Patent Description:
Generally transportation of goods in a commercial logistics facility is done with manually operated transport equipment such as fork lift-trucks, pallet jack-trucks, and with trailerable carts that are pulled behind a tugger vehicle. In some instances sensors are added to the transport equipment to provide some autonomous operation of the equipment. Further, the each piece of transport equipment is tailored to a specific operation (e.g., lifting, tugging, etc.) meaning that multiple pieces of equipment must be obtained for various operations. <CIT> describes a configurable modular autonomous material-handling vehicle. The vehicle comprises an engine module (power module) with a motor, sensors, and a control system integrated with each other for autonomous navigation along a guide wire buried in the floor of a logistics space. The parts are packaged within a module housing, forming the engine module unit, and having a module interface at one end. The interface is for modular coupling of the module unit with an accessory module (load handling module). Multiple load-handling modules are provided, each with a corresponding, predetermined, different logistics or material-handling characteristic. These modules define, upon coupling with the engine module unit, a different type of autonomous vehicle. Each load-handling module is interchangeable with the others. The selectable coupling configures the autonomous guided vehicle so as to change the vehicle type from a first type to a second type. The load handling modules disclosed include two forms of order pickers, a double masted stacker, and a towing attachment. The connection between the load handling module and the power modules is designed to maintain a constant force on the steering wheels of the power module regardless of the load on the load handling module, and to facilitate changing from one load handling module to another.

<CIT> describes an automated guided vehicle comprising control, power, drive and bumper modules for material carrying, loading or unloading purposes. To enable mass- and optional production, change of function can be achieved by changing only the main body and keeping the other modules. In order to simplify maintenance and allow access to the drive module without lifting the vehicle an arm is positioned above the main body (which allows the drive module to be rotated around an axis.

<CIT> describes a modular vehicle frame for a material handling vehicle. The modular vehicle frame includes a battery compartment, a handle configured to control a speed and direction of a traction wheel, and a mounting assembly configured to selectively quick-connect to a material handling attachment.

The foregoing aspects and other features of the disclosed embodiment are explained in the following description, taken in connection with the accompanying drawings, wherein:.

It would be advantageous to have an intrinsically autonomous guided vehicle that is configured to perform various different transport operations in a fully autonomous, semi-autonomous, or manual mode.

Referring to <FIG>, a configurable modular robotic autonomous guided vehicle <NUM> (referred to herein as "autonomous guided vehicle <NUM>") is illustrated in accordance with aspects of the disclosed embodiment. Although the aspects of the disclosed embodiment will be described with reference to the drawings, it should be understood that the aspects of the disclosed embodiment can be embodied in many forms. In addition, any suitable size, shape or type of elements or materials could be used.

The autonomous guided vehicle <NUM> is configured for logistic and/or material handling in a commercial logistic facility <NUM>. Examples of the commercial logistic facility <NUM> include, but are not limited to, warehouses, stores, storage and retrieval facilities, distribution facilities, and production/assembly facilities. In one aspect, such as where the autonomous guided vehicle <NUM> operates in a production/assembly facility (the production/assembly facility is used here for exemplary purposes only and it should be understood that the autonomous guided vehicle <NUM> may perform any suitable transport of goods depending on the facility in which the autonomous guided vehicle <NUM> operates), the autonomous guided vehicle may traverse a travel area in the production/assembly facility to transport objects from/to or between different fabrication zones in the production/assembly facility where each different fabrication zone has a different stage of goods fabrication, e.g., a subassembly from one fabrication stage is transferred to another fabrication stage for integration into a larger assembly/subassembly (such as in vehicle manufacturing). In another aspect, the autonomous guided vehicle may transfer the goods to a final assembly fabrication zone or to a shipping area for outbound transfer of the goods from the production/assembly facility.

The autonomous guided vehicle <NUM> includes a robotic autonomous guided vehicle engine module <NUM>. The robotic autonomous guided vehicle engine module <NUM> includes motor(s) <NUM>, sensors <NUM> and a control system <NUM> that are integrated with each other for autonomous navigation of the autonomous guided vehicle <NUM>, freely throughout a travel area <NUM> of the commercial logistic facility <NUM>. In one aspect, the travel area <NUM> forms a logistic space <NUM> of the commercial logistic facility <NUM>; while in other aspects the travel area <NUM> forms any suitable space of the commercial logistic facility <NUM>. The motor (s) <NUM> may be any suitable motors configured to drive one or more wheels or tracks <NUM> of the automated guided vehicle <NUM>, either directly or through any suitable transmission, so that the automated guided vehicle <NUM> traverses, e.g., a floor, or any other suitable autonomous guided vehicle support surface, of the travel area <NUM>. An example of a suitable robotic autonomous guided vehicle engine module is the AutoGuide MAX N10 mobile robot platform available from AutoGuide LLC, through any suitable autonomous guided vehicle may be used.

