to the automation of the picking by humans. They provide the user with additional equipment to facilitate the picking of the objects. However, they "remotely control" the user, which may be frustrating to the user, as the tasks to be performed by the user become even more mechanical. Furthermore, such systems still require a human to perform the main tasks of walking to the locations where the objects are located, picking up the objects and bringing the objects to the desired location, e.g., for shipping, which may be both relatively cost intensive and prone to failure.

Secondly, some attempts have been made to realize systems bringing the objects in the storage units to the user for further processing. These include carousel racks - i.e. racks that may rotate either vertically ("paternoster rack") or horizontally. Thus, instead of the user going to the correct location where an object to be shipped is stored, such systems will bring the respective section of the rack to the user. In such systems, the objects are typically stored in plastic boxes which are brought close to the user by rotation of the racks, such that the user may open the respective box and pick the respective object. Some robots have been developed which are adapted to carry complete racks. Such robots may load the respective rack where a desired object is stored and bring the rack to the user who may then pick up the respective object from the rack. Other attempts include automated small part warehouses. In such warehouses, storage units, such as boxes, store small parts. When a small part is to be shipped, a robot picks up the storage unit, i.e., the box, which is then transported to the user, e.g., by means of a conveyer belt or by rail based systems. The user may then open the storage unit and pick the desired object for shipping. However, as will be understood, such systems attempting to bring the objects to the user for shipping are also far from optimal, as they require a particular design and set up of the warehouse, which is typically associated with substantial investment costs. Moreover, these systems are not particularly flexible and prone to overall system failure - e.g., if there is an error in a carousel rack system, it is likely that the complete system will fail and will be unusable until the error is fixed. Furthermore, these systems still require a large amount of human interaction.

<CIT> relates to an automated handling system. The system comprises a central control and management computer and one or a plurality of self-powered trucks adapted to handle stock bins and order receiving bins in the storehouse, and to pick up articles from the bins to constitute lots of articles and gather the various customers' orders. <CIT> relates to a system and apparatus for handling and moving boxes, containers or the like from one place to another inside a factory or a warehouse. <CIT> relates to a driverless conveying vehicle with two rack towers and a load slide arranged between these rack towers for supplying the two rack towers with unit loads. <CIT> relates to a book management robot for automatically borrowing, returning and arranging of books of a library. <CIT> relates to a material-handling robotic unit that is adapted for use in an order fulfillment facility. The robotic unit includes an autonomous mobile vehicle base and a plurality of article receptacles positioned on the base. <CIT> relates to a mobile robot having a movable truck which mounts an article thereon and moves to a predetermined accommodation part, a gripper for gripping the article after the movement, and arms for moving the gripper.

The present invention seeks to overcome or at least alleviate the shortcomings and disadvantages of the prior art. It is therefore an object of the present invention to provide a device, which is able to pick up and transport objects, preferably without the need of a human user. Particularly, the present invention allows single and individual objects to be picked up. It is also an object of the present invention to provide a corresponding method. Further objects of the present invention pertain to additional improvements in such devices and methods.

These objects are met by the robot and the method of the present invention.

Inter alia, the present invention is directed to a robot comprising a base plate, a drive unit and a pick up unit. Such a robot may allow individual objects to be picked up and transported from one location to another, e.g., in a warehouse.

The robot is adapted to pick up and transport objects. Preferably, the robot is adapted to pick up individual objects, such as books.

The robot may be a mobile or autonomously driving robot. This may differentiate the robot from so called industrial robots used, e.g., in the car assembly. Classical industrial robots fulfill certain commands in a very particular and defined environment. In contrast thereto, an autonomously driving or navigating robot does not only follow certain and fixed commands, but rather "behaves" in accordance to certain rules. This allows the robot to work in a more versatile environment than the environments where classical industrial robots are employed. Thus, the robot may be employed in warehouses and side by side with human users.

The drive unit and the pick up unit are positioned on the base plate. In other words, when viewed from a side, the drive unit and the pick up unit are positioned above the base plate and when viewed from the top, the drive unit and the pick up unit overlap the base plate. That is, when viewed from the top, the drive unit and the pick up unit are positioned within the area delimited by the base plate.

The robot further may comprise an energy storage unit, such as a battery unit. The energy storage unit may be positioned on the base plate. The energy storage unit and the pick up unit may be located side by side to one another. The pick up unit may be located between the energy storage unit and the drive unit.

