Automatic guided vehicle for the handling of shuttles and/or loading units in automatic warehouses and related control method

An automatic guided vehicle for the handling of shuttles and/or loading units in automatic warehouses, the automatic warehouses include a plurality of vertical uprights carrying a plurality of opposite “L” shaped side guides to accommodate a unit load and/or a shuttle, the vehicle comprising:

• a vehicle frame;
• a telescopic upright integral with the vehicle frame;
• equipment;
• and
• a fork holder plate provided with at least one pair of forks and connected to the telescopic upright by way of the equipment,
• wherein the equipment includes a plurality of actuators for controlling movement of the forks,
• wherein the equipment further includes an actuator for controlling the global lateral translation of the fork holder plate, at least one pair of actuators for moving the forks towards and away each other, a pair of actuators for rotating the fork holder plate with respect to a central axis of the equipment,
• wherein the vehicle also includes at least one pair of fork side sensors, placed externally with respect to the forks, to check the alignment of the fork holder plate to the front side of a rack and fork alignment sensors to check the alignment of the forks with respect to lateral guides of a tunnel,
• wherein a fork alignment sensor is housed in each of the at least one pair of forks.