The sensors <NUM> may be any suitable sensors that are disposed at any suitable locations on the robotic autonomous guided vehicle engine module <NUM> to effect autonomous navigation of the autonomous guided vehicle <NUM> throughout the travel area <NUM>. The sensors <NUM> include, but are not limited to, one or more of optical sensors, acoustic sensors, capacitive sensors, radio-frequency sensors, cameras having large fields of view, time of flight cameras, proximity imaging sensors/cameras, and/or any other suitable sensor(s) that provide(s) for the dynamic detection of obstacles, goods, personnel, docking stations, close coupling between the autonomous guided vehicle <NUM> (and its payload and/or accessory module) with manufacturing equipment, etc., and/or simultaneous localization and mapping (SLAM) (or other suitable navigation technique) within the commercial logistic facility <NUM>.

The control system <NUM> is any suitable control system having at least one controller <NUM> that is configure with any suitable programming for effecting operation of the autonomous guided vehicle <NUM> as described herein. The controller <NUM> may also be configured, such as through wireless communications, to communicate with any suitable management system <NUM> of the commercial logistic facility <NUM> to effect fully autonomous operation of the autonomous guided vehicle <NUM>. For example, the autonomous guided vehicle <NUM> is configured to receive, and the management system <NUM> of the commercial logistic facility <NUM> is configured to send, commands that instruct the autonomous guided vehicle <NUM> to perform predetermined tasks within the commercial logistic facility <NUM>. Such tasks include but are not limited to, picking and placing goods, transporting goods, loading conveyance vehicle(s) <NUM> (see <FIG>), or any other suitable task. The autonomous guided vehicle <NUM> may send task completed signals to the management system <NUM> for closing a task (marking the task complete) and to effect reassignment of the autonomous guided vehicle <NUM> to a subsequent task.

The autonomous guided vehicle <NUM>, through the robotic autonomous guided vehicle engine module <NUM>, is configured for intrinsic (i.e., wholly) autonomous navigation throughout the travel area <NUM>, from any start location/point to any end destination location/point in the travel area <NUM>. For example, the autonomous guided vehicle <NUM>, through the autonomous guided vehicle engine module <NUM>, relies on inherent structure (e.g., storage racks, assembly robots, conveyors, paint booths, assembly stations, etc.) of the commercial logistic facility <NUM> rather than specialized navigation infrastructure (e.g., line following, mechanical guidance, radio/electromagnetic beacons, magnets, codified marks/tape, etc.) for navigating through the travel area <NUM>. For example, referring also to <FIG>, the commercial logistic facility <NUM> includes logistic or material handling stations <NUM>-<NUM> (e.g., for logistic goods such as pallet storage locations, palletizer/depalletizer stations, conveyor infeed and/or outfeed stations, etc.) distributed throughout the travel area <NUM> of commercial logistic facility <NUM>. The logistic or material handling stations <NUM>-<NUM> are disposed so as to form travel lanes or aisles <NUM>, <NUM> between the logistic or material handling stations <NUM>-<NUM> so that each logistic or material handling stations <NUM>-<NUM> communicates with one or more other logistic or material handling stations <NUM>-<NUM> through the travel lanes or aisles <NUM>, <NUM>. The autonomous guided vehicles <NUM> travel within the travel lanes or aisles <NUM>, <NUM> and between two or more of the travel lanes or aisles <NUM>, <NUM> by relying on the intrinsic structure of, for example, the logistic or material handling stations <NUM>-<NUM> for the intrinsic (i.e., wholly) autonomous navigation of the autonomous guided vehicles <NUM> throughout the travel area <NUM>.

Referring again to <FIG>, the integrated motor(s) <NUM>, sensors <NUM>, and control system <NUM> are packaged within a module housing <NUM> forming the robotic autonomous guided vehicle engine module <NUM> as a module unit <NUM>. The module unit <NUM> includes a module interface <NUM> at one end of the module unit <NUM> for modular coupling of the module unit <NUM> with a logistic or material handling accessory module 150A-150n (generally referred to as logistic or material handling accessory module <NUM>) of the autonomous guided vehicle <NUM>. The module interface <NUM> is communicably coupled to the controller <NUM> for at least registering the logistic or material handling accessory module <NUM> with the controller <NUM> as described herein.