The robot further comprises a shelf unit. The shelf unit may be removable from the remainder of the robot. The robot may be adapted to mount and/or un-mount the shelf unit from the remainder of the robot. The shelf unit may comprise at least one case board and preferably a plurality of case boards. The at least one case board may be displaceable in a vertical direction. In other words, the shelf unit may comprise one or more compartments and the dimensioning of the compartments may be altered, e.g., to facilitate transportation of different objects (having different shapes and/or sizes) therein. When reference is made to a vertical direction, such a direction relates to the direction in an in-use configuration. The robot may be adapted to displace the displaceable case board(s) in the vertical direction. The shelf unit may be located on top of the drive unit. The shelf unit may be positioned on the base plate. Such a shelf unit may allow the robot to transport different objects at the same time. It may therefore be a particularly preferred form for the robot to have such a shelf unit. The pick up unit may be adapted to put objects into the shelf unit.

The drive unit and the pick up unit may be located side by side to one another.

The pick up unit comprises at least one bar positioned perpendicular to the base plate. In other words, the at least one bar is positioned vertically when the robot is in a use position. The at least one bar may be consistently positioned in above described configuration, that is, it may be adapted not to assume another configuration during use. In other words, the at least one bar may be adapted to assume only the position perpendicular to the base plate. Such a configuration of the pick up unit comprising one or more bars may lead to a particularly simple, stable and fail safe pick up unit adapted to pick up objects having a weight of several kg. The at least one bar may be two bars. In other words, in this embodiment, the pick up unit comprises two bars positioned perpendicular to the base plate. That is, the two bars are also positioned parallel to one another. The pick up unit may comprise a connector bar connecting the two bars, preferably at a side opposite to the base plate. The pick up unit may comprise at least one connector member connecting the two bars at locations intermediate to longitudinal ends of the two bars, wherein there are preferably two or more such connector members.

The pick up unit may comprise a pick up device adapted to pick up and release objects, which pick up device is linearly movable along the bar(s). The robot may be adapted to rotate the pick up device around an axis perpendicular to the base plate. The pick up device may be adapted to simultaneously pick up a plurality of objects.

In one embodiment, where the robot comprises the above feature and the shelf unit, the robot may pick up an object when the pick up device is rotated in a first orientation. The pick up device may then be rotated to a second orientation to place the object into the shelf unit, where the object is released and stored for transportation.

The pick up device itself may be rotatable around the axis.

The pick up unit may comprise a pick up unit support plate, which is rotatably mounted on the base plate and wherein the at least one bar may be mounted on the pick up unit support plate.

The pick up unit support plate may have a thickness in the range of <NUM> to <NUM>, preferably <NUM> to <NUM> and further preferably <NUM> to <NUM>, such as <NUM>. In other words, the pick up unit support plate may have a thickness not exceeding <NUM>, <NUM> or <NUM>.

According to the invention, the at least one bar is telescopable between a retracted and an extended position. In other words, the at least one bar may be length adjustable between retracted and extended positions. The difference between the most extended and the most retracted position may be in the range of <NUM> to <NUM>, preferably <NUM> to <NUM> and further preferably <NUM> to <NUM>, such as <NUM>. This may enable the robot to reach objects in relatively high locations, while at the same time allowing the robot to drive via locations having a relatively low clearance.

The base plate may have a thickness in the range of <NUM> to <NUM>, preferably <NUM> to <NUM> and further preferably <NUM> to <NUM>, such as <NUM>. In other words, the base plate may have a thickness not exceeding <NUM>, <NUM> or <NUM>.

The robot further may comprise a plurality of wheels. The robot may further comprises at least one motor driving at least one of the wheels. Particularly, the robot may comprise two motors and two of the wheels are driven by the motors, wherein each motor drives one wheel, respectively. At least one wheel driven by a motor (and preferably all such wheels) may extend through the base plate. A portion of the vertical diameter of the at least one motor driven wheel may be disposed above the base plate, wherein this portion is at least <NUM>%, preferably at least <NUM>%, more preferably at least <NUM>% of the diameter, such as approximately <NUM>%.

The base plate may comprise a downward facing surface adapted to face to the ground in use and an upward facing surface opposite to the downward facing surface, wherein the upward facing surface in use is distanced from the ground by a distance in the range of <NUM> to <NUM>, preferably <NUM> to <NUM>, more preferably <NUM> to <NUM>, such as <NUM>. In other words, the upward facing surface may be distanced by no more than <NUM>, <NUM> or <NUM> from the ground during use.

In other words, the portions of the wheels being in contact with the ground during use, i.e., the portions being disposed "lowest" on the robot, i.e., on the side of the downward facing surface and furthest displaced from the upward facing surface, are displaced from the upward facing surface of the base plate by above distances.

By one or more of the above measures, it is possible for the pick up unit and the pick up device to be placed at a location relatively close to the ground, which may enable the robot to pick up objects from locations close to the ground, e.g., from locations being <NUM> to <NUM> distanced from the ground.

The robot may have a maximum height in the range of <NUM> to <NUM>, preferably <NUM> to <NUM>, more preferably <NUM> to <NUM>, such as <NUM>. This maximum height may correspond to the height of the robot in an extended configuration. Such a height may be particularly useful if the robot is to be used in a standard warehouse, where both robots and humans may transport the objects.

The robot may comprise a center of mass, which in use is distanced from the ground by a distance in the range of <NUM> to <NUM>, preferably <NUM> to <NUM>, more preferably <NUM> to <NUM>, such as <NUM>. That is, the center of mass of the robot in use may be distanced by no more than <NUM>, <NUM> or <NUM> from the ground. The center of mass typically corresponds to the mass of the robot without any transported objects and with the pick up unit in its lowest configuration. This allows for a particularly stable configuration of the robot.

The base plate may have a width in the range of <NUM> to <NUM>, preferably <NUM> to <NUM>, more preferably <NUM> to <NUM>, such as <NUM>. Such a configuration of the base plate may allow the robot to be positioned in front of a rack in a typical warehouse without the robot blocking the way between two racks. That is, with such a width, it may be possible for a human or another robot to pass a robot being positioned between racks.

The base plate may have a length in the range of <NUM> to <NUM>, such as <NUM>.

The robot further may comprise a sensor for sensing obstacles. Such a sensor may, e.g., be located in a lateral end section of the robot and may sense when obstacles are present close to the robot, e.g., when there are obstacles in the way of movement of the robot. For example, when the robot is driving in a certain direction, it may sense the presence of an obstacle in this direction, which obstacle may be, e.g., a human. The sensor could be a camera with a depth sensor or a 3D camera. Additionally or alternatively, the sensor may comprise a laser sensor for sensing the obstacles. A non limiting example of such a laser sensor is a S3000 laser scanner from SICK AG, Waldkirch.

Furthermore, the robot may also comprise at least one proximity sensor for sensing the distance between the robot and another object, e.g., a shelf.

The robot may be a freely movable robot, i.e. a robot that is free to move in a respective room. This is different, e.g., to a robot mounted on trails or the like. Such a trail based robot can only move along the trails, i.e. along predetermined routes. In contrast thereto, the robot of the present invention may be freely movable in space.

The present invention is also directed to a method of transporting at least one object. Whenever method steps are mentioned in a particular order herein, the method is preferably, but not necessarily, performed in the order in which the steps are mentioned herein, unless the order of the steps is explicitly recited.

The method comprises: providing a robot as described above, the robot going to a first storing location where a first object is stored, the robot picking up a first object and the robot transporting the first object to a first destiny location.

The robot comprises a shelf unit as explained above and the method may comprise the step of the robot placing the first object in the shelf unit.

The method may further comprise: the robot going to a second storing location where a second object is stored and the robot picking up the second object after the robot has placed the first object in the shelf unit.

The method may further comprise: the robot transporting the second object to the first destiny location or to a second destiny location.

The robot may place the second object in the shelf unit.

The robot may pick up an object from a location having a distance in the range of <NUM> to <NUM>, preferably <NUM> to <NUM>, more preferably <NUM> to <NUM>, such as <NUM> from the ground supporting the robot. In other words, the robot may pick up an object from a location being distanced by no more than <NUM>, <NUM> or <NUM> from the ground. It will be understood that it is envisaged that this step may be a part of picking up the first and/or the second object. The robot may pick up an object from a location having a distance in the range of <NUM> to <NUM>, preferably <NUM> to <NUM>, more preferably <NUM> to <NUM>, such as <NUM> from the ground supporting the robot. In other words, the robot may pick up an object from a location being distanced by more than <NUM>, <NUM>, <NUM> from the ground. It will be understood that it is envisaged that this step may be a part of picking up the first and/or the second object.