Referring to <FIG> and <FIG>, in one aspect, the autonomous guided vehicle <NUM> has a built-in inherent logistic or material handling characteristic that defines a logistic or material handling autonomous guided vehicle type. For example, the module unit <NUM> is configured to define an integral (or inherent) predetermined logistic or material handling characteristic, different from the corresponding logistic or material handling characteristics of each of the logistic or material handling accessory modules <NUM>. The integral predetermined logistic or material handling characteristic defines another logistic or material handling autonomous guided vehicle type different from each of the logistic or material handling autonomous guided vehicle types 100T (<FIG>), 100PL (<FIG>), 100PLH (<FIG>), 100PJ (<FIG>), 100C (<FIG>), 100U (<FIG>) that are described herein and defined from coupling respective logistic or material handling accessory modules 150A-150n with the module unit <NUM>.

In one aspect, the inherent or integral logistic or material handling characteristic inherently defines the autonomous guided vehicle <NUM> as a tugger 100T (i.e., the inherent logistic or material handling autonomous guided vehicle type is a tugger); however in other aspects the tugger may be one of the different logistic or material handling accessory modules 150A-150n. In this aspect, the autonomous guided vehicle <NUM> of the tugger 100T type includes any tug coupling <NUM> at one end of the autonomous guided vehicle <NUM>. The tug coupling <NUM> may be any suitable coupling that is configured to releasably couple with a payload <NUM> that is pulled or pushed by the autonomous guided vehicle <NUM>. In one aspect, the tug coupling <NUM> is a fully autonomous coupling that automatically couples with and decouples from payload <NUM> (e.g., under the control of the control system <NUM>); however, in other aspects the tug coupling <NUM> may also be configured for manual coupling and decoupling of the payload <NUM>. The payload <NUM> may be any suitable powered or unpowered payload including, but not limited to a trailer, a carriage frame, a dolly, a cart or other towable/pushable structure holding any suitable logistics units <NUM> such as palletized goods, racks of goods, individual goods, bundles of goods, assemblies of goods, etc. Where the payload <NUM> is powered the tug coupling <NUM>, in one aspect, the tug coupling may supply power from the autonomous guided vehicle <NUM> to the payload <NUM>; while in other aspects, the tug coupling <NUM> is configured to actuate (e.g., upon coupling) a power system of the payload <NUM>. In other aspects, the tugger 100T may not be the inherent or integral logistic or material handling characteristic inherently defined by the module unit <NUM> such that the tugger 100T is one of the other logistic or material handling autonomous guided vehicle type.

<FIG>, <FIG> are illustrative of the autonomous guided vehicle <NUM> of the tugger 100T type pulling and pushing payloads <NUM> (e.g., palletized goods on a trailer in <FIG> and <FIG>, goods disposed on a rack in <FIG>, and a single good disposed on a trailer in <FIG>). As can be seen in <FIG>, the autonomous guided vehicle <NUM> is configured so as to manipulate the payload <NUM> so that the payload may be pushed or pulled in straight lines and/or around corners in operating environments with limited space. For example, the control system <NUM> may provide the autonomous guided vehicle <NUM> with navigational repeatability/accuracy of less than about half an inch (<NUM>) and a docking repeatability/accuracy (such as where goods transported by the autonomous guided vehicle <NUM> are transferred to a logistic or material handling stations <NUM>-<NUM>, see <FIG>) of less than about a quarter of an inch (<NUM>).

Referring to <FIG>, the logistic or material handling accessory module <NUM> includes multiple different logistic or material handling accessory modules 150A-150n. The multiple different logistic or material handling accessory modules 150A-150n are configured to as to be modularly coupled to the module unit <NUM> of the autonomous guided vehicle <NUM> through the module interface <NUM> in any suitable manner such as through suitable releasable mechanical and/or electrical couplings. A selectable coupling of the multiple different logistic or material handling accessory modules 150A-150n to the module unit <NUM> defines the autonomous guided vehicle <NUM> type. Each of the multiple different logistic or material handling accessory modules 150A-150n has a different predetermined logistic or material handling function that on selectable coupling of the respective logistic or material handling accessory modules 150A-150n to the module unit <NUM> defines the autonomous guided vehicle <NUM> type. For example, where the autonomous guided vehicle <NUM> is inherently of the tugger 100T (<FIG>) type, selective coupling of a different logistic or material handling accessory modules 150A-150n to the module unit <NUM> changes the autonomous guided vehicle <NUM> from having the tugger type 100T (<FIG>) to a different type such as, for example, a forklift 100PL (<FIG>) type.

Each of the multiple different logistic or material handling accessory modules 150A-150n have a corresponding different predetermined logistic or material handling characteristic that on integral coupling, of each different logistic or material handling accessory module 150A-150n, with the module unit <NUM> define a different logistic or material handling autonomous guided vehicle type. For example, at least one of the logistic or material handling accessory modules 150A (<FIG>) has a corresponding predetermined logistic or material handling characteristic that defines a vehicle assembly mover autonomous guided vehicle 100C (<FIG>) type. The vehicle assembly mover autonomous guided vehicle 100C includes any suitable vehicle lift that moves a complete car (e.g., automobile or other suitable wheeled or winged vehicle) from one location to another.

At least one of the logistic or material handling accessory modules 150B has a corresponding predetermined logistic or material handling characteristic that defines a logistic unit load roller bed autonomous guided vehicle 100U (<FIG>) type. The logistic unit load roller bed autonomous guided vehicle 100U may be substantially similar to the tugger type; however, the logistic unit load roller bed autonomous guided vehicle 100U is configured to interface with and may be suitably configured so as to communicate with and have a close coupled interface with facility equipment (e.g., conveyors, robotics, etc.). The close coupled interface is such that the autonomous guided vehicle <NUM>, the payload carried thereon, the logistic or material handling accessory module <NUM> coupled to the robotic autonomous guided vehicle engine module <NUM>, and/or the payload carried by the logistic or material handling accessory module <NUM> is positioned by the autonomously guided vehicle <NUM> relative to the facility equipment to within the docking repeatability/accuracy described above. For example, unit load roller bed autonomous guided vehicle 100U is configured so as to have a near deterministic pose (e.g., substantially similar to deterministic or relaxed deterministic positioning in two dimensions or three dimensions of a kinematic coupling) at an interface between the unit load roller bed autonomous guided vehicle 100U and, for example, a conveyor of the commercial logistic facility <NUM> so as to, in effect, form an extension of the conveyor so that items may be transferred between the unit load roller bed autonomous guided vehicle 100U and the conveyor. The unit load roller bed autonomous guided vehicle 100U provides communication (either wirelessly or through any suitable switch) to the conveyor indicating that the unit load roller bed autonomous guided vehicle 100U is close coupled with the conveyor and the unit load (e.g., engine cradles, vehicle sub-frames/assemblies, etc.) carried by the unit load roller bed autonomous guided vehicle 100U may be transferred from the unit load roller bed autonomous guided vehicle 100U to the conveyor.

At least one of the logistic or material handling accessory modules 150C (<FIG> and <FIG>) has a corresponding predetermined logistic or material handling characteristic that defines a pallet fork lift-truck (pallet stacker) autonomous guided vehicle 100PL (<FIG>) type. The pallet fork lift-truck autonomous guided vehicle 100PL may have a standard fork truck mast <NUM> configuration that can stack pallet loads on top of one another, such as when stacking pallet loads in a conveyance vehicle <NUM> (<FIG>).

At least one of the logistic or material handling accessory modules 150D (<FIG>) has a corresponding predetermined logistic or material handling characteristic that defines a high bay pallet lift-truck autonomous guided vehicle 100PLH (<FIG>) type. The high bay pallet lift-truck autonomous guided vehicle 100PLH includes a multistage mast <NUM> that reaches heights of about <NUM> feet (<NUM>) (in other aspects the multistage mast <NUM> may reach higher than about <NUM> feet or less than about <NUM> feet) and provides for the three-dimensional distribution of loads, such as in multi-level warehouse storage racks.

At least one of the logistic or material handling accessory modules 150E (<FIG>) has a corresponding predetermined logistic or material handling characteristic that defines a pallet jack-truck autonomous guided vehicle 100PJ (<FIG>) type. The pallet jack-truck autonomous guided vehicle 100PJ includes forks <NUM> that are configured to support one or more standard <NUM> in (<NUM>) pallets <NUM>. In one aspect, the forks <NUM> are configured to hold two or more standard <NUM> in pallets (for exemplary purposes only, <FIG> illustrates two standard <NUM> inch pallets being held by the forks <NUM>).

In other aspects, any suitable autonomous guided vehicle type maybe defined by a corresponding one of the material handling accessory modules 150A-150n.