The robot may comprise at least one bar as explained above and the robot may telescope the at least one bar from a retracted to an extended position and/or vice versa.

The robot may un-mount the shelf unit from the remainder of the robot. Another robot may mount the shelf unit to the remainder of said other robot.

The invention will now be described with reference to the accompanying drawings, which depict embodiments of the present invention. More particularly.

Throughout the description of the drawings, like features are denoted by like reference numerals. However, for ease of illustration and brevity of the description, some reference numerals may be omitted in some of the Figures.

<FIG> depicts a robot <NUM>, as well as a plurality of racks or shelves <NUM>. A plurality of objects <NUM> are placed in the racks <NUM>. In the depicted <FIG>, the objects <NUM> are depicted to be box-shaped objects (such as, for example, books or DVDs or games). The robot <NUM> is adapted to pick up and transport the objects <NUM>, e.g. objects <NUM> having an overall weight on the order of some kg, such as <NUM>. That is, the robot <NUM> is a mobile robot <NUM>. The robot <NUM> comprises a base plate <NUM>, a drive unit <NUM>, a shelf unit <NUM>, a pick up unit <NUM> and an energy storage unit <NUM> (which will also be referred to as battery unit <NUM> in the present embodiments) <FIG> and <FIG> depict the robot <NUM>, which is also depicted in <FIG>, in greater detail, from both sides. <FIG> depict the base plate <NUM> with additional components of the drive unit <NUM>. All the components and/or units are positioned on the same base plate <NUM>, i.e., they are all mounted to the same base plate <NUM>. Preferably, the drive unit <NUM>, the pick up unit <NUM> and the battery unit <NUM> are located side by side, such that these three units are directly connected to the base plate <NUM>. Further preferably, the pick up unit <NUM> is located on the center of the base plate <NUM>, i.e., between the battery unit <NUM> and the drive unit <NUM>. In embodiments, the pick up unit <NUM> may also be referred to as turn and lift unit <NUM> (or turn and lift post <NUM>), as it may be adapted to lift and rotate an object.

The battery unit <NUM> typically comprises a battery, such as a rechargeable battery. The battery may be replaceable from the battery unit <NUM>. Furthermore, the battery may also be charged when being placed in the battery unit <NUM>. That is, there may be provided electrical contacts in the battery unit <NUM> to charge the battery.

Reference will now be made to pick up unit <NUM>, parts of which are also depicted in <FIG> showing a perspective view of these parts, as well as <FIG> showing a top and a bottom view, respectively. Pick up unit <NUM> comprises a pick up unit support plate <NUM> (which may also be referred to as pick up unit base). The pick up unit support plate <NUM> may comprises a sliding ring disposed on its side facing the base plate <NUM> and allowing the pick up unit support plate <NUM> to rotate more easily on the base plate <NUM>. On this pick up unit support plate <NUM>, at least one bar (or trail or rack) <NUM> is mounted. Preferably, there are provided at least two bars or trails <NUM> and more preferably exactly two bars or trails <NUM>. These bars <NUM> extend parallel to one another and in a vertical direction during use. That is, the bars <NUM> extend perpendicular to base plate <NUM> and pick up unit support plate <NUM>. The bars <NUM> may be connected by a connection bar <NUM> on their ends furthest from the pick up unit support plate <NUM>. This connection bar <NUM> may provide additional stability to the bars <NUM>. Furthermore, there may be provided one or more connector members <NUM>, which may be arched, to provide additional stability to the pick up unit <NUM>. Furthermore, the connector members <NUM> and/or the connection bar may also be used to house energy chains and/or cables that may be employed in the robot. The pick up unit <NUM> further comprises a pick up device <NUM> (not depicted in <FIG> for clarity of illustration). However, these Figures depict pick up device support unit <NUM>, which supports the pick up device <NUM>. More particularly, the top view of <FIG> depicts the bars <NUM>, the connection bar <NUM>, the connector members <NUM> and the pick up unit support plate <NUM>. Furthermore, this Figure also depicts a motor unit <NUM>. The motor unit <NUM> allows the bars <NUM> to be telescopable between retracted and extended positions. According to one embodiment, the motor unit <NUM> may pull a pulley via a rotational spindle, which causes the bars <NUM> to be telescopable between retracted and extended positions. However, other mechanisms may also be applied to allow for the telescoping of the bars <NUM>. <FIG> depicts parts of the pick up unit <NUM> from below. Most notably, there is depicted an opening <NUM> in the pick up unit support plate <NUM>, which opening <NUM> allows mounting of the pick up unit <NUM> on rotational drive means <NUM> (see <FIG>). The opening <NUM> centers the pick up unit <NUM> on the base plate <NUM>. Having the opening <NUM> also disposed on the upward facing side may be particularly advantageous for servicing. In particular, there may be provided threads in the opening <NUM> and on the rotational drive means <NUM> allowing these structures to be connected with one another.