Where the autonomous guided vehicle type includes a lifting of goods with the autonomous guided vehicle <NUM> (such as with the pallet fork lift-truck autonomous guided vehicle 100PL (<FIG>) type, the high bay pallet lift-truck autonomous guided vehicle 100PLH (<FIG>) type, and the pallet jack autonomous guided vehicle 100PJ (<FIG>) type) the autonomous guided vehicle <NUM> may include any suitable counterweights <NUM> (see <FIG>) disposed at any suitable location of the autonomous guided vehicle <NUM> to counterbalance a weight of the goods carried by the autonomous guided vehicle <NUM>.

Each of the different logistic or material handling accessory modules 150A-150n are configured so as to be selectably interchangeable with each other and configured to selectably couple with module unit <NUM> via (e.g., through) the module interface <NUM>. The coupling between the different logistic or material handling accessory modules 150A-150n and the module interface <NUM> is a releasable coupling <NUM> that may be effected with any suitable mechanical and/or electrical connections (e.g., a bolt on and/or plug in couplings). For example, the module interface <NUM> includes structural coupling(s) <NUM>, power coupling(s) 125P, and/or data communication coupling(s) 125D that mate or otherwise couple with corresponding mating couplings 125MC of the different logistic or material handling accessory modules 150A-150n. Coupling and decoupling of the mechanical and/or electrical connections of the releasable coupling <NUM> may be effected autonomously by the autonomous guided vehicle <NUM>; or in other aspects manually or semi-autonomously. Where the coupling is autonomous or semi-autonomous, the module interface <NUM> is a deterministic coupling (e.g., a kinematic coupling) that is deterministic of the relative pose between the logistic or material handling accessory modules <NUM> and the robotic autonomous guided vehicle engine module <NUM>. The deterministic coupling effects coupling of the structural coupling(s) <NUM>, power coupling(s) 125P, and/or data communication coupling(s) 125D with the corresponding mating couplings 125MC (e.g., corresponding mating structural coupling(s), power coupling(s), and/or data communication coupling(s)) of the different logistic or material handling accessory modules 150A-150n.

The module interface <NUM> and the robotic autonomous guided vehicle engine module <NUM> are configured such that the loads exerted on or generated by the different logistic or material handling accessory modules 150A-150n are supported by and distributed to the robotic autonomous guided vehicle engine module <NUM>. The logistic or material handling accessory module(s) <NUM> is/are coupled to the robotic autonomous guided vehicle engine module <NUM> so as to depend from the robotic autonomous guided vehicle engine module <NUM> and move as a unit with the robotic autonomous guided vehicle engine module <NUM>.

The selectable coupling of a logistic or material handling accessory module 150A-150n with the module unit <NUM> configures the autonomous guided vehicle <NUM> so as to change the logistic or material handling autonomous guided vehicle type from a first logistic or material handling autonomous guided vehicle type to a second logistic or material handling autonomous guided vehicle type that is different than the first logistic or material handling autonomous guided vehicle type. For example, in one aspect, the first logistic or material handling autonomous guided vehicle type is the tugger 100T autonomous guided vehicle <NUM> and the second logistic or material handling autonomous guided vehicle type is one of the car assembly mover autonomous guided vehicle 100C (<FIG>) type, the logistic unit load roller bed autonomous guided vehicle 100U (<FIG>) type, the pallet fork lift-truck autonomous guided vehicle 100PL (<FIG>) type, the high bay pallet lift-truck autonomous guided vehicle 100PLH (<FIG>) type, or the pallet jack autonomous guided vehicle 100PJ (<FIG>) type.

Referring to <FIG>, in one aspect, the module interface <NUM> and the control system <NUM> are communicably coupled and configured so as to allow the control system <NUM> to automatically (or in other aspects, manually) register the logistic or material handling accessory module <NUM> coupled with the module interface <NUM>. For example, upon coupling of the module interface <NUM> with the logistic or material handling accessory module <NUM>, one or more of the module interface <NUM> and the logistic or material handling accessory module <NUM> sends a signal to the control system <NUM> identifying the logistic or material handling accessory module <NUM>; while in other aspects the control system <NUM> may interrogate one or more of the module interface <NUM> and the logistic or material handling accessory module <NUM> to determine/identify the logistic or material handling accessory module <NUM>; while in still other aspects, the module unit <NUM> may include any suitable sensors that interact (either with contact or without contact) with one or more of the module interface <NUM> and the logistic or material handling accessory module <NUM> to identify the logistic or material handling accessory module <NUM>. Under manual or semiautomatic registration, a suitable input, manual, or remote may be entered in the control system <NUM> identifying the logistic or material handling accessory module <NUM> to be coupled, and the control system <NUM> registers the logistic or material handling accessory module <NUM> so that coupling is complete when effected. The control system <NUM> registers the identification of the logistic or material handling accessory module <NUM> in any suitable memory, such as a registration module <NUM>, of the controller <NUM> and changes the logistic or material handling autonomous guided vehicle type based on the registered logistic or material handling accessory module <NUM>.

The controller <NUM> of the control system <NUM> is configured with different predetermined autonomous navigation programming 115A-115n having different predetermined autonomous navigation characteristics corresponding to the logistic or material handling autonomous guided vehicle type. Each of the different predetermined autonomous navigation programming effects at least control of the logistic or material handling accessory module <NUM>, by the control system <NUM>, according to the logistic or material handling autonomous guided vehicle type registered in the registration module <NUM> upon coupling of the logistic or material handling accessory module <NUM> to the module interface <NUM>. Based on the logistic or material handling autonomous guided vehicle type configured with the module interface <NUM>, the controller <NUM> is configured to access a corresponding autonomous navigation program 115A-115n for the logistic or material handling autonomous guided vehicle type registered. In this aspect, the autonomous guided vehicle <NUM> is self-configuring so as to automatically select the corresponding autonomous navigation program 115A-115n for the logistic or material handling autonomous guided vehicle type registered so as to provide one or more of a transfer of power, data, and commands between the logistic or material handling accessory module <NUM> and the robotic autonomous guided vehicle engine module <NUM>. For example, where the logistic or material handling accessory modules 150C (<FIG>) is coupled to the module interface <NUM> so as to configure the autonomous guided vehicle <NUM> as a pallet fork lift-truck autonomous guided vehicle 100PL (<FIG>), the controller <NUM> selects an autonomous navigation program 115A-115n corresponding to pallet fork lift-truck autonomous guided vehicle 100PL (<FIG>) type so as to control power, data, and commands to the logistic or material handling accessory modules 150C for the operation of the fork lift-truck autonomous guided vehicle 100PL (e.g., sensor data, power, and control commands may be shared between the logistic or material handling accessory module <NUM> and the robotic autonomous guided vehicle engine module <NUM> for the operation of the fork lift-truck autonomous guided vehicle 100PL).

In other aspects, the autonomous guided vehicle <NUM> includes an operator interface <NUM> that is communicably coupled (either wirelessly or through a wired coupling) to the control system <NUM> and configured to provide manual configuration of the autonomous guided vehicle <NUM> (e.g., manual registration of the logistic or material handling accessory modules <NUM> and/or manual selection of the autonomous navigation program 115A-115n) configured in each of the logistic or material handling autonomous guided vehicle types as previously described. The operator interface <NUM> may be any suitable interface including, but not limited to, graphical user interfaces 170GU built in to the autonomous guided vehicle <NUM>, tablet computers 170TC, smart phones 170P, and laptop computers 170LC (<FIG>) that are coupled to the autonomous guided vehicle through any suitable wireless connection WLC and/or wired connection WDC (<FIG>).

As described above, the autonomous guided vehicle <NUM> is intrinsically constructed as a wholly autonomous guided vehicle. In one aspect, the autonomous guided vehicle <NUM> is configured so that the autonomous guided vehicle <NUM> is operator navigable (e.g., driven by an operator throughout the travel area <NUM> and/or is operable in a semi-autonomous mode). For example, referring to <FIG> and <FIG> the module housing <NUM> and control system <NUM> of the module unit <NUM> is configurable so as to couple a removable input-output device <NUM> to the robotic autonomous guided vehicle engine module <NUM>. The input-output device <NUM> is configured for operator <NUM> (<FIG>) control of the autonomous guided vehicle <NUM>, and changing the control system <NUM> from autonomous navigation intrinsic to the module unit <NUM> to operator assisted or operator controlled navigation.