The pick up device <NUM> is displacably supported on bars <NUM>. That is, the pick up device <NUM> may go up and down on bars <NUM> in a linear manner. Thus, its vertical position may be changed. There may be provided a sensor assembly <NUM> on the pick up device <NUM> adapted to sense the exact location of the objects <NUM> to be picked up (see, e.g., <FIG>). Typically, such a sensor assembly <NUM> could comprise at least one camera. The camera may be, for example, a 3D camera or a camera including a depth sensor. By means of such a sensor assembly <NUM>, the exact location of the object <NUM> to be picked up may be sensed. According to a first embodiment, exemplarily depicted in <FIG> and <FIG>, the pick up device <NUM> may be primarily adapted to pick up regularly shaped objects <NUM>, such as boxes, books and/or DVDs. As depicted, e.g., in <FIG> and <FIG>, which are enlarged views of a section of Figs. <NUM> and <FIG>, respectively, the pick up device <NUM> may comprise a support plate <NUM> and a pulling assembly <NUM>. The support plate <NUM> is disposed substantially horizontally. According to one embodiment, it may be extended from the bars <NUM> in a horizontal direction. Thus, it may be placed under the rack of the shelf where the object <NUM> to be picked up is located. It may also be placed on level with the rack of the shelf where the object <NUM> to be picked up is located and directly adjacent to this rack. The pulling assembly <NUM> comprises a substantially horizontal portion <NUM> and a vertical extension <NUM> on the distal end of the horizontal portion <NUM>. The vertical extension <NUM> extends downwards from the horizontal portion <NUM>. The horizontal portion <NUM> is extendable and retractable between extended and retracted configurations. Furthermore, the vertical distance between the support plate <NUM> and the pulling assembly <NUM> is adjustable. To pick up object <NUM>, the exact location of the object <NUM> is sensed by means of sensor assembly <NUM>, the support plate <NUM> is moved into a location under the rack the object <NUM> is located on or directly adjacent to said rack. The pulling assembly <NUM> is positioned on a vertical position allowing the pulling assembly <NUM> to be extended further than the distal end of the object <NUM> and the pulling assembly <NUM> is extended in such a way (see <FIG>). The pulling assembly <NUM> is then lowered to a point where the vertical extension <NUM> may abut the distal end of the object <NUM> and the pulling assembly <NUM> is retracted (see <FIG>). This causes the object <NUM> to slide onto support plate <NUM>. The pick up device <NUM> including the support plate <NUM> and the pulling assembly <NUM> may be retracted, such that the pick up assembly <NUM> together with the object <NUM> is retracted to a location, e.g., in between the bars <NUM>. <FIG> depict a similar configuration as do <FIG>.

However, <FIG> depict the pick up device <NUM> being rotated by <NUM>° with respect to <FIG>. In this configuration, the pick up device <NUM> may pick up objects <NUM> from the shelf unit <NUM> of the robot <NUM>. As the mechanism is substantially identical to the mechanism employed for picking up an object from an external shelf <NUM>, it will not be described in further detail. Although not depicted, it is noted that the described pick up device <NUM> may also comprise a pushing assembly. The pushing assembly is adapted to push objects away from pick up device <NUM> and more particularly from support plate <NUM>. , in the state depicted in <FIG>, the vertical position of the pulling assembly <NUM> could be changed such that the vertical extension <NUM> does no longer engage the object <NUM>. Pushing assembly may then be used to push the object <NUM> from a location on the support plate <NUM> to the external shelf <NUM>. In particular, such a pushing assembly can be used to locate objects picked up from an external shelf <NUM> into the shelf unit <NUM> of the robot. Additionally or alternatively, the support plate <NUM> and the pulling assembly <NUM> could be used to locate objects that have been picked up on an external rack <NUM> or on a shelf unit <NUM>. The above described pick up mechanism would then be used in reverse. That is, the support plate <NUM> would be extended such that an object <NUM> placed thereon is positioned directly above the desired location the object <NUM> is to be disposed (e.g. on external shelf <NUM> or in shelf unit <NUM>). The vertical extension <NUM> of the pulling assembly <NUM> would then be positioned directly "behind" the object <NUM>, i.e. the vertical extension <NUM> would be more inward than the object <NUM>, and the support plate <NUM> would be retracted. The object <NUM> abuts the vertical extension <NUM> preventing that the object <NUM> is also retracted. When the support plate's distal end is retracted beyond the location of the vertical extension <NUM>, the object <NUM> will no longer be supported on support plate <NUM>, but will be placed on the desired location.