The input-output device <NUM> is coupled to the module housing <NUM> and the control system <NUM> through a releasable coupling <NUM> that includes a structural support <NUM>, power coupling(s) 131P, and/or data communication coupling(s) 131D. The structural support <NUM> couples the input-output device <NUM> to the module housing <NUM> so that the input-output device <NUM> depends from the robotic autonomous guided vehicle engine module <NUM>. The power coupling(s) 131P provide a transfer of power from the robotic autonomous guided vehicle engine module <NUM> to the input-output device <NUM> for powering any electronics <NUM> (e.g., displays, switches, steering inputs, etc.) that may be included on/in the input-output device <NUM>. The electronics <NUM> are configured to effect operation of the autonomous guided vehicle <NUM> and any logistic or material handling accessory modules <NUM> coupled thereto according to the configured logistic or material handling autonomous guided vehicle type (e.g., such as switches or buttons <NUM> for the raising and lowering of forks <NUM> and a steering yoke/wheel <NUM> for steering the autonomous guided vehicle <NUM> along an operator defined path). The data communication coupling(s) 131D provide communication between the input-output device <NUM> and the control system <NUM> for transferring operator input commands from the input-output device <NUM> to the control system <NUM> for operating the autonomous guided vehicle <NUM> and any logistic or material handling accessory modules <NUM> coupled thereto. The input-output device <NUM> may be coupled to the autonomous guided vehicle <NUM> at any suitable time, such as during manufacture of the autonomous guided vehicle <NUM> or as a retrofit installation after the autonomous guided vehicle has been placed in service. Configuring the logistic or material handling autonomous guided vehicle type as described before causes the controller <NUM> to respectively enable and disable corresponding manual controls so as to conform to the configured logistic or material handling autonomous guided vehicle type registered by the controller <NUM>.

In this aspect, the autonomous guided vehicle <NUM> includes an operator station <NUM> that includes an operator support surface <NUM>. In other aspects, the operator station <NUM> may also include a railing <NUM> coupled to the robotic autonomous guided vehicle engine module <NUM>. The railing <NUM> may include any suitable electronics <NUM> (e.g., start buttons, stop buttons, lights, etc.) communicably coupled to the control system <NUM> and configured to, for example, interrupt operation of the autonomous guided vehicle <NUM> (e.g., emergency stop), start up the autonomous guided vehicle <NUM> from an off/inoperable state, and/or provide an operational status of the autonomous guided vehicle (e.g., through different color lights <NUM>). The railing <NUM> may form, with the module housing <NUM>, an operator compartment in which the operator <NUM> is disposed while operating the autonomous guided vehicle <NUM>.

The operator support surface <NUM> may include one or more presence sensors <NUM> that in one aspect form an array of presence sensors <NUM> (e.g., a load pad <NUM>). The one or more presence sensors <NUM> of the array of presence sensors <NUM> are communicably coupled to the control system <NUM> and provide sensor signals to, for example, the controller <NUM> to indicate the presence of an operator <NUM> on the operator support surface <NUM>. The one or more presence sensors <NUM> and/or the railing <NUM> may be coupled to the autonomous guided vehicle <NUM> at any suitable time, such as during manufacture of the autonomous guided vehicle <NUM> or as a retrofit installation after the autonomous guided vehicle has been placed in service. In one aspect, one or more of the railing <NUM> and one or more presence sensors <NUM> may be built in to the module housing <NUM>.

The controller <NUM> is configured to receive the sensor signals from the one or more presence sensors <NUM> of the array of presence sensors <NUM> and switch the autonomous guided vehicle <NUM> to operator assisted or operator controlled navigation upon detection of the operator <NUM> on the operator support surface <NUM>. The controller <NUM> is configured to automatically return the autonomous guided vehicle <NUM> to the intrinsic fully autonomous operation when the operator is no longer detected on the operator support surface <NUM>. In this aspect, the autonomous guided vehicle <NUM> may operate under operator assisted navigation where the autonomous guided vehicle <NUM> navigates autonomously over a portion of a task (e.g., transfer of loads) to be completed and under operator control over another portion of the task to be completed (such as picking and placing loads within a conveyance vehicle <NUM> - <FIG>) where the autonomous guided vehicle <NUM> is switched between autonomous navigation and operator navigation by the operator <NUM> entering the operator station <NUM> so as to be disposed on the operator support surface <NUM>. In other aspects, the autonomous guided vehicle may operate under operator navigation where the autonomous guided vehicle <NUM> navigates under operator control over an entire portion of a task (e.g., transfer of loads) to be completed.