Although not depicted, the pick up unit <NUM> may also comprise a housing. In particular, such a housing may enclose the pick up unit <NUM> on a rear side of the robot <NUM>, i.e., on the side opposite to the side where the pick up unit <NUM> and device <NUM>, <NUM>' is adapted to pick up objects <NUM>.

<FIG> and <FIG> depict a second embodiment, where the pick up device <NUM>' comprises a base unit <NUM> and a robotic arm <NUM> provided with one or more hinges <NUM> and a gripper <NUM> located on the distal end of the robotic arm <NUM>. The pick up device <NUM>' may also comprise a sensor assembly as described above. The gripper <NUM> may be a classical gripper that truly grips the object <NUM> to be picked up or a suction device that "grips" the object <NUM> by means of suction supplied to the object <NUM>. Such grippers may be adapted to grip irregularly shaped objects, e.g. hair dryer <NUM>'. Combinations of gripping and suction are also envisaged by the present technology. Again, pick up device <NUM>' is supported on bars or trails <NUM> such that the vertical position of base unit <NUM> can be altered in a linear manner.

Reference is now made to the base plate <NUM>, primarily depicted in <FIG>. The base plate <NUM> has a receiving portion <NUM> for receiving the pick up unit support plate <NUM>. There is also provided a rotational drive means <NUM> adapted to rotate the pick up unit support plate <NUM> when it is mounted to the base plate <NUM>. The robot <NUM> also comprises a plurality of wheels <NUM>, <NUM>. In the present embodiment, there are two wheels <NUM>, each of which is driven by a respective motor, whereas the wheels <NUM>, which are four double wheels in the present embodiment (see <FIG>) are passive wheels, which are not driven by a motor, but which react passively to forces, e.g., to the forces supplied by means of the motors and wheels <NUM>. As will be appreciated, by individually driving the wheels <NUM>, the location of the base plate <NUM> and hence the robot <NUM> may be altered, as may be its orientation. Typically, the described motors form part of the drive unit <NUM>. Preferably, the motors are located coaxially and act as a differential drive. The motor driven wheels <NUM> are typically pressed towards the ground by means of suitable spring elements to thereby transmit drive torque to the ground.

The depicted robots <NUM> may also comprise one or more (such as two) sensors adapted to sense obstacles in the way the robot <NUM> is travelling. Furthermore, the robots <NUM> may also comprise a projecting means projecting the route the robot <NUM> is going onto the floor in front of the robot <NUM>. This may conveniently indicate the route of the robot <NUM> to users and other humans. All these means may be employed as safety measures for the robot <NUM> to prevent collisions, particularly with humans.

A common operation of a robot <NUM> of the present technology will now be described. Robot <NUM> typically is an autonomously driven robot, that may be used in the consignment or picking of objects <NUM>. For example, the robot <NUM> may be used in a warehouse, wherein a plurality of different objects <NUM> is stored. It may be required to pick up different objects A, B, C and to bring the respective objects to a particular location, e.g., for shipping the respective objects. Such tasks may be communicated to a data receiving and transmitting means, comprised in drive unit <NUM>. The drive unit <NUM> typically also comprises a processor. There may be provided a memory of where the respective objects are stored in the warehouse. A route may be calculated comprising the locations of objects A, B and C. The robot <NUM> may then navigate and go to the first object A to be picked up by means of the drive unit <NUM> driving the respective wheels <NUM>. Once the robot <NUM> is located in front of the rack <NUM>, where the correct object A is stored, the robot <NUM> may stop and cause the pick up unit <NUM> to pick up the respective object <NUM>. More particularly, once the robot <NUM> is in front of the correct rack <NUM>, the pick up device <NUM> may be brought to the correct vertical location by moving along the bars <NUM>. The object <NUM> may then be picked up and the pick up device <NUM>, <NUM>' may be retracted. As discussed, the robot <NUM> also comprises a shelf unit <NUM>. The shelf unit <NUM> may be replaceable, i.e., the shelf unit <NUM> may be mounted to and un-mounted from the remainder of the robot <NUM>. This may be done by the user of the robot <NUM>. However, the robot <NUM> may also be adapted to mount and un-mount the shelf unit <NUM>. As depicted, e.g., in <FIG>, the shelf unit <NUM> typically comprises a plurality of compartments, e.g., by means of shelf or case boards <NUM>. The boards <NUM> may be located on different heights in the shelf unit <NUM> and their positions may be changeable. In particular, the robot <NUM> may be adapted to change the positions of the boards <NUM>. Thus, the shelf unit <NUM> may be adaptable to meet different needs and to house and/or transport different objects <NUM> (having different shapes and sizes). Furthermore, the shelf unit <NUM> may also comprise a housing enclosing the shelf unit <NUM> such that only the side facing towards the pick up unit <NUM> remains open. The shelf unit <NUM> typically extends to a height in a range of <NUM> to <NUM>, preferably <NUM> to <NUM> and most preferably <NUM> to <NUM>. By means of the shelf unit <NUM>, a plurality of objects <NUM> may be stored in the robot <NUM>. That is, after picking up the object <NUM>, the robot <NUM> may place the object <NUM> in the shelf unit <NUM>. To do so, the pick up device <NUM> is brought into the correct vertical location of the shelf compartment the object <NUM> is to be stored in by means of the bars <NUM>. The pick up unit <NUM> is then (although the sequence of the steps is not a necessity) rotated by means of the pick up unit support plate <NUM> being rotated with respect to base plate <NUM>. The pick up device <NUM>, <NUM>' is then extended to the respective compartment of the shelf unit <NUM> to place the object <NUM> into this shelf compartment. After this procedure has been performed for object A, it is repeated for objects B and C. That is, in short words, the robot <NUM> drives to object B, picks it up and places it into the shelf unit <NUM>, drives to object C and places it into the shelf unit <NUM> and then brings all the objects to the desired location, e.g., the location for shipping.

Some preferred features of the robot <NUM> of the present technology will now be described.

According to the invention the described bars or trails <NUM>, by means of which the described pick up device <NUM> may be moved in the vertical direction, are telescopable. That is, there is an extended configuration of the bars or trails <NUM> and a retracted configuration. Preferably, there may be a plurality of such configurations. An extended configuration is depicted, e.g., in <FIG> and a further retracted configuration is depicted in <FIG> and <FIG>. <FIG> also show an extended configuration, and <FIG> a further retracted configuration. By means of this, the pick up device <NUM> may be adapted to pick up objects <NUM>, located at a greater height then would be possible if the bars or trails <NUM> would not be extendible, while, at the same time, allowing the robot <NUM> to go via areas of decreased height. For example, the height of the robot <NUM> with the bars or trails <NUM> fully retracted may be <NUM>,<NUM> and the overall height of the robot <NUM> may be <NUM>,<NUM> in the fully extended configuration. Such a configuration would be particularly useful, e.g., in a warehouse having a roof with beams or bars <NUM> having a clearance or pass line height which is lower than the highest rack - e.g., <FIG> depicts such a beam or bar <NUM> with a clearance being lower than the height of the robot <NUM> with the bars <NUM> in the extended configuration. As will also be appreciated by the figures, drive unit <NUM> and pick up unit <NUM> are oriented side by side on the base plate <NUM>. This is particularly advantageous, as by means of this configuration, the bars or trails <NUM> may extend all the way down to the base plate <NUM>, thereby allowing the pick up device <NUM> to go down all the way to the base plate <NUM> to thereby be able to also pick up objects <NUM>, which are located adjacent the floor. In this regard, particular reference is also made to <FIG>, illustrating that the base plate <NUM> is located very close to the floor. Generally speaking, the base plate <NUM> has two surfaces <NUM> and <NUM>. During use, one of the surfaces, i.e., surface <NUM>, faces downwardly and is therefore called downward-facing surface. Surface <NUM> is opposite to surface <NUM> and is therefore called upward-facing surface. The drive unit <NUM>, the shelf unit <NUM> and the pick up unit <NUM> are located on the side of the upward-facing surface. As will be appreciated, e.g., from <FIG>, the upward-facing surface <NUM> of the base plate <NUM> may be disposed close to the ground and may preferably be located not more than <NUM> from the ground, such as being disposed <NUM> or <NUM> from the ground. The motor-driven wheels <NUM> may extend through the base plate <NUM> and preferably in such a way that at least <NUM>%, further preferred <NUM> % and further still preferred <NUM> %, such as approximately <NUM>% of the vertical diameter (which diameter may be approximately <NUM>) of the wheels are disposed above the upward-facing surface <NUM> of the base plate <NUM>. All these measures may be applied to locate the upward-facing surface <NUM> relatively close to the floor. This allows the pick up device <NUM> to be moveable to a location close to the ground to pick up objects close to the ground. This may be particularly advantageous, as it allows the robot <NUM> to pick up objects from very low locations. According to the present embodiment, the motor-driven wheels <NUM> extend through apertures in the base plate <NUM>.