Referring to <FIG> and <FIG>, the autonomous guided vehicle <NUM> may also automate loading and unloading of conveyance vehicles <NUM> (e.g., semi-trailers, box trucks, etc.). For example, the autonomous guided vehicle <NUM> is configured to navigate within the confines of a cargo compartment <NUM> of a conveyance vehicle <NUM>. The cargo compartment <NUM> may be the interior of a trailer or box truck or any other suitable conveyance vehicle. The sensors <NUM> may be placed at suitable locations on the module housing <NUM> so as to navigate within the confines of the cargo compartment <NUM> with the navigational repeatability/accuracy and/or a docking repeatability/accuracy described above. The logistic or material handling accessory module <NUM> may also include supplemental sensors <NUM> that communicate with the control system <NUM> upon coupling of the logistic or material handling accessory module <NUM> with the module unit <NUM>. The supplemental sensors <NUM> provide supplemental signals to the control system <NUM> for the detection of objects disposed within the travel path of the autonomous guided vehicle <NUM> that would otherwise be blocked by the payload carried, towed, or pushed by the autonomous guided vehicle <NUM>. For example, using the forklift 100PL type autonomous guided vehicle <NUM> illustrated in <FIG>, one or more of the mast <NUM> and forks <NUM> may include one or more supplemental sensors <NUM> (see <FIG>) configured to aid autonomous navigation and placement of payload within the confines of the cargo compartment <NUM>. As may be realized, the supplemental sensor <NUM> may also aid in the navigation and placement of payloads within the travel area <NUM> of the commercial logistic facility <NUM>, such when transferring payload between the logistic or material handling stations <NUM>-<NUM> (<FIG>).

Referring to <FIG> and <FIG> an exemplary method for transporting logistics units <NUM> (<FIG>) with the autonomous guided vehicle <NUM> will be described in accordance with aspects of the disclosed embodiment. The autonomous guided vehicle engine module <NUM> (as described herein) is provided (<FIG>, Block <NUM>). Multiple different ones of the logistic or material handling accessory modules(s) <NUM> (as described herein) are provided (<FIG>, Block <NUM>). The autonomous guided vehicle <NUM> is configured (<FIG>, Block <NUM>) by selectably coupling one of the logistic or material handling accessory module(s) <NUM> with the module unit <NUM> so as to change the logistic or material handling autonomous guided vehicle type from a first logistic or material handling autonomous guided vehicle type to a second logistic or material handling autonomous guided vehicle type that is different than the first logistic or material handling autonomous guided vehicle type. For example, the autonomous guided vehicle <NUM> may have a base or intrinsic configuration that is the tugger 100T (<FIG>). Depending on a task assigned (e.g., by the management system <NUM> or manually by an operator) to the autonomous guided vehicle <NUM>, one of the logistic or material handling accessory module(s) <NUM> corresponding to the assigned task is selected and coupled to the module unit <NUM> so as to reconfigure the autonomous guided vehicle to something other than the tugger 100T (<FIG>), such as for example, one of the other logistic or material handling autonomous guided vehicle types 100PL (<FIG>), 100PLH (<FIG>), 100PJ (<FIG>), 100C (<FIG>), 100U (<FIG>) that are described herein.

As described above, the controller <NUM> automatically registers the logistic or material handling accessory module <NUM> (<FIG>, Block <NUM>) coupled with the module interface <NUM>, and the logistic or material handling autonomous guided vehicle type configured with the module interface <NUM>. The controller <NUM> automatically accesses a corresponding autonomous navigation program 115A-115n for the logistic or material handling autonomous guided vehicle type registered so as to effect completion of the autonomous guided vehicle <NUM> reconfiguration.

Claim 1:
A configurable modular robotic autonomous guided vehicle (<NUM>) comprising:
a robotic autonomous guided vehicle engine module (<NUM>) with one or more motors (<NUM>), sensors (<NUM>), and a control system (<NUM>) integrated with each other for intrinsic, wholly autonomous navigation freely throughout a travel area forming a logistic space (<NUM>), the integrated one or more motors, sensors, and control system being packaged within a module housing (<NUM>) forming the robotic autonomous guided vehicle engine module (<NUM>) as a module unit, and having a module interface (<NUM>) at one end of the module unit for modular kinematic coupling of the module unit with a logistic or material handling accessory module of the configurable modular autonomous guided vehicle; and
multiple different ones of the logistic or material handling accessory module (150A-150n), each with a corresponding different predetermined logistic or material handling characteristic that, on integral coupling of each different logistic or material handling accessory module with the module unit, define a different logistic or material handling autonomous guided vehicle type, each of the different logistic or material handling accessory modules being selectably interchangeable with each other and configured to selectably couple via the module interface with module unit;
wherein selectable coupling of the logistic or material handling accessory module with the module unit configures the configurable modular robotic autonomous guided vehicle so as to change the logistic or material handling autonomous guided vehicle type from a first logistic or material handling autonomous guided vehicle type to a second logistic or material handling autonomous guided vehicle type different than the first logistic or material handling autonomous guided vehicle type.