Furthermore, it will be appreciated that components substantially contributing to the overall weight of the robot <NUM> are the drive unit <NUM>, the pick up unit <NUM> and the battery unit <NUM>. By placing these units side by side to one another (instead of, e.g., placing one on top of the other) a height of the centre of mass may be reduced, which increases stability of the robot, too. It is preferred that the robot comprises a configuration (e.g., fully extended or fully rejected), wherein the centre of mass is located in the lower <NUM>%, preferably within the lower <NUM>% and further preferably within the lower <NUM>% of the robot.

<FIG> depict a robot <NUM> used in a warehouse having a plurality of shelves <NUM> and a plurality of objects stored in the shelves <NUM>. Furthermore, these Figure also depict humans <NUM>. As described, the robot <NUM> may comprise a sensor to sense obstacles, such as humans <NUM>, which may allow a save interaction between humans <NUM> and robots <NUM>, allowing the robots <NUM> to be used side by side to humans <NUM>. Furthermore, as will be appreciated particularly from <FIG> and <FIG>, the robot <NUM> typically has such a width (e.g. approximately <NUM>) allowing a human <NUM> to pass between the robot <NUM> and an external shelf <NUM>. Furthermore, this may also enable two robots <NUM> to pass in the space delimited by two external shelves <NUM>, allowing multiple robots <NUM> to be used in a warehouse. <FIG> and <NUM> also depict a plurality of robot shelf units <NUM>, one of which is mounted to the robot <NUM>. Three other shelf units <NUM> are currently not mounted to the robot <NUM>, but are positioned at a location where a user <NUM> may take out objects and place them in boxes for shipping.

This is also depicted in <FIG> and <FIG>. Again, these Figures depict a plurality of external shelves or racks <NUM> storing a plurality of objects. There are further depicted humans <NUM> working and a robot <NUM>, as well as a plurality of shelf units <NUM> which may be mounted to the robot <NUM>. That is, this embodiment also relates to the shelf units <NUM> being removable from the robot <NUM>. In particular, the robot <NUM> itself may mount and/or un-mount the shelf units <NUM> to and/or from the remainder of the robot <NUM>, e.g. by means of the pick up unit <NUM> and in a similar way as other objects can be picked up by the robot <NUM>. However, the mounting and un-mounting of the shelf unit <NUM> to and from the robot <NUM> may also be performed by a user <NUM>.

The present invention also covers the exact terms, features, values and ranges etc. in case these terms, features, values and ranges etc. are used in conjunction with terms such as about, around, generally, substantially, essentially, at least etc. (i.e., "about <NUM>" shall also cover exactly <NUM> or "essentially radial" shall also cover exactly radial).

Claim 1:
A robot (<NUM>) adapted to pick up and transport objects (<NUM>) comprising
a base plate (<NUM>),
a drive unit (<NUM>),
a pick up unit (<NUM>) and
a shelf unit (<NUM>),
wherein the drive unit (<NUM>), the pick up unit (<NUM>) and the shelf unit (<NUM>) are positioned on the base plate (<NUM>),
wherein the pick up unit (<NUM>) comprises at least one bar (<NUM>) positioned perpendicular to the base plate (<NUM>),
characterized in that the at least one bar (<NUM>) is telescopable between a retracted and an extended